2021-08-13T17:28:18.823Z,1628875698.823 [DataOverHttps](INFO): Received command:restart logs
2021-08-13T17:28:18.833Z,1628875698.833 [CommandLine](IMPORTANT): got command restart logs
2021-08-13T17:28:19.825Z,1628875699.825 [DataOverHttps](IMPORTANT): SBD MTMSN=20210813T172818
2021-08-13T17:28:26.856Z,1628875706.856 [DataOverHttps](INFO): Received command:configSet lineCapture.rolloutSpeed 0.5 m/s
2021-08-13T17:28:37.785Z,1628875717.785 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](INFO): Done Waiting.
2021-08-13T17:28:37.785Z,1628875717.785 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2021-08-13T17:28:37.785Z,1628875717.785 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2021-08-13T17:28:37.786Z,1628875717.786 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Running Loop=1
2021-08-13T17:28:38.174Z,1628875718.174 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Stopped
2021-08-13T17:28:38.174Z,1628875718.174 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Running Loop=1
2021-08-13T17:28:38.556Z,1628875718.556 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for 16.336981 min 
2021-08-13T17:28:38.556Z,1628875718.556 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Stopped
2021-08-13T17:28:38.557Z,1628875718.557 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Completed DefaultWithUndock:SurfaceDefault:CheckIn
2021-08-13T17:28:38.557Z,1628875718.557 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2021-08-13T17:28:38.557Z,1628875718.557 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-08-13T17:28:38.557Z,1628875718.557 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Running loop #3
2021-08-13T17:28:38.557Z,1628875718.557 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=3
2021-08-13T17:28:38.557Z,1628875718.557 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-08-13T17:28:38.557Z,1628875718.557 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2021-08-13T17:28:40.566Z,1628875720.566 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,172839.00,A,4133.16166,N,07042.41799,W,0.389,135.89,130821,,,D*72
2021-08-13T17:28:40.568Z,1628875720.568 [NAL9602](INFO): GPS fix at 20210813T172839: (41.552694, -70.706966)
2021-08-13T17:28:40.579Z,1628875720.579 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2021-08-13T17:28:40.579Z,1628875720.579 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2021-08-13T17:28:49.948Z,1628875729.948 [DataOverHttps](INFO): Sending 52 bytes from file Logs/20210813T150040/Courier0039.lzma
2021-08-13T17:28:50.950Z,1628875730.950 [DataOverHttps](INFO): Moved sent file to Logs/20210813T150040/Courier0039.lzma.bak
2021-08-13T17:28:50.950Z,1628875730.950 [DataOverHttps](INFO): SBD MOMSN=432765
2021-08-13T17:28:53.509Z,1628875733.509 [NAL9602](INFO): SBD MO Status=0, MOMSN=23692, MT Status=0, MTMSN=0
2021-08-13T17:28:53.509Z,1628875733.509 [NAL9602](INFO): No messages in MT queue
2021-08-13T17:29:06.833Z,1628875746.833 [Micromodem](INFO): Nmea in: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error

2021-08-13T17:29:06.834Z,1628875746.834 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error
 expected 41
2021-08-13T17:29:07.227Z,1628875747.227 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2021-08-13T17:29:07.642Z,1628875747.642 [Micromodem](INFO): Nmea in: $CACST,6,1,20210813172905.877895,06,787,22,0091,0150,149,03,03,01,03,-1,-01,-01,1,3,4,0,150,75.5,0.41,-100,2.59,-01,-0.75,-18,14500,4000*41

2021-08-13T17:29:12.048Z,1628875752.048 [DataOverHttps](INFO): Sending 255 bytes from file Logs/20210813T172818/Courier0000.lzma
2021-08-13T17:29:13.050Z,1628875753.050 [DataOverHttps](INFO): Moved sent file to Logs/20210813T172818/Courier0000.lzma.bak
2021-08-13T17:29:13.050Z,1628875753.050 [DataOverHttps](INFO): SBD MOMSN=432767
2021-08-13T17:29:24.003Z,1628875764.003 [NAL9602](INFO): Not Powering down - fast GPS
2021-08-13T17:29:28.135Z,1628875768.135 [DataOverHttps](INFO): Sending 52 bytes from file Logs/20210813T172818/Courier0003.lzma
2021-08-13T17:29:29.122Z,1628875769.122 [DataOverHttps](INFO): Moved sent file to Logs/20210813T172818/Courier0003.lzma.bak
2021-08-13T17:29:29.122Z,1628875769.122 [DataOverHttps](INFO): SBD MOMSN=432772
2021-08-13T17:29:36.182Z,1628875776.182 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2021-08-13T17:29:36.538Z,1628875776.538 [Micromodem](INFO): Nmea in: $CACST,6,1,20210813172935.891385,06,219,23,0100,0150,208,02,02,00,02,-1,-01,-01,1,3,7,0,150,9.0,-0.58,-100,3.58,-01,0.63,63,14500,4000*5F

2021-08-13T17:29:50.208Z,1628875790.208 [DataOverHttps](INFO): Sending 95 bytes from file Logs/20210813T150040/Express0040.lzma
2021-08-13T17:29:51.210Z,1628875791.210 [DataOverHttps](INFO): Moved sent file to Logs/20210813T150040/Express0040.lzma.bak
2021-08-13T17:29:51.210Z,1628875791.210 [DataOverHttps](INFO): SBD MOMSN=432774
2021-08-13T17:30:04.264Z,1628875804.264 [DataOverHttps](INFO): Sending 388 bytes from file Logs/20210813T172818/Express0001.lzma
2021-08-13T17:30:05.270Z,1628875805.270 [DataOverHttps](INFO): Moved sent file to Logs/20210813T172818/Express0001.lzma.bak
2021-08-13T17:30:05.271Z,1628875805.271 [DataOverHttps](INFO): SBD MOMSN=432777
2021-08-13T17:30:19.326Z,1628875819.326 [DataOverHttps](INFO): Sending 62 bytes from file Logs/20210813T172818/Express0004.lzma
2021-08-13T17:30:20.326Z,1628875820.326 [DataOverHttps](INFO): Moved sent file to Logs/20210813T172818/Express0004.lzma.bak
2021-08-13T17:30:20.326Z,1628875820.326 [DataOverHttps](INFO): SBD MOMSN=432782
2021-08-13T17:30:21.819Z,1628875821.819 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2021-08-13T17:30:21.819Z,1628875821.819 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2021-08-13T17:30:21.820Z,1628875821.820 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2021-08-13T17:30:54.111Z,1628875854.111 [Micromodem](INFO): Nmea in: $CAMSG,Error accessing coproc,4*51

2021-08-13T17:30:54.119Z,1628875854.119 [Micromodem](INFO): Nmea in: $CACST,6,1,20210813173053.877710,06,657,22,0314,0150,126,01,01,01,01,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,14500,4000*5F

2021-08-13T17:31:26.600Z,1628875886.600 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.250706
2021-08-13T17:32:21.772Z,1628875941.772 [Micromodem](INFO): Nmea in: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error

2021-08-13T17:32:21.772Z,1628875941.772 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error
 expected 41
2021-08-13T17:32:21.774Z,1628875941.774 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2021-08-13T17:32:22.182Z,1628875942.182 [Micromodem](INFO): Nmea in: $CACST,6,1,20210813173219.890422,06,194,22,0093,0150,149,03,03,00,03,-1,-01,-01,1,3,8,0,150,81.1,-5.97,-100,8.97,-01,0.65,-18,14500,4000*4C

2021-08-13T17:32:26.838Z,1628875946.838 [DataOverHttps](IMPORTANT): SBD MTMSN=20210813T173225
2021-08-13T17:32:26.842Z,1628875946.842 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.004045
2021-08-13T17:32:31.862Z,1628875951.862 [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" 2pncx 1 2
2021-08-13T17:32:31.874Z,1628875951.874 [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" 2pncx 1 2.000000
2021-08-13T17:32:31.874Z,1628875951.874 [CommandLine](IMPORTANT): Scheduling command #1 of 2 with id=2pncx
2021-08-13T17:32:31.875Z,1628875951.875 [CommandLine](IMPORTANT): Scheduled #14 (#1 of 2 with id='2pncx'): "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
2021-08-13T17:32:32.862Z,1628875952.862 [DataOverHttps](IMPORTANT): SBD MTMSN=20210813T173231
2021-08-13T17:32:37.891Z,1628875957.891 [DataOverHttps](INFO): Received command:sched asap "set lineCaptureDepth.MaxDepth 9 m;set lineCaptureDepth.MinOffshore .5 km;run" 2pncx 2 2
2021-08-13T17:32:37.919Z,1628875957.919 [CommandLine](IMPORTANT): got command schedule asap "set lineCaptureDepth.MaxDepth 9 m;set lineCaptureDepth.MinOffshore .5 km;run" 2pncx 2 2.000000
2021-08-13T17:32:37.920Z,1628875957.920 [CommandLine](IMPORTANT): Scheduling command #2 of 2 with id=2pncx
2021-08-13T17:32:37.921Z,1628875957.921 [CommandLine](IMPORTANT): Scheduled #15 (#2 of 2 with id='2pncx'): "set lineCaptureDepth.MaxDepth 9 m;set lineCaptureDepth.MinOffshore .5 km;run" ASAP
2021-08-13T17:32:38.055Z,1628875958.055 [CommandLine](IMPORTANT): got command load ./Missions/Engineering/lineCaptureDepth.xml
2021-08-13T17:32:38.056Z,1628875958.056 [MissionManager](INFO): Loading Mission: ./Missions/Engineering/lineCaptureDepth.xml
2021-08-13T17:32:38.153Z,1628875958.153 [MissionManager](INFO): DefineArg lineCaptureDepth.MissionTimeout = 4.000000 h
2021-08-13T17:32:38.155Z,1628875958.155 [MissionManager](INFO): DefineArg lineCaptureDepth.NeedCommsTime = 240.000000 min
2021-08-13T17:32:38.157Z,1628875958.157 [MissionManager](INFO): DefineArg lineCaptureDepth.MicromodemCommsInterval = 5.000000 min
2021-08-13T17:32:38.160Z,1628875958.160 [MissionManager](INFO): DefineArg lineCaptureDepth.Repeat = 1.000000 count
2021-08-13T17:32:38.163Z,1628875958.163 [MissionManager](INFO): DefineArg lineCaptureDepth.WaitOnDockTimeout = 5.000000 min
2021-08-13T17:32:38.165Z,1628875958.165 [MissionManager](INFO): DefineArg lineCaptureDepth.TransponderCode = 2.000000 count
2021-08-13T17:32:38.168Z,1628875958.168 [MissionManager](INFO): DefineArg lineCaptureDepth.TrackingUpdatePeriod = 2.500000 s
2021-08-13T17:32:38.170Z,1628875958.170 [MissionManager](INFO): DefineArg lineCaptureDepth.NumberOfPings = 1.000000 count
2021-08-13T17:32:38.173Z,1628875958.173 [MissionManager](INFO): DefineArg lineCaptureDepth.NumPingsUSBL = 5.000000 count
2021-08-13T17:32:38.175Z,1628875958.175 [MissionManager](INFO): DefineArg lineCaptureDepth.RangeUSBL = 40.000000 m
2021-08-13T17:32:38.177Z,1628875958.177 [MissionManager](INFO): DefineArg lineCaptureDepth.MinAltitude = 5.000000 m
2021-08-13T17:32:38.180Z,1628875958.180 [MissionManager](INFO): DefineArg lineCaptureDepth.MaxDepth = 205.000000 m
2021-08-13T17:32:38.182Z,1628875958.182 [MissionManager](INFO): DefineArg lineCaptureDepth.MinOffshore = 2.000000 km
2021-08-13T17:32:38.185Z,1628875958.185 [MissionManager](INFO): DefineOutput lineCaptureDepth.Mode = -1.000000 count
2021-08-13T17:32:38.187Z,1628875958.187 [MissionManager](INFO): DefineOutput lineCaptureDepth.NumPings = 1.000000 count
2021-08-13T17:32:38.213Z,1628875958.213 [MissionManager](INFO): Inserting Stack: Missions/Insert/Science.xml
2021-08-13T17:32:38.584Z,1628875958.584 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectChlActive = 0 bool
2021-08-13T17:32:38.586Z,1628875958.586 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.TimeWindowPeakReport = nan min
2021-08-13T17:32:38.588Z,1628875958.588 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.HighestChlPeakReportActive = 0 bool
2021-08-13T17:32:38.590Z,1628875958.590 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.HighestSaltPeakReportActive = 0 bool
2021-08-13T17:32:38.592Z,1628875958.592 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.HighestOilPeakReportActive = 0 bool
2021-08-13T17:32:38.594Z,1628875958.594 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PatchTracking = 0 bool
2021-08-13T17:32:38.597Z,1628875958.597 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.FilterWidthHorizontal = 3.000000 count
2021-08-13T17:32:38.599Z,1628875958.599 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.NumProfilesSlidingwindow = 100.000000 count
2021-08-13T17:32:38.601Z,1628875958.601 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.OffPeakFractionHorizontal = 80.000000 %
2021-08-13T17:32:38.603Z,1628875958.603 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectNO3Active = 0 bool
2021-08-13T17:32:38.605Z,1628875958.605 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectOilActive = 0 bool
2021-08-13T17:32:38.607Z,1628875958.607 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectFDOMActive = 0 bool
2021-08-13T17:32:38.609Z,1628875958.609 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectSalinityActive = 0 bool
2021-08-13T17:32:38.611Z,1628875958.611 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2021-08-13T17:32:38.614Z,1628875958.614 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledAanderaaO2 = 0.000000 bool
2021-08-13T17:32:38.617Z,1628875958.617 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledNeilBrown = 0.000000 bool
2021-08-13T17:32:38.619Z,1628875958.619 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledSeabird = 1.000000 bool
2021-08-13T17:32:38.622Z,1628875958.622 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledWetLabsBB2FL = 0.000000 bool
2021-08-13T17:32:38.641Z,1628875958.641 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledWetLabsSeaOWL_UV_A = 1.000000 bool
2021-08-13T17:32:38.648Z,1628875958.648 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledWetLabsUBAT = 0.000000 bool
2021-08-13T17:32:38.650Z,1628875958.650 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.LowPassWindowLength = 20.000000 count
2021-08-13T17:32:38.668Z,1628875958.668 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.MedianFilterLen = 5.000000 count
2021-08-13T17:32:38.674Z,1628875958.674 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakShallowBound = nan m
2021-08-13T17:32:38.680Z,1628875958.680 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDeepBound = nan m
2021-08-13T17:32:38.682Z,1628875958.682 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2021-08-13T17:32:38.692Z,1628875958.692 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChl = 0.000000 ug/l
2021-08-13T17:32:38.694Z,1628875958.694 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChlDepth = 0.000000 m
2021-08-13T17:32:38.697Z,1628875958.697 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChlTemperature = 0.000000 degC
2021-08-13T17:32:38.699Z,1628875958.699 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChlLatitude = nan arcdeg
2021-08-13T17:32:38.706Z,1628875958.706 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChlLongitude = nan arcdeg
2021-08-13T17:32:38.755Z,1628875958.755 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakNO3 = 0.000000 umol/l
2021-08-13T17:32:38.770Z,1628875958.770 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakNO3Depth = 0.000000 m
2021-08-13T17:32:38.777Z,1628875958.777 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakNO3Latitude = nan arcdeg
2021-08-13T17:32:38.790Z,1628875958.790 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakNO3Longitude = nan arcdeg
2021-08-13T17:32:38.808Z,1628875958.808 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakOil = 0.000000 kg/m3
2021-08-13T17:32:38.811Z,1628875958.811 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakOilDepth = 0.000000 m
2021-08-13T17:32:38.822Z,1628875958.822 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakOilLatitude = nan arcdeg
2021-08-13T17:32:38.825Z,1628875958.825 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakOilLongitude = nan arcdeg
2021-08-13T17:32:38.827Z,1628875958.827 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOM = 0.000000 ppb
2021-08-13T17:32:38.834Z,1628875958.834 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOMDepth = 0.000000 m
2021-08-13T17:32:38.840Z,1628875958.840 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOMTemperature = nan degC
2021-08-13T17:32:38.843Z,1628875958.843 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOMLatitude = nan arcdeg
2021-08-13T17:32:38.854Z,1628875958.854 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOMLongitude = nan arcdeg
2021-08-13T17:32:38.860Z,1628875958.860 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchFDOMDistance = nan m
2021-08-13T17:32:38.863Z,1628875958.863 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakSalt = 0.000000 psu
2021-08-13T17:32:38.869Z,1628875958.869 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakSaltDepth = 0.000000 m
2021-08-13T17:32:38.876Z,1628875958.876 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakSaltTemperature = 0.000000 degC
2021-08-13T17:32:38.878Z,1628875958.878 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakSaltLatitude = nan arcdeg
2021-08-13T17:32:38.882Z,1628875958.882 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakSaltLongitude = nan arcdeg
2021-08-13T17:32:38.900Z,1628875958.900 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChl = 0.000000 ug/l
2021-08-13T17:32:38.903Z,1628875958.903 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChlDepth = 0.000000 m
2021-08-13T17:32:38.910Z,1628875958.910 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChlLatitude = nan arcdeg
2021-08-13T17:32:38.920Z,1628875958.920 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChlLongitude = nan arcdeg
2021-08-13T17:32:38.923Z,1628875958.923 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChlDistance = nan m
2021-08-13T17:32:38.929Z,1628875958.929 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchSalt = 0.000000 psu
2021-08-13T17:32:38.936Z,1628875958.936 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchSaltDepth = 0.000000 m
2021-08-13T17:32:38.938Z,1628875958.938 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchSaltLatitude = nan arcdeg
2021-08-13T17:32:38.941Z,1628875958.941 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchSaltLongitude = nan arcdeg
2021-08-13T17:32:38.952Z,1628875958.952 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchSaltDistance = nan m
2021-08-13T17:32:38.955Z,1628875958.955 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchOil = 0.000000 psu
2021-08-13T17:32:38.957Z,1628875958.957 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchOilDepth = 0.000000 m
2021-08-13T17:32:38.968Z,1628875958.968 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchOilLatitude = nan arcdeg
2021-08-13T17:32:38.973Z,1628875958.973 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchOilLongitude = nan arcdeg
2021-08-13T17:32:38.977Z,1628875958.977 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchOilDistance = nan m
2021-08-13T17:32:39.015Z,1628875959.015 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-08-13T17:32:39.046Z,1628875959.046 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2021-08-13T17:32:39.080Z,1628875959.080 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-08-13T17:32:39.100Z,1628875959.100 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-08-13T17:32:39.175Z,1628875959.175 [lineCaptureDepth:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2021-08-13T17:32:39.207Z,1628875959.207 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-08-13T17:32:39.234Z,1628875959.234 [lineCaptureDepth:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-08-13T17:32:39.262Z,1628875959.262 [lineCaptureDepth:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2021-08-13T17:32:39.296Z,1628875959.296 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2021-08-13T17:32:39.332Z,1628875959.332 [MissionManager](INFO): DefineArg lineCaptureDepth:StandardEnvelopes.MinAltitude = 5.000000 m
2021-08-13T17:32:39.335Z,1628875959.335 [MissionManager](INFO): DefineArg lineCaptureDepth:StandardEnvelopes.MaxDepth = 200.000000 m
2021-08-13T17:32:39.337Z,1628875959.337 [MissionManager](INFO): DefineArg lineCaptureDepth:StandardEnvelopes.MinOffshore = 2000.000000 m
2021-08-13T17:32:39.339Z,1628875959.339 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2021-08-13T17:32:39.357Z,1628875959.357 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2021-08-13T17:32:39.375Z,1628875959.375 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2021-08-13T17:32:39.396Z,1628875959.396 [MissionManager](INFO): Inserting Stack: Missions/Insert/NeedComms.xml
2021-08-13T17:32:39.570Z,1628875959.570 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.DiveInterval = 3.000000 h
2021-08-13T17:32:39.577Z,1628875959.577 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.WaitForPitchUp = 10.000000 min
2021-08-13T17:32:39.579Z,1628875959.579 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.SurfacePitch = 20.000000 arcdeg
2021-08-13T17:32:39.594Z,1628875959.594 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.SurfaceDepthRate = nan m/s
2021-08-13T17:32:39.604Z,1628875959.604 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.SurfaceSpeed = 1.000000 m/s
2021-08-13T17:32:39.606Z,1628875959.606 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.GPSTimeout = 7.000000 min
2021-08-13T17:32:39.628Z,1628875959.628 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.CommsTimeout = 30.000000 min
2021-08-13T17:32:39.642Z,1628875959.642 [lineCaptureDepth:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2021-08-13T17:32:39.690Z,1628875959.690 [MissionManager](INFO): Inserting Stack: Missions/Insert/MicromodemComms.xml
2021-08-13T17:32:39.738Z,1628875959.738 [MissionManager](INFO): DefineArg lineCaptureDepth:MicromodemComms.Timeout = 10.000000 min
2021-08-13T17:32:39.740Z,1628875959.740 [MissionManager](INFO): DefineArg lineCaptureDepth:MicromodemComms.CommsInterval = 5.000000 min
2021-08-13T17:32:39.749Z,1628875959.749 [MissionManager](INFO): RedefineArg lineCaptureDepth:MicromodemComms.CommsInterval = reader:lineCaptureDepth.MicromodemCommsInterval
2021-08-13T17:32:39.773Z,1628875959.773 [MissionManager](INFO): Inserting Stack: Missions/Insert/LineCapture.xml
2021-08-13T17:32:39.988Z,1628875959.988 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.DockLat = 41.552317 arcdeg
2021-08-13T17:32:39.991Z,1628875959.991 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.DockLon = -70.708600 arcdeg
2021-08-13T17:32:39.995Z,1628875959.995 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.DetachTimeout = 30.000000 min
2021-08-13T17:32:40.034Z,1628875960.034 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MidcourseDepth = 6.000000 m
2021-08-13T17:32:40.036Z,1628875960.036 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MidcourseSpeed = 1.000000 m/s
2021-08-13T17:32:40.039Z,1628875960.039 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MidcourseTimeout = 6.000000 h
2021-08-13T17:32:40.042Z,1628875960.042 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.TerminalRange = 650.000000 m
2021-08-13T17:32:40.044Z,1628875960.044 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.AcousticTimeout = 5.000000 min
2021-08-13T17:32:40.047Z,1628875960.047 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.SearchTimeout = 1.000000 h
2021-08-13T17:32:40.066Z,1628875960.066 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.CircleRadius = 25.000000 m
2021-08-13T17:32:40.076Z,1628875960.076 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.CircleMaxError = 1.000000 m
2021-08-13T17:32:40.078Z,1628875960.078 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.CircleTurnToPort = 0 bool
2021-08-13T17:32:40.080Z,1628875960.080 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.DepthDeadband = 0.010000 m
2021-08-13T17:32:40.083Z,1628875960.083 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.RudderDeadband = 0.001000 arcdeg
2021-08-13T17:32:40.093Z,1628875960.093 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MinAltitude = 2.000000 m
2021-08-13T17:32:40.095Z,1628875960.095 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MaxDepth = 8.000000 m
2021-08-13T17:32:40.106Z,1628875960.106 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MinOffshore = 1.000000 m
2021-08-13T17:32:40.111Z,1628875960.111 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.DoneTimeout = -1.000000 count
2021-08-13T17:32:40.126Z,1628875960.126 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.Done = 0.000000 count
2021-08-13T17:32:40.133Z,1628875960.133 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.DetachFromDock = 1.000000 count
2021-08-13T17:32:40.135Z,1628875960.135 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.Midcourse = 2.000000 count
2021-08-13T17:32:40.142Z,1628875960.142 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.Terminal = 3.000000 count
2021-08-13T17:32:40.149Z,1628875960.149 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.GuidanceMode = 1.000000 n/a
2021-08-13T17:32:40.151Z,1628875960.151 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.DockingDepth = 1.000000 m
2021-08-13T17:32:40.158Z,1628875960.158 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.ElapsedRange = 0.000000 min
2021-08-13T17:32:40.164Z,1628875960.164 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.Range = nan m
2021-08-13T17:32:40.173Z,1628875960.173 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2021-08-13T17:32:40.214Z,1628875960.214 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture:StandardEnvelopes.MinAltitude = 5.000000 m
2021-08-13T17:32:40.221Z,1628875960.221 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture:StandardEnvelopes.MaxDepth = 200.000000 m
2021-08-13T17:32:40.223Z,1628875960.223 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture:StandardEnvelopes.MinOffshore = 2000.000000 m
2021-08-13T17:32:40.228Z,1628875960.228 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2021-08-13T17:32:40.238Z,1628875960.238 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2021-08-13T17:32:40.262Z,1628875960.262 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2021-08-13T17:32:40.294Z,1628875960.294 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Construct.
2021-08-13T17:32:40.297Z,1628875960.297 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Construct Buoyancy.
2021-08-13T17:32:40.304Z,1628875960.304 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Construct.
2021-08-13T17:32:40.304Z,1628875960.304 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2021-08-13T17:32:40.356Z,1628875960.356 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Construct.
2021-08-13T17:32:40.359Z,1628875960.359 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Construct.
2021-08-13T17:32:40.388Z,1628875960.388 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Construct Waypoint.
2021-08-13T17:32:40.415Z,1628875960.415 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A.Circle](DEBUG): Construct.
2021-08-13T17:32:40.433Z,1628875960.433 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:B.Wait](DEBUG): Construct Wait.
2021-08-13T17:32:40.449Z,1628875960.449 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Construct.
2021-08-13T17:32:40.456Z,1628875960.456 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Construct.
2021-08-13T17:32:40.464Z,1628875960.464 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initializing internal variables to default values.
2021-08-13T17:32:40.464Z,1628875960.464 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2021-08-13T17:32:40.467Z,1628875960.467 [lineCaptureDepth:LineCapture:K.Wait](DEBUG): Construct Wait.
2021-08-13T17:32:40.486Z,1628875960.486 [MissionManager](INFO): Inserting Stack: Missions/Insert/SetNavAcoustic.xml
2021-08-13T17:32:40.514Z,1628875960.514 [MissionManager](INFO): DefineArg lineCaptureDepth:SetNavAcoustic.DockLat = 41.552317 arcdeg
2021-08-13T17:32:40.516Z,1628875960.516 [MissionManager](INFO): DefineArg lineCaptureDepth:SetNavAcoustic.DockLon = -70.708600 arcdeg
2021-08-13T17:32:40.519Z,1628875960.519 [MissionManager](INFO): DefineArg lineCaptureDepth:SetNavAcoustic.DockRange = 5.000000 m
2021-08-13T17:32:40.521Z,1628875960.521 [MissionManager](INFO): DefineArg lineCaptureDepth:SetNavAcoustic.RangeTimeout = 5.000000 min
2021-08-13T17:32:40.549Z,1628875960.549 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Construct SetNav.
2021-08-13T17:32:40.580Z,1628875960.580 [lineCaptureDepth:Lap:Docked:Docked.Docked](DEBUG): Construct.
2021-08-13T17:32:40.580Z,1628875960.580 [lineCaptureDepth:Lap:Docked:Docked.Docked](DEBUG): Initializing internal variables to default values.
2021-08-13T17:32:40.588Z,1628875960.588 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](DEBUG): Construct.
2021-08-13T17:32:40.588Z,1628875960.588 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](DEBUG): Initializing internal variables to default values.
2021-08-13T17:32:40.678Z,1628875960.678 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
    xmlns:Estimation="Tethys/Estimation"
    xmlns:Guidance="Tethys/Guidance"
    xmlns:Units="Tethys/Units"
    xmlns:Dock="Tethys/Dock"
    xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
    xsi:schemaLocation="Tethys http://okeanids.mbari.org/tethys/Xml/Tethys.xsd
                        Tethys/Dock http://okeanids.mbari.org/tethys/Xml/Dock.xsd
                        Tethys/Estimation http://okeanids.mbari.org/tethys/Xml/Estimation.xsd
                        Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd
                        Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd"
    Id="lineCaptureDepth">

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

<!-- Define mission arguments -->

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

<!-- Mission timeout -->

    <Timeout Duration="MissionTimeout"/>

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

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

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

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

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

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

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

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

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

<!-- Micromodem comms -->

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

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

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

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

<!-- Add LineCapture directives. -->

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

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

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

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

<!-- Add SetNav directives. -->

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

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

    <Aggregate Id="UpdateNumPings_NotTerminal">

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

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

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

    </Aggregate>


    <Aggregate Id="UpdateNumPings_Terminal">

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

        <Aggregate Id="UpdateNumPingsUSBL">

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

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

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

        </Aggregate>

        <Aggregate Id="UpdateNumPingsATR">

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

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

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

        </Aggregate>
    </Aggregate>


<!-- Start mission sequence. -->

    <Aggregate Id="Lap">

        <Sequence Repeat="Repeat"/>

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

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

        <Call RefId="LineCapture"/>

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

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

        <Aggregate Id="Docked">

            <Sequence/>

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

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

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

            <Aggregate Id="Detach">

                <Sequence/>

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

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

            </Aggregate>

        </Aggregate>

    </Aggregate>

</Mission>


2021-08-13T17:32:40.679Z,1628875960.679 [CommandLine](IMPORTANT): Loaded ./Missions/Engineering/lineCaptureDepth.xml
2021-08-13T17:32:41.597Z,1628875961.597 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T17:32:55.143Z,1628875975.143 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MissionTimeout 120.000000 minute
2021-08-13T17:32:55.145Z,1628875975.145 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MicromodemCommsInterval 30.000000 minute
2021-08-13T17:32:55.146Z,1628875975.146 [CommandLine](IMPORTANT): got command set lineCaptureDepth.Repeat 20.000000 count
2021-08-13T17:32:55.146Z,1628875975.146 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MinAltitude 3.000000 meter
2021-08-13T17:33:01.700Z,1628875981.700 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MaxDepth 9.000000 meter
2021-08-13T17:33:01.701Z,1628875981.701 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MinOffshore 0.500000 kilometer
2021-08-13T17:33:01.701Z,1628875981.701 [CommandLine](IMPORTANT): got command run
2021-08-13T17:33:01.703Z,1628875981.703 [CommandLine](IMPORTANT): Running 
2021-08-13T17:33:01.782Z,1628875981.782 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-13T17:33:01.791Z,1628875981.791 [DefaultWithUndock] Stopped
2021-08-13T17:33:01.791Z,1628875981.791 [DefaultWithUndock](DEBUG): Aggregate::uninitialize DefaultWithUndock
2021-08-13T17:33:01.791Z,1628875981.791 [DefaultWithUndock:SurfaceDefault] Stopped
2021-08-13T17:33:01.792Z,1628875981.792 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault
2021-08-13T17:33:01.792Z,1628875981.792 [DefaultWithUndock:SurfaceDefault:B.GoToSurface] Stopped
2021-08-13T17:33:01.792Z,1628875981.792 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2021-08-13T17:33:01.792Z,1628875981.792 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2021-08-13T17:33:01.792Z,1628875981.792 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-08-13T17:33:01.792Z,1628875981.792 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2021-08-13T17:33:01.792Z,1628875981.792 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2021-08-13T17:33:01.793Z,1628875981.793 [MissionManager](IMPORTANT): Started mission lineCaptureDepth
2021-08-13T17:33:01.793Z,1628875981.793 [lineCaptureDepth] Running Loop=1
2021-08-13T17:33:01.793Z,1628875981.793 [lineCaptureDepth](DEBUG): Aggregate::initialize lineCaptureDepth
2021-08-13T17:33:01.793Z,1628875981.793 [lineCaptureDepth:Science] Running Loop=1
2021-08-13T17:33:01.793Z,1628875981.793 [lineCaptureDepth:Science](DEBUG): Aggregate::initialize lineCaptureDepth:Science
2021-08-13T17:33:01.793Z,1628875981.793 [lineCaptureDepth:Science:A] Running Loop=1
2021-08-13T17:33:01.793Z,1628875981.793 [lineCaptureDepth:Science:B] Running Loop=1
2021-08-13T17:33:01.794Z,1628875981.794 [lineCaptureDepth:Science:C] Running Loop=1
2021-08-13T17:33:01.794Z,1628875981.794 [lineCaptureDepth:Science:D] Running Loop=1
2021-08-13T17:33:01.794Z,1628875981.794 [lineCaptureDepth:Science:E] Running Loop=1
2021-08-13T17:33:01.794Z,1628875981.794 [lineCaptureDepth:Science:F] Running Loop=1
2021-08-13T17:33:01.794Z,1628875981.794 [lineCaptureDepth:Science:Read_Oil] Running Loop=1
2021-08-13T17:33:01.794Z,1628875981.794 [lineCaptureDepth:Science:PeakDetectChl] Running Loop=1
2021-08-13T17:33:01.794Z,1628875981.794 [lineCaptureDepth:Science:PeakDetectChl](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectChl
2021-08-13T17:33:01.794Z,1628875981.794 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth] Running Loop=1
2021-08-13T17:33:01.794Z,1628875981.794 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-08-13T17:33:01.796Z,1628875981.796 [lineCaptureDepth:Science:HighestChlPeakReport] Running Loop=1
2021-08-13T17:33:01.796Z,1628875981.796 [lineCaptureDepth:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize lineCaptureDepth:Science:HighestChlPeakReport
2021-08-13T17:33:01.796Z,1628875981.796 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2021-08-13T17:33:01.796Z,1628875981.796 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2021-08-13T17:33:01.797Z,1628875981.797 [lineCaptureDepth:Science:PeakDetectNO3] Running Loop=1
2021-08-13T17:33:01.797Z,1628875981.797 [lineCaptureDepth:Science:PeakDetectNO3](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectNO3
2021-08-13T17:33:01.797Z,1628875981.797 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth] Running Loop=1
2021-08-13T17:33:01.797Z,1628875981.797 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-08-13T17:33:01.798Z,1628875981.798 [lineCaptureDepth:Science:PeakDetectOil] Running Loop=1
2021-08-13T17:33:01.798Z,1628875981.798 [lineCaptureDepth:Science:PeakDetectOil](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectOil
2021-08-13T17:33:01.799Z,1628875981.799 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth] Running Loop=1
2021-08-13T17:33:01.799Z,1628875981.799 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-08-13T17:33:01.800Z,1628875981.800 [lineCaptureDepth:Science:HighestOilPeakReport] Running Loop=1
2021-08-13T17:33:01.800Z,1628875981.800 [lineCaptureDepth:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize lineCaptureDepth:Science:HighestOilPeakReport
2021-08-13T17:33:01.800Z,1628875981.800 [lineCaptureDepth:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2021-08-13T17:33:01.800Z,1628875981.800 [lineCaptureDepth:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2021-08-13T17:33:01.801Z,1628875981.801 [lineCaptureDepth:Science:PeakDetectFDOM] Running Loop=1
2021-08-13T17:33:01.801Z,1628875981.801 [lineCaptureDepth:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectFDOM
2021-08-13T17:33:01.801Z,1628875981.801 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Running Loop=1
2021-08-13T17:33:01.801Z,1628875981.801 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-08-13T17:33:01.802Z,1628875981.802 [lineCaptureDepth:Science:PeakDetectSalinity] Running Loop=1
2021-08-13T17:33:01.803Z,1628875981.803 [lineCaptureDepth:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectSalinity
2021-08-13T17:33:01.803Z,1628875981.803 [lineCaptureDepth:Science:PeakDetectSalinity:A.PeakDetectVsDepth] Running Loop=1
2021-08-13T17:33:01.803Z,1628875981.803 [lineCaptureDepth:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-08-13T17:33:01.804Z,1628875981.804 [lineCaptureDepth:Science:HighestSaltPeakReport] Running Loop=1
2021-08-13T17:33:01.804Z,1628875981.804 [lineCaptureDepth:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize lineCaptureDepth:Science:HighestSaltPeakReport
2021-08-13T17:33:01.805Z,1628875981.805 [lineCaptureDepth:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2021-08-13T17:33:01.805Z,1628875981.805 [lineCaptureDepth:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2021-08-13T17:33:01.805Z,1628875981.805 [lineCaptureDepth:Science:OceanCurrent] Running Loop=1
2021-08-13T17:33:01.806Z,1628875981.806 [lineCaptureDepth:Science:OceanCurrent](DEBUG): Aggregate::initialize lineCaptureDepth:Science:OceanCurrent
2021-08-13T17:33:01.806Z,1628875981.806 [lineCaptureDepth:Science:OceanCurrent:A.] Running Loop=1
2021-08-13T17:33:01.806Z,1628875981.806 [lineCaptureDepth:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2021-08-13T17:33:01.806Z,1628875981.806 [lineCaptureDepth:StandardEnvelopes] Running Loop=1
2021-08-13T17:33:01.806Z,1628875981.806 [lineCaptureDepth:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureDepth:StandardEnvelopes
2021-08-13T17:33:01.806Z,1628875981.806 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-08-13T17:33:01.806Z,1628875981.806 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2021-08-13T17:33:01.806Z,1628875981.806 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-08-13T17:33:01.806Z,1628875981.806 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2021-08-13T17:33:01.807Z,1628875981.807 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-08-13T17:33:01.807Z,1628875981.807 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2021-08-13T17:33:01.807Z,1628875981.807 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-08-13T17:33:01.807Z,1628875981.807 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-08-13T17:33:01.807Z,1628875981.807 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-08-13T17:33:01.807Z,1628875981.807 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-13T17:33:01.824Z,1628875981.824 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-08-13T17:33:01.828Z,1628875981.828 [lineCaptureDepth:TrackAC.] Running Loop=1
2021-08-13T17:33:01.828Z,1628875981.828 [lineCaptureDepth:TrackAC.](INFO): Initializing TrackAcousticContact.
2021-08-13T17:33:01.828Z,1628875981.828 [lineCaptureDepth:UpdateNumPings_NotTerminal] Running Loop=1
2021-08-13T17:33:01.828Z,1628875981.828 [lineCaptureDepth:UpdateNumPings_NotTerminal](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_NotTerminal
2021-08-13T17:33:01.828Z,1628875981.828 [lineCaptureDepth:UpdateNumPings_NotTerminal:A] Running Loop=1
2021-08-13T17:33:01.828Z,1628875981.828 [lineCaptureDepth:UpdateNumPings_Terminal] Running Loop=1
2021-08-13T17:33:01.829Z,1628875981.829 [lineCaptureDepth:UpdateNumPings_Terminal](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal
2021-08-13T17:33:01.829Z,1628875981.829 [lineCaptureDepth:C] Running Loop=1
2021-08-13T17:33:01.830Z,1628875981.830 [lineCaptureDepth:UpdateNumPings_Terminal] Stopped
2021-08-13T17:33:01.830Z,1628875981.830 [lineCaptureDepth:UpdateNumPings_Terminal](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal
2021-08-13T17:33:01.831Z,1628875981.831 [lineCaptureDepth:UpdateNumPings_NotTerminal] Stopped
2021-08-13T17:33:01.831Z,1628875981.831 [lineCaptureDepth:UpdateNumPings_NotTerminal](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_NotTerminal
2021-08-13T17:33:01.831Z,1628875981.831 [lineCaptureDepth:UpdateNumPings_NotTerminal:A] Stopped
2021-08-13T17:33:01.831Z,1628875981.831 [lineCaptureDepth:TrackAC.] Running Loop=1
2021-08-13T17:33:01.831Z,1628875981.831 [lineCaptureDepth:MicromodemComms] Stopped
2021-08-13T17:33:01.831Z,1628875981.831 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-08-13T17:33:01.831Z,1628875981.831 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-08-13T17:33:01.831Z,1628875981.831 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-13T17:33:01.832Z,1628875981.832 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-08-13T17:33:01.832Z,1628875981.832 [lineCaptureDepth:C] Stopped
2021-08-13T17:33:01.832Z,1628875981.832 [lineCaptureDepth:D] Running Loop=1
2021-08-13T17:33:01.832Z,1628875981.832 [lineCaptureDepth:StandardEnvelopes] Running Loop=1
2021-08-13T17:33:01.832Z,1628875981.832 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-08-13T17:33:01.833Z,1628875981.833 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-08-13T17:33:01.833Z,1628875981.833 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-08-13T17:33:01.833Z,1628875981.833 [lineCaptureDepth:Science] Running Loop=1
2021-08-13T17:33:01.834Z,1628875981.834 [lineCaptureDepth:Science:HighestSaltPeakReport] Stopped
2021-08-13T17:33:01.835Z,1628875981.835 [lineCaptureDepth:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:HighestSaltPeakReport
2021-08-13T17:33:01.835Z,1628875981.835 [lineCaptureDepth:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2021-08-13T17:33:01.835Z,1628875981.835 [lineCaptureDepth:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2021-08-13T17:33:01.835Z,1628875981.835 [lineCaptureDepth:Science:PeakDetectSalinity] Stopped
2021-08-13T17:33:01.835Z,1628875981.835 [lineCaptureDepth:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectSalinity
2021-08-13T17:33:01.835Z,1628875981.835 [lineCaptureDepth:Science:PeakDetectSalinity:A.PeakDetectVsDepth] Stopped
2021-08-13T17:33:01.835Z,1628875981.835 [lineCaptureDepth:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-08-13T17:33:01.835Z,1628875981.835 [lineCaptureDepth:Science:PeakDetectFDOM] Stopped
2021-08-13T17:33:01.835Z,1628875981.835 [lineCaptureDepth:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectFDOM
2021-08-13T17:33:01.835Z,1628875981.835 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Stopped
2021-08-13T17:33:01.835Z,1628875981.835 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-08-13T17:33:01.844Z,1628875981.844 [lineCaptureDepth:Science:HighestOilPeakReport] Stopped
2021-08-13T17:33:01.844Z,1628875981.844 [lineCaptureDepth:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:HighestOilPeakReport
2021-08-13T17:33:01.844Z,1628875981.844 [lineCaptureDepth:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2021-08-13T17:33:01.844Z,1628875981.844 [lineCaptureDepth:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2021-08-13T17:33:01.844Z,1628875981.844 [lineCaptureDepth:Science:PeakDetectOil] Stopped
2021-08-13T17:33:01.844Z,1628875981.844 [lineCaptureDepth:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectOil
2021-08-13T17:33:01.845Z,1628875981.845 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth] Stopped
2021-08-13T17:33:01.845Z,1628875981.845 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-08-13T17:33:01.845Z,1628875981.845 [lineCaptureDepth:Science:PeakDetectNO3] Stopped
2021-08-13T17:33:01.845Z,1628875981.845 [lineCaptureDepth:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectNO3
2021-08-13T17:33:01.845Z,1628875981.845 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth] Stopped
2021-08-13T17:33:01.845Z,1628875981.845 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-08-13T17:33:01.845Z,1628875981.845 [lineCaptureDepth:Science:HighestChlPeakReport] Stopped
2021-08-13T17:33:01.845Z,1628875981.845 [lineCaptureDepth:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:HighestChlPeakReport
2021-08-13T17:33:01.845Z,1628875981.845 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2021-08-13T17:33:01.845Z,1628875981.845 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2021-08-13T17:33:01.845Z,1628875981.845 [lineCaptureDepth:Science:PeakDetectChl] Stopped
2021-08-13T17:33:01.846Z,1628875981.846 [lineCaptureDepth:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectChl
2021-08-13T17:33:01.846Z,1628875981.846 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth] Stopped
2021-08-13T17:33:01.846Z,1628875981.846 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-08-13T17:33:01.846Z,1628875981.846 [lineCaptureDepth:Science:OceanCurrent:A.] Running Loop=1
2021-08-13T17:33:01.846Z,1628875981.846 [lineCaptureDepth:Science:Read_Oil] Running Loop=1
2021-08-13T17:33:01.847Z,1628875981.847 [lineCaptureDepth:Science:Read_Oil](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_petroleum_hydrocarbons_in_sea_water
2021-08-13T17:33:01.847Z,1628875981.847 [lineCaptureDepth:Science:F] Stopped
2021-08-13T17:33:01.847Z,1628875981.847 [lineCaptureDepth:Science:E] Stopped
2021-08-13T17:33:01.847Z,1628875981.847 [lineCaptureDepth:Science:D] Stopped
2021-08-13T17:33:01.847Z,1628875981.847 [lineCaptureDepth:Science:C] Running Loop=1
2021-08-13T17:33:01.847Z,1628875981.847 [lineCaptureDepth:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature
2021-08-13T17:33:01.856Z,1628875981.856 [lineCaptureDepth:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity
2021-08-13T17:33:01.856Z,1628875981.856 [lineCaptureDepth:Science:B] Running Loop=1
2021-08-13T17:33:01.857Z,1628875981.857 [lineCaptureDepth:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature
2021-08-13T17:33:01.857Z,1628875981.857 [lineCaptureDepth:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity
2021-08-13T17:33:01.857Z,1628875981.857 [lineCaptureDepth:Science:A] Stopped
2021-08-13T17:33:02.172Z,1628875982.172 [WetLabsSeaOWL_UV_A](INFO): Powering up
2021-08-13T17:33:02.213Z,1628875982.213 [lineCaptureDepth:D] Stopped
2021-08-13T17:33:02.213Z,1628875982.213 [lineCaptureDepth:E] Running Loop=1
2021-08-13T17:33:02.579Z,1628875982.579 [lineCaptureDepth:E] Stopped
2021-08-13T17:33:02.580Z,1628875982.580 [lineCaptureDepth:G] Running Loop=1
2021-08-13T17:33:02.986Z,1628875982.986 [lineCaptureDepth:G] Stopped
2021-08-13T17:33:02.986Z,1628875982.986 [lineCaptureDepth:H] Running Loop=1
2021-08-13T17:33:03.392Z,1628875983.392 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:1187.641846
2021-08-13T17:33:03.420Z,1628875983.420 [lineCaptureDepth:H] Stopped
2021-08-13T17:33:03.421Z,1628875983.421 [lineCaptureDepth:J] Running Loop=1
2021-08-13T17:33:03.821Z,1628875983.821 [lineCaptureDepth:J] Stopped
2021-08-13T17:33:03.822Z,1628875983.822 [lineCaptureDepth:M] Running Loop=1
2021-08-13T17:33:04.206Z,1628875984.206 [lineCaptureDepth:M] Stopped
2021-08-13T17:33:04.206Z,1628875984.206 [lineCaptureDepth:N] Running Loop=1
2021-08-13T17:33:04.610Z,1628875984.610 [lineCaptureDepth:N] Stopped
2021-08-13T17:33:04.610Z,1628875984.610 [lineCaptureDepth:O] Running Loop=1
2021-08-13T17:33:04.610Z,1628875984.610 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:33:04.961Z,1628875984.961 [CTD_Seabird](ERROR): Failed to parse device response: <!--startlogging-->
2021-08-13T17:33:04.991Z,1628875984.991 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:33:04.991Z,1628875984.991 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:33:04.991Z,1628875984.991 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:33:04.992Z,1628875984.992 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:33:05.041Z,1628875985.041 [lineCaptureDepth:O] Stopped
2021-08-13T17:33:05.041Z,1628875985.041 [lineCaptureDepth:Lap] Running Loop=1
2021-08-13T17:33:05.042Z,1628875985.042 [lineCaptureDepth:Lap](DEBUG): Aggregate::initialize lineCaptureDepth:Lap
2021-08-13T17:33:05.042Z,1628875985.042 [lineCaptureDepth:Lap:A] Running Loop=1
2021-08-13T17:33:05.395Z,1628875985.395 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E9B,000,0067D,187,80,80,A4,FF
2021-08-13T17:33:05.395Z,1628875985.395 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:33:05.395Z,1628875985.395 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:33:05.397Z,1628875985.397 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:33:05.517Z,1628875985.517 [lineCaptureDepth:Lap:A] Stopped
2021-08-13T17:33:05.517Z,1628875985.517 [lineCaptureDepth:Lap:B] Running Loop=1
2021-08-13T17:33:05.517Z,1628875985.517 [lineCaptureDepth:Lap:B](DEBUG): Aggregate::initialize lineCaptureDepth:Lap:B
2021-08-13T17:33:05.802Z,1628875985.802 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:33:05.856Z,1628875985.856 [lineCaptureDepth:LineCapture] Running Loop=1
2021-08-13T17:33:05.856Z,1628875985.856 [lineCaptureDepth:LineCapture](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture
2021-08-13T17:33:05.856Z,1628875985.856 [lineCaptureDepth:LineCapture:StandardEnvelopes] Running Loop=1
2021-08-13T17:33:05.856Z,1628875985.856 [lineCaptureDepth:LineCapture:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:StandardEnvelopes
2021-08-13T17:33:05.856Z,1628875985.856 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-08-13T17:33:05.857Z,1628875985.857 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2021-08-13T17:33:05.857Z,1628875985.857 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-08-13T17:33:05.857Z,1628875985.857 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2021-08-13T17:33:05.857Z,1628875985.857 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-08-13T17:33:05.857Z,1628875985.857 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2021-08-13T17:33:05.857Z,1628875985.857 [lineCaptureDepth:LineCapture:G] Running Loop=1
2021-08-13T17:33:05.857Z,1628875985.857 [lineCaptureDepth:LineCapture:H] Running Loop=1
2021-08-13T17:33:05.857Z,1628875985.857 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-08-13T17:33:05.857Z,1628875985.857 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-13T17:33:05.858Z,1628875985.858 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-08-13T17:33:05.858Z,1628875985.858 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-08-13T17:33:05.858Z,1628875985.858 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2021-08-13T17:33:05.858Z,1628875985.858 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-08-13T17:33:05.858Z,1628875985.858 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-08-13T17:33:05.858Z,1628875985.858 [lineCaptureDepth:LineCapture:A] Running Loop=1
2021-08-13T17:33:05.858Z,1628875985.858 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2021-08-13T17:33:05.859Z,1628875985.859 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-13T17:33:05.859Z,1628875985.859 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2021-08-13T17:33:05.859Z,1628875985.859 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2021-08-13T17:33:05.859Z,1628875985.859 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2021-08-13T17:33:05.859Z,1628875985.859 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2021-08-13T17:33:05.859Z,1628875985.859 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-08-13T17:33:05.859Z,1628875985.859 [lineCaptureDepth:LineCapture:H] Running Loop=1
2021-08-13T17:33:05.859Z,1628875985.859 [lineCaptureDepth:LineCapture:G] Running Loop=1
2021-08-13T17:33:05.868Z,1628875985.868 [lineCaptureDepth:LineCapture:StandardEnvelopes] Running Loop=1
2021-08-13T17:33:05.868Z,1628875985.868 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-08-13T17:33:05.869Z,1628875985.869 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-08-13T17:33:05.869Z,1628875985.869 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-08-13T17:33:05.870Z,1628875985.870 [lineCaptureDepth:LineCapture:A] Stopped
2021-08-13T17:33:05.870Z,1628875985.870 [lineCaptureDepth:LineCapture:B] Running Loop=1
2021-08-13T17:33:06.203Z,1628875986.203 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D32,000,00712,188,80,80,9F,FF
2021-08-13T17:33:06.203Z,1628875986.203 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:33:06.247Z,1628875986.247 [lineCaptureDepth:LineCapture:B] Stopped
2021-08-13T17:33:06.247Z,1628875986.247 [lineCaptureDepth:LineCapture:D] Running Loop=1
2021-08-13T17:33:06.633Z,1628875986.633 [Micromodem](INFO): Nmea in: $SNTTA,0.060665,,,,173305.92*4B

2021-08-13T17:33:06.674Z,1628875986.674 [lineCaptureDepth:LineCapture:D] Stopped
2021-08-13T17:33:06.675Z,1628875986.675 [lineCaptureDepth:LineCapture:E] Running Loop=1
2021-08-13T17:33:07.046Z,1628875987.046 [lineCaptureDepth:LineCapture:E] Stopped
2021-08-13T17:33:07.046Z,1628875987.046 [lineCaptureDepth:LineCapture:F] Running Loop=1
2021-08-13T17:33:07.492Z,1628875987.492 [lineCaptureDepth:LineCapture:F] Stopped
2021-08-13T17:33:07.492Z,1628875987.492 [lineCaptureDepth:LineCapture:HomingSequence] Running Loop=1
2021-08-13T17:33:07.493Z,1628875987.493 [lineCaptureDepth:LineCapture:HomingSequence](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence
2021-08-13T17:33:07.493Z,1628875987.493 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2021-08-13T17:33:07.493Z,1628875987.493 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-08-13T17:33:07.493Z,1628875987.493 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide] Running Loop=1
2021-08-13T17:33:07.493Z,1628875987.493 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-08-13T17:33:07.493Z,1628875987.493 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Running Loop=1
2021-08-13T17:33:07.493Z,1628875987.493 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize.
2021-08-13T17:33:07.493Z,1628875987.493 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2021-08-13T17:33:07.494Z,1628875987.494 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2021-08-13T17:33:07.494Z,1628875987.494 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-08-13T17:33:07.494Z,1628875987.494 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2021-08-13T17:33:07.494Z,1628875987.494 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-08-13T17:33:07.494Z,1628875987.494 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2021-08-13T17:33:07.494Z,1628875987.494 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2021-08-13T17:33:07.495Z,1628875987.495 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2021-08-13T17:33:07.495Z,1628875987.495 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2021-08-13T17:33:07.495Z,1628875987.495 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2021-08-13T17:33:07.495Z,1628875987.495 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2021-08-13T17:33:07.495Z,1628875987.495 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-13T17:33:07.495Z,1628875987.495 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2021-08-13T17:33:07.495Z,1628875987.495 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-13T17:33:07.495Z,1628875987.495 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1
2021-08-13T17:33:07.500Z,1628875987.500 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Initialize.
2021-08-13T17:33:07.500Z,1628875987.500 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2021-08-13T17:33:07.500Z,1628875987.500 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2021-08-13T17:33:07.500Z,1628875987.500 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2021-08-13T17:33:07.890Z,1628875987.890 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Stopped
2021-08-13T17:33:07.890Z,1628875987.890 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-13T17:33:07.890Z,1628875987.890 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2021-08-13T17:33:07.890Z,1628875987.890 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-13T17:33:07.890Z,1628875987.890 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2021-08-13T17:33:07.890Z,1628875987.890 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Stopped
2021-08-13T17:33:07.890Z,1628875987.890 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Stopped
2021-08-13T17:33:07.890Z,1628875987.890 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2021-08-13T17:33:07.891Z,1628875987.891 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2021-08-13T17:33:07.891Z,1628875987.891 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-08-13T17:33:07.891Z,1628875987.891 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2021-08-13T17:33:07.891Z,1628875987.891 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-08-13T17:33:07.891Z,1628875987.891 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2021-08-13T17:33:07.891Z,1628875987.891 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2021-08-13T17:33:07.891Z,1628875987.891 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2021-08-13T17:33:07.891Z,1628875987.891 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2021-08-13T17:33:07.891Z,1628875987.891 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2021-08-13T17:33:08.238Z,1628875988.238 [PowerOnly](INFO): Powering up loadControl
2021-08-13T17:33:08.765Z,1628875988.765 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:33:09.105Z,1628875989.105 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:33:09.105Z,1628875989.105 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:33:09.105Z,1628875989.105 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:33:09.106Z,1628875989.106 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:33:09.525Z,1628875989.525 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D32,000,00712,188,80,80,9F,FF
2021-08-13T17:33:09.526Z,1628875989.526 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:33:09.526Z,1628875989.526 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:33:09.527Z,1628875989.527 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:33:09.898Z,1628875989.898 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:33:10.285Z,1628875990.285 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,232,000,00719,188,80,80,51,FF
2021-08-13T17:33:10.285Z,1628875990.285 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:33:10.726Z,1628875990.726 [Micromodem](INFO): Nmea in: $SNTTA,,,,,173310.05*5C

2021-08-13T17:33:10.760Z,1628875990.760 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detaching from dock.
2021-08-13T17:33:11.181Z,1628875991.181 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detected possible detachment. Starting timer.
2021-08-13T17:33:13.188Z,1628875993.188 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:33:13.537Z,1628875993.537 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:33:13.537Z,1628875993.537 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:33:13.537Z,1628875993.537 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:33:13.538Z,1628875993.538 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:33:13.937Z,1628875993.937 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
232,000,00719,188,80,80,51,FF
2021-08-13T17:33:13.937Z,1628875993.937 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:33:13.937Z,1628875993.937 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:33:13.939Z,1628875993.939 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:33:14.342Z,1628875994.342 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:33:15.170Z,1628875995.170 [Micromodem](INFO): Nmea in: $SNTTA,0.063546,,,,173314.47*42

2021-08-13T17:33:15.953Z,1628875995.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,251,000,03A24,189,80,80,54,FF
2021-08-13T17:33:15.953Z,1628875995.953 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:33:18.793Z,1628875998.793 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:33:19.181Z,1628875999.181 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:33:19.181Z,1628875999.181 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:33:19.181Z,1628875999.181 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:33:19.182Z,1628875999.182 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:33:19.593Z,1628875999.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
251,000,03A24,189,80,80,54,FF
2021-08-13T17:33:19.593Z,1628875999.593 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:33:19.594Z,1628875999.594 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:33:19.595Z,1628875999.595 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:33:19.996Z,1628875999.996 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:33:20.401Z,1628876000.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C37,000,00727,189,80,80,A4,FF
2021-08-13T17:33:20.401Z,1628876000.401 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:33:20.833Z,1628876000.833 [Micromodem](INFO): Nmea in: $SNTTA,,,,,173320.12*59

2021-08-13T17:33:23.236Z,1628876003.236 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:33:23.625Z,1628876003.625 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:33:23.625Z,1628876003.625 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:33:23.625Z,1628876003.625 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:33:23.626Z,1628876003.626 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:33:24.033Z,1628876004.033 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C37,000,00727,189,80,80,A4,FF
2021-08-13T17:33:24.033Z,1628876004.033 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:33:24.033Z,1628876004.033 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:33:24.035Z,1628876004.035 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:33:24.440Z,1628876004.440 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:33:24.837Z,1628876004.837 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,BB6,000,0072E,189,80,80,8F,FF
2021-08-13T17:33:24.838Z,1628876004.838 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:33:25.042Z,1628876005.042 [CTD_Seabird](ERROR): Failed to parse device response: ,24.8436,4.83891,4811.36
2021-08-13T17:33:25.285Z,1628876005.285 [Micromodem](INFO): Nmea in: $SNTTA,,,,,173324.56*5D

2021-08-13T17:33:27.715Z,1628876007.715 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:33:28.065Z,1628876008.065 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:33:28.065Z,1628876008.065 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:33:28.066Z,1628876008.066 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:33:28.066Z,1628876008.066 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:33:28.478Z,1628876008.478 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
BB6,000,0072E,189,80,80,8F,FF
2021-08-13T17:33:28.478Z,1628876008.478 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:33:28.478Z,1628876008.478 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:33:28.480Z,1628876008.480 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:33:28.883Z,1628876008.883 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:33:29.286Z,1628876009.286 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CAE,000,00738,188,80,80,95,FF
2021-08-13T17:33:29.286Z,1628876009.286 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:33:29.729Z,1628876009.729 [Micromodem](INFO): Nmea in: $SNTTA,,,,,173329.00*53

2021-08-13T17:33:31.334Z,1628876011.334 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached at range: 73.38 m. Transitioning DDM to standby.
2021-08-13T17:33:32.158Z,1628876012.158 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:33:32.525Z,1628876012.525 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:33:32.525Z,1628876012.525 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:33:32.525Z,1628876012.525 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:33:32.526Z,1628876012.526 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:33:32.925Z,1628876012.925 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CAE,000,00738,188,80,80,95,FF
2021-08-13T17:33:32.925Z,1628876012.925 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:33:32.925Z,1628876012.925 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:33:32.927Z,1628876012.927 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:33:33.329Z,1628876013.329 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:33:33.765Z,1628876013.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CF6,000,0073F,188,80,80,99,FF
2021-08-13T17:33:33.765Z,1628876013.765 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:33:33.826Z,1628876013.826 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): DDM at standby.
2021-08-13T17:33:34.181Z,1628876014.181 [Micromodem](INFO): Nmea in: $SNTTA,,,,,173333.45*59

2021-08-13T17:33:34.206Z,1628876014.206 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](IMPORTANT): Undocking sequence complete.
2021-08-13T17:33:34.206Z,1628876014.206 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Stopped
2021-08-13T17:33:34.206Z,1628876014.206 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B] Running Loop=1
2021-08-13T17:33:34.550Z,1628876014.550 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B](INFO): Transitioning to midcourse guidance.
2021-08-13T17:33:34.550Z,1628876014.550 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B] Stopped
2021-08-13T17:33:34.550Z,1628876014.550 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:C] Running Loop=1
2021-08-13T17:33:35.022Z,1628876015.022 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:C] Stopped
2021-08-13T17:33:35.023Z,1628876015.023 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-08-13T17:33:35.023Z,1628876015.023 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide] Stopped
2021-08-13T17:33:35.023Z,1628876015.023 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-08-13T17:33:35.023Z,1628876015.023 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-08-13T17:33:35.358Z,1628876015.358 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2021-08-13T17:33:35.358Z,1628876015.358 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-08-13T17:33:35.358Z,1628876015.358 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2021-08-13T17:33:35.359Z,1628876015.359 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-08-13T17:33:35.359Z,1628876015.359 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2021-08-13T17:33:35.359Z,1628876015.359 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2021-08-13T17:33:35.359Z,1628876015.359 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2021-08-13T17:33:35.359Z,1628876015.359 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2021-08-13T17:33:35.359Z,1628876015.359 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2021-08-13T17:33:35.359Z,1628876015.359 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2021-08-13T17:33:35.360Z,1628876015.360 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2021-08-13T17:33:35.360Z,1628876015.360 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2021-08-13T17:33:35.361Z,1628876015.361 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Running Loop=1
2021-08-13T17:33:35.361Z,1628876015.361 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-08-13T17:33:35.362Z,1628876015.362 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Running Loop=1
2021-08-13T17:33:35.362Z,1628876015.362 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A](INFO): Transitioning to terminal guidance at range 73.799995 m 
2021-08-13T17:33:35.362Z,1628876015.362 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Stopped
2021-08-13T17:33:35.362Z,1628876015.362 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Running Loop=1
2021-08-13T17:33:35.363Z,1628876015.363 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A](INFO): Navigating to dock waypoint ( 41.552317 arcdeg , -70.708600 arcdeg )
2021-08-13T17:33:35.363Z,1628876015.363 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2021-08-13T17:33:35.364Z,1628876015.364 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Running Loop=1
2021-08-13T17:33:35.364Z,1628876015.364 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Initialize WaypointComponent.
2021-08-13T17:33:35.790Z,1628876015.790 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Stopped
2021-08-13T17:33:35.790Z,1628876015.790 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-08-13T17:33:35.790Z,1628876015.790 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Stopped
2021-08-13T17:33:35.790Z,1628876015.790 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-08-13T17:33:35.790Z,1628876015.790 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-08-13T17:33:35.790Z,1628876015.790 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-13T17:33:35.790Z,1628876015.790 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-08-13T17:33:35.790Z,1628876015.790 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-08-13T17:33:35.790Z,1628876015.790 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2021-08-13T17:33:35.791Z,1628876015.791 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-08-13T17:33:35.791Z,1628876015.791 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-08-13T17:33:35.791Z,1628876015.791 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-08-13T17:33:35.791Z,1628876015.791 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-08-13T17:33:35.791Z,1628876015.791 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-08-13T17:33:35.792Z,1628876015.792 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-08-13T17:33:36.170Z,1628876016.170 [lineCaptureDepth:UpdateNumPings_Terminal] Running Loop=1
2021-08-13T17:33:36.171Z,1628876016.171 [lineCaptureDepth:UpdateNumPings_Terminal](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal
2021-08-13T17:33:36.171Z,1628876016.171 [lineCaptureDepth:UpdateNumPings_Terminal] Running Loop=1
2021-08-13T17:33:36.172Z,1628876016.172 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2021-08-13T17:33:36.172Z,1628876016.172 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-13T17:33:36.172Z,1628876016.172 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2021-08-13T17:33:36.173Z,1628876016.173 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-13T17:33:36.173Z,1628876016.173 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1
2021-08-13T17:33:36.173Z,1628876016.173 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Initialize.
2021-08-13T17:33:36.173Z,1628876016.173 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2021-08-13T17:33:36.173Z,1628876016.173 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2021-08-13T17:33:36.173Z,1628876016.173 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2021-08-13T17:33:36.173Z,1628876016.173 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2021-08-13T17:33:36.173Z,1628876016.173 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2021-08-13T17:33:36.174Z,1628876016.174 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2021-08-13T17:33:36.174Z,1628876016.174 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1
2021-08-13T17:33:36.175Z,1628876016.175 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A](INFO): Terminal guidance.
2021-08-13T17:33:36.175Z,1628876016.175 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2021-08-13T17:33:36.175Z,1628876016.175 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture] Running Loop=1
2021-08-13T17:33:36.175Z,1628876016.175 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initialize.
2021-08-13T17:33:36.175Z,1628876016.175 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initializing internal variables to default values.
2021-08-13T17:33:36.175Z,1628876016.175 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2021-08-13T17:33:36.176Z,1628876016.176 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Rollout timeout set to 900.00 sec.
2021-08-13T17:33:36.177Z,1628876016.177 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-13T17:33:36.177Z,1628876016.177 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2021-08-13T17:33:36.177Z,1628876016.177 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-08-13T17:33:36.177Z,1628876016.177 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2021-08-13T17:33:36.177Z,1628876016.177 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-08-13T17:33:36.177Z,1628876016.177 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2021-08-13T17:33:36.177Z,1628876016.177 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2021-08-13T17:33:36.177Z,1628876016.177 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2021-08-13T17:33:36.177Z,1628876016.177 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Stopped
2021-08-13T17:33:36.178Z,1628876016.178 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Uninitialize WaypointComponent.
2021-08-13T17:33:36.564Z,1628876016.564 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 73.799995 m, bearing: 267.558372 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-13T17:33:36.565Z,1628876016.565 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 267.558372deg and heading rate command to 0 deg/s.
2021-08-13T17:33:36.569Z,1628876016.569 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:33:36.934Z,1628876016.934 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:33:36.934Z,1628876016.934 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:33:36.934Z,1628876016.934 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:33:36.935Z,1628876016.935 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:33:37.458Z,1628876017.458 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CF6,000,0073F,188,80,80,99,FF
2021-08-13T17:33:37.458Z,1628876017.458 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:33:37.459Z,1628876017.459 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:33:37.465Z,1628876017.465 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:33:37.948Z,1628876017.948 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:33:38.348Z,1628876018.348 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D52,000,00747,189,80,80,A5,FF
2021-08-13T17:33:38.348Z,1628876018.348 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:33:38.755Z,1628876018.755 [Micromodem](INFO): Nmea in: $SNTTA,,,,,173337.99*5C

2021-08-13T17:33:38.771Z,1628876018.771 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 74.279999 m, bearing: 260.744466 deg, deltaT: 4.562669 s, approachRate: 0.105202 m/s, LOS rate: -1.493404 deg/s, posRepo size: 2
2021-08-13T17:33:38.771Z,1628876018.771 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -1.493404 deg/s. Setting heading cmd to target bearing of 260.744466deg and heading rate command to 0 deg/s.
2021-08-13T17:33:41.190Z,1628876021.190 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:33:41.581Z,1628876021.581 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:33:41.581Z,1628876021.581 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:33:41.581Z,1628876021.581 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:33:41.582Z,1628876021.582 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:33:41.982Z,1628876021.982 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D52,000,00747,189,80,80,A5,FF
2021-08-13T17:33:41.982Z,1628876021.982 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:33:41.982Z,1628876021.982 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:33:41.984Z,1628876021.984 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:33:42.393Z,1628876022.393 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:33:42.797Z,1628876022.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D6D,000,00750,189,80,80,A6,FF
2021-08-13T17:33:42.797Z,1628876022.797 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:33:43.242Z,1628876023.242 [Micromodem](INFO): Nmea in: $SNTTA,,,,,173342.51*5A

2021-08-13T17:33:43.263Z,1628876023.263 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 74.820000 m, bearing: 255.512213 deg, deltaT: 4.511905 s, approachRate: 0.119684 m/s, LOS rate: -1.159655 deg/s, posRepo size: 3
2021-08-13T17:33:43.266Z,1628876023.266 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 74.820000 m,
      bearing: 255.512213 deg,
      approachRate: 0.119684 m/s,
      LOS rate: -1.159655 deg/s,
      cmd update: -3.478965 deg/s,
      cmd heading: 260.744466 deg,
      new cmd heading: 260.744466 deg.

2021-08-13T17:33:45.670Z,1628876025.670 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:33:46.013Z,1628876026.013 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:33:46.014Z,1628876026.014 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:33:46.014Z,1628876026.014 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:33:46.015Z,1628876026.015 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:33:46.437Z,1628876026.437 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D6D,000,00750,189,80,80,A6,FF
2021-08-13T17:33:46.437Z,1628876026.437 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:33:46.437Z,1628876026.437 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:33:46.439Z,1628876026.439 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:33:46.833Z,1628876026.833 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:33:47.658Z,1628876027.658 [Micromodem](INFO): Nmea in: $SNTTA,,,,,173346.97*54

2021-08-13T17:33:47.676Z,1628876027.676 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-13T17:33:48.486Z,1628876028.486 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:33:50.065Z,1628876030.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
0,189,80,80,A6,FF
2021-08-13T17:33:50.065Z,1628876030.065 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
0,189,80,80,A6,FF
2021-08-13T17:33:50.065Z,1628876030.065 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T17:33:51.314Z,1628876031.314 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:33:51.689Z,1628876031.689 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:33:51.689Z,1628876031.689 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:33:51.689Z,1628876031.689 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:33:51.690Z,1628876031.690 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:33:52.093Z,1628876032.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
0,189,80,80,A6,FF
2021-08-13T17:33:52.093Z,1628876032.093 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:33:52.093Z,1628876032.093 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:33:52.095Z,1628876032.095 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:33:52.507Z,1628876032.507 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:33:52.901Z,1628876032.901 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B18,000,00752,189,80,80,A1,FF
2021-08-13T17:33:52.902Z,1628876032.902 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:33:52.915Z,1628876032.915 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T17:33:53.345Z,1628876033.345 [Micromodem](INFO): Nmea in: $SNTTA,,,,,173352.62*5B

2021-08-13T17:33:53.365Z,1628876033.365 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 74.940002 m, bearing: 305.710880 deg, deltaT: 10.047382 s, approachRate: 0.011944 m/s, LOS rate: 4.996194 deg/s, posRepo size: 4
2021-08-13T17:33:53.367Z,1628876033.367 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 74.940002 m,
      bearing: 305.710880 deg,
      approachRate: 0.011944 m/s,
      LOS rate: 4.996194 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 225.790775 deg,
      new cmd heading: 224.328399 deg.

2021-08-13T17:33:55.767Z,1628876035.767 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:33:56.125Z,1628876036.125 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:33:56.125Z,1628876036.125 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:33:56.125Z,1628876036.125 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:33:56.126Z,1628876036.126 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:33:56.562Z,1628876036.562 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B18,000,00752,189,80,80,A1,FF
2021-08-13T17:33:56.562Z,1628876036.562 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:33:56.562Z,1628876036.562 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:33:56.564Z,1628876036.564 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:33:56.993Z,1628876036.993 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:33:57.814Z,1628876037.814 [Micromodem](INFO): Nmea in: $SNTTA,,,,,173357.09*53

2021-08-13T17:33:58.282Z,1628876038.282 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:33:58.593Z,1628876038.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E28,000,03A68,186,80,80,4C,FF
2021-08-13T17:33:58.593Z,1628876038.593 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:33:59.050Z,1628876039.050 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 859.619995 m, bearing: 264.588633 deg, deltaT: 5.686510 s, approachRate: 137.989731 m/s, LOS rate: -7.231544 deg/s, posRepo size: 4
2021-08-13T17:33:59.052Z,1628876039.052 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 859.619995 m,
      bearing: 264.588633 deg,
      approachRate: 137.989731 m/s,
      LOS rate: -7.231544 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 293.789244 deg,
      new cmd heading: 299.061228 deg.

2021-08-13T17:34:01.543Z,1628876041.543 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:34:01.837Z,1628876041.837 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:34:01.837Z,1628876041.837 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:34:01.837Z,1628876041.837 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:34:01.838Z,1628876041.838 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:34:02.237Z,1628876042.237 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E28,000,03A68,186,80,80,4C,FF
2021-08-13T17:34:02.237Z,1628876042.237 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:34:02.237Z,1628876042.237 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:34:02.239Z,1628876042.239 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:34:02.664Z,1628876042.664 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:34:03.041Z,1628876043.041 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,26A,000,00748,188,80,80,33,FF
2021-08-13T17:34:03.041Z,1628876043.041 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:34:03.527Z,1628876043.527 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 74.340004 m, bearing: 212.621234 deg, deltaT: 4.462969 s, approachRate: -175.954605 m/s, LOS rate: -11.644131 deg/s, posRepo size: 4
2021-08-13T17:34:03.527Z,1628876043.527 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -11.644131 deg/s. Setting heading cmd to target bearing of 212.621234deg and heading rate command to 0 deg/s.
2021-08-13T17:34:05.922Z,1628876045.922 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:34:06.277Z,1628876046.277 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:34:06.277Z,1628876046.277 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:34:06.277Z,1628876046.277 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:34:06.278Z,1628876046.278 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:34:06.693Z,1628876046.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
26A,000,00748,188,80,80,33,FF
2021-08-13T17:34:06.693Z,1628876046.693 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:34:06.693Z,1628876046.693 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:34:06.695Z,1628876046.695 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:34:07.092Z,1628876047.092 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:34:07.537Z,1628876047.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,0073D,18A,80,80,B2,FF
2021-08-13T17:34:07.537Z,1628876047.537 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:34:07.933Z,1628876047.933 [Micromodem](INFO): Nmea in: $SNTTA,0.051176,,,,173407.22*42

2021-08-13T17:34:07.964Z,1628876047.964 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 73.680000 m, bearing: 323.512484 deg, deltaT: 4.515293 s, approachRate: -0.146171 m/s, LOS rate: 24.559038 deg/s, posRepo size: 4
2021-08-13T17:34:07.965Z,1628876047.965 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 24.559038 deg/s. Setting heading cmd to target bearing of 323.512484deg and heading rate command to 0 deg/s.
2021-08-13T17:34:10.335Z,1628876050.335 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:34:10.734Z,1628876050.734 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:34:10.734Z,1628876050.734 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:34:10.734Z,1628876050.734 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:34:10.735Z,1628876050.735 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:34:11.129Z,1628876051.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,0073D,18A,80,80,B2,FF
2021-08-13T17:34:11.129Z,1628876051.129 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:34:11.130Z,1628876051.130 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:34:11.131Z,1628876051.131 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:34:11.577Z,1628876051.577 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:34:11.937Z,1628876051.937 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,0072F,189,80,80,A9,FF
2021-08-13T17:34:11.938Z,1628876051.938 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:34:12.389Z,1628876052.389 [Micromodem](INFO): Nmea in: $SNTTA,0.058554,,,,173411.66*48

2021-08-13T17:34:12.416Z,1628876052.416 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 72.840004 m, bearing: 320.596020 deg, deltaT: 4.376659 s, approachRate: -0.191926 m/s, LOS rate: -0.666368 deg/s, posRepo size: 4
2021-08-13T17:34:12.418Z,1628876052.418 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 72.840004 m,
      bearing: 320.596020 deg,
      approachRate: -0.191926 m/s,
      LOS rate: -0.666368 deg/s,
      cmd update: -1.999103 deg/s,
      cmd heading: 323.512484 deg,
      new cmd heading: 323.512484 deg.

2021-08-13T17:34:14.814Z,1628876054.814 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:34:15.165Z,1628876055.165 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:34:15.165Z,1628876055.165 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:34:15.165Z,1628876055.165 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:34:15.166Z,1628876055.166 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:34:15.577Z,1628876055.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,0072F,189,80,80,A9,FF
2021-08-13T17:34:15.577Z,1628876055.577 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:34:15.577Z,1628876055.577 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:34:15.579Z,1628876055.579 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:34:15.989Z,1628876055.989 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:34:16.377Z,1628876056.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CF0,000,0072B,188,80,80,A7,FF
2021-08-13T17:34:16.377Z,1628876056.377 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:34:16.817Z,1628876056.817 [Micromodem](INFO): Nmea in: $SNTTA,,,,,173416.10*59

2021-08-13T17:34:16.849Z,1628876056.849 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 72.599998 m, bearing: 281.518541 deg, deltaT: 4.408053 s, approachRate: -0.054447 m/s, LOS rate: -8.865020 deg/s, posRepo size: 4
2021-08-13T17:34:16.851Z,1628876056.851 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 72.599998 m,
      bearing: 281.518541 deg,
      approachRate: -0.054447 m/s,
      LOS rate: -8.865020 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 314.692359 deg,
      new cmd heading: 313.790842 deg.

2021-08-13T17:34:19.227Z,1628876059.227 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:34:19.612Z,1628876059.612 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:34:19.612Z,1628876059.612 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:34:19.613Z,1628876059.613 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:34:19.613Z,1628876059.613 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:34:20.032Z,1628876060.032 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CF0,000,0072B,188,80,80,A7,FF
2021-08-13T17:34:20.032Z,1628876060.032 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:34:20.032Z,1628876060.032 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:34:20.034Z,1628876060.034 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:34:20.428Z,1628876060.428 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:34:20.829Z,1628876060.829 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D36,000,00727,189,80,80,AC,FF
2021-08-13T17:34:20.830Z,1628876060.830 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:34:21.273Z,1628876061.273 [Micromodem](INFO): Nmea in: $SNTTA,0.050306,,,,173420.56*40

2021-08-13T17:34:21.319Z,1628876061.319 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 72.360001 m, bearing: 284.457025 deg, deltaT: 4.449338 s, approachRate: -0.053940 m/s, LOS rate: 0.660432 deg/s, posRepo size: 4
2021-08-13T17:34:21.321Z,1628876061.321 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 72.360001 m,
      bearing: 284.457025 deg,
      approachRate: -0.053940 m/s,
      LOS rate: 0.660432 deg/s,
      cmd update: 1.981295 deg/s,
      cmd heading: 261.302713 deg,
      new cmd heading: 255.634333 deg.

2021-08-13T17:34:23.745Z,1628876063.745 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:34:24.061Z,1628876064.061 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:34:24.061Z,1628876064.061 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:34:24.061Z,1628876064.061 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:34:24.062Z,1628876064.062 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:34:24.469Z,1628876064.469 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D36,000,00727,189,80,80,AC,FF
2021-08-13T17:34:24.469Z,1628876064.469 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:34:24.470Z,1628876064.470 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:34:24.471Z,1628876064.471 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:34:24.898Z,1628876064.898 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:34:25.289Z,1628876065.289 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,0071E,189,80,80,B3,FF
2021-08-13T17:34:25.289Z,1628876065.289 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:34:25.741Z,1628876065.741 [Micromodem](INFO): Nmea in: $SNTTA,0.053717,,,,173425.00*41

2021-08-13T17:34:25.800Z,1628876065.800 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 71.820000 m, bearing: 328.731759 deg, deltaT: 4.496712 s, approachRate: -0.120088 m/s, LOS rate: 9.846024 deg/s, posRepo size: 4
2021-08-13T17:34:25.802Z,1628876065.802 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 71.820000 m,
      bearing: 328.731759 deg,
      approachRate: -0.120088 m/s,
      LOS rate: 9.846024 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 270.203086 deg,
      new cmd heading: 271.116192 deg.

2021-08-13T17:34:28.138Z,1628876068.138 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:34:28.509Z,1628876068.509 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:34:28.509Z,1628876068.509 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:34:28.510Z,1628876068.510 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:34:28.511Z,1628876068.511 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:34:28.929Z,1628876068.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,0071E,189,80,80,B3,FF
2021-08-13T17:34:28.929Z,1628876068.929 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:34:28.929Z,1628876068.929 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:34:28.931Z,1628876068.931 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:34:29.335Z,1628876069.335 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:34:29.725Z,1628876069.725 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B0C,000,0070E,189,80,80,BB,FF
2021-08-13T17:34:29.725Z,1628876069.725 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:34:29.729Z,1628876069.729 [Micromodem](INFO): Nmea in: $SNTTA,0.164450,0.163825,,,173429.45*5C

2021-08-13T17:34:30.169Z,1628876070.169 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 70.860008 m, bearing: 340.427311 deg, deltaT: 4.472241 s, approachRate: -0.214656 m/s, LOS rate: 2.615143 deg/s, posRepo size: 4
2021-08-13T17:34:30.171Z,1628876070.171 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 70.860008 m,
      bearing: 340.427311 deg,
      approachRate: -0.214656 m/s,
      LOS rate: 2.615143 deg/s,
      cmd update: 7.845430 deg/s,
      cmd heading: 323.870916 deg,
      new cmd heading: 328.165692 deg.

2021-08-13T17:34:32.573Z,1628876072.573 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:34:32.953Z,1628876072.953 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:34:32.953Z,1628876072.953 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:34:32.953Z,1628876072.953 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:34:32.954Z,1628876072.954 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:34:33.365Z,1628876073.365 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B0C,000,0070E,189,80,80,BB,FF
2021-08-13T17:34:33.365Z,1628876073.365 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:34:33.366Z,1628876073.366 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:34:33.367Z,1628876073.367 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:34:33.769Z,1628876073.769 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:34:34.173Z,1628876074.173 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C93,000,006F5,189,80,80,BB,FF
2021-08-13T17:34:34.174Z,1628876074.174 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:34:34.601Z,1628876074.601 [Micromodem](INFO): Nmea in: $SNTTA,,,,,173433.89*5E

2021-08-13T17:34:34.653Z,1628876074.653 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 69.360001 m, bearing: 335.855264 deg, deltaT: 4.385246 s, approachRate: -0.342058 m/s, LOS rate: -1.042598 deg/s, posRepo size: 4
2021-08-13T17:34:34.655Z,1628876074.655 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 69.360001 m,
      bearing: 335.855264 deg,
      approachRate: -0.342058 m/s,
      LOS rate: -1.042598 deg/s,
      cmd update: -3.127792 deg/s,
      cmd heading: 358.309515 deg,
      new cmd heading: 1.860090 deg.

2021-08-13T17:34:37.036Z,1628876077.036 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:34:37.394Z,1628876077.394 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:34:37.394Z,1628876077.394 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:34:37.394Z,1628876077.394 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:34:37.395Z,1628876077.395 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:34:37.820Z,1628876077.820 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C93,000,006F5,189,80,80,BB,FF
2021-08-13T17:34:37.820Z,1628876077.820 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:34:37.820Z,1628876077.820 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:34:37.822Z,1628876077.822 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:34:38.217Z,1628876078.217 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:34:38.621Z,1628876078.621 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DDA,000,006D8,189,80,80,AF,FF
2021-08-13T17:34:38.622Z,1628876078.622 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:34:39.053Z,1628876079.053 [Micromodem](INFO): Nmea in: $SNTTA,,,,,173438.35*52

2021-08-13T17:34:39.076Z,1628876079.076 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 67.619995 m, bearing: 338.146874 deg, deltaT: 4.482656 s, approachRate: -0.388164 m/s, LOS rate: 0.511217 deg/s, posRepo size: 4
2021-08-13T17:34:39.078Z,1628876079.078 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 67.619995 m,
      bearing: 338.146874 deg,
      approachRate: -0.388164 m/s,
      LOS rate: 0.511217 deg/s,
      cmd update: 1.533651 deg/s,
      cmd heading: 344.288009 deg,
      new cmd heading: 343.061830 deg.

2021-08-13T17:34:39.854Z,1628876079.854 [PowerOnly](INFO): Powering down loadControl
2021-08-13T17:34:41.544Z,1628876081.544 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:34:41.841Z,1628876081.841 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:34:41.841Z,1628876081.841 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:34:41.841Z,1628876081.841 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:34:41.842Z,1628876081.842 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:34:42.281Z,1628876082.281 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DDA,000,006D8,189,80,80,AF,FF
2021-08-13T17:34:42.281Z,1628876082.281 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:34:42.281Z,1628876082.281 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:34:42.283Z,1628876082.283 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:34:42.657Z,1628876082.657 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:34:43.061Z,1628876083.061 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EC7,000,006B5,186,80,80,B2,FF
2021-08-13T17:34:43.061Z,1628876083.061 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:34:43.497Z,1628876083.497 [Micromodem](INFO): Nmea in: $SNTTA,0.066824,0.486417,,,173442.81*56

2021-08-13T17:34:43.570Z,1628876083.570 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 65.520004 m, bearing: 343.697223 deg, deltaT: 4.394771 s, approachRate: -0.477839 m/s, LOS rate: 1.262944 deg/s, posRepo size: 4
2021-08-13T17:34:43.577Z,1628876083.577 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 65.520004 m,
      bearing: 343.697223 deg,
      approachRate: -0.477839 m/s,
      LOS rate: 1.262944 deg/s,
      cmd update: 3.788831 deg/s,
      cmd heading: 351.028124 deg,
      new cmd heading: 351.782443 deg.

2021-08-13T17:34:45.617Z,1628876085.617 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:34:45.881Z,1628876085.881 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:34:45.882Z,1628876085.882 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:34:45.882Z,1628876085.882 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:34:45.883Z,1628876085.883 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:34:46.302Z,1628876086.302 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EC7,000,006B5,186,80,80,B2,FF
2021-08-13T17:34:46.302Z,1628876086.302 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:34:46.303Z,1628876086.303 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:34:46.321Z,1628876086.321 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:34:46.369Z,1628876086.369 [CTD_Seabird](ERROR): Failed to parse device response: 0.09,24.8333,
2021-08-13T17:34:46.777Z,1628876086.777 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:34:47.185Z,1628876087.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,03A,000,00694,184,80,80,AB,FF
2021-08-13T17:34:47.185Z,1628876087.185 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:34:47.589Z,1628876087.589 [Micromodem](INFO): Nmea in: $SNTTA,0.052585,,,,173446.85*41

2021-08-13T17:34:47.637Z,1628876087.637 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 63.540001 m, bearing: 341.107242 deg, deltaT: 4.123658 s, approachRate: -0.480157 m/s, LOS rate: -0.628078 deg/s, posRepo size: 4
2021-08-13T17:34:47.639Z,1628876087.639 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 63.540001 m,
      bearing: 341.107242 deg,
      approachRate: -0.480157 m/s,
      LOS rate: -0.628078 deg/s,
      cmd update: -1.884235 deg/s,
      cmd heading: 6.649459 deg,
      new cmd heading: 8.301363 deg.

2021-08-13T17:34:50.037Z,1628876090.037 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:34:50.405Z,1628876090.405 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:34:50.405Z,1628876090.405 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:34:50.405Z,1628876090.405 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:34:50.406Z,1628876090.406 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:34:50.809Z,1628876090.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
03A,000,00694,184,80,80,AB,FF
2021-08-13T17:34:50.809Z,1628876090.809 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:34:50.810Z,1628876090.810 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:34:50.811Z,1628876090.811 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:34:51.226Z,1628876091.226 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:34:51.625Z,1628876091.625 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,18F,000,0066E,186,80,80,B3,FF
2021-08-13T17:34:51.625Z,1628876091.625 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:34:52.062Z,1628876092.062 [Micromodem](INFO): Nmea in: $SNTTA,,,,,173451.34*5C

2021-08-13T17:34:52.090Z,1628876092.090 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 61.259998 m, bearing: 339.659406 deg, deltaT: 4.498144 s, approachRate: -0.506876 m/s, LOS rate: -0.321874 deg/s, posRepo size: 4
2021-08-13T17:34:52.092Z,1628876092.092 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 61.259998 m,
      bearing: 339.659406 deg,
      approachRate: -0.506876 m/s,
      LOS rate: -0.321874 deg/s,
      cmd update: -0.965622 deg/s,
      cmd heading: 358.180231 deg,
      new cmd heading: 357.438152 deg.

2021-08-13T17:34:54.495Z,1628876094.495 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:34:54.849Z,1628876094.849 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:34:54.849Z,1628876094.849 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:34:54.850Z,1628876094.850 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:34:54.851Z,1628876094.851 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:34:55.262Z,1628876095.262 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
18F,000,0066E,186,80,80,B3,FF
2021-08-13T17:34:55.262Z,1628876095.262 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:34:55.263Z,1628876095.263 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:34:55.265Z,1628876095.265 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:34:55.669Z,1628876095.669 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:34:56.069Z,1628876096.069 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,26C,000,00648,188,80,80,C4,FF
2021-08-13T17:34:56.070Z,1628876096.070 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:34:56.517Z,1628876096.517 [Micromodem](INFO): Nmea in: $SNTTA,,,,,173455.79*51

2021-08-13T17:34:56.588Z,1628876096.588 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.980000 m, bearing: 337.461205 deg, deltaT: 4.407175 s, approachRate: -0.517338 m/s, LOS rate: -0.498778 deg/s, posRepo size: 4
2021-08-13T17:34:56.597Z,1628876096.597 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 58.980000 m,
      bearing: 337.461205 deg,
      approachRate: -0.517338 m/s,
      LOS rate: -0.498778 deg/s,
      cmd update: -1.496333 deg/s,
      cmd heading: 353.924703 deg,
      new cmd heading: 353.460795 deg.

2021-08-13T17:34:58.931Z,1628876098.931 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:34:59.293Z,1628876099.293 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:34:59.293Z,1628876099.293 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:34:59.293Z,1628876099.293 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:34:59.294Z,1628876099.294 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:34:59.733Z,1628876099.733 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
26C,000,00648,188,80,80,C4,FF
2021-08-13T17:34:59.733Z,1628876099.733 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:34:59.733Z,1628876099.733 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:34:59.735Z,1628876099.735 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:35:00.202Z,1628876100.202 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:35:00.590Z,1628876100.590 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,147,000,00623,186,80,80,A7,FF
2021-08-13T17:35:00.590Z,1628876100.590 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:35:01.009Z,1628876101.009 [Micromodem](INFO): Nmea in: $SNTTA,0.037732,,,,173500.26*46

2021-08-13T17:35:01.059Z,1628876101.059 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 56.760002 m, bearing: 337.622289 deg, deltaT: 4.519531 s, approachRate: -0.491201 m/s, LOS rate: 0.035642 deg/s, posRepo size: 4
2021-08-13T17:35:01.065Z,1628876101.065 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 56.760002 m,
      bearing: 337.622289 deg,
      approachRate: -0.491201 m/s,
      LOS rate: 0.035642 deg/s,
      cmd update: 0.106925 deg/s,
      cmd heading: 347.186045 deg,
      new cmd heading: 346.509196 deg.

2021-08-13T17:35:03.521Z,1628876103.521 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:35:03.817Z,1628876103.817 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:35:03.817Z,1628876103.817 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:35:03.817Z,1628876103.817 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:35:03.818Z,1628876103.818 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:35:04.225Z,1628876104.225 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
147,000,00623,186,80,80,A7,FF
2021-08-13T17:35:04.225Z,1628876104.225 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:35:04.225Z,1628876104.225 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:35:04.227Z,1628876104.227 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:35:04.633Z,1628876104.633 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:35:05.033Z,1628876105.033 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FDD,000,005FB,184,80,80,AE,FF
2021-08-13T17:35:05.033Z,1628876105.033 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:35:05.513Z,1628876105.513 [Micromodem](INFO): Nmea in: $SNTTA,0.056233,,,,173504.75*47

2021-08-13T17:35:05.556Z,1628876105.556 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 54.359993 m, bearing: 336.642703 deg, deltaT: 4.423632 s, approachRate: -0.542543 m/s, LOS rate: -0.221444 deg/s, posRepo size: 4
2021-08-13T17:35:05.558Z,1628876105.558 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 54.359993 m,
      bearing: 336.642703 deg,
      approachRate: -0.542543 m/s,
      LOS rate: -0.221444 deg/s,
      cmd update: -0.664331 deg/s,
      cmd heading: 347.661202 deg,
      new cmd heading: 347.715210 deg.

2021-08-13T17:35:07.920Z,1628876107.920 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:35:08.257Z,1628876108.257 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:35:08.257Z,1628876108.257 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:35:08.257Z,1628876108.257 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:35:08.258Z,1628876108.258 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:35:08.697Z,1628876108.697 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FDD,000,005FB,184,80,80,AE,FF
2021-08-13T17:35:08.697Z,1628876108.697 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:35:08.698Z,1628876108.698 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:35:08.771Z,1628876108.771 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:35:09.174Z,1628876109.174 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:35:09.569Z,1628876109.569 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F0A,000,005D5,187,80,80,B0,FF
2021-08-13T17:35:09.569Z,1628876109.569 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:35:09.989Z,1628876109.989 [Micromodem](INFO): Nmea in: $SNTTA,,,,,173509.30*54

2021-08-13T17:35:10.036Z,1628876110.036 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.079994 m, bearing: 341.756875 deg, deltaT: 4.574929 s, approachRate: -0.498368 m/s, LOS rate: 1.117869 deg/s, posRepo size: 4
2021-08-13T17:35:10.038Z,1628876110.038 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 52.079994 m,
      bearing: 341.756875 deg,
      approachRate: -0.498368 m/s,
      LOS rate: 1.117869 deg/s,
      cmd update: 3.353608 deg/s,
      cmd heading: 344.621918 deg,
      new cmd heading: 344.349527 deg.

2021-08-13T17:35:12.442Z,1628876112.442 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:35:12.797Z,1628876112.797 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:35:12.797Z,1628876112.797 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:35:12.798Z,1628876112.798 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:35:12.798Z,1628876112.798 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:35:13.197Z,1628876113.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F0A,000,005D5,187,80,80,B0,FF
2021-08-13T17:35:13.197Z,1628876113.197 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:35:13.197Z,1628876113.197 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:35:13.199Z,1628876113.199 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:35:13.604Z,1628876113.604 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:35:14.005Z,1628876114.005 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F50,000,005AE,186,80,80,B3,FF
2021-08-13T17:35:14.005Z,1628876114.005 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:35:14.445Z,1628876114.445 [Micromodem](INFO): Nmea in: $SNTTA,,,,,173513.72*59

2021-08-13T17:35:14.492Z,1628876114.492 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.740002 m, bearing: 341.127678 deg, deltaT: 4.407321 s, approachRate: -0.530933 m/s, LOS rate: -0.142762 deg/s, posRepo size: 4
2021-08-13T17:35:14.494Z,1628876114.494 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 49.740002 m,
      bearing: 341.127678 deg,
      approachRate: -0.530933 m/s,
      LOS rate: -0.142762 deg/s,
      cmd update: -0.428285 deg/s,
      cmd heading: 359.401561 deg,
      new cmd heading: 0.942460 deg.

2021-08-13T17:35:16.870Z,1628876116.870 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:35:17.237Z,1628876117.237 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:35:17.237Z,1628876117.237 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:35:17.237Z,1628876117.237 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:35:17.238Z,1628876117.238 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:35:17.645Z,1628876117.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F50,000,005AE,186,80,80,B3,FF
2021-08-13T17:35:17.645Z,1628876117.645 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:35:17.645Z,1628876117.645 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:35:17.647Z,1628876117.647 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:35:18.113Z,1628876118.113 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:35:18.509Z,1628876118.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0E0,000,00587,186,80,80,B2,FF
2021-08-13T17:35:18.509Z,1628876118.509 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:35:18.933Z,1628876118.933 [Micromodem](INFO): Nmea in: $SNTTA,,,,,173518.17*51

2021-08-13T17:35:18.999Z,1628876118.999 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.399998 m, bearing: 337.895032 deg, deltaT: 4.494323 s, approachRate: -0.520658 m/s, LOS rate: -0.719273 deg/s, posRepo size: 4
2021-08-13T17:35:19.005Z,1628876119.005 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 47.399998 m,
      bearing: 337.895032 deg,
      approachRate: -0.520658 m/s,
      LOS rate: -0.719273 deg/s,
      cmd update: -2.157820 deg/s,
      cmd heading: 357.476631 deg,
      new cmd heading: 357.276009 deg.

2021-08-13T17:35:21.635Z,1628876121.635 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:35:21.906Z,1628876121.906 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:35:21.906Z,1628876121.906 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:35:21.906Z,1628876121.906 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:35:21.907Z,1628876121.907 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:35:21.992Z,1628876121.992 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-08-13T17:35:21.992Z,1628876121.992 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-08-13T17:35:21.993Z,1628876121.993 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-08-13T17:35:21.993Z,1628876121.993 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-13T17:35:21.993Z,1628876121.993 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-08-13T17:35:21.993Z,1628876121.993 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-08-13T17:35:21.994Z,1628876121.994 [lineCaptureDepth:MicromodemComms:CheckIn:A](DEBUG): Initialize ReadDataComponent to sense platform_communications
2021-08-13T17:35:22.405Z,1628876122.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0E0,000,00587,186,80,80,B2,FF
2021-08-13T17:35:22.405Z,1628876122.405 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:35:22.405Z,1628876122.405 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:35:22.407Z,1628876122.407 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:35:22.544Z,1628876122.544 [lineCaptureDepth:MicromodemComms] Stopped
2021-08-13T17:35:22.544Z,1628876122.544 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-08-13T17:35:22.544Z,1628876122.544 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-08-13T17:35:22.544Z,1628876122.544 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-13T17:35:22.544Z,1628876122.544 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-08-13T17:35:22.809Z,1628876122.809 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:35:23.213Z,1628876123.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,25D,000,00562,189,80,80,B4,FF
2021-08-13T17:35:23.213Z,1628876123.213 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:35:23.625Z,1628876123.625 [Micromodem](INFO): Nmea in: $SNTTA,0.063002,0.464374,,,173522.93*55

2021-08-13T17:35:23.713Z,1628876123.713 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.179996 m, bearing: 335.730326 deg, deltaT: 4.703391 s, approachRate: -0.472000 m/s, LOS rate: -0.460244 deg/s, posRepo size: 4
2021-08-13T17:35:23.715Z,1628876123.715 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 45.179996 m,
      bearing: 335.730326 deg,
      approachRate: -0.472000 m/s,
      LOS rate: -0.460244 deg/s,
      cmd update: -1.380731 deg/s,
      cmd heading: 347.327818 deg,
      new cmd heading: 346.295254 deg.

2021-08-13T17:35:26.062Z,1628876126.062 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:35:26.437Z,1628876126.437 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:35:26.437Z,1628876126.437 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:35:26.437Z,1628876126.437 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:35:26.438Z,1628876126.438 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:35:26.841Z,1628876126.841 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
25D,000,00562,189,80,80,B4,FF
2021-08-13T17:35:26.842Z,1628876126.842 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:35:26.842Z,1628876126.842 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:35:26.843Z,1628876126.843 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:35:27.249Z,1628876127.249 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:35:27.653Z,1628876127.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,30A,000,00544,188,80,80,C5,FF
2021-08-13T17:35:27.654Z,1628876127.654 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:35:28.095Z,1628876128.095 [Micromodem](INFO): Nmea in: $SNTTA,,0.178667,,,173527.43*4B

2021-08-13T17:35:28.151Z,1628876128.151 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.380001 m, bearing: 332.811103 deg, deltaT: 4.535289 s, approachRate: -0.396887 m/s, LOS rate: -0.643669 deg/s, posRepo size: 4
2021-08-13T17:35:28.159Z,1628876128.159 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 43.380001 m,
      bearing: 332.811103 deg,
      approachRate: -0.396887 m/s,
      LOS rate: -0.643669 deg/s,
      cmd update: -1.931006 deg/s,
      cmd heading: 341.109126 deg,
      new cmd heading: 340.533864 deg.

2021-08-13T17:35:30.516Z,1628876130.516 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:35:30.890Z,1628876130.890 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:35:30.890Z,1628876130.890 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:35:30.890Z,1628876130.890 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:35:30.891Z,1628876130.891 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:35:31.305Z,1628876131.305 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
30A,000,00544,188,80,80,C5,FF
2021-08-13T17:35:31.305Z,1628876131.305 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:35:31.306Z,1628876131.306 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:35:31.309Z,1628876131.309 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:35:31.725Z,1628876131.725 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:35:32.109Z,1628876132.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2A8,000,00526,189,80,80,C3,FF
2021-08-13T17:35:32.109Z,1628876132.109 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:35:32.537Z,1628876132.537 [Micromodem](INFO): Nmea in: $SNTTA,,,,,173531.84*50

2021-08-13T17:35:32.567Z,1628876132.567 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 41.579998 m, bearing: 330.556157 deg, deltaT: 4.417773 s, approachRate: -0.407446 m/s, LOS rate: -0.510426 deg/s, posRepo size: 4
2021-08-13T17:35:32.569Z,1628876132.569 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 41.579998 m,
      bearing: 330.556157 deg,
      approachRate: -0.407446 m/s,
      LOS rate: -0.510426 deg/s,
      cmd update: -1.531278 deg/s,
      cmd heading: 332.517785 deg,
      new cmd heading: 331.777060 deg.

2021-08-13T17:35:34.966Z,1628876134.966 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:35:35.337Z,1628876135.337 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:35:35.337Z,1628876135.337 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:35:35.337Z,1628876135.337 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:35:35.338Z,1628876135.338 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:35:35.737Z,1628876135.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2A8,000,00526,189,80,80,C3,FF
2021-08-13T17:35:35.737Z,1628876135.737 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:35:35.737Z,1628876135.737 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:35:35.739Z,1628876135.739 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:35:36.159Z,1628876136.159 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:35:36.549Z,1628876136.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,16F,000,00508,185,80,80,AB,FF
2021-08-13T17:35:36.549Z,1628876136.549 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:35:36.990Z,1628876136.990 [Micromodem](INFO): Nmea in: $SNTTA,0.081563,,,,173536.26*48

2021-08-13T17:35:37.016Z,1628876137.016 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.780003 m, bearing: 331.906294 deg, deltaT: 4.439098 s, approachRate: -0.405487 m/s, LOS rate: 0.304147 deg/s, posRepo size: 4
2021-08-13T17:35:37.017Z,1628876137.017 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 39.78 m.
2021-08-13T17:35:37.019Z,1628876137.019 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 39.780003 m,
      bearing: 331.906294 deg,
      approachRate: -0.405487 m/s,
      LOS rate: 0.304147 deg/s,
      cmd update: 0.912440 deg/s,
      cmd heading: 325.726243 deg,
      new cmd heading: 325.117581 deg.

2021-08-13T17:35:37.394Z,1628876137.394 [PowerOnly](INFO): Powering up loadControl
2021-08-13T17:35:37.462Z,1628876137.462 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-13T17:35:37.462Z,1628876137.462 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T17:35:37.464Z,1628876137.464 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-13T17:35:37.466Z,1628876137.466 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-13T17:35:37.467Z,1628876137.467 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-13T17:35:37.467Z,1628876137.467 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-13T17:35:37.828Z,1628876137.828 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-13T17:35:37.828Z,1628876137.828 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T17:35:37.828Z,1628876137.828 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-13T17:35:37.828Z,1628876137.828 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T17:35:39.387Z,1628876139.387 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:35:39.773Z,1628876139.773 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:35:39.773Z,1628876139.773 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:35:39.773Z,1628876139.773 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:35:39.774Z,1628876139.774 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:35:40.189Z,1628876140.189 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
16F,000,00508,185,80,80,AB,FF
2021-08-13T17:35:40.190Z,1628876140.190 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:35:40.190Z,1628876140.190 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:35:40.191Z,1628876140.191 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:35:40.612Z,1628876140.612 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:35:40.987Z,1628876140.987 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F86,000,004E7,187,80,80,8F,FF
2021-08-13T17:35:40.987Z,1628876140.987 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:35:41.038Z,1628876141.038 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T17:35:41.428Z,1628876141.428 [Micromodem](INFO): Nmea in: $SNTTA,0.024967,,,,173540.73*4E

2021-08-13T17:35:41.504Z,1628876141.504 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.799999 m, bearing: 328.664332 deg, deltaT: 4.412436 s, approachRate: -0.448732 m/s, LOS rate: -0.734733 deg/s, posRepo size: 4
2021-08-13T17:35:41.504Z,1628876141.504 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 37.80 m.
2021-08-13T17:35:41.506Z,1628876141.506 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 37.799999 m,
      bearing: 328.664332 deg,
      approachRate: -0.448732 m/s,
      LOS rate: -0.734733 deg/s,
      cmd update: -2.204199 deg/s,
      cmd heading: 329.755520 deg,
      new cmd heading: 330.183475 deg.

2021-08-13T17:35:43.865Z,1628876143.865 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:35:44.219Z,1628876144.219 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:35:44.219Z,1628876144.219 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:35:44.219Z,1628876144.219 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:35:44.220Z,1628876144.220 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:35:44.629Z,1628876144.629 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F86,000,004E7,187,80,80,8F,FF
2021-08-13T17:35:44.629Z,1628876144.629 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:35:44.629Z,1628876144.629 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:35:44.631Z,1628876144.631 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:35:45.064Z,1628876145.064 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:35:45.449Z,1628876145.449 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DF2,000,004C8,187,80,80,A0,FF
2021-08-13T17:35:45.450Z,1628876145.450 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:35:45.542Z,1628876145.542 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T17:35:45.882Z,1628876145.882 [Micromodem](INFO): Nmea in: $SNTTA,,,,,173545.16*58

2021-08-13T17:35:45.906Z,1628876145.906 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.939999 m, bearing: 331.954051 deg, deltaT: 4.504232 s, approachRate: -0.412945 m/s, LOS rate: 0.730362 deg/s, posRepo size: 4
2021-08-13T17:35:45.907Z,1628876145.907 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 35.94 m.
2021-08-13T17:35:45.909Z,1628876145.909 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 35.939999 m,
      bearing: 331.954051 deg,
      approachRate: -0.412945 m/s,
      LOS rate: 0.730362 deg/s,
      cmd update: 2.191086 deg/s,
      cmd heading: 319.827160 deg,
      new cmd heading: 319.020448 deg.

2021-08-13T17:35:48.314Z,1628876148.314 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:35:48.681Z,1628876148.681 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:35:48.681Z,1628876148.681 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:35:48.682Z,1628876148.682 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:35:48.682Z,1628876148.682 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:35:49.071Z,1628876149.071 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DF2,000,004C8,187,80,80,A0,FF
2021-08-13T17:35:49.071Z,1628876149.071 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:35:49.071Z,1628876149.071 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:35:49.074Z,1628876149.074 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:35:49.521Z,1628876149.521 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:35:49.877Z,1628876149.877 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DA2,000,004AD,189,80,80,B1,FF
2021-08-13T17:35:49.877Z,1628876149.877 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:35:49.938Z,1628876149.938 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T17:35:50.341Z,1628876150.341 [Micromodem](INFO): Nmea in: $SNTTA,,,,,173549.60*55

2021-08-13T17:35:50.384Z,1628876150.384 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.320000 m, bearing: 330.708225 deg, deltaT: 4.395548 s, approachRate: -0.368554 m/s, LOS rate: -0.283429 deg/s, posRepo size: 4
2021-08-13T17:35:50.385Z,1628876150.385 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 34.32 m.
2021-08-13T17:35:50.385Z,1628876150.385 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 34.32 m.
2021-08-13T17:35:50.385Z,1628876150.385 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-13T17:35:50.401Z,1628876150.401 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 34.320000 m,
      bearing: 330.708225 deg,
      approachRate: -0.368554 m/s,
      LOS rate: -0.283429 deg/s,
      cmd update: -0.850287 deg/s,
      cmd heading: 329.449382 deg,
      new cmd heading: 330.399616 deg.

2021-08-13T17:35:52.765Z,1628876152.765 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:35:53.115Z,1628876153.115 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:35:53.115Z,1628876153.115 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:35:53.116Z,1628876153.116 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:35:53.117Z,1628876153.117 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:35:53.541Z,1628876153.541 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DA2,000,004AD,189,80,80,B1,FF
2021-08-13T17:35:53.541Z,1628876153.541 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:35:53.541Z,1628876153.541 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:35:53.543Z,1628876153.543 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:35:53.929Z,1628876153.929 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:35:54.329Z,1628876154.329 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D1A,000,00494,189,80,80,CB,FF
2021-08-13T17:35:54.330Z,1628876154.330 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:35:54.350Z,1628876154.350 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T17:35:54.757Z,1628876154.757 [Micromodem](INFO): Nmea in: $SNTTA,,,,,173554.07*58

2021-08-13T17:35:54.780Z,1628876154.780 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.820000 m, bearing: 336.952384 deg, deltaT: 4.411982 s, approachRate: -0.339983 m/s, LOS rate: 1.415273 deg/s, posRepo size: 4
2021-08-13T17:35:54.782Z,1628876154.782 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 32.820000 m,
      bearing: 336.952384 deg,
      approachRate: -0.339983 m/s,
      LOS rate: 1.415273 deg/s,
      cmd update: 4.245819 deg/s,
      cmd heading: 325.694378 deg,
      new cmd heading: 325.326245 deg.

2021-08-13T17:35:57.190Z,1628876157.190 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:35:57.559Z,1628876157.559 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:35:57.559Z,1628876157.559 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:35:57.578Z,1628876157.578 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:35:57.579Z,1628876157.579 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:35:57.953Z,1628876157.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D1A,000,00494,189,80,80,CB,FF
2021-08-13T17:35:57.953Z,1628876157.953 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:35:57.953Z,1628876157.953 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:35:57.955Z,1628876157.955 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:35:58.372Z,1628876158.372 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:35:58.793Z,1628876158.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DC9,000,00478,189,80,80,B5,FF
2021-08-13T17:35:58.794Z,1628876158.794 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:35:58.854Z,1628876158.854 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T17:35:59.205Z,1628876159.205 [Micromodem](INFO): Nmea in: $SNTTA,0.023370,,,,173558.48*44

2021-08-13T17:35:59.227Z,1628876159.227 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.139997 m, bearing: 335.902829 deg, deltaT: 4.504678 s, approachRate: -0.372946 m/s, LOS rate: -0.232992 deg/s, posRepo size: 4
2021-08-13T17:35:59.230Z,1628876159.230 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 31.139997 m,
      bearing: 335.902829 deg,
      approachRate: -0.372946 m/s,
      LOS rate: -0.232992 deg/s,
      cmd update: -0.698976 deg/s,
      cmd heading: 344.820387 deg,
      new cmd heading: 346.417893 deg.

2021-08-13T17:36:01.699Z,1628876161.699 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:36:01.997Z,1628876161.997 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:36:01.997Z,1628876161.997 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:36:01.997Z,1628876161.997 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:36:01.998Z,1628876161.998 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:36:02.413Z,1628876162.413 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DC9,000,00478,189,80,80,B5,FF
2021-08-13T17:36:02.414Z,1628876162.414 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:36:02.414Z,1628876162.414 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:36:02.456Z,1628876162.456 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:36:02.805Z,1628876162.805 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:36:03.210Z,1628876163.210 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EC2,000,00458,187,80,80,BB,FF
2021-08-13T17:36:03.210Z,1628876163.210 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:36:03.259Z,1628876163.259 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T17:36:03.743Z,1628876163.743 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.219999 m, bearing: 343.319131 deg, deltaT: 4.412957 s, approachRate: -0.435082 m/s, LOS rate: 1.680574 deg/s, posRepo size: 4
2021-08-13T17:36:03.749Z,1628876163.749 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 29.219999 m,
      bearing: 343.319131 deg,
      approachRate: -0.435082 m/s,
      LOS rate: 1.680574 deg/s,
      cmd update: 5.041722 deg/s,
      cmd heading: 341.741847 deg,
      new cmd heading: 341.401081 deg.

2021-08-13T17:36:04.041Z,1628876164.041 [Micromodem](INFO): Nmea in: $SNTTA,0.038811,,,,173603.03*40

2021-08-13T17:36:06.081Z,1628876166.081 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:36:06.440Z,1628876166.440 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:36:06.441Z,1628876166.441 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:36:06.441Z,1628876166.441 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:36:06.442Z,1628876166.442 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:36:06.845Z,1628876166.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EC2,000,00458,187,80,80,BB,FF
2021-08-13T17:36:06.846Z,1628876166.846 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:36:06.846Z,1628876166.846 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:36:06.848Z,1628876166.848 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:36:07.262Z,1628876167.262 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:36:07.653Z,1628876167.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,00B,000,00436,183,80,80,B0,FF
2021-08-13T17:36:07.653Z,1628876167.653 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:36:07.737Z,1628876167.737 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T17:36:08.090Z,1628876168.090 [Micromodem](INFO): Nmea in: $SNTTA,,,,,173607.37*5E

2021-08-13T17:36:08.177Z,1628876168.177 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.180000 m, bearing: 344.908898 deg, deltaT: 4.469993 s, approachRate: -0.456376 m/s, LOS rate: 0.355653 deg/s, posRepo size: 4
2021-08-13T17:36:08.179Z,1628876168.179 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 27.180000 m,
      bearing: 344.908898 deg,
      approachRate: -0.456376 m/s,
      LOS rate: 0.355653 deg/s,
      cmd update: 1.066960 deg/s,
      cmd heading: 4.301554 deg,
      new cmd heading: 6.531291 deg.

2021-08-13T17:36:10.561Z,1628876170.561 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:36:10.882Z,1628876170.882 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:36:10.882Z,1628876170.882 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:36:10.882Z,1628876170.882 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:36:10.883Z,1628876170.883 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:36:11.287Z,1628876171.287 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
00B,000,00436,183,80,80,B0,FF
2021-08-13T17:36:11.287Z,1628876171.287 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:36:11.288Z,1628876171.288 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:36:11.291Z,1628876171.291 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:36:11.694Z,1628876171.694 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:36:12.099Z,1628876172.099 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1F4,000,00413,187,80,80,B4,FF
2021-08-13T17:36:12.101Z,1628876172.101 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:36:12.170Z,1628876172.170 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T17:36:12.537Z,1628876172.537 [Micromodem](INFO): Nmea in: $SNTTA,0.034024,,,,173611.82*48

2021-08-13T17:36:12.607Z,1628876172.607 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.079998 m, bearing: 340.596863 deg, deltaT: 4.432431 s, approachRate: -0.473781 m/s, LOS rate: -0.972838 deg/s, posRepo size: 4
2021-08-13T17:36:12.613Z,1628876172.613 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 25.079998 m,
      bearing: 340.596863 deg,
      approachRate: -0.473781 m/s,
      LOS rate: -0.972838 deg/s,
      cmd update: -2.918513 deg/s,
      cmd heading: 9.030778 deg,
      new cmd heading: 9.505144 deg.

2021-08-13T17:36:14.998Z,1628876174.998 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:36:15.329Z,1628876175.329 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:36:15.329Z,1628876175.329 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:36:15.329Z,1628876175.329 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:36:15.330Z,1628876175.330 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:36:15.737Z,1628876175.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1F4,000,00413,187,80,80,B4,FF
2021-08-13T17:36:15.737Z,1628876175.737 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:36:15.737Z,1628876175.737 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:36:15.739Z,1628876175.739 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:36:16.176Z,1628876176.176 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:36:16.545Z,1628876176.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,38D,000,003FD,188,80,80,CD,FF
2021-08-13T17:36:16.545Z,1628876176.545 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:36:16.594Z,1628876176.594 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T17:36:16.991Z,1628876176.991 [Micromodem](INFO): Nmea in: $SNTTA,0.310168,,,,173616.27*4C

2021-08-13T17:36:17.033Z,1628876177.033 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.760000 m, bearing: 337.718048 deg, deltaT: 4.424702 s, approachRate: -0.298325 m/s, LOS rate: -0.650624 deg/s, posRepo size: 4
2021-08-13T17:36:17.035Z,1628876177.035 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 23.760000 m,
      bearing: 337.718048 deg,
      approachRate: -0.298325 m/s,
      LOS rate: -0.650624 deg/s,
      cmd update: -1.951871 deg/s,
      cmd heading: 356.175743 deg,
      new cmd heading: 354.815182 deg.

2021-08-13T17:36:19.383Z,1628876179.383 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:36:19.769Z,1628876179.769 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:36:19.769Z,1628876179.769 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:36:19.769Z,1628876179.769 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:36:19.770Z,1628876179.770 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:36:20.181Z,1628876180.181 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
38D,000,003FD,188,80,80,CD,FF
2021-08-13T17:36:20.181Z,1628876180.181 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:36:20.181Z,1628876180.181 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:36:20.183Z,1628876180.183 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:36:20.603Z,1628876180.603 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:36:20.981Z,1628876180.981 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4B8,000,003E1,18A,80,80,C6,FF
2021-08-13T17:36:20.981Z,1628876180.981 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:36:21.038Z,1628876181.038 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T17:36:21.440Z,1628876181.440 [Micromodem](INFO): Nmea in: $SNTTA,,,,,173620.71*59

2021-08-13T17:36:21.507Z,1628876181.507 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.079998 m, bearing: 325.292076 deg, deltaT: 4.443975 s, approachRate: -0.378040 m/s, LOS rate: -2.796139 deg/s, posRepo size: 4
2021-08-13T17:36:21.513Z,1628876181.513 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 22.079998 m,
      bearing: 325.292076 deg,
      approachRate: -0.378040 m/s,
      LOS rate: -2.796139 deg/s,
      cmd update: -8.388417 deg/s,
      cmd heading: 347.477031 deg,
      new cmd heading: 346.534738 deg.

2021-08-13T17:36:23.899Z,1628876183.899 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:36:24.213Z,1628876184.213 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:36:24.213Z,1628876184.213 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:36:24.213Z,1628876184.213 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:36:24.214Z,1628876184.214 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:36:24.613Z,1628876184.613 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
4B8,000,003E1,18A,80,80,C6,FF
2021-08-13T17:36:24.613Z,1628876184.613 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:36:24.614Z,1628876184.614 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:36:24.615Z,1628876184.615 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:36:25.028Z,1628876185.028 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:36:25.427Z,1628876185.427 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4C7,000,003D1,189,80,80,D6,FF
2021-08-13T17:36:25.440Z,1628876185.440 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:36:25.543Z,1628876185.543 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T17:36:25.875Z,1628876185.875 [Micromodem](INFO): Nmea in: $SNTTA,0.016052,,,,173625.14*41

2021-08-13T17:36:25.951Z,1628876185.951 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.120001 m, bearing: 319.968408 deg, deltaT: 4.513104 s, approachRate: -0.212713 m/s, LOS rate: -1.179602 deg/s, posRepo size: 4
2021-08-13T17:36:25.966Z,1628876185.966 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 21.120001 m,
      bearing: 319.968408 deg,
      approachRate: -0.212713 m/s,
      LOS rate: -1.179602 deg/s,
      cmd update: -3.538807 deg/s,
      cmd heading: 309.597903 deg,
      new cmd heading: 306.146892 deg.

2021-08-13T17:36:28.271Z,1628876188.271 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:36:28.657Z,1628876188.657 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:36:28.657Z,1628876188.657 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:36:28.657Z,1628876188.657 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:36:28.658Z,1628876188.658 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:36:29.069Z,1628876189.069 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
4C7,000,003D1,189,80,80,D6,FF
2021-08-13T17:36:29.070Z,1628876189.070 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:36:29.070Z,1628876189.070 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:36:29.071Z,1628876189.071 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:36:29.509Z,1628876189.509 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:36:29.874Z,1628876189.874 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,003C4,18A,80,80,C2,FF
2021-08-13T17:36:29.874Z,1628876189.874 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:36:29.948Z,1628876189.948 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T17:36:30.317Z,1628876190.317 [Micromodem](INFO): Nmea in: $SNTTA,0.038547,,,,173629.60*43

2021-08-13T17:36:30.351Z,1628876190.351 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.339998 m, bearing: 318.313398 deg, deltaT: 4.397188 s, approachRate: -0.177387 m/s, LOS rate: -0.376379 deg/s, posRepo size: 4
2021-08-13T17:36:30.354Z,1628876190.354 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 20.339998 m,
      bearing: 318.313398 deg,
      approachRate: -0.177387 m/s,
      LOS rate: -0.376379 deg/s,
      cmd update: -1.129137 deg/s,
      cmd heading: 294.045415 deg,
      new cmd heading: 292.569297 deg.

2021-08-13T17:36:32.716Z,1628876192.716 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:36:33.109Z,1628876193.109 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:36:33.110Z,1628876193.110 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:36:33.110Z,1628876193.110 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:36:33.111Z,1628876193.111 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:36:33.533Z,1628876193.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,003C4,18A,80,80,C2,FF
2021-08-13T17:36:33.533Z,1628876193.533 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:36:33.533Z,1628876193.533 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:36:33.535Z,1628876193.535 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:36:33.915Z,1628876193.915 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:36:34.321Z,1628876194.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,354,000,003B0,188,80,80,94,FF
2021-08-13T17:36:34.322Z,1628876194.322 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:36:34.355Z,1628876194.355 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T17:36:34.742Z,1628876194.742 [Micromodem](INFO): Nmea in: $SNTTA,0.031549,,,,173634.06*48

2021-08-13T17:36:34.775Z,1628876194.775 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.140001 m, bearing: 325.561486 deg, deltaT: 4.406878 s, approachRate: -0.272301 m/s, LOS rate: 1.644722 deg/s, posRepo size: 4
2021-08-13T17:36:34.781Z,1628876194.781 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.140001 m,
      bearing: 325.561486 deg,
      approachRate: -0.272301 m/s,
      LOS rate: 1.644722 deg/s,
      cmd update: 4.934165 deg/s,
      cmd heading: 289.057647 deg,
      new cmd heading: 288.579497 deg.

2021-08-13T17:36:37.171Z,1628876197.171 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:36:37.553Z,1628876197.553 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:36:37.553Z,1628876197.553 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:36:37.553Z,1628876197.553 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:36:37.554Z,1628876197.554 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:36:37.943Z,1628876197.943 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
354,000,003B0,188,80,80,94,FF
2021-08-13T17:36:37.943Z,1628876197.943 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:36:37.943Z,1628876197.943 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:36:37.945Z,1628876197.945 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:36:38.368Z,1628876198.368 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:36:38.757Z,1628876198.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,26C,000,00399,189,80,80,B1,FF
2021-08-13T17:36:38.757Z,1628876198.757 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:36:38.861Z,1628876198.861 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T17:36:39.202Z,1628876199.202 [Micromodem](INFO): Nmea in: $SNTTA,,,,,173638.47*55

2021-08-13T17:36:39.221Z,1628876199.221 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.759998 m, bearing: 313.949153 deg, deltaT: 4.506162 s, approachRate: -0.306248 m/s, LOS rate: -2.576990 deg/s, posRepo size: 4
2021-08-13T17:36:39.223Z,1628876199.223 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.759998 m,
      bearing: 313.949153 deg,
      approachRate: -0.306248 m/s,
      LOS rate: -2.576990 deg/s,
      cmd update: -7.730969 deg/s,
      cmd heading: 311.270261 deg,
      new cmd heading: 313.085288 deg.

2021-08-13T17:36:41.680Z,1628876201.681 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:36:41.997Z,1628876201.997 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:36:41.997Z,1628876201.997 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:36:41.997Z,1628876201.997 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:36:41.998Z,1628876201.998 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:36:42.393Z,1628876202.393 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
26C,000,00399,189,80,80,B1,FF
2021-08-13T17:36:42.393Z,1628876202.393 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:36:42.393Z,1628876202.393 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:36:42.395Z,1628876202.395 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:36:42.809Z,1628876202.809 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:36:43.201Z,1628876203.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0B8,000,0037E,186,80,80,A6,FF
2021-08-13T17:36:43.201Z,1628876203.201 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:36:43.280Z,1628876203.280 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T17:36:43.642Z,1628876203.642 [Micromodem](INFO): Nmea in: $SNTTA,0.032999,,,,173642.92*46

2021-08-13T17:36:43.709Z,1628876203.709 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.139999 m, bearing: 314.590180 deg, deltaT: 4.418530 s, approachRate: -0.366638 m/s, LOS rate: 0.145077 deg/s, posRepo size: 4
2021-08-13T17:36:43.711Z,1628876203.711 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.139999 m,
      bearing: 314.590180 deg,
      approachRate: -0.366638 m/s,
      LOS rate: 0.145077 deg/s,
      cmd update: 0.435231 deg/s,
      cmd heading: 277.072845 deg,
      new cmd heading: 273.729548 deg.

2021-08-13T17:36:46.038Z,1628876206.038 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.00 m/s, pitch 30.00 deg, mass-position 2.95 mm (3 active estimators).
2021-08-13T17:36:46.066Z,1628876206.066 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:36:46.437Z,1628876206.437 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:36:46.437Z,1628876206.437 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:36:46.437Z,1628876206.437 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:36:46.438Z,1628876206.438 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:36:46.843Z,1628876206.843 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0B8,000,0037E,186,80,80,A6,FF
2021-08-13T17:36:46.843Z,1628876206.843 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:36:46.843Z,1628876206.843 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:36:46.845Z,1628876206.845 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:36:47.252Z,1628876207.252 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:36:47.649Z,1628876207.649 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC0,000,0035B,184,80,80,8D,FF
2021-08-13T17:36:47.650Z,1628876207.650 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:36:47.727Z,1628876207.727 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T17:36:48.085Z,1628876208.085 [Micromodem](INFO): Nmea in: $SNTTA,0.245526,,,,173647.37*46

2021-08-13T17:36:48.119Z,1628876208.119 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.039998 m, bearing: 311.154158 deg, deltaT: 4.446535 s, approachRate: -0.472278 m/s, LOS rate: -0.772742 deg/s, posRepo size: 4
2021-08-13T17:36:48.121Z,1628876208.121 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.039998 m,
      bearing: 311.154158 deg,
      approachRate: -0.472278 m/s,
      LOS rate: -0.772742 deg/s,
      cmd update: -2.318224 deg/s,
      cmd heading: 279.008223 deg,
      new cmd heading: 279.180369 deg.

2021-08-13T17:36:50.506Z,1628876210.506 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:36:50.882Z,1628876210.882 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:36:50.882Z,1628876210.882 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:36:50.882Z,1628876210.882 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:36:50.883Z,1628876210.883 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:36:51.281Z,1628876211.281 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC0,000,0035B,184,80,80,8D,FF
2021-08-13T17:36:51.281Z,1628876211.281 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:36:51.281Z,1628876211.281 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:36:51.283Z,1628876211.283 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:36:51.720Z,1628876211.720 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:36:52.105Z,1628876212.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E68,000,00337,187,80,80,B9,FF
2021-08-13T17:36:52.106Z,1628876212.106 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:36:52.162Z,1628876212.162 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T17:36:52.525Z,1628876212.525 [Micromodem](INFO): Nmea in: $SNTTA,,,,,173651.81*50

2021-08-13T17:36:52.566Z,1628876212.566 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.879998 m, bearing: 313.071283 deg, deltaT: 4.435030 s, approachRate: -0.487032 m/s, LOS rate: 0.432269 deg/s, posRepo size: 4
2021-08-13T17:36:52.568Z,1628876212.568 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.879998 m,
      bearing: 313.071283 deg,
      approachRate: -0.487032 m/s,
      LOS rate: 0.432269 deg/s,
      cmd update: 1.296806 deg/s,
      cmd heading: 268.727257 deg,
      new cmd heading: 267.783044 deg.

2021-08-13T17:36:54.975Z,1628876214.975 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:36:55.329Z,1628876215.329 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:36:55.329Z,1628876215.329 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:36:55.329Z,1628876215.329 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:36:55.330Z,1628876215.330 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:36:55.729Z,1628876215.729 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E68,000,00337,187,80,80,B9,FF
2021-08-13T17:36:55.729Z,1628876215.729 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:36:55.729Z,1628876215.729 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:36:55.731Z,1628876215.731 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:36:56.146Z,1628876216.146 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:36:56.541Z,1628876216.541 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,0031C,189,80,80,95,FF
2021-08-13T17:36:56.541Z,1628876216.541 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:36:56.593Z,1628876216.593 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T17:36:56.986Z,1628876216.986 [Micromodem](INFO): Nmea in: $SNTTA,0.009719,,,,173656.25*41

2021-08-13T17:36:57.003Z,1628876217.003 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.260000 m, bearing: 339.182331 deg, deltaT: 4.431099 s, approachRate: -0.365597 m/s, LOS rate: 5.892680 deg/s, posRepo size: 4
2021-08-13T17:36:57.006Z,1628876217.006 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.260000 m,
      bearing: 339.182331 deg,
      approachRate: -0.365597 m/s,
      LOS rate: 5.892680 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 274.473317 deg,
      new cmd heading: 275.009808 deg.

2021-08-13T17:36:59.384Z,1628876219.384 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:36:59.778Z,1628876219.778 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:36:59.778Z,1628876219.778 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:36:59.778Z,1628876219.778 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:36:59.779Z,1628876219.779 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:37:00.177Z,1628876220.177 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,0031C,189,80,80,95,FF
2021-08-13T17:37:00.177Z,1628876220.177 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:37:00.178Z,1628876220.178 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:37:00.179Z,1628876220.179 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:37:00.581Z,1628876220.581 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:37:00.981Z,1628876220.981 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CBE,000,0030E,189,80,80,A0,FF
2021-08-13T17:37:00.982Z,1628876220.982 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:37:01.033Z,1628876221.033 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T17:37:01.427Z,1628876221.427 [Micromodem](INFO): Nmea in: $SNTTA,0.008821,,,,173700.70*46

2021-08-13T17:37:01.510Z,1628876221.510 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.419999 m, bearing: 317.913860 deg, deltaT: 4.439684 s, approachRate: -0.189203 m/s, LOS rate: -4.790537 deg/s, posRepo size: 4
2021-08-13T17:37:01.516Z,1628876221.516 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.419999 m,
      bearing: 317.913860 deg,
      approachRate: -0.189203 m/s,
      LOS rate: -4.790537 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 327.754375 deg,
      new cmd heading: 333.447691 deg.

2021-08-13T17:37:03.897Z,1628876223.898 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:37:04.221Z,1628876224.221 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:37:04.221Z,1628876224.221 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:37:04.221Z,1628876224.221 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:37:04.222Z,1628876224.222 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:37:04.621Z,1628876224.621 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CBE,000,0030E,189,80,80,A0,FF
2021-08-13T17:37:04.621Z,1628876224.621 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:37:04.621Z,1628876224.621 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:37:04.623Z,1628876224.623 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:37:05.024Z,1628876225.024 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:37:05.449Z,1628876225.449 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E09,000,0030E,186,80,80,9A,FF
2021-08-13T17:37:05.450Z,1628876225.450 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:37:05.532Z,1628876225.532 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T17:37:05.874Z,1628876225.874 [Micromodem](INFO): Nmea in: $SNTTA,0.152844,,,,173705.15*4D

2021-08-13T17:37:05.932Z,1628876225.932 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.419999 m, bearing: 316.711255 deg, deltaT: 4.499484 s, approachRate: 0.000000 m/s, LOS rate: -0.267276 deg/s, posRepo size: 4
2021-08-13T17:37:05.934Z,1628876225.934 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.419999 m,
      bearing: 316.711255 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.267276 deg/s,
      cmd update: -0.801829 deg/s,
      cmd heading: 273.763649 deg,
      new cmd heading: 268.929533 deg.

2021-08-13T17:37:08.282Z,1628876228.282 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:37:08.657Z,1628876228.657 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:37:08.657Z,1628876228.657 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:37:08.657Z,1628876228.657 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:37:08.658Z,1628876228.658 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:37:09.061Z,1628876229.061 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E09,000,0030E,186,80,80,9A,FF
2021-08-13T17:37:09.061Z,1628876229.061 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:37:09.061Z,1628876229.061 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:37:09.063Z,1628876229.063 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:37:09.497Z,1628876229.497 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:37:09.874Z,1628876229.874 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EFA,000,00314,186,80,80,7F,FF
2021-08-13T17:37:09.875Z,1628876229.875 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:37:09.961Z,1628876229.961 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T17:37:10.053Z,1628876230.053 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.251514
2021-08-13T17:37:10.305Z,1628876230.305 [Micromodem](INFO): Nmea in: $SNTTA,,,,,173709.59*59

2021-08-13T17:37:10.343Z,1628876230.343 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.780002 m, bearing: 322.820668 deg, deltaT: 4.428643 s, approachRate: 0.081290 m/s, LOS rate: 1.379523 deg/s, posRepo size: 4
2021-08-13T17:37:10.346Z,1628876230.346 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.780002 m,
      bearing: 322.820668 deg,
      approachRate: 0.081290 m/s,
      LOS rate: 1.379523 deg/s,
      cmd update: 4.138568 deg/s,
      cmd heading: 270.212474 deg,
      new cmd heading: 269.903216 deg.

2021-08-13T17:37:10.350Z,1628876230.350 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-08-13T17:37:10.350Z,1628876230.350 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-08-13T17:37:10.350Z,1628876230.350 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-08-13T17:37:10.350Z,1628876230.350 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-13T17:37:10.350Z,1628876230.350 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-08-13T17:37:10.977Z,1628876230.977 [Micromodem](INFO): Outgoing frame #1, 60 bytes: B2AB1661060000005D00000400260000000000000000151D80030C5669C08C7998658FC7F34B35EB13E6EA8E3AB5C6FD973E63D89462A4442E91C200
2021-08-13T17:37:10.977Z,1628876230.977 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-08-13T17:37:11.269Z,1628876231.269 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-08-13T17:37:11.685Z,1628876231.685 [Micromodem](INFO): Nmea in: $CADRQ,173711,1,10,0,64,1*74

2021-08-13T17:37:11.686Z,1628876231.686 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,B2AB1661060000005D00000400260000000000000000151D80030C5669C08C7998658FC7F34B35EB13E6EA8E3AB5C6FD973E63D89462A4442E91C200*4D

2021-08-13T17:37:12.065Z,1628876232.065 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,60*4D

2021-08-13T17:37:12.080Z,1628876232.080 [PowerOnly](INFO): Powering down loadControl
2021-08-13T17:37:12.463Z,1628876232.463 [Micromodem](INFO): Nmea in: $CATXP,60*74

2021-08-13T17:37:12.684Z,1628876232.684 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:37:12.881Z,1628876232.881 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:37:12.881Z,1628876232.881 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:37:12.881Z,1628876232.881 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:37:12.882Z,1628876232.882 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:37:13.273Z,1628876233.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EFA,000,00314,186,80,80,7F,FF
2021-08-13T17:37:13.273Z,1628876233.273 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:37:13.273Z,1628876233.273 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:37:13.275Z,1628876233.275 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:37:13.730Z,1628876233.730 [Micromodem](INFO): Nmea in: $CATXF,60*62

2021-08-13T17:37:13.730Z,1628876233.730 [Micromodem](ERROR): Response from modem unexpected: $CATXF,60*62

2021-08-13T17:37:14.095Z,1628876234.095 [Micromodem](INFO): Nmea in: $CAXST,7,20210813,173712.232150,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*55

2021-08-13T17:37:14.096Z,1628876234.096 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210813,173712.232150,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*55

2021-08-13T17:37:14.904Z,1628876234.904 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T17:37:15.319Z,1628876235.319 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:37:15.714Z,1628876235.714 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-08-13T17:37:15.715Z,1628876235.715 [Micromodem](INFO): Sent 52 bytes from file Logs/20210813T172818/Courier0006.lzma.parts
2021-08-13T17:37:15.715Z,1628876235.715 [Micromodem](INFO): Packets left to send: 0
2021-08-13T17:37:16.118Z,1628876236.118 [Micromodem](INFO): Nmea in: $CACST,6,0,20210813173715.053474,06,32767,45,0104,0150,07,00,00,00,00,1,010,001,0,4,1,0,150,25.8,4.78,14,-1.78,-01,0.20,48,14500,4000*60

2021-08-13T17:37:16.119Z,1628876236.119 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210813173715.053474,06,32767,45,0104,0150,07,00,00,00,00,1,010,001,0,4,1,0,150,25.8,4.78,14,-1.78,-01,0.20,48,14500,4000*60

2021-08-13T17:37:16.299Z,1628876236.299 [Micromodem](INFO): Outgoing frame #1, 60 bytes: B2AB1661090000005D00000400260000000000000000151D80030C5669C08C7998497F05E6412C40FEAFBCBF3CD9DA643F026554D05EFEB18378E000
2021-08-13T17:37:17.921Z,1628876237.921 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:37:19.076Z,1628876239.076 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.193824
2021-08-13T17:37:20.723Z,1628876240.723 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:37:21.089Z,1628876241.089 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:37:21.089Z,1628876241.089 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:37:21.089Z,1628876241.089 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:37:21.090Z,1628876241.090 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:37:21.517Z,1628876241.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EFA,000,00314,186,80,80,7F,FF
2021-08-13T17:37:21.517Z,1628876241.517 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:37:21.518Z,1628876241.518 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:37:23.606Z,1628876243.606 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:37:24.337Z,1628876244.337 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:37:24.768Z,1628876244.768 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:37:24.788Z,1628876244.788 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-08-13T17:37:25.385Z,1628876245.385 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E33,000,00361,187,80,80,C4,FF
2021-08-13T17:37:25.386Z,1628876245.386 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:37:25.388Z,1628876245.388 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-08-13T17:37:25.541Z,1628876245.541 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T17:37:25.797Z,1628876245.797 [Micromodem](INFO): Nmea in: $CADRQ,173725,1,10,0,64,1*73

2021-08-13T17:37:25.798Z,1628876245.798 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,B2AB1661090000005D00000400260000000000000000151D80030C5669C08C7998497F05E6412C40FEAFBCBF3CD9DA643F026554D05EFEB18378E000*41

2021-08-13T17:37:25.930Z,1628876245.930 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.400001 m, bearing: 332.669309 deg, deltaT: 15.580766 s, approachRate: 0.296519 m/s, LOS rate: 0.632102 deg/s, posRepo size: 4
2021-08-13T17:37:25.932Z,1628876245.932 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.400001 m,
      bearing: 332.669309 deg,
      approachRate: 0.296519 m/s,
      LOS rate: 0.632102 deg/s,
      cmd update: 1.896307 deg/s,
      cmd heading: 334.613941 deg,
      new cmd heading: 336.315514 deg.

2021-08-13T17:37:26.201Z,1628876246.201 [Micromodem](INFO): Nmea in: $SNTTA,,,,,173724.86*54

2021-08-13T17:37:26.201Z,1628876246.201 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,,,,,173724.86*54

2021-08-13T17:37:27.413Z,1628876247.413 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,60*4D

2021-08-13T17:37:27.845Z,1628876247.845 [Micromodem](INFO): Nmea in: $CATXP,60*74

2021-08-13T17:37:28.258Z,1628876248.258 [Micromodem](INFO): Nmea in: $CATXF,60*62

2021-08-13T17:37:28.299Z,1628876248.299 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:37:28.661Z,1628876248.661 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:37:28.661Z,1628876248.661 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:37:28.661Z,1628876248.661 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:37:28.662Z,1628876248.662 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:37:28.674Z,1628876248.674 [Micromodem](INFO): Nmea in: $CAXST,7,20210813,173726.343956,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*5B

2021-08-13T17:37:29.082Z,1628876249.082 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E33,000,00361,187,80,80,C4,FF
2021-08-13T17:37:29.083Z,1628876249.083 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:37:29.083Z,1628876249.083 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:37:29.085Z,1628876249.085 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:37:29.703Z,1628876249.703 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:37:30.502Z,1628876250.502 [Micromodem](INFO): Nmea in: $SNTTA,,,,,173729.61*50

2021-08-13T17:37:30.963Z,1628876250.963 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:37:32.601Z,1628876252.601 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
1,187,80,80,C4,FF
2021-08-13T17:37:32.601Z,1628876252.601 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
1,187,80,80,C4,FF
2021-08-13T17:37:32.602Z,1628876252.602 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T17:37:33.508Z,1628876253.508 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:37:33.797Z,1628876253.797 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:37:33.797Z,1628876253.797 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:37:33.797Z,1628876253.797 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:37:33.798Z,1628876253.798 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:37:34.210Z,1628876254.210 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
1,187,80,80,C4,FF
2021-08-13T17:37:34.210Z,1628876254.210 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:37:34.210Z,1628876254.210 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:37:34.214Z,1628876254.214 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:37:34.613Z,1628876254.613 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:37:35.031Z,1628876255.031 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E34,000,0037F,186,80,80,AA,FF
2021-08-13T17:37:35.031Z,1628876255.031 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:37:35.114Z,1628876255.114 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T17:37:35.686Z,1628876255.686 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.199997 m, bearing: 14.883114 deg, deltaT: 9.572338 s, approachRate: 0.188041 m/s, LOS rate: 4.409979 deg/s, posRepo size: 4
2021-08-13T17:37:35.688Z,1628876255.688 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.199997 m,
      bearing: 14.883114 deg,
      approachRate: 0.188041 m/s,
      LOS rate: 4.409979 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 352.794306 deg,
      new cmd heading: 353.893256 deg.

2021-08-13T17:37:35.887Z,1628876255.887 [Micromodem](INFO): Nmea in: $SNTTA,0.034236,,,,173734.80*4D

2021-08-13T17:37:37.722Z,1628876257.722 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:37:37.985Z,1628876257.985 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:37:37.985Z,1628876257.985 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:37:37.985Z,1628876257.985 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:37:37.986Z,1628876257.986 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:37:38.397Z,1628876258.397 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E34,000,0037F,186,80,80,AA,FF
2021-08-13T17:37:38.397Z,1628876258.397 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:37:38.397Z,1628876258.397 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:37:38.407Z,1628876258.407 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:37:38.796Z,1628876258.796 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:37:39.204Z,1628876259.204 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DC6,000,00387,189,80,80,A8,FF
2021-08-13T17:37:39.205Z,1628876259.205 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:37:39.270Z,1628876259.270 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T17:37:39.633Z,1628876259.633 [Micromodem](INFO): Nmea in: $SNTTA,,,,,173738.93*5D

2021-08-13T17:37:39.685Z,1628876259.685 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.680002 m, bearing: 31.172393 deg, deltaT: 4.156447 s, approachRate: 0.115485 m/s, LOS rate: 3.919039 deg/s, posRepo size: 4
2021-08-13T17:37:39.687Z,1628876259.687 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.680002 m,
      bearing: 31.172393 deg,
      approachRate: 0.115485 m/s,
      LOS rate: 3.919039 deg/s,
      cmd update: 11.757117 deg/s,
      cmd heading: 42.678859 deg,
      new cmd heading: 47.734711 deg.

2021-08-13T17:37:41.889Z,1628876261.889 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:37:42.165Z,1628876262.165 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:37:42.166Z,1628876262.166 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:37:42.166Z,1628876262.166 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:37:42.167Z,1628876262.167 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:37:42.557Z,1628876262.557 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DC6,000,00387,189,80,80,A8,FF
2021-08-13T17:37:42.557Z,1628876262.557 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:37:42.557Z,1628876262.557 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:37:42.559Z,1628876262.559 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:37:42.969Z,1628876262.969 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:37:43.365Z,1628876263.365 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DC4,000,00390,189,80,80,A0,FF
2021-08-13T17:37:43.366Z,1628876263.366 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:37:43.493Z,1628876263.493 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T17:37:43.817Z,1628876263.817 [Micromodem](INFO): Nmea in: $SNTTA,,,,,173743.08*53

2021-08-13T17:37:44.105Z,1628876264.105 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.219997 m, bearing: 44.499680 deg, deltaT: 4.222367 s, approachRate: 0.127889 m/s, LOS rate: 3.156354 deg/s, posRepo size: 4
2021-08-13T17:37:44.107Z,1628876264.107 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.219997 m,
      bearing: 44.499680 deg,
      approachRate: 0.127889 m/s,
      LOS rate: 3.156354 deg/s,
      cmd update: 9.469063 deg/s,
      cmd heading: 92.045854 deg,
      new cmd heading: 99.600977 deg.

2021-08-13T17:37:45.197Z,1628876265.197 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-13T17:37:46.019Z,1628876266.019 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:37:46.495Z,1628876266.495 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:37:46.495Z,1628876266.495 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:37:46.495Z,1628876266.495 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:37:46.496Z,1628876266.496 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:37:46.632Z,1628876266.632 [Radio_Surface](INFO): Powering down
2021-08-13T17:37:46.913Z,1628876266.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DC4,000,00390,189,80,80,A0,FF
2021-08-13T17:37:46.914Z,1628876266.914 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:37:46.914Z,1628876266.914 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:37:46.920Z,1628876266.920 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:37:47.205Z,1628876267.205 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2021-08-13T17:37:47.374Z,1628876267.374 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:37:47.773Z,1628876267.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D9D,000,00397,189,80,80,96,FF
2021-08-13T17:37:47.774Z,1628876267.774 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:37:47.777Z,1628876267.777 [Micromodem](INFO): Nmea in: $SNTTA,0.035058,0.166349,,,173747.45*5A

2021-08-13T17:37:48.011Z,1628876268.011 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T17:37:48.367Z,1628876268.367 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.639997 m, bearing: 58.255524 deg, deltaT: 4.519271 s, approachRate: 0.092935 m/s, LOS rate: 3.043819 deg/s, posRepo size: 4
2021-08-13T17:37:48.368Z,1628876268.368 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 17.64 m.
2021-08-13T17:37:48.370Z,1628876268.370 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.639997 m,
      bearing: 58.255524 deg,
      approachRate: 0.092935 m/s,
      LOS rate: 3.043819 deg/s,
      cmd update: 9.131457 deg/s,
      cmd heading: 135.069774 deg,
      new cmd heading: 138.492879 deg.

2021-08-13T17:37:50.798Z,1628876270.798 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:37:51.173Z,1628876271.173 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:37:51.173Z,1628876271.173 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:37:51.173Z,1628876271.173 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:37:51.174Z,1628876271.174 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:37:51.573Z,1628876271.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D9D,000,00397,189,80,80,96,FF
2021-08-13T17:37:51.573Z,1628876271.573 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:37:51.574Z,1628876271.574 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:37:51.575Z,1628876271.575 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:37:52.079Z,1628876272.079 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:37:52.447Z,1628876272.447 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D88,000,0039F,189,80,80,7C,FF
2021-08-13T17:37:52.447Z,1628876272.447 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:37:52.488Z,1628876272.488 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T17:37:52.877Z,1628876272.877 [Micromodem](INFO): Nmea in: $SNTTA,0.037424,,,,173752.10*42

2021-08-13T17:37:52.911Z,1628876272.911 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.120001 m, bearing: 71.838557 deg, deltaT: 4.476286 s, approachRate: 0.107233 m/s, LOS rate: 3.034443 deg/s, posRepo size: 4
2021-08-13T17:37:52.915Z,1628876272.915 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.120001 m,
      bearing: 71.838557 deg,
      approachRate: 0.107233 m/s,
      LOS rate: 3.034443 deg/s,
      cmd update: 9.103327 deg/s,
      cmd heading: 175.970540 deg,
      new cmd heading: 179.847109 deg.

2021-08-13T17:37:55.385Z,1628876275.385 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:37:55.721Z,1628876275.721 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:37:55.721Z,1628876275.721 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:37:55.721Z,1628876275.721 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:37:55.722Z,1628876275.722 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:37:56.125Z,1628876276.125 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D88,000,0039F,189,80,80,7C,FF
2021-08-13T17:37:56.125Z,1628876276.125 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:37:56.125Z,1628876276.125 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:37:56.127Z,1628876276.127 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:37:56.551Z,1628876276.551 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:37:57.129Z,1628876277.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D45,000,003A3,189,80,80,A0,FF
2021-08-13T17:37:57.129Z,1628876277.129 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:37:57.189Z,1628876277.189 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T17:37:57.545Z,1628876277.545 [Micromodem](INFO): Nmea in: $SNTTA,0.026912,,,,173756.65*4C

2021-08-13T17:37:57.604Z,1628876277.604 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.359997 m, bearing: 88.318635 deg, deltaT: 4.700812 s, approachRate: 0.051054 m/s, LOS rate: 3.505794 deg/s, posRepo size: 4
2021-08-13T17:37:57.605Z,1628876277.605 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Stopped intercept timer at range: 18.36 m.
2021-08-13T17:37:57.606Z,1628876277.606 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.359997 m,
      bearing: 88.318635 deg,
      approachRate: 0.051054 m/s,
      LOS rate: 3.505794 deg/s,
      cmd update: 10.517381 deg/s,
      cmd heading: 218.510298 deg,
      new cmd heading: 222.533413 deg.

2021-08-13T17:37:59.955Z,1628876279.955 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:38:00.321Z,1628876280.321 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:38:00.321Z,1628876280.321 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:38:00.321Z,1628876280.321 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:38:00.322Z,1628876280.322 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:38:00.725Z,1628876280.725 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D45,000,003A3,189,80,80,A0,FF
2021-08-13T17:38:00.725Z,1628876280.725 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:38:00.725Z,1628876280.725 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:38:00.727Z,1628876280.727 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:38:01.256Z,1628876281.256 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:38:02.049Z,1628876282.049 [Micromodem](INFO): Nmea in: $SNTTA,,,,,173801.25*55

2021-08-13T17:38:02.487Z,1628876282.487 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:38:04.125Z,1628876284.125 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
3,189,80,80,A0,FF
2021-08-13T17:38:04.125Z,1628876284.125 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
3,189,80,80,A0,FF
2021-08-13T17:38:04.125Z,1628876284.125 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T17:38:05.388Z,1628876285.388 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:38:05.741Z,1628876285.741 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:38:05.741Z,1628876285.741 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:38:05.741Z,1628876285.741 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:38:05.742Z,1628876285.742 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:38:06.137Z,1628876286.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
3,189,80,80,A0,FF
2021-08-13T17:38:06.137Z,1628876286.137 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:38:06.137Z,1628876286.137 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:38:06.139Z,1628876286.139 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:38:06.636Z,1628876286.636 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:38:07.037Z,1628876287.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,18A,000,0039F,185,80,80,71,FF
2021-08-13T17:38:07.037Z,1628876287.037 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:38:07.316Z,1628876287.316 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T17:38:07.729Z,1628876287.729 [Micromodem](INFO): Nmea in: $SNTTA,0.029738,,,,173806.66*4C

2021-08-13T17:38:07.775Z,1628876287.775 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.120001 m, bearing: 45.129980 deg, deltaT: 10.127152 s, approachRate: -0.023698 m/s, LOS rate: -4.264640 deg/s, posRepo size: 4
2021-08-13T17:38:07.778Z,1628876287.778 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.120001 m,
      bearing: 45.129980 deg,
      approachRate: -0.023698 m/s,
      LOS rate: -4.264640 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 325.199845 deg,
      new cmd heading: 330.177364 deg.

2021-08-13T17:38:08.149Z,1628876288.149 [RDI_PathfinderUp](ERROR): only read 0 of 4 data items
2021-08-13T17:38:10.197Z,1628876290.197 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:38:10.573Z,1628876290.573 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:38:10.573Z,1628876290.573 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:38:10.573Z,1628876290.573 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:38:10.574Z,1628876290.574 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:38:10.977Z,1628876290.977 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
18A,000,0039F,185,80,80,71,FF
2021-08-13T17:38:10.977Z,1628876290.977 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:38:10.978Z,1628876290.978 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:38:10.979Z,1628876290.979 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:38:11.389Z,1628876291.389 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:38:11.793Z,1628876291.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DE7,000,003BF,188,80,80,87,FF
2021-08-13T17:38:11.793Z,1628876291.793 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:38:11.885Z,1628876291.885 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T17:38:12.233Z,1628876292.233 [Micromodem](INFO): Nmea in: $SNTTA,,,,,173811.50*56

2021-08-13T17:38:12.260Z,1628876292.260 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.039999 m, bearing: 69.836471 deg, deltaT: 4.569264 s, approachRate: 0.420199 m/s, LOS rate: 5.407105 deg/s, posRepo size: 4
2021-08-13T17:38:12.262Z,1628876292.262 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 20.039999 m,
      bearing: 69.836471 deg,
      approachRate: 0.420199 m/s,
      LOS rate: 5.407105 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 270.369108 deg,
      new cmd heading: 265.702271 deg.

2021-08-13T17:38:14.701Z,1628876294.701 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:38:15.117Z,1628876295.117 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:38:15.117Z,1628876295.117 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:38:15.117Z,1628876295.117 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:38:15.118Z,1628876295.118 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:38:15.529Z,1628876295.529 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DE7,000,003BF,188,80,80,87,FF
2021-08-13T17:38:15.529Z,1628876295.529 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:38:15.529Z,1628876295.529 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:38:15.531Z,1628876295.531 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:38:15.907Z,1628876295.907 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:38:16.305Z,1628876296.305 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E49,000,003D0,186,80,80,AA,FF
2021-08-13T17:38:16.305Z,1628876296.305 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:38:16.347Z,1628876296.347 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T17:38:16.743Z,1628876296.743 [Micromodem](INFO): Nmea in: $SNTTA,,,,,173816.06*52

2021-08-13T17:38:16.783Z,1628876296.783 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.059998 m, bearing: 49.977276 deg, deltaT: 4.466737 s, approachRate: 0.228354 m/s, LOS rate: -4.446019 deg/s, posRepo size: 4
2021-08-13T17:38:16.789Z,1628876296.789 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 21.059998 m,
      bearing: 49.977276 deg,
      approachRate: 0.228354 m/s,
      LOS rate: -4.446019 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 323.995537 deg,
      new cmd heading: 329.309065 deg.

2021-08-13T17:38:19.180Z,1628876299.180 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:38:19.533Z,1628876299.533 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:38:19.533Z,1628876299.533 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:38:19.533Z,1628876299.533 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:38:19.534Z,1628876299.534 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:38:19.945Z,1628876299.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E49,000,003D0,186,80,80,AA,FF
2021-08-13T17:38:19.946Z,1628876299.946 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:38:19.946Z,1628876299.946 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:38:19.947Z,1628876299.947 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:38:20.343Z,1628876300.343 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:38:20.743Z,1628876300.743 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F89,000,00401,187,80,80,5A,FF
2021-08-13T17:38:20.743Z,1628876300.743 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:38:20.804Z,1628876300.804 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T17:38:21.181Z,1628876301.181 [Micromodem](INFO): Nmea in: $SNTTA,,,,,173820.48*5D

2021-08-13T17:38:21.206Z,1628876301.206 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.000002 m, bearing: 19.955364 deg, deltaT: 4.451987 s, approachRate: 0.660380 m/s, LOS rate: -6.743486 deg/s, posRepo size: 4
2021-08-13T17:38:21.209Z,1628876301.209 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 24.000002 m,
      bearing: 19.955364 deg,
      approachRate: 0.660380 m/s,
      LOS rate: -6.743486 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 270.562727 deg,
      new cmd heading: 265.599767 deg.

2021-08-13T17:38:21.574Z,1628876301.574 [Micromodem](ERROR): Buffer fill timout failure.
2021-08-13T17:38:22.138Z,1628876302.138 [Micromodem](INFO): Outgoing frame #1, 60 bytes: B2AB1661090000005D00000400260000000000000000151D80030C5669C08C7998497F05E6412C40FEAFBCBF3CD9DA643F026554D05EFEB18378E000
2021-08-13T17:38:22.138Z,1628876302.138 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-08-13T17:38:22.414Z,1628876302.414 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-08-13T17:38:22.809Z,1628876302.809 [Micromodem](INFO): Nmea in: $CADRQ,173822,1,10,0,64,1*7B

2021-08-13T17:38:22.809Z,1628876302.809 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,B2AB1661090000005D00000400260000000000000000151D80030C5669C08C7998497F05E6412C40FEAFBCBF3CD9DA643F026554D05EFEB18378E000*41

2021-08-13T17:38:23.218Z,1628876303.218 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,60*4D

2021-08-13T17:38:23.602Z,1628876303.602 [Micromodem](INFO): Nmea in: $CATXP,60*74

2021-08-13T17:38:23.671Z,1628876303.671 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:38:24.005Z,1628876304.005 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:38:24.005Z,1628876304.005 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:38:24.005Z,1628876304.005 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:38:24.006Z,1628876304.006 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:38:24.413Z,1628876304.413 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F89,000,00401,187,80,80,5A,FF
2021-08-13T17:38:24.413Z,1628876304.413 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:38:24.413Z,1628876304.413 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:38:24.415Z,1628876304.415 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:38:24.830Z,1628876304.830 [Micromodem](INFO): Nmea in: $CATXF,60*62

2021-08-13T17:38:24.831Z,1628876304.831 [Micromodem](ERROR): Response from modem unexpected: $CATXF,60*62

2021-08-13T17:38:25.228Z,1628876305.228 [Micromodem](INFO): Nmea in: $CAXST,7,20210813,173823.355612,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*59

2021-08-13T17:38:25.228Z,1628876305.228 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210813,173823.355612,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*59

2021-08-13T17:38:25.293Z,1628876305.293 [CTD_Seabird](ERROR): Failed to parse device response: 1,4.73023,4750.64
2021-08-13T17:38:26.550Z,1628876306.550 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:38:29.095Z,1628876309.095 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:38:30.140Z,1628876310.140 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.133990
2021-08-13T17:38:31.818Z,1628876311.818 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:38:32.149Z,1628876312.149 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:38:32.149Z,1628876312.149 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:38:32.149Z,1628876312.149 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:38:32.150Z,1628876312.150 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:38:32.553Z,1628876312.553 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F89,000,00401,187,80,80,5A,FF
2021-08-13T17:38:32.553Z,1628876312.553 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:38:32.553Z,1628876312.553 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:38:34.677Z,1628876314.677 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:38:35.430Z,1628876315.430 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:38:35.929Z,1628876315.929 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:38:36.340Z,1628876316.340 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00487,189,80,80,55,FF
2021-08-13T17:38:36.340Z,1628876316.340 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:38:36.375Z,1628876316.375 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T17:38:36.767Z,1628876316.767 [Micromodem](INFO): Nmea in: $SNTTA,,,,,173835.96*5A

2021-08-13T17:38:36.819Z,1628876316.819 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.040001 m, bearing: 250.587210 deg, deltaT: 15.570906 s, approachRate: 0.516348 m/s, LOS rate: -8.308325 deg/s, posRepo size: 4
2021-08-13T17:38:36.819Z,1628876316.819 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 32.04 m. Rolling out.
2021-08-13T17:38:36.820Z,1628876316.820 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-08-13T17:38:37.179Z,1628876317.179 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2021-08-13T17:38:37.179Z,1628876317.179 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-13T17:38:37.179Z,1628876317.179 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2021-08-13T17:38:37.180Z,1628876317.180 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2021-08-13T17:38:37.180Z,1628876317.180 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2021-08-13T17:38:37.180Z,1628876317.180 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2021-08-13T17:38:37.180Z,1628876317.180 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-08-13T17:38:38.812Z,1628876318.812 [DDM](ERROR): Could not parse latch state
2021-08-13T17:38:39.214Z,1628876319.214 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:38:39.565Z,1628876319.565 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:38:39.565Z,1628876319.565 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:38:39.565Z,1628876319.565 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:38:39.566Z,1628876319.566 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:38:40.023Z,1628876320.023 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00487,189,80,80,55,FF
2021-08-13T17:38:40.023Z,1628876320.023 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:38:40.023Z,1628876320.023 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:38:40.075Z,1628876320.075 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:38:40.429Z,1628876320.429 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:38:41.639Z,1628876321.639 [Micromodem](INFO): Nmea in: $SNTTA,,,,,173840.61*50

2021-08-13T17:38:41.938Z,1628876321.938 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:38:43.753Z,1628876323.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
7,189,80,80,55,FF
2021-08-13T17:38:43.753Z,1628876323.753 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
7,189,80,80,55,FF
2021-08-13T17:38:43.753Z,1628876323.753 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T17:38:44.594Z,1628876324.594 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:38:44.969Z,1628876324.969 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:38:44.969Z,1628876324.969 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:38:44.969Z,1628876324.969 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:38:44.970Z,1628876324.970 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:38:45.369Z,1628876325.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
7,189,80,80,55,FF
2021-08-13T17:38:45.370Z,1628876325.370 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:38:45.370Z,1628876325.370 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:38:45.371Z,1628876325.371 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:38:45.780Z,1628876325.780 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:38:46.676Z,1628876326.676 [Micromodem](INFO): Nmea in: $SNTTA,,,,,173845.89*53

2021-08-13T17:38:47.147Z,1628876327.147 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:38:48.693Z,1628876328.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
7,189,80,80,55,FF
2021-08-13T17:38:48.693Z,1628876328.693 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
7,189,80,80,55,FF
2021-08-13T17:38:48.693Z,1628876328.693 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T17:38:49.659Z,1628876329.659 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:38:49.906Z,1628876329.906 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:38:49.906Z,1628876329.906 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:38:49.906Z,1628876329.906 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:38:49.907Z,1628876329.907 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:38:50.313Z,1628876330.313 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
7,189,80,80,55,FF
2021-08-13T17:38:50.313Z,1628876330.313 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:38:50.313Z,1628876330.313 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:38:50.320Z,1628876330.320 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:38:50.737Z,1628876330.737 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:38:51.570Z,1628876331.570 [Micromodem](INFO): Nmea in: $SNTTA,,,,,173850.84*5A

2021-08-13T17:38:52.559Z,1628876332.559 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:38:53.646Z,1628876333.646 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
7,189,80,80,55,FF
2021-08-13T17:38:53.646Z,1628876333.646 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
7,189,80,80,55,FF
2021-08-13T17:38:53.646Z,1628876333.646 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T17:38:55.338Z,1628876335.338 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:38:55.729Z,1628876335.729 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:38:55.729Z,1628876335.729 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:38:55.729Z,1628876335.729 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:38:55.730Z,1628876335.730 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:38:56.121Z,1628876336.121 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
7,189,80,80,55,FF
2021-08-13T17:38:56.121Z,1628876336.121 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:38:56.122Z,1628876336.122 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:38:56.123Z,1628876336.123 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:38:56.533Z,1628876336.533 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:38:56.929Z,1628876336.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FAA,000,004E3,185,80,80,76,FF
2021-08-13T17:38:56.929Z,1628876336.929 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:38:56.950Z,1628876336.950 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T17:38:57.365Z,1628876337.365 [Micromodem](INFO): Nmea in: $SNTTA,0.038724,,,,173856.65*47

2021-08-13T17:38:57.412Z,1628876337.412 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.559998 m, bearing: 345.862884 deg, deltaT: 20.575009 s, approachRate: 0.268286 m/s, LOS rate: 4.630651 deg/s, posRepo size: 4
2021-08-13T17:38:59.826Z,1628876339.826 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:39:00.153Z,1628876340.153 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:39:00.153Z,1628876340.153 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:39:00.153Z,1628876340.153 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:39:00.154Z,1628876340.154 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:39:00.577Z,1628876340.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FAA,000,004E3,185,80,80,76,FF
2021-08-13T17:39:00.577Z,1628876340.577 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:39:00.577Z,1628876340.577 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:39:00.579Z,1628876340.579 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:39:01.092Z,1628876341.092 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:39:01.519Z,1628876341.519 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DE2,000,004E6,187,80,80,73,FF
2021-08-13T17:39:01.520Z,1628876341.520 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:39:01.523Z,1628876341.523 [Micromodem](INFO): Nmea in: $SNTTA,0.035547,0.338463,,,173901.10*5B

2021-08-13T17:39:01.592Z,1628876341.592 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T17:39:01.932Z,1628876341.932 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.739998 m, bearing: 16.319759 deg, deltaT: 4.642262 s, approachRate: 0.038774 m/s, LOS rate: 6.560782 deg/s, posRepo size: 4
2021-08-13T17:39:04.349Z,1628876344.349 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:39:04.698Z,1628876344.698 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:39:04.699Z,1628876344.699 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:39:04.700Z,1628876344.700 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:39:04.702Z,1628876344.702 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:39:05.125Z,1628876345.125 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DE2,000,004E6,187,80,80,73,FF
2021-08-13T17:39:05.125Z,1628876345.125 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:39:05.125Z,1628876345.125 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:39:05.127Z,1628876345.127 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:39:05.565Z,1628876345.565 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:39:06.342Z,1628876346.342 [Micromodem](INFO): Nmea in: $SNTTA,,,,,173905.65*54

2021-08-13T17:39:06.938Z,1628876346.938 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:39:08.765Z,1628876348.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,187,80,80,73,FF
2021-08-13T17:39:08.766Z,1628876348.766 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,187,80,80,73,FF
2021-08-13T17:39:08.766Z,1628876348.766 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T17:39:09.631Z,1628876349.631 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:39:09.981Z,1628876349.981 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:39:09.981Z,1628876349.981 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:39:09.982Z,1628876349.982 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:39:09.983Z,1628876349.983 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:39:10.381Z,1628876350.381 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,187,80,80,73,FF
2021-08-13T17:39:10.381Z,1628876350.381 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:39:10.382Z,1628876350.382 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:39:10.383Z,1628876350.383 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:39:10.835Z,1628876350.835 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:39:11.225Z,1628876351.225 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF0,000,004EF,187,80,80,5C,FF
2021-08-13T17:39:11.225Z,1628876351.225 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:39:11.504Z,1628876351.504 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T17:39:11.821Z,1628876351.821 [Micromodem](INFO): Nmea in: $SNTTA,0.037945,0.476604,,,173910.91*50

2021-08-13T17:39:11.856Z,1628876351.856 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.279999 m, bearing: 16.134097 deg, deltaT: 9.912508 s, approachRate: 0.054477 m/s, LOS rate: -0.018730 deg/s, posRepo size: 4
2021-08-13T17:39:14.354Z,1628876354.354 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:39:14.713Z,1628876354.713 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:39:14.713Z,1628876354.713 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:39:14.713Z,1628876354.713 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:39:14.714Z,1628876354.714 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:39:15.133Z,1628876355.133 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF0,000,004EF,187,80,80,5C,FF
2021-08-13T17:39:15.133Z,1628876355.133 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:39:15.133Z,1628876355.133 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:39:15.135Z,1628876355.135 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:39:15.574Z,1628876355.574 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:39:15.945Z,1628876355.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E7C,000,004F5,186,80,80,8C,FF
2021-08-13T17:39:15.946Z,1628876355.946 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:39:15.975Z,1628876355.975 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T17:39:16.390Z,1628876356.390 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.639999 m, bearing: 26.485423 deg, deltaT: 4.471296 s, approachRate: 0.080514 m/s, LOS rate: 2.315062 deg/s, posRepo size: 4
2021-08-13T17:39:18.863Z,1628876358.863 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:39:19.201Z,1628876359.201 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:39:19.201Z,1628876359.201 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:39:19.201Z,1628876359.201 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:39:19.202Z,1628876359.202 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:39:19.609Z,1628876359.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E7C,000,004F5,186,80,80,8C,FF
2021-08-13T17:39:19.609Z,1628876359.609 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:39:19.609Z,1628876359.609 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:39:19.611Z,1628876359.611 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:39:20.140Z,1628876360.140 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:39:20.549Z,1628876360.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F29,000,004F1,186,80,80,4C,FF
2021-08-13T17:39:20.550Z,1628876360.550 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:39:20.589Z,1628876360.589 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T17:39:20.962Z,1628876360.962 [Micromodem](INFO): Nmea in: $SNTTA,0.057640,,,,173920.13*4C

2021-08-13T17:39:21.032Z,1628876361.032 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.399998 m, bearing: 21.575847 deg, deltaT: 4.613111 s, approachRate: -0.052026 m/s, LOS rate: -1.064266 deg/s, posRepo size: 4
2021-08-13T17:39:23.438Z,1628876363.438 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:39:23.777Z,1628876363.777 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:39:23.777Z,1628876363.777 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:39:23.777Z,1628876363.777 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:39:23.778Z,1628876363.778 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:39:24.213Z,1628876364.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F29,000,004F1,186,80,80,4C,FF
2021-08-13T17:39:24.213Z,1628876364.213 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:39:24.213Z,1628876364.213 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:39:24.215Z,1628876364.215 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:39:24.623Z,1628876364.623 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:39:25.021Z,1628876365.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EDF,000,004F8,187,80,80,41,FF
2021-08-13T17:39:25.022Z,1628876365.022 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:39:25.103Z,1628876365.103 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T17:39:25.493Z,1628876365.493 [Micromodem](INFO): Nmea in: $SNTTA,,,,,173924.74*57

2021-08-13T17:39:25.577Z,1628876365.577 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.820000 m, bearing: 28.531275 deg, deltaT: 4.514381 s, approachRate: 0.093036 m/s, LOS rate: 1.540727 deg/s, posRepo size: 4
2021-08-13T17:39:27.140Z,1628876367.140 [Micromodem](ERROR): Buffer fill timout failure.
2021-08-13T17:39:27.697Z,1628876367.697 [Micromodem](INFO): Outgoing frame #1, 60 bytes: B2AB1661090000005D00000400260000000000000000151D80030C5669C08C7998497F05E6412C40FEAFBCBF3CD9DA643F026554D05EFEB18378E000
2021-08-13T17:39:27.697Z,1628876367.697 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-08-13T17:39:27.776Z,1628876367.776 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:39:28.029Z,1628876368.029 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:39:28.029Z,1628876368.029 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:39:28.029Z,1628876368.029 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:39:28.030Z,1628876368.030 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:39:28.037Z,1628876368.037 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-08-13T17:39:28.444Z,1628876368.444 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EDF,000,004F8,187,80,80,41,FF
2021-08-13T17:39:28.445Z,1628876368.445 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:39:28.445Z,1628876368.445 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:39:28.446Z,1628876368.446 [Micromodem](INFO): Nmea in: $CADRQ,173928,1,10,0,64,1*70

2021-08-13T17:39:28.447Z,1628876368.447 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,B2AB1661090000005D00000400260000000000000000151D80030C5669C08C7998497F05E6412C40FEAFBCBF3CD9DA643F026554D05EFEB18378E000*41

2021-08-13T17:39:28.838Z,1628876368.838 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,60*4D

2021-08-13T17:39:28.839Z,1628876368.839 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:39:29.242Z,1628876369.242 [Micromodem](INFO): Nmea in: $CATXP,60*74

2021-08-13T17:39:29.242Z,1628876369.242 [Micromodem](ERROR): Response from modem unexpected: $CATXP,60*74

2021-08-13T17:39:30.478Z,1628876370.478 [Micromodem](INFO): Nmea in: $CATXF,60*62

2021-08-13T17:39:30.478Z,1628876370.478 [Micromodem](ERROR): Response from modem unexpected: $CATXF,60*62

2021-08-13T17:39:30.520Z,1628876370.520 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:39:30.860Z,1628876370.860 [Micromodem](INFO): Nmea in: $CAXST,7,20210813,173928.989984,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*58

2021-08-13T17:39:30.860Z,1628876370.860 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210813,173928.989984,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*58

2021-08-13T17:39:32.558Z,1628876372.558 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-08-13T17:39:32.559Z,1628876372.559 [Micromodem](INFO): Sent 52 bytes from file Logs/20210813T172818/Courier0009.lzma.parts
2021-08-13T17:39:32.559Z,1628876372.559 [Micromodem](INFO): Packets left to send: 0
2021-08-13T17:39:32.958Z,1628876372.958 [Micromodem](INFO): Nmea in: $CACST,6,0,20210813173931.842268,06,32767,45,0120,0150,37,02,02,00,02,1,010,001,0,4,1,0,150,16.7,2.99,05,0.01,-01,0.02,49,14500,4000*49

2021-08-13T17:39:32.958Z,1628876372.958 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210813173931.842268,06,32767,45,0120,0150,37,02,02,00,02,1,010,001,0,4,1,0,150,16.7,2.99,05,0.01,-01,0.02,49,14500,4000*49

2021-08-13T17:39:33.187Z,1628876373.187 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:39:33.187Z,1628876373.187 [lineCaptureDepth:MicromodemComms] Stopped
2021-08-13T17:39:33.187Z,1628876373.187 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-08-13T17:39:33.187Z,1628876373.187 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-08-13T17:39:33.187Z,1628876373.187 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-13T17:39:33.187Z,1628876373.187 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-08-13T17:39:34.220Z,1628876374.220 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.190009
2021-08-13T17:39:35.888Z,1628876375.888 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:39:36.229Z,1628876376.229 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:39:36.229Z,1628876376.229 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:39:36.229Z,1628876376.229 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:39:36.230Z,1628876376.230 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:39:36.809Z,1628876376.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EDF,000,004F8,187,80,80,41,FF
2021-08-13T17:39:36.810Z,1628876376.810 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:39:36.810Z,1628876376.810 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:39:38.444Z,1628876378.444 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:39:40.050Z,1628876380.050 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:39:40.446Z,1628876380.446 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:39:40.837Z,1628876380.837 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D93,000,004F7,189,80,80,9F,FF
2021-08-13T17:39:40.837Z,1628876380.837 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:39:40.856Z,1628876380.856 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T17:39:41.321Z,1628876381.321 [Micromodem](INFO): Nmea in: $SNTTA,,,,,173940.58*5B

2021-08-13T17:39:41.562Z,1628876381.562 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.760002 m, bearing: 53.619837 deg, deltaT: 15.752653 s, approachRate: -0.003809 m/s, LOS rate: 1.592656 deg/s, posRepo size: 4
2021-08-13T17:39:43.504Z,1628876383.504 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:39:43.813Z,1628876383.813 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:39:43.813Z,1628876383.813 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:39:43.813Z,1628876383.813 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:39:43.814Z,1628876383.814 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:39:44.201Z,1628876384.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D93,000,004F7,189,80,80,9F,FF
2021-08-13T17:39:44.201Z,1628876384.201 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:39:44.201Z,1628876384.201 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:39:44.203Z,1628876384.203 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:39:44.641Z,1628876384.641 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:39:45.064Z,1628876385.064 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D85,000,004F5,189,80,80,61,FF
2021-08-13T17:39:45.065Z,1628876385.065 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:39:45.091Z,1628876385.091 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T17:39:45.489Z,1628876385.489 [Micromodem](INFO): Nmea in: $SNTTA,0.042127,,,,173944.73*4A

2021-08-13T17:39:45.550Z,1628876385.550 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.639999 m, bearing: 57.090795 deg, deltaT: 4.234229 s, approachRate: -0.028341 m/s, LOS rate: 0.819738 deg/s, posRepo size: 4
2021-08-13T17:39:46.261Z,1628876386.261 [RDI_PathfinderUp](ERROR): only read 0 of 4 data items
2021-08-13T17:39:47.901Z,1628876387.901 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:39:48.261Z,1628876388.261 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:39:48.261Z,1628876388.261 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:39:48.261Z,1628876388.261 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:39:48.262Z,1628876388.262 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:39:48.687Z,1628876388.687 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D85,000,004F5,189,80,80,61,FF
2021-08-13T17:39:48.687Z,1628876388.687 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:39:48.687Z,1628876388.687 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:39:48.689Z,1628876388.689 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:39:49.093Z,1628876389.093 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:39:49.535Z,1628876389.535 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FEF,000,004F4,183,80,80,36,FF
2021-08-13T17:39:49.537Z,1628876389.537 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:39:49.545Z,1628876389.545 [Micromodem](INFO): Nmea in: $SNTTA,0.079861,0.323521,,,173949.22*5A

2021-08-13T17:39:49.635Z,1628876389.635 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T17:39:49.924Z,1628876389.924 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.579998 m, bearing: 31.056286 deg, deltaT: 4.549071 s, approachRate: -0.013190 m/s, LOS rate: -5.723039 deg/s, posRepo size: 4
2021-08-13T17:39:52.353Z,1628876392.353 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:39:52.725Z,1628876392.725 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:39:52.725Z,1628876392.725 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:39:52.725Z,1628876392.725 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:39:52.726Z,1628876392.726 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:39:53.117Z,1628876393.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FEF,000,004F4,183,80,80,36,FF
2021-08-13T17:39:53.117Z,1628876393.117 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:39:53.117Z,1628876393.117 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:39:53.119Z,1628876393.119 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:39:53.545Z,1628876393.545 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:39:54.338Z,1628876394.338 [Micromodem](INFO): Nmea in: $SNTTA,,,,,173953.64*56

2021-08-13T17:39:54.737Z,1628876394.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F48,000,03263,186,80,80,7C,FF
2021-08-13T17:39:54.737Z,1628876394.737 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:39:54.782Z,1628876394.782 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T17:39:55.182Z,1628876395.182 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 736.439941 m, bearing: 43.595212 deg, deltaT: 5.142749 s, approachRate: 135.697845 m/s, LOS rate: 2.438176 deg/s, posRepo size: 4
2021-08-13T17:39:55.595Z,1628876395.595 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-13T17:39:55.596Z,1628876395.596 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T17:39:55.596Z,1628876395.596 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-13T17:39:55.597Z,1628876395.597 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-13T17:39:55.597Z,1628876395.597 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-13T17:39:55.597Z,1628876395.597 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-13T17:39:55.977Z,1628876395.977 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-13T17:39:55.977Z,1628876395.977 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T17:39:55.977Z,1628876395.977 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-13T17:39:55.978Z,1628876395.978 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T17:39:57.579Z,1628876397.579 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-13T17:39:57.595Z,1628876397.595 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:39:57.957Z,1628876397.957 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:39:57.957Z,1628876397.957 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:39:57.957Z,1628876397.957 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:39:57.958Z,1628876397.958 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:39:58.377Z,1628876398.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F48,000,03263,186,80,80,7C,FF
2021-08-13T17:39:58.377Z,1628876398.377 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:39:58.377Z,1628876398.377 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:39:58.379Z,1628876398.379 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:39:58.768Z,1628876398.768 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:39:59.177Z,1628876399.177 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E99,000,004FE,186,80,80,81,FF
2021-08-13T17:39:59.177Z,1628876399.177 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:39:59.613Z,1628876399.613 [Micromodem](INFO): Nmea in: $SNTTA,,,,,173958.90*56

2021-08-13T17:39:59.662Z,1628876399.662 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.180000 m, bearing: 54.352484 deg, deltaT: 4.451674 s, approachRate: -156.628708 m/s, LOS rate: 2.416455 deg/s, posRepo size: 4
2021-08-13T17:40:00.038Z,1628876400.038 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-13T17:40:00.039Z,1628876400.039 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T17:40:00.039Z,1628876400.039 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-13T17:40:00.057Z,1628876400.057 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-13T17:40:00.058Z,1628876400.058 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-13T17:40:00.058Z,1628876400.058 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-13T17:40:00.421Z,1628876400.421 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-13T17:40:00.421Z,1628876400.421 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T17:40:00.422Z,1628876400.422 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-13T17:40:00.422Z,1628876400.422 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T17:40:02.018Z,1628876402.018 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:40:02.410Z,1628876402.410 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:40:02.410Z,1628876402.410 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:40:02.410Z,1628876402.410 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:40:02.411Z,1628876402.411 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:40:02.814Z,1628876402.814 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E99,000,004FE,186,80,80,81,FF
2021-08-13T17:40:02.814Z,1628876402.814 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:40:02.814Z,1628876402.814 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:40:02.816Z,1628876402.816 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:40:03.235Z,1628876403.235 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:40:03.617Z,1628876403.617 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D10,000,004EE,189,80,80,95,FF
2021-08-13T17:40:03.617Z,1628876403.617 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:40:03.679Z,1628876403.679 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T17:40:04.081Z,1628876404.081 [Micromodem](INFO): Nmea in: $SNTTA,0.049488,,,,174003.34*4F

2021-08-13T17:40:04.107Z,1628876404.107 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.220001 m, bearing: 76.131727 deg, deltaT: 4.445609 s, approachRate: -0.215943 m/s, LOS rate: 4.899046 deg/s, posRepo size: 4
2021-08-13T17:40:06.486Z,1628876406.486 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:40:06.880Z,1628876406.880 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:40:06.880Z,1628876406.880 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:40:06.881Z,1628876406.881 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:40:06.882Z,1628876406.882 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:40:06.892Z,1628876406.892 [NAL9602](INFO): Not Powering down - fast GPS
2021-08-13T17:40:07.257Z,1628876407.257 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D10,000,004EE,189,80,80,95,FF
2021-08-13T17:40:07.258Z,1628876407.258 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:40:07.258Z,1628876407.258 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:40:07.261Z,1628876407.261 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:40:07.675Z,1628876407.675 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:40:08.070Z,1628876408.070 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C6B,000,004ED,189,80,80,5E,FF
2021-08-13T17:40:08.070Z,1628876408.070 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:40:08.135Z,1628876408.135 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T17:40:08.493Z,1628876408.493 [Micromodem](INFO): Nmea in: $SNTTA,0.064344,,,,174007.79*4A

2021-08-13T17:40:08.523Z,1628876408.523 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.159996 m, bearing: 86.200088 deg, deltaT: 4.455217 s, approachRate: -0.013469 m/s, LOS rate: 2.259904 deg/s, posRepo size: 4
2021-08-13T17:40:10.930Z,1628876410.930 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:40:11.293Z,1628876411.293 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:40:11.293Z,1628876411.293 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:40:11.293Z,1628876411.293 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:40:11.294Z,1628876411.294 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:40:11.698Z,1628876411.698 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C6B,000,004ED,189,80,80,5E,FF
2021-08-13T17:40:11.699Z,1628876411.699 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:40:11.699Z,1628876411.699 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:40:11.701Z,1628876411.701 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:40:12.133Z,1628876412.133 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:40:12.922Z,1628876412.922 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174012.23*5E

2021-08-13T17:40:13.764Z,1628876413.764 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:40:15.342Z,1628876415.342 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,189,80,80,5E,FF
2021-08-13T17:40:15.342Z,1628876415.342 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,189,80,80,5E,FF
2021-08-13T17:40:15.342Z,1628876415.342 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T17:40:16.566Z,1628876416.566 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:40:16.949Z,1628876416.949 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:40:16.949Z,1628876416.949 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:40:16.949Z,1628876416.949 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:40:16.950Z,1628876416.950 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:40:17.354Z,1628876417.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,189,80,80,5E,FF
2021-08-13T17:40:17.354Z,1628876417.354 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:40:17.354Z,1628876417.354 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:40:17.356Z,1628876417.356 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:40:17.761Z,1628876417.761 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:40:18.164Z,1628876418.164 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2B2,000,004EB,189,80,80,61,FF
2021-08-13T17:40:18.165Z,1628876418.165 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:40:18.195Z,1628876418.195 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T17:40:18.597Z,1628876418.597 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.040001 m, bearing: 9.853969 deg, deltaT: 10.059893 s, approachRate: -0.011928 m/s, LOS rate: -7.589158 deg/s, posRepo size: 4
2021-08-13T17:40:21.006Z,1628876421.006 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:40:21.385Z,1628876421.385 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:40:21.385Z,1628876421.385 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:40:21.385Z,1628876421.385 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:40:21.386Z,1628876421.386 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:40:21.805Z,1628876421.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2B2,000,004EB,189,80,80,61,FF
2021-08-13T17:40:21.805Z,1628876421.805 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:40:21.805Z,1628876421.805 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:40:21.819Z,1628876421.819 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:40:22.226Z,1628876422.226 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:40:22.621Z,1628876422.621 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,26F,000,004E4,18A,80,80,30,FF
2021-08-13T17:40:22.621Z,1628876422.621 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:40:22.677Z,1628876422.677 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T17:40:23.077Z,1628876423.077 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174022.35*5A

2021-08-13T17:40:23.108Z,1628876423.108 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.620003 m, bearing: 14.496665 deg, deltaT: 4.482449 s, approachRate: -0.093698 m/s, LOS rate: 1.035750 deg/s, posRepo size: 4
2021-08-13T17:40:25.515Z,1628876425.515 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:40:25.868Z,1628876425.868 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:40:25.869Z,1628876425.869 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:40:25.869Z,1628876425.869 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:40:25.870Z,1628876425.870 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:40:26.249Z,1628876426.249 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
26F,000,004E4,18A,80,80,30,FF
2021-08-13T17:40:26.249Z,1628876426.249 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:40:26.250Z,1628876426.250 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:40:26.251Z,1628876426.251 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:40:26.666Z,1628876426.666 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:40:27.081Z,1628876427.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,21B,000,004E1,187,80,80,31,FF
2021-08-13T17:40:27.081Z,1628876427.081 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:40:27.110Z,1628876427.110 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T17:40:27.525Z,1628876427.525 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174026.78*57

2021-08-13T17:40:27.574Z,1628876427.574 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.439999 m, bearing: 19.814939 deg, deltaT: 4.432885 s, approachRate: -0.040607 m/s, LOS rate: 1.199732 deg/s, posRepo size: 4
2021-08-13T17:40:29.925Z,1628876429.925 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:40:30.293Z,1628876430.293 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:40:30.293Z,1628876430.293 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:40:30.293Z,1628876430.293 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:40:30.294Z,1628876430.294 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:40:30.705Z,1628876430.705 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
21B,000,004E1,187,80,80,31,FF
2021-08-13T17:40:30.705Z,1628876430.705 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:40:30.705Z,1628876430.705 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:40:30.707Z,1628876430.707 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:40:31.120Z,1628876431.120 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:40:31.548Z,1628876431.548 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,148,000,004DE,186,80,80,96,FF
2021-08-13T17:40:31.549Z,1628876431.549 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:40:31.557Z,1628876431.557 [Micromodem](INFO): Nmea in: $SNTTA,0.055798,0.315514,,,174031.23*5E

2021-08-13T17:40:31.632Z,1628876431.632 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T17:40:31.954Z,1628876431.954 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.259998 m, bearing: 31.289305 deg, deltaT: 4.521857 s, approachRate: -0.039807 m/s, LOS rate: 2.537534 deg/s, posRepo size: 4
2021-08-13T17:40:34.370Z,1628876434.370 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:40:34.741Z,1628876434.741 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:40:34.741Z,1628876434.741 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:40:34.741Z,1628876434.741 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:40:34.742Z,1628876434.742 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:40:35.141Z,1628876435.141 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
148,000,004DE,186,80,80,96,FF
2021-08-13T17:40:35.141Z,1628876435.141 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:40:35.141Z,1628876435.141 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:40:35.143Z,1628876435.143 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:40:35.554Z,1628876435.554 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:40:35.953Z,1628876435.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,154,000,004E0,186,80,80,70,FF
2021-08-13T17:40:35.953Z,1628876435.953 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:40:36.005Z,1628876436.005 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T17:40:36.390Z,1628876436.390 [Micromodem](INFO): Nmea in: $SNTTA,0.478342,0.478335,,,174035.67*5B

2021-08-13T17:40:36.423Z,1628876436.423 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.380001 m, bearing: 32.217224 deg, deltaT: 4.373540 s, approachRate: 0.027438 m/s, LOS rate: 0.212167 deg/s, posRepo size: 4
2021-08-13T17:40:38.810Z,1628876438.810 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:40:39.185Z,1628876439.185 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:40:39.185Z,1628876439.185 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:40:39.185Z,1628876439.185 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:40:39.186Z,1628876439.186 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:40:39.585Z,1628876439.585 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
154,000,004E0,186,80,80,70,FF
2021-08-13T17:40:39.585Z,1628876439.585 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:40:39.585Z,1628876439.585 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:40:39.587Z,1628876439.587 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:40:40.001Z,1628876440.001 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:40:40.393Z,1628876440.393 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F70,000,004D8,187,80,80,69,FF
2021-08-13T17:40:40.393Z,1628876440.393 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:40:40.447Z,1628876440.447 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T17:40:40.841Z,1628876440.841 [Micromodem](INFO): Nmea in: $SNTTA,0.044876,,,,174040.11*4F

2021-08-13T17:40:40.868Z,1628876440.868 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.900002 m, bearing: 57.784398 deg, deltaT: 4.441166 s, approachRate: -0.108080 m/s, LOS rate: 5.756861 deg/s, posRepo size: 4
2021-08-13T17:40:43.257Z,1628876443.257 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:40:43.625Z,1628876443.625 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:40:43.625Z,1628876443.625 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:40:43.625Z,1628876443.625 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:40:43.626Z,1628876443.626 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:40:44.036Z,1628876444.036 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F70,000,004D8,187,80,80,69,FF
2021-08-13T17:40:44.036Z,1628876444.036 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:40:44.037Z,1628876444.037 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:40:44.043Z,1628876444.043 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:40:44.442Z,1628876444.442 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:40:44.853Z,1628876444.853 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E5B,000,004D7,185,80,80,6E,FF
2021-08-13T17:40:44.853Z,1628876444.853 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:40:44.876Z,1628876444.876 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T17:40:45.281Z,1628876445.281 [Micromodem](INFO): Nmea in: $SNTTA,0.077410,,,,174044.57*45

2021-08-13T17:40:45.307Z,1628876445.307 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.840000 m, bearing: 72.880509 deg, deltaT: 4.429691 s, approachRate: -0.013545 m/s, LOS rate: 3.407938 deg/s, posRepo size: 4
2021-08-13T17:40:47.712Z,1628876447.712 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:40:48.109Z,1628876448.109 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:40:48.109Z,1628876448.109 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:40:48.109Z,1628876448.109 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:40:48.110Z,1628876448.110 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:40:48.469Z,1628876448.469 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E5B,000,004D7,185,80,80,6E,FF
2021-08-13T17:40:48.469Z,1628876448.469 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:40:48.469Z,1628876448.469 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:40:48.471Z,1628876448.471 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:40:48.879Z,1628876448.879 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:40:49.282Z,1628876449.282 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E32,000,004D6,186,80,80,A5,FF
2021-08-13T17:40:49.282Z,1628876449.282 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:40:49.343Z,1628876449.343 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T17:40:49.722Z,1628876449.722 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174048.99*50

2021-08-13T17:40:49.757Z,1628876449.757 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.779999 m, bearing: 76.030271 deg, deltaT: 4.466752 s, approachRate: -0.013433 m/s, LOS rate: 0.705157 deg/s, posRepo size: 4
2021-08-13T17:40:52.155Z,1628876452.155 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:40:52.513Z,1628876452.513 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:40:52.513Z,1628876452.513 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:40:52.513Z,1628876452.513 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:40:52.514Z,1628876452.514 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:40:52.933Z,1628876452.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E32,000,004D6,186,80,80,A5,FF
2021-08-13T17:40:52.933Z,1628876452.933 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:40:52.934Z,1628876452.934 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:40:52.935Z,1628876452.935 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:40:53.325Z,1628876453.325 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:40:53.737Z,1628876453.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E2F,000,004D4,186,80,80,91,FF
2021-08-13T17:40:53.738Z,1628876453.738 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:40:53.811Z,1628876453.811 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T17:40:54.157Z,1628876454.157 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174053.46*58

2021-08-13T17:40:54.208Z,1628876454.208 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.660000 m, bearing: 76.570847 deg, deltaT: 4.467536 s, approachRate: -0.026860 m/s, LOS rate: 0.121001 deg/s, posRepo size: 4
2021-08-13T17:40:56.587Z,1628876456.587 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:40:56.984Z,1628876456.984 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:40:56.984Z,1628876456.984 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:40:56.985Z,1628876456.985 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:40:56.985Z,1628876456.985 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:40:57.357Z,1628876457.357 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E2F,000,004D4,186,80,80,91,FF
2021-08-13T17:40:57.357Z,1628876457.357 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:40:57.357Z,1628876457.357 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:40:57.359Z,1628876457.359 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:40:57.780Z,1628876457.780 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:40:58.181Z,1628876458.181 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E0B,000,004D1,187,80,80,9D,FF
2021-08-13T17:40:58.182Z,1628876458.182 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:40:58.258Z,1628876458.258 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T17:40:58.605Z,1628876458.605 [Micromodem](INFO): Nmea in: $SNTTA,0.039793,,,,174057.89*46

2021-08-13T17:40:58.627Z,1628876458.627 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.480000 m, bearing: 78.807856 deg, deltaT: 4.447106 s, approachRate: -0.040476 m/s, LOS rate: 0.503026 deg/s, posRepo size: 4
2021-08-13T17:41:01.093Z,1628876461.093 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:41:01.413Z,1628876461.413 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:41:01.413Z,1628876461.413 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:41:01.413Z,1628876461.413 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:41:01.414Z,1628876461.414 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:41:01.822Z,1628876461.822 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E0B,000,004D1,187,80,80,9D,FF
2021-08-13T17:41:01.822Z,1628876461.822 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:41:01.822Z,1628876461.822 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:41:01.825Z,1628876461.825 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:41:02.225Z,1628876462.225 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:41:02.613Z,1628876462.613 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E0E,000,004CE,186,80,80,59,FF
2021-08-13T17:41:02.614Z,1628876462.614 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:41:02.681Z,1628876462.681 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T17:41:03.069Z,1628876463.069 [Micromodem](INFO): Nmea in: $SNTTA,0.067871,,,,174102.36*4B

2021-08-13T17:41:03.108Z,1628876463.108 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.299995 m, bearing: 79.795085 deg, deltaT: 4.422818 s, approachRate: -0.040699 m/s, LOS rate: 0.223213 deg/s, posRepo size: 4
2021-08-13T17:41:05.517Z,1628876465.517 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:41:05.845Z,1628876465.845 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:41:05.845Z,1628876465.845 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:41:05.846Z,1628876465.846 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:41:05.846Z,1628876465.846 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:41:06.253Z,1628876466.253 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E0E,000,004CE,186,80,80,59,FF
2021-08-13T17:41:06.254Z,1628876466.254 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:41:06.254Z,1628876466.254 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:41:06.255Z,1628876466.255 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:41:06.662Z,1628876466.662 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:41:07.071Z,1628876467.071 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E02,000,004CF,185,80,80,3F,FF
2021-08-13T17:41:07.071Z,1628876467.071 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:41:07.141Z,1628876467.141 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T17:41:07.514Z,1628876467.514 [Micromodem](INFO): Nmea in: $SNTTA,0.039568,,,,174106.78*4B

2021-08-13T17:41:07.573Z,1628876467.573 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.360001 m, bearing: 81.309277 deg, deltaT: 4.460334 s, approachRate: 0.013453 m/s, LOS rate: 0.339479 deg/s, posRepo size: 4
2021-08-13T17:41:09.917Z,1628876469.917 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:41:10.289Z,1628876470.289 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:41:10.289Z,1628876470.289 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:41:10.289Z,1628876470.289 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:41:10.290Z,1628876470.290 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:41:10.693Z,1628876470.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E02,000,004CF,185,80,80,3F,FF
2021-08-13T17:41:10.693Z,1628876470.693 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:41:10.693Z,1628876470.693 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:41:10.695Z,1628876470.695 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:41:11.113Z,1628876471.113 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:41:11.535Z,1628876471.535 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DEF,000,004CA,186,80,80,77,FF
2021-08-13T17:41:11.536Z,1628876471.536 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:41:11.543Z,1628876471.543 [Micromodem](INFO): Nmea in: $SNTTA,0.043262,0.321554,,,174111.22*58

2021-08-13T17:41:11.638Z,1628876471.638 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T17:41:11.958Z,1628876471.958 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.060001 m, bearing: 82.045660 deg, deltaT: 4.497170 s, approachRate: -0.066708 m/s, LOS rate: 0.163744 deg/s, posRepo size: 4
2021-08-13T17:41:14.379Z,1628876474.379 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:41:14.741Z,1628876474.741 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:41:14.741Z,1628876474.741 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:41:14.741Z,1628876474.741 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:41:14.742Z,1628876474.742 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:41:15.141Z,1628876475.141 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DEF,000,004CA,186,80,80,77,FF
2021-08-13T17:41:15.142Z,1628876475.142 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:41:15.142Z,1628876475.142 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:41:15.143Z,1628876475.143 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:41:15.545Z,1628876475.545 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:41:15.949Z,1628876475.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DCE,000,004C9,188,80,80,B9,FF
2021-08-13T17:41:15.949Z,1628876475.949 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:41:15.993Z,1628876475.993 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T17:41:16.389Z,1628876476.389 [Micromodem](INFO): Nmea in: $SNTTA,,0.094672,,,174115.67*48

2021-08-13T17:41:16.423Z,1628876476.423 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.999996 m, bearing: 84.200783 deg, deltaT: 4.354918 s, approachRate: -0.013779 m/s, LOS rate: 0.494871 deg/s, posRepo size: 4
2021-08-13T17:41:18.814Z,1628876478.814 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:41:19.173Z,1628876479.173 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:41:19.173Z,1628876479.173 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:41:19.174Z,1628876479.174 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:41:19.174Z,1628876479.174 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:41:19.581Z,1628876479.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DCE,000,004C9,188,80,80,B9,FF
2021-08-13T17:41:19.581Z,1628876479.581 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:41:19.581Z,1628876479.581 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:41:19.583Z,1628876479.583 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:41:20.003Z,1628876480.003 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:41:20.397Z,1628876480.397 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DC4,000,004D4,188,80,80,90,FF
2021-08-13T17:41:20.398Z,1628876480.398 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:41:20.450Z,1628876480.450 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T17:41:20.841Z,1628876480.841 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174120.11*5F

2021-08-13T17:41:20.863Z,1628876480.863 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.660000 m, bearing: 84.979322 deg, deltaT: 4.457546 s, approachRate: 0.148064 m/s, LOS rate: 0.174656 deg/s, posRepo size: 4
2021-08-13T17:41:23.260Z,1628876483.260 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:41:23.625Z,1628876483.625 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:41:23.625Z,1628876483.625 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:41:23.625Z,1628876483.625 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:41:23.626Z,1628876483.626 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:41:24.049Z,1628876484.049 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DC4,000,004D4,188,80,80,90,FF
2021-08-13T17:41:24.049Z,1628876484.049 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:41:24.050Z,1628876484.050 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:41:24.072Z,1628876484.072 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:41:24.436Z,1628876484.436 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:41:24.838Z,1628876484.838 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DB1,000,004CA,189,80,80,92,FF
2021-08-13T17:41:24.838Z,1628876484.838 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:41:24.878Z,1628876484.878 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T17:41:25.267Z,1628876485.267 [Micromodem](INFO): Nmea in: $SNTTA,0.035521,,,,174124.60*43

2021-08-13T17:41:25.311Z,1628876485.311 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.060001 m, bearing: 86.364559 deg, deltaT: 4.429930 s, approachRate: -0.135442 m/s, LOS rate: 0.312700 deg/s, posRepo size: 4
2021-08-13T17:41:27.712Z,1628876487.712 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:41:28.105Z,1628876488.105 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:41:28.105Z,1628876488.105 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:41:28.105Z,1628876488.105 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:41:28.106Z,1628876488.106 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:41:28.481Z,1628876488.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DB1,000,004CA,189,80,80,92,FF
2021-08-13T17:41:28.481Z,1628876488.481 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:41:28.482Z,1628876488.482 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:41:28.483Z,1628876488.483 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:41:28.891Z,1628876488.891 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:41:29.281Z,1628876489.281 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DAC,000,004D1,188,80,80,83,FF
2021-08-13T17:41:29.281Z,1628876489.281 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:41:29.349Z,1628876489.349 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T17:41:29.697Z,1628876489.697 [Micromodem](INFO): Nmea in: $SNTTA,0.387296,0.386139,,,174129.01*50

2021-08-13T17:41:29.769Z,1628876489.769 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.480000 m, bearing: 86.669780 deg, deltaT: 4.511273 s, approachRate: 0.093100 m/s, LOS rate: 0.067657 deg/s, posRepo size: 4
2021-08-13T17:41:32.174Z,1628876492.174 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:41:32.521Z,1628876492.521 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:41:32.521Z,1628876492.521 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:41:32.522Z,1628876492.522 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:41:32.522Z,1628876492.522 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:41:32.937Z,1628876492.937 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DAC,000,004D1,188,80,80,83,FF
2021-08-13T17:41:32.937Z,1628876492.937 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:41:32.937Z,1628876492.937 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:41:32.939Z,1628876492.939 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:41:33.331Z,1628876493.331 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:41:33.736Z,1628876493.736 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D34,000,004CF,189,80,80,8A,FF
2021-08-13T17:41:33.737Z,1628876493.737 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:41:33.740Z,1628876493.740 [Micromodem](INFO): Nmea in: $SNTTA,0.035982,0.197151,,,174133.47*51

2021-08-13T17:41:33.801Z,1628876493.801 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T17:41:34.175Z,1628876494.175 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.360001 m, bearing: 93.018051 deg, deltaT: 4.409526 s, approachRate: -0.027214 m/s, LOS rate: 1.439672 deg/s, posRepo size: 4
2021-08-13T17:41:36.578Z,1628876496.578 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:41:36.977Z,1628876496.977 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:41:36.977Z,1628876496.977 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:41:36.977Z,1628876496.977 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:41:36.978Z,1628876496.978 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:41:37.374Z,1628876497.374 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D34,000,004CF,189,80,80,8A,FF
2021-08-13T17:41:37.374Z,1628876497.374 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:41:37.374Z,1628876497.374 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:41:37.375Z,1628876497.375 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:41:37.768Z,1628876497.768 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:41:38.173Z,1628876498.173 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D46,000,004CE,189,80,80,44,FF
2021-08-13T17:41:38.174Z,1628876498.174 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:41:38.203Z,1628876498.203 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T17:41:38.617Z,1628876498.617 [Micromodem](INFO): Nmea in: $SNTTA,0.023699,,,,174137.90*49

2021-08-13T17:41:38.657Z,1628876498.657 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.299995 m, bearing: 92.679636 deg, deltaT: 4.401905 s, approachRate: -0.013632 m/s, LOS rate: -0.076879 deg/s, posRepo size: 4
2021-08-13T17:41:41.010Z,1628876501.010 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:41:41.405Z,1628876501.405 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:41:41.405Z,1628876501.405 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:41:41.406Z,1628876501.406 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:41:41.407Z,1628876501.407 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:41:41.801Z,1628876501.801 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D46,000,004CE,189,80,80,44,FF
2021-08-13T17:41:41.801Z,1628876501.801 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:41:41.801Z,1628876501.801 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:41:41.803Z,1628876501.803 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:41:42.213Z,1628876502.213 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:41:43.056Z,1628876503.056 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174142.33*5B

2021-08-13T17:41:43.878Z,1628876503.878 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:41:45.444Z,1628876505.444 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
E,189,80,80,44,FF
2021-08-13T17:41:45.445Z,1628876505.445 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
E,189,80,80,44,FF
2021-08-13T17:41:45.445Z,1628876505.445 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T17:41:46.683Z,1628876506.683 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:41:47.064Z,1628876507.064 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:41:47.065Z,1628876507.065 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:41:47.065Z,1628876507.065 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:41:47.067Z,1628876507.067 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:41:47.501Z,1628876507.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
E,189,80,80,44,FF
2021-08-13T17:41:47.501Z,1628876507.501 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:41:47.501Z,1628876507.501 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:41:47.503Z,1628876507.503 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:41:47.891Z,1628876507.891 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:41:48.294Z,1628876508.294 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,BED,000,004CF,189,80,80,4A,FF
2021-08-13T17:41:48.294Z,1628876508.294 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:41:48.323Z,1628876508.323 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T17:41:48.712Z,1628876508.712 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174148.03*52

2021-08-13T17:41:48.728Z,1628876508.728 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.360001 m, bearing: 111.289955 deg, deltaT: 10.119963 s, approachRate: 0.005929 m/s, LOS rate: 1.838971 deg/s, posRepo size: 4
2021-08-13T17:41:51.145Z,1628876511.145 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:41:51.545Z,1628876511.545 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:41:51.545Z,1628876511.545 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:41:51.545Z,1628876511.545 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:41:51.546Z,1628876511.546 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:41:51.957Z,1628876511.957 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
BED,000,004CF,189,80,80,4A,FF
2021-08-13T17:41:51.957Z,1628876511.957 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:41:51.958Z,1628876511.958 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:41:51.959Z,1628876511.959 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:41:52.336Z,1628876512.336 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:41:52.734Z,1628876512.734 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B93,000,004D2,189,80,80,69,FF
2021-08-13T17:41:52.734Z,1628876512.734 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:41:52.753Z,1628876512.753 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T17:41:53.156Z,1628876513.156 [Micromodem](INFO): Nmea in: $SNTTA,0.023791,,,,174152.49*47

2021-08-13T17:41:53.212Z,1628876513.212 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.539997 m, bearing: 115.938513 deg, deltaT: 4.430063 s, approachRate: 0.040631 m/s, LOS rate: 1.049321 deg/s, posRepo size: 4
2021-08-13T17:41:55.621Z,1628876515.621 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:41:55.965Z,1628876515.965 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:41:55.965Z,1628876515.965 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:41:55.966Z,1628876515.966 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:41:55.966Z,1628876515.966 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:41:56.369Z,1628876516.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B93,000,004D2,189,80,80,69,FF
2021-08-13T17:41:56.369Z,1628876516.369 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:41:56.370Z,1628876516.370 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:41:56.373Z,1628876516.373 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:41:56.778Z,1628876516.778 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:41:57.190Z,1628876517.190 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B2B,000,004D3,189,80,80,4D,FF
2021-08-13T17:41:57.191Z,1628876517.191 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:41:57.228Z,1628876517.228 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T17:41:57.623Z,1628876517.623 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.600002 m, bearing: 121.360031 deg, deltaT: 4.474910 s, approachRate: 0.013409 m/s, LOS rate: 1.211537 deg/s, posRepo size: 4
2021-08-13T17:42:00.026Z,1628876520.026 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:42:00.402Z,1628876520.402 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:42:00.402Z,1628876520.402 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:42:00.403Z,1628876520.402 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:42:00.403Z,1628876520.403 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:42:00.809Z,1628876520.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B2B,000,004D3,189,80,80,4D,FF
2021-08-13T17:42:00.809Z,1628876520.809 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:42:00.809Z,1628876520.809 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:42:00.811Z,1628876520.811 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:42:01.222Z,1628876521.222 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:42:01.617Z,1628876521.617 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B16,000,004D1,189,80,80,6F,FF
2021-08-13T17:42:01.618Z,1628876521.618 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:42:01.621Z,1628876521.621 [Micromodem](INFO): Nmea in: $SNTTA,0.263022,0.262909,,,174201.34*59

2021-08-13T17:42:01.711Z,1628876521.711 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T17:42:02.089Z,1628876522.089 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.480000 m, bearing: 122.127744 deg, deltaT: 4.482610 s, approachRate: -0.026771 m/s, LOS rate: 0.171265 deg/s, posRepo size: 4
2021-08-13T17:42:04.497Z,1628876524.497 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:42:04.845Z,1628876524.845 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:42:04.845Z,1628876524.845 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:42:04.845Z,1628876524.845 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:42:04.846Z,1628876524.846 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:42:05.257Z,1628876525.257 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B16,000,004D1,189,80,80,6F,FF
2021-08-13T17:42:05.257Z,1628876525.257 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:42:05.257Z,1628876525.257 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:42:05.259Z,1628876525.259 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:42:05.660Z,1628876525.660 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:42:06.066Z,1628876526.066 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,004C9,18A,80,80,89,FF
2021-08-13T17:42:06.067Z,1628876526.067 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:42:06.149Z,1628876526.149 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T17:42:06.489Z,1628876526.489 [Micromodem](INFO): Nmea in: $SNTTA,0.042877,,,,174205.78*44

2021-08-13T17:42:06.522Z,1628876526.522 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.999996 m, bearing: 122.538539 deg, deltaT: 4.438206 s, approachRate: -0.108153 m/s, LOS rate: 0.092559 deg/s, posRepo size: 4
2021-08-13T17:42:08.932Z,1628876528.932 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:42:09.290Z,1628876529.290 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:42:09.291Z,1628876529.291 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:42:09.291Z,1628876529.291 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:42:09.294Z,1628876529.294 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:42:09.702Z,1628876529.702 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,004C9,18A,80,80,89,FF
2021-08-13T17:42:09.702Z,1628876529.702 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:42:09.702Z,1628876529.702 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:42:09.704Z,1628876529.704 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:42:10.133Z,1628876530.133 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:42:10.517Z,1628876530.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,004D2,189,80,80,85,FF
2021-08-13T17:42:10.518Z,1628876530.518 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:42:10.563Z,1628876530.563 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T17:42:10.961Z,1628876530.961 [Micromodem](INFO): Nmea in: $SNTTA,0.045483,,,,174210.23*4E

2021-08-13T17:42:10.994Z,1628876530.994 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.539997 m, bearing: 122.119903 deg, deltaT: 4.414703 s, approachRate: 0.122319 m/s, LOS rate: -0.094828 deg/s, posRepo size: 4
2021-08-13T17:42:13.381Z,1628876533.381 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:42:13.741Z,1628876533.741 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:42:13.742Z,1628876533.742 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:42:13.742Z,1628876533.742 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:42:13.743Z,1628876533.743 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:42:14.141Z,1628876534.141 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,004D2,189,80,80,85,FF
2021-08-13T17:42:14.141Z,1628876534.141 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:42:14.141Z,1628876534.141 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:42:14.143Z,1628876534.143 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:42:14.553Z,1628876534.553 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:42:14.949Z,1628876534.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,004D2,189,80,80,58,FF
2021-08-13T17:42:14.950Z,1628876534.950 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:42:14.968Z,1628876534.968 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T17:42:15.398Z,1628876535.398 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174214.67*5A

2021-08-13T17:42:15.439Z,1628876535.439 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.539997 m, bearing: 121.682252 deg, deltaT: 4.404853 s, approachRate: 0.000000 m/s, LOS rate: -0.099357 deg/s, posRepo size: 4
2021-08-13T17:42:17.831Z,1628876537.831 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:42:18.185Z,1628876538.185 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:42:18.185Z,1628876538.185 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:42:18.185Z,1628876538.185 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:42:18.186Z,1628876538.186 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:42:18.585Z,1628876538.585 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,004D2,189,80,80,58,FF
2021-08-13T17:42:18.585Z,1628876538.585 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:42:18.585Z,1628876538.585 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:42:18.587Z,1628876538.587 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:42:18.996Z,1628876538.996 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:42:19.393Z,1628876539.393 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,004D4,189,80,80,70,FF
2021-08-13T17:42:19.394Z,1628876539.394 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:42:19.505Z,1628876539.505 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T17:42:19.829Z,1628876539.829 [Micromodem](INFO): Nmea in: $SNTTA,0.374293,,,,174219.11*40

2021-08-13T17:42:19.879Z,1628876539.879 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.660000 m, bearing: 122.196688 deg, deltaT: 4.536545 s, approachRate: 0.026452 m/s, LOS rate: 0.113398 deg/s, posRepo size: 4
2021-08-13T17:42:22.258Z,1628876542.258 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:42:22.621Z,1628876542.621 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:42:22.621Z,1628876542.621 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:42:22.622Z,1628876542.622 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:42:22.623Z,1628876542.623 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:42:23.041Z,1628876543.041 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,004D4,189,80,80,70,FF
2021-08-13T17:42:23.041Z,1628876543.041 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:42:23.042Z,1628876543.042 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:42:23.047Z,1628876543.047 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:42:23.485Z,1628876543.485 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:42:24.258Z,1628876544.258 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174223.57*5D

2021-08-13T17:42:25.111Z,1628876545.111 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:42:26.670Z,1628876546.670 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
4,189,80,80,70,FF
2021-08-13T17:42:26.670Z,1628876546.670 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
4,189,80,80,70,FF
2021-08-13T17:42:26.670Z,1628876546.670 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T17:42:27.913Z,1628876547.913 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:42:28.281Z,1628876548.281 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:42:28.281Z,1628876548.281 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:42:28.281Z,1628876548.281 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:42:28.282Z,1628876548.282 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:42:28.685Z,1628876548.685 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
4,189,80,80,70,FF
2021-08-13T17:42:28.685Z,1628876548.685 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:42:28.685Z,1628876548.685 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:42:28.687Z,1628876548.687 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:42:29.120Z,1628876549.120 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:42:29.525Z,1628876549.525 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,004D3,18A,80,80,88,FF
2021-08-13T17:42:29.526Z,1628876549.526 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:42:29.584Z,1628876549.584 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T17:42:29.934Z,1628876549.934 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174229.21*56

2021-08-13T17:42:29.949Z,1628876549.949 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.600002 m, bearing: 125.359448 deg, deltaT: 10.079070 s, approachRate: -0.005953 m/s, LOS rate: 0.313795 deg/s, posRepo size: 4
2021-08-13T17:42:32.368Z,1628876552.368 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:42:32.725Z,1628876552.725 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:42:32.725Z,1628876552.725 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:42:32.725Z,1628876552.725 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:42:32.726Z,1628876552.726 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:42:33.129Z,1628876553.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,004D3,18A,80,80,88,FF
2021-08-13T17:42:33.129Z,1628876553.129 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:42:33.130Z,1628876553.130 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:42:33.131Z,1628876553.131 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:42:33.552Z,1628876553.552 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:42:33.953Z,1628876553.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,004D6,189,80,80,5F,FF
2021-08-13T17:42:33.953Z,1628876553.953 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:42:34.005Z,1628876554.005 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T17:42:34.401Z,1628876554.401 [Micromodem](INFO): Nmea in: $SNTTA,0.054840,,,,174233.66*4D

2021-08-13T17:42:34.427Z,1628876554.427 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.779999 m, bearing: 127.605364 deg, deltaT: 4.420655 s, approachRate: 0.040717 m/s, LOS rate: 0.508051 deg/s, posRepo size: 4
2021-08-13T17:42:36.800Z,1628876556.800 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:42:37.189Z,1628876557.189 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:42:37.189Z,1628876557.189 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:42:37.189Z,1628876557.189 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:42:37.190Z,1628876557.190 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:42:37.585Z,1628876557.585 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,004D6,189,80,80,5F,FF
2021-08-13T17:42:37.586Z,1628876557.586 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:42:37.586Z,1628876557.586 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:42:37.587Z,1628876557.587 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:42:38.063Z,1628876558.063 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:42:38.430Z,1628876558.430 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,BAD,000,004D7,189,80,80,62,FF
2021-08-13T17:42:38.430Z,1628876558.430 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:42:38.478Z,1628876558.478 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T17:42:38.861Z,1628876558.861 [Micromodem](INFO): Nmea in: $SNTTA,0.057537,,,,174238.11*48

2021-08-13T17:42:38.904Z,1628876558.904 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.840000 m, bearing: 121.226446 deg, deltaT: 4.473736 s, approachRate: 0.013412 m/s, LOS rate: -1.425859 deg/s, posRepo size: 4
2021-08-13T17:42:41.311Z,1628876561.311 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:42:41.657Z,1628876561.657 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:42:41.657Z,1628876561.657 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:42:41.657Z,1628876561.657 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:42:41.658Z,1628876561.658 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:42:42.081Z,1628876562.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
BAD,000,004D7,189,80,80,62,FF
2021-08-13T17:42:42.081Z,1628876562.081 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:42:42.082Z,1628876562.082 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:42:42.083Z,1628876562.083 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:42:42.509Z,1628876562.509 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:42:43.322Z,1628876563.322 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174242.61*5F

2021-08-13T17:42:44.169Z,1628876564.169 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:42:45.741Z,1628876565.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
7,189,80,80,62,FF
2021-08-13T17:42:45.741Z,1628876565.741 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
7,189,80,80,62,FF
2021-08-13T17:42:45.742Z,1628876565.742 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T17:42:46.151Z,1628876566.151 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T17:42:46.994Z,1628876566.994 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:42:47.353Z,1628876567.353 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:42:47.354Z,1628876567.354 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:42:47.354Z,1628876567.354 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:42:47.355Z,1628876567.355 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:42:47.758Z,1628876567.758 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
7,189,80,80,62,FF
2021-08-13T17:42:47.758Z,1628876567.758 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:42:47.758Z,1628876567.758 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:42:47.760Z,1628876567.760 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:42:48.164Z,1628876568.164 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:42:48.565Z,1628876568.565 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C26,000,004DE,189,80,80,9C,FF
2021-08-13T17:42:48.565Z,1628876568.565 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:42:48.584Z,1628876568.584 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T17:42:49.010Z,1628876569.010 [Micromodem](INFO): Nmea in: $SNTTA,0.037800,,,,174248.28*4A

2021-08-13T17:42:49.049Z,1628876569.049 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.259998 m, bearing: 119.040225 deg, deltaT: 10.106065 s, approachRate: 0.041559 m/s, LOS rate: -0.216328 deg/s, posRepo size: 4
2021-08-13T17:42:51.503Z,1628876571.503 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:42:51.793Z,1628876571.793 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:42:51.793Z,1628876571.793 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:42:51.793Z,1628876571.793 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:42:51.794Z,1628876571.794 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:42:52.205Z,1628876572.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C26,000,004DE,189,80,80,9C,FF
2021-08-13T17:42:52.205Z,1628876572.205 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:42:52.206Z,1628876572.206 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:42:52.207Z,1628876572.207 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:42:52.608Z,1628876572.608 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:42:53.005Z,1628876573.005 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C78,000,004DD,189,80,80,7F,FF
2021-08-13T17:42:53.005Z,1628876573.005 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:42:53.050Z,1628876573.050 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T17:42:53.465Z,1628876573.465 [Micromodem](INFO): Nmea in: $SNTTA,0.053670,,,,174252.73*44

2021-08-13T17:42:53.548Z,1628876573.548 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.200001 m, bearing: 116.253658 deg, deltaT: 4.465770 s, approachRate: -0.013435 m/s, LOS rate: -0.623984 deg/s, posRepo size: 4
2021-08-13T17:42:55.898Z,1628876575.898 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:42:56.237Z,1628876576.237 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:42:56.237Z,1628876576.237 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:42:56.237Z,1628876576.237 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:42:56.238Z,1628876576.238 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:42:56.657Z,1628876576.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C78,000,004DD,189,80,80,7F,FF
2021-08-13T17:42:56.657Z,1628876576.657 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:42:56.657Z,1628876576.657 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:42:56.659Z,1628876576.659 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:42:57.075Z,1628876577.075 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:42:57.493Z,1628876577.493 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D17,000,004E4,18A,80,80,98,FF
2021-08-13T17:42:57.494Z,1628876577.494 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:42:57.598Z,1628876577.598 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T17:42:57.874Z,1628876577.874 [Micromodem](INFO): Nmea in: $SNTTA,0.338087,0.338293,,,174257.18*52

2021-08-13T17:42:57.924Z,1628876577.924 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.620003 m, bearing: 109.210210 deg, deltaT: 4.547891 s, approachRate: 0.092351 m/s, LOS rate: -1.548728 deg/s, posRepo size: 4
2021-08-13T17:43:00.328Z,1628876580.328 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:43:00.689Z,1628876580.689 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:43:00.690Z,1628876580.690 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:43:00.690Z,1628876580.690 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:43:00.691Z,1628876580.691 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:43:01.109Z,1628876581.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D17,000,004E4,18A,80,80,98,FF
2021-08-13T17:43:01.109Z,1628876581.109 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:43:01.109Z,1628876581.109 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:43:01.111Z,1628876581.111 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:43:01.552Z,1628876581.552 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:43:01.907Z,1628876581.907 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CEB,000,004E6,189,80,80,46,FF
2021-08-13T17:43:01.907Z,1628876581.907 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:43:01.927Z,1628876581.927 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T17:43:02.327Z,1628876582.327 [Micromodem](INFO): Nmea in: $SNTTA,0.125236,,,,174301.63*44

2021-08-13T17:43:02.354Z,1628876582.354 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.739998 m, bearing: 112.154855 deg, deltaT: 4.328552 s, approachRate: 0.027722 m/s, LOS rate: 0.680284 deg/s, posRepo size: 4
2021-08-13T17:43:04.774Z,1628876584.774 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:43:05.134Z,1628876585.134 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:43:05.135Z,1628876585.135 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:43:05.135Z,1628876585.135 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:43:05.136Z,1628876585.136 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:43:05.553Z,1628876585.553 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CEB,000,004E6,189,80,80,46,FF
2021-08-13T17:43:05.553Z,1628876585.553 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:43:05.553Z,1628876585.553 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:43:05.556Z,1628876585.556 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:43:05.941Z,1628876585.941 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:43:06.352Z,1628876586.352 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D0D,000,004E9,189,80,80,4A,FF
2021-08-13T17:43:06.353Z,1628876586.353 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:43:06.426Z,1628876586.426 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T17:43:06.765Z,1628876586.765 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174306.08*51

2021-08-13T17:43:06.788Z,1628876586.788 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.920002 m, bearing: 110.931507 deg, deltaT: 4.499746 s, approachRate: 0.040003 m/s, LOS rate: -0.271871 deg/s, posRepo size: 4
2021-08-13T17:43:09.197Z,1628876589.197 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:43:09.580Z,1628876589.580 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:43:09.581Z,1628876589.581 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:43:09.581Z,1628876589.581 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:43:09.582Z,1628876589.582 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:43:09.969Z,1628876589.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D0D,000,004E9,189,80,80,4A,FF
2021-08-13T17:43:09.969Z,1628876589.969 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:43:09.970Z,1628876589.970 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:43:09.971Z,1628876589.971 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:43:10.377Z,1628876590.377 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:43:10.786Z,1628876590.786 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D1C,000,004F0,189,80,80,5E,FF
2021-08-13T17:43:10.786Z,1628876590.786 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:43:10.805Z,1628876590.805 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T17:43:11.234Z,1628876591.234 [Micromodem](INFO): Nmea in: $SNTTA,0.025270,,,,174310.50*47

2021-08-13T17:43:11.301Z,1628876591.301 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.340000 m, bearing: 111.022041 deg, deltaT: 4.378475 s, approachRate: 0.095923 m/s, LOS rate: 0.020677 deg/s, posRepo size: 4
2021-08-13T17:43:13.670Z,1628876593.670 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:43:14.026Z,1628876594.026 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:43:14.026Z,1628876594.026 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:43:14.026Z,1628876594.026 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:43:14.027Z,1628876594.027 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:43:14.417Z,1628876594.417 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D1C,000,004F0,189,80,80,5E,FF
2021-08-13T17:43:14.417Z,1628876594.417 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:43:14.417Z,1628876594.417 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:43:14.419Z,1628876594.419 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:43:14.835Z,1628876594.835 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:43:15.225Z,1628876595.225 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CF9,000,004F4,189,80,80,5A,FF
2021-08-13T17:43:15.225Z,1628876595.225 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:43:15.331Z,1628876595.331 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T17:43:15.670Z,1628876595.670 [Micromodem](INFO): Nmea in: $SNTTA,0.052403,,,,174314.94*49

2021-08-13T17:43:15.705Z,1628876595.705 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.579998 m, bearing: 113.352119 deg, deltaT: 4.527044 s, approachRate: 0.053014 m/s, LOS rate: 0.514702 deg/s, posRepo size: 4
2021-08-13T17:43:18.108Z,1628876598.108 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:43:18.461Z,1628876598.461 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:43:18.461Z,1628876598.461 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:43:18.461Z,1628876598.461 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:43:18.462Z,1628876598.462 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:43:18.862Z,1628876598.862 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CF9,000,004F4,189,80,80,5A,FF
2021-08-13T17:43:18.862Z,1628876598.862 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:43:18.862Z,1628876598.862 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:43:18.864Z,1628876598.864 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:43:19.265Z,1628876599.265 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:43:19.670Z,1628876599.670 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D3E,000,004FA,189,80,80,4F,FF
2021-08-13T17:43:19.670Z,1628876599.670 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:43:19.673Z,1628876599.673 [Micromodem](INFO): Nmea in: $SNTTA,0.235869,0.235857,,,174319.39*50

2021-08-13T17:43:19.777Z,1628876599.777 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T17:43:20.158Z,1628876600.158 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.939999 m, bearing: 109.307008 deg, deltaT: 4.444916 s, approachRate: 0.080992 m/s, LOS rate: -0.910053 deg/s, posRepo size: 4
2021-08-13T17:43:22.543Z,1628876602.543 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:43:22.938Z,1628876602.938 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:43:22.939Z,1628876602.939 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:43:22.939Z,1628876602.939 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:43:22.940Z,1628876602.940 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:43:23.337Z,1628876603.337 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D3E,000,004FA,189,80,80,4F,FF
2021-08-13T17:43:23.337Z,1628876603.337 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:43:23.337Z,1628876603.337 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:43:23.339Z,1628876603.339 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:43:23.740Z,1628876603.740 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:43:24.149Z,1628876604.149 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D65,000,004FD,188,80,80,3D,FF
2021-08-13T17:43:24.150Z,1628876604.150 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:43:24.179Z,1628876604.179 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T17:43:24.581Z,1628876604.581 [Micromodem](INFO): Nmea in: $SNTTA,0.041794,,,,174323.86*41

2021-08-13T17:43:24.604Z,1628876604.604 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.119999 m, bearing: 107.276440 deg, deltaT: 4.402666 s, approachRate: 0.040884 m/s, LOS rate: -0.461213 deg/s, posRepo size: 4
2021-08-13T17:43:27.025Z,1628876607.025 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:43:27.378Z,1628876607.378 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:43:27.378Z,1628876607.378 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:43:27.378Z,1628876607.378 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:43:27.379Z,1628876607.379 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:43:27.781Z,1628876607.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D65,000,004FD,188,80,80,3D,FF
2021-08-13T17:43:27.781Z,1628876607.781 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:43:27.781Z,1628876607.781 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:43:27.783Z,1628876607.783 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:43:28.195Z,1628876608.195 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:43:28.585Z,1628876608.585 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D2C,000,00502,18A,80,80,90,FF
2021-08-13T17:43:28.586Z,1628876608.586 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:43:28.633Z,1628876608.633 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T17:43:29.025Z,1628876609.025 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174328.31*57

2021-08-13T17:43:29.086Z,1628876609.086 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.419998 m, bearing: 110.539741 deg, deltaT: 4.453714 s, approachRate: 0.067359 m/s, LOS rate: 0.732714 deg/s, posRepo size: 4
2021-08-13T17:43:31.514Z,1628876611.514 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:43:31.817Z,1628876611.817 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:43:31.817Z,1628876611.817 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:43:31.817Z,1628876611.817 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:43:31.818Z,1628876611.818 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:43:32.229Z,1628876612.229 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D2C,000,00502,18A,80,80,90,FF
2021-08-13T17:43:32.229Z,1628876612.229 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:43:32.229Z,1628876612.229 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:43:32.231Z,1628876612.231 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:43:32.642Z,1628876612.642 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:43:33.031Z,1628876613.031 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1A4,000,00508,186,80,80,82,FF
2021-08-13T17:43:33.032Z,1628876613.032 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:43:33.130Z,1628876613.130 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T17:43:33.491Z,1628876613.491 [Micromodem](INFO): Nmea in: $SNTTA,0.068643,,,,174332.76*4E

2021-08-13T17:43:33.541Z,1628876613.541 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.780003 m, bearing: 53.865874 deg, deltaT: 4.496595 s, approachRate: 0.080062 m/s, LOS rate: -12.603729 deg/s, posRepo size: 4
2021-08-13T17:43:35.890Z,1628876615.890 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:43:36.261Z,1628876616.261 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:43:36.261Z,1628876616.261 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:43:36.261Z,1628876616.261 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:43:36.262Z,1628876616.262 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:43:36.670Z,1628876616.670 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1A4,000,00508,186,80,80,82,FF
2021-08-13T17:43:36.670Z,1628876616.670 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:43:36.670Z,1628876616.670 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:43:36.671Z,1628876616.671 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:43:37.109Z,1628876617.109 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:43:37.521Z,1628876617.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,180,000,0050E,185,80,80,87,FF
2021-08-13T17:43:37.521Z,1628876617.521 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:43:37.525Z,1628876617.525 [Micromodem](INFO): Nmea in: $SNTTA,0.046847,0.289383,,,174337.20*5B

2021-08-13T17:43:37.595Z,1628876617.595 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T17:43:37.926Z,1628876617.926 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.139999 m, bearing: 55.793148 deg, deltaT: 4.485629 s, approachRate: 0.080256 m/s, LOS rate: 0.429655 deg/s, posRepo size: 4
2021-08-13T17:43:38.319Z,1628876618.319 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-13T17:43:38.319Z,1628876618.319 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T17:43:38.319Z,1628876618.319 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-13T17:43:38.320Z,1628876618.320 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-13T17:43:38.320Z,1628876618.320 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-13T17:43:38.320Z,1628876618.320 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-13T17:43:38.725Z,1628876618.725 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-13T17:43:38.726Z,1628876618.726 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T17:43:38.726Z,1628876618.726 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-13T17:43:38.726Z,1628876618.726 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T17:43:40.343Z,1628876620.343 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:43:40.705Z,1628876620.705 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:43:40.705Z,1628876620.705 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:43:40.705Z,1628876620.705 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:43:40.706Z,1628876620.706 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:43:41.121Z,1628876621.121 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
180,000,0050E,185,80,80,87,FF
2021-08-13T17:43:41.121Z,1628876621.121 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:43:41.122Z,1628876621.122 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:43:41.123Z,1628876621.123 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:43:41.545Z,1628876621.545 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:43:41.921Z,1628876621.921 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1DC,000,00512,187,80,80,95,FF
2021-08-13T17:43:41.922Z,1628876621.922 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:43:42.361Z,1628876622.361 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174341.65*59

2021-08-13T17:43:42.391Z,1628876622.391 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.380001 m, bearing: 51.290814 deg, deltaT: 4.350605 s, approachRate: 0.055165 m/s, LOS rate: -1.034875 deg/s, posRepo size: 4
2021-08-13T17:43:44.774Z,1628876624.774 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:43:45.161Z,1628876625.161 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:43:45.161Z,1628876625.161 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:43:45.161Z,1628876625.161 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:43:45.162Z,1628876625.162 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:43:45.553Z,1628876625.553 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1DC,000,00512,187,80,80,95,FF
2021-08-13T17:43:45.553Z,1628876625.553 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:43:45.553Z,1628876625.553 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:43:45.555Z,1628876625.555 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:43:45.969Z,1628876625.969 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:43:46.369Z,1628876626.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1E7,000,0051C,186,80,80,8F,FF
2021-08-13T17:43:46.369Z,1628876626.369 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:43:46.802Z,1628876626.802 [Micromodem](INFO): Nmea in: $SNTTA,0.046050,,,,174346.08*4C

2021-08-13T17:43:46.817Z,1628876626.817 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.980000 m, bearing: 50.931071 deg, deltaT: 4.458261 s, approachRate: 0.134581 m/s, LOS rate: -0.080691 deg/s, posRepo size: 4
2021-08-13T17:43:49.227Z,1628876629.227 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:43:49.597Z,1628876629.597 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:43:49.597Z,1628876629.597 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:43:49.597Z,1628876629.597 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:43:49.598Z,1628876629.598 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:43:50.005Z,1628876630.005 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1E7,000,0051C,186,80,80,8F,FF
2021-08-13T17:43:50.005Z,1628876630.005 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:43:50.005Z,1628876630.005 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:43:50.007Z,1628876630.007 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:43:50.417Z,1628876630.417 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:43:50.809Z,1628876630.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1E7,000,0051F,187,80,80,70,FF
2021-08-13T17:43:50.809Z,1628876630.809 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:43:51.246Z,1628876631.246 [Micromodem](INFO): Nmea in: $SNTTA,0.039481,,,,174350.53*45

2021-08-13T17:43:51.279Z,1628876631.279 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 41.159996 m, bearing: 47.725848 deg, deltaT: 4.435878 s, approachRate: 0.040577 m/s, LOS rate: -0.722568 deg/s, posRepo size: 4
2021-08-13T17:43:53.683Z,1628876633.683 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:43:54.041Z,1628876634.041 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:43:54.041Z,1628876634.041 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:43:54.042Z,1628876634.042 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:43:54.043Z,1628876634.043 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:43:54.449Z,1628876634.449 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1E7,000,0051F,187,80,80,70,FF
2021-08-13T17:43:54.449Z,1628876634.449 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:43:54.449Z,1628876634.449 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:43:54.451Z,1628876634.451 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:43:54.844Z,1628876634.844 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:43:55.261Z,1628876635.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D61,000,00527,189,80,80,84,FF
2021-08-13T17:43:55.261Z,1628876635.261 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:43:55.689Z,1628876635.689 [Micromodem](INFO): Nmea in: $SNTTA,0.101868,,,,174354.97*48

2021-08-13T17:43:55.746Z,1628876635.746 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 41.640003 m, bearing: 105.559044 deg, deltaT: 4.458329 s, approachRate: 0.107665 m/s, LOS rate: 12.971944 deg/s, posRepo size: 4
2021-08-13T17:43:58.136Z,1628876638.136 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:43:58.497Z,1628876638.497 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:43:58.497Z,1628876638.497 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:43:58.497Z,1628876638.497 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:43:58.498Z,1628876638.498 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:43:58.890Z,1628876638.890 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D61,000,00527,189,80,80,84,FF
2021-08-13T17:43:58.890Z,1628876638.890 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:43:58.890Z,1628876638.890 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:43:58.893Z,1628876638.893 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:43:59.303Z,1628876639.303 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:43:59.694Z,1628876639.694 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DAA,000,0052E,18A,80,80,5C,FF
2021-08-13T17:43:59.694Z,1628876639.694 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:43:59.701Z,1628876639.701 [Micromodem](INFO): Nmea in: $SNTTA,0.049946,0.182303,,,174359.42*58

2021-08-13T17:44:00.159Z,1628876640.159 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.060001 m, bearing: 102.240439 deg, deltaT: 4.477985 s, approachRate: 0.093792 m/s, LOS rate: -0.741093 deg/s, posRepo size: 4
2021-08-13T17:44:02.570Z,1628876642.570 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:44:02.929Z,1628876642.929 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:44:02.929Z,1628876642.929 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:44:02.929Z,1628876642.929 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:44:02.930Z,1628876642.930 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:44:03.330Z,1628876643.330 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DAA,000,0052E,18A,80,80,5C,FF
2021-08-13T17:44:03.330Z,1628876643.330 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:44:03.330Z,1628876643.330 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:44:03.351Z,1628876643.351 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:44:03.745Z,1628876643.745 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:44:04.146Z,1628876644.146 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D9A,000,00537,189,80,80,AA,FF
2021-08-13T17:44:04.147Z,1628876644.147 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:44:04.565Z,1628876644.565 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174403.87*54

2021-08-13T17:44:04.606Z,1628876644.606 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.599998 m, bearing: 103.075198 deg, deltaT: 4.429747 s, approachRate: 0.121902 m/s, LOS rate: 0.188444 deg/s, posRepo size: 4
2021-08-13T17:44:07.081Z,1628876647.081 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:44:07.369Z,1628876647.369 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:44:07.369Z,1628876647.369 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:44:07.369Z,1628876647.369 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:44:07.370Z,1628876647.370 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:44:07.781Z,1628876647.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D9A,000,00537,189,80,80,AA,FF
2021-08-13T17:44:07.781Z,1628876647.781 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:44:07.781Z,1628876647.781 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:44:07.783Z,1628876647.783 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:44:08.180Z,1628876648.180 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:44:08.585Z,1628876648.585 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DB1,000,0053B,189,80,80,79,FF
2021-08-13T17:44:08.585Z,1628876648.585 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:44:09.037Z,1628876649.037 [Micromodem](INFO): Nmea in: $SNTTA,0.046480,,,,174408.31*42

2021-08-13T17:44:09.099Z,1628876649.099 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.840000 m, bearing: 102.298851 deg, deltaT: 4.378089 s, approachRate: 0.054819 m/s, LOS rate: -0.177325 deg/s, posRepo size: 4
2021-08-13T17:44:11.525Z,1628876651.525 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:44:11.833Z,1628876651.833 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:44:11.833Z,1628876651.833 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:44:11.833Z,1628876651.833 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:44:11.834Z,1628876651.834 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:44:12.213Z,1628876652.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DB1,000,0053B,189,80,80,79,FF
2021-08-13T17:44:12.213Z,1628876652.213 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:44:12.214Z,1628876652.214 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:44:12.215Z,1628876652.215 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:44:12.621Z,1628876652.621 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:44:13.022Z,1628876653.022 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E11,000,00541,186,80,80,82,FF
2021-08-13T17:44:13.022Z,1628876653.022 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:44:13.493Z,1628876653.493 [Micromodem](INFO): Nmea in: $SNTTA,0.070336,,,,174412.74*47

2021-08-13T17:44:13.554Z,1628876653.554 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.200001 m, bearing: 98.112888 deg, deltaT: 4.493311 s, approachRate: 0.080119 m/s, LOS rate: -0.931599 deg/s, posRepo size: 4
2021-08-13T17:44:15.910Z,1628876655.910 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:44:16.261Z,1628876656.261 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:44:16.261Z,1628876656.261 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:44:16.261Z,1628876656.261 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:44:16.262Z,1628876656.262 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:44:16.661Z,1628876656.661 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E11,000,00541,186,80,80,82,FF
2021-08-13T17:44:16.661Z,1628876656.661 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:44:16.661Z,1628876656.661 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:44:16.663Z,1628876656.663 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:44:17.105Z,1628876657.105 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:44:17.526Z,1628876657.526 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E19,000,00548,187,80,80,8B,FF
2021-08-13T17:44:17.526Z,1628876657.526 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:44:17.922Z,1628876657.922 [Micromodem](INFO): Nmea in: $SNTTA,0.335485,,,,174417.19*44

2021-08-13T17:44:17.944Z,1628876657.944 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.619995 m, bearing: 98.288772 deg, deltaT: 4.492202 s, approachRate: 0.093494 m/s, LOS rate: 0.039153 deg/s, posRepo size: 4
2021-08-13T17:44:20.359Z,1628876660.359 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:44:20.717Z,1628876660.717 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:44:20.717Z,1628876660.717 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:44:20.717Z,1628876660.717 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:44:20.718Z,1628876660.718 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:44:21.129Z,1628876661.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E19,000,00548,187,80,80,8B,FF
2021-08-13T17:44:21.129Z,1628876661.129 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:44:21.129Z,1628876661.129 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:44:21.130Z,1628876661.130 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:44:21.549Z,1628876661.549 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:44:21.941Z,1628876661.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E53,000,00550,186,80,80,A9,FF
2021-08-13T17:44:21.941Z,1628876661.941 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:44:22.365Z,1628876662.365 [Micromodem](INFO): Nmea in: $SNTTA,0.230987,,,,174421.66*42

2021-08-13T17:44:22.395Z,1628876662.395 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 44.100002 m, bearing: 95.863051 deg, deltaT: 4.504512 s, approachRate: 0.106561 m/s, LOS rate: -0.538509 deg/s, posRepo size: 4
2021-08-13T17:44:23.167Z,1628876663.167 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T17:44:24.796Z,1628876664.796 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:44:25.165Z,1628876665.165 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:44:25.165Z,1628876665.165 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:44:25.165Z,1628876665.165 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:44:25.166Z,1628876665.166 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:44:25.569Z,1628876665.569 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E53,000,00550,186,80,80,A9,FF
2021-08-13T17:44:25.569Z,1628876665.569 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:44:25.569Z,1628876665.569 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:44:25.571Z,1628876665.571 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:44:25.977Z,1628876665.977 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:44:26.409Z,1628876666.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E9A,000,0055D,186,80,80,93,FF
2021-08-13T17:44:26.409Z,1628876666.409 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:44:26.821Z,1628876666.821 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174426.10*5D

2021-08-13T17:44:26.844Z,1628876666.844 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 44.879997 m, bearing: 93.237485 deg, deltaT: 4.350960 s, approachRate: 0.179270 m/s, LOS rate: -0.603445 deg/s, posRepo size: 4
2021-08-13T17:44:29.238Z,1628876669.238 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:44:29.605Z,1628876669.605 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:44:29.605Z,1628876669.605 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:44:29.605Z,1628876669.605 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:44:29.606Z,1628876669.606 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:44:30.016Z,1628876670.016 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E9A,000,0055D,186,80,80,93,FF
2021-08-13T17:44:30.016Z,1628876670.016 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:44:30.016Z,1628876670.016 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:44:30.018Z,1628876670.018 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:44:30.425Z,1628876670.425 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:44:30.817Z,1628876670.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB7,000,00561,186,80,80,C3,FF
2021-08-13T17:44:30.817Z,1628876670.817 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:44:31.261Z,1628876671.261 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174430.54*5A

2021-08-13T17:44:31.287Z,1628876671.287 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.119999 m, bearing: 92.417971 deg, deltaT: 4.419004 s, approachRate: 0.054311 m/s, LOS rate: -0.185452 deg/s, posRepo size: 4
2021-08-13T17:44:33.690Z,1628876673.690 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:44:34.056Z,1628876674.056 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:44:34.057Z,1628876674.057 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:44:34.057Z,1628876674.057 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:44:34.059Z,1628876674.059 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:44:34.457Z,1628876674.457 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EB7,000,00561,186,80,80,C3,FF
2021-08-13T17:44:34.457Z,1628876674.457 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:44:34.458Z,1628876674.458 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:44:34.459Z,1628876674.459 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:44:34.865Z,1628876674.865 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:44:35.257Z,1628876675.257 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EC9,000,0056A,187,80,80,88,FF
2021-08-13T17:44:35.258Z,1628876675.258 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:44:35.697Z,1628876675.697 [Micromodem](INFO): Nmea in: $SNTTA,0.063494,,,,174434.98*4C

2021-08-13T17:44:35.745Z,1628876675.745 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.660000 m, bearing: 91.555271 deg, deltaT: 4.422307 s, approachRate: 0.122108 m/s, LOS rate: -0.195079 deg/s, posRepo size: 4
2021-08-13T17:44:38.146Z,1628876678.146 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:44:38.493Z,1628876678.493 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:44:38.493Z,1628876678.493 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:44:38.493Z,1628876678.493 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:44:38.494Z,1628876678.494 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:44:38.894Z,1628876678.894 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EC9,000,0056A,187,80,80,88,FF
2021-08-13T17:44:38.894Z,1628876678.894 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:44:38.895Z,1628876678.895 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:44:38.913Z,1628876678.913 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:44:39.313Z,1628876679.313 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:44:39.705Z,1628876679.705 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE4,000,00574,186,80,80,7E,FF
2021-08-13T17:44:39.705Z,1628876679.705 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:44:40.153Z,1628876680.153 [Micromodem](INFO): Nmea in: $SNTTA,0.045107,,,,174439.44*4B

2021-08-13T17:44:40.179Z,1628876680.179 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.259998 m, bearing: 90.185599 deg, deltaT: 4.495771 s, approachRate: 0.133458 m/s, LOS rate: -0.304658 deg/s, posRepo size: 4
2021-08-13T17:44:42.558Z,1628876682.558 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:44:42.945Z,1628876682.945 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:44:42.945Z,1628876682.945 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:44:42.945Z,1628876682.945 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:44:42.946Z,1628876682.946 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:44:43.341Z,1628876683.341 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE4,000,00574,186,80,80,7E,FF
2021-08-13T17:44:43.341Z,1628876683.341 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:44:43.341Z,1628876683.341 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:44:43.343Z,1628876683.343 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:44:43.757Z,1628876683.757 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:44:44.153Z,1628876684.153 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF8,000,0057D,187,80,80,A7,FF
2021-08-13T17:44:44.153Z,1628876684.153 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:44:44.581Z,1628876684.581 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174443.87*50

2021-08-13T17:44:44.628Z,1628876684.628 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.800003 m, bearing: 89.660925 deg, deltaT: 4.424012 s, approachRate: 0.122062 m/s, LOS rate: -0.118597 deg/s, posRepo size: 4
2021-08-13T17:44:46.993Z,1628876686.993 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:44:47.390Z,1628876687.390 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:44:47.390Z,1628876687.390 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:44:47.390Z,1628876687.390 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:44:47.391Z,1628876687.391 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:44:47.793Z,1628876687.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF8,000,0057D,187,80,80,A7,FF
2021-08-13T17:44:47.793Z,1628876687.793 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:44:47.794Z,1628876687.794 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:44:47.795Z,1628876687.795 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:44:48.206Z,1628876688.206 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:44:48.593Z,1628876688.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F1F,000,00584,186,80,80,B2,FF
2021-08-13T17:44:48.593Z,1628876688.593 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:44:49.021Z,1628876689.021 [Micromodem](INFO): Nmea in: $SNTTA,0.102712,,,,174448.32*4C

2021-08-13T17:44:49.092Z,1628876689.092 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.219997 m, bearing: 88.208423 deg, deltaT: 4.430430 s, approachRate: 0.094798 m/s, LOS rate: -0.327847 deg/s, posRepo size: 4
2021-08-13T17:44:51.513Z,1628876691.513 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:44:51.833Z,1628876691.833 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:44:51.833Z,1628876691.833 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:44:51.833Z,1628876691.833 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:44:51.834Z,1628876691.834 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:44:52.237Z,1628876692.237 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F1F,000,00584,186,80,80,B2,FF
2021-08-13T17:44:52.237Z,1628876692.237 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:44:52.237Z,1628876692.237 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:44:52.239Z,1628876692.239 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:44:52.264Z,1628876692.264 [RDI_PathfinderUp](ERROR): DVL BIT error. See manual. Result code: 48
2021-08-13T17:44:52.637Z,1628876692.637 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:44:53.056Z,1628876693.056 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F2E,000,0058F,186,80,80,98,FF
2021-08-13T17:44:53.057Z,1628876693.057 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:44:53.495Z,1628876693.495 [Micromodem](INFO): Nmea in: $SNTTA,0.073400,,,,174452.76*40

2021-08-13T17:44:53.531Z,1628876693.531 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.880001 m, bearing: 87.631942 deg, deltaT: 4.485839 s, approachRate: 0.147130 m/s, LOS rate: -0.128511 deg/s, posRepo size: 4
2021-08-13T17:44:55.924Z,1628876695.924 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:44:56.287Z,1628876696.287 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:44:56.287Z,1628876696.287 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:44:56.287Z,1628876696.287 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:44:56.288Z,1628876696.288 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:44:56.689Z,1628876696.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F2E,000,0058F,186,80,80,98,FF
2021-08-13T17:44:56.689Z,1628876696.689 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:44:56.689Z,1628876696.689 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:44:56.690Z,1628876696.690 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:44:57.145Z,1628876697.145 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:44:57.175Z,1628876697.175 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T17:44:57.533Z,1628876697.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F3D,000,00599,186,80,80,97,FF
2021-08-13T17:44:57.534Z,1628876697.534 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:44:57.537Z,1628876697.537 [Micromodem](INFO): Nmea in: $SNTTA,0.283413,0.283294,,,174457.21*50

2021-08-13T17:44:57.939Z,1628876697.939 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 48.480000 m, bearing: 87.099699 deg, deltaT: 4.451406 s, approachRate: 0.134789 m/s, LOS rate: -0.119567 deg/s, posRepo size: 4
2021-08-13T17:45:00.378Z,1628876700.378 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:45:00.721Z,1628876700.721 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:45:00.721Z,1628876700.721 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:45:00.721Z,1628876700.721 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:45:00.722Z,1628876700.722 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:45:01.126Z,1628876701.126 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F3D,000,00599,186,80,80,97,FF
2021-08-13T17:45:01.126Z,1628876701.126 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:45:01.126Z,1628876701.126 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:45:01.129Z,1628876701.129 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:45:01.540Z,1628876701.540 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:45:01.935Z,1628876701.935 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F3A,000,005A3,187,80,80,72,FF
2021-08-13T17:45:01.935Z,1628876701.935 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:45:02.365Z,1628876702.365 [Micromodem](INFO): Nmea in: $SNTTA,0.245504,,,,174501.65*47

2021-08-13T17:45:02.385Z,1628876702.385 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-13T17:45:02.403Z,1628876702.403 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.079998 m, bearing: 87.372128 deg, deltaT: 4.431173 s, approachRate: 0.135404 m/s, LOS rate: 0.061480 deg/s, posRepo size: 4
2021-08-13T17:45:04.770Z,1628876704.770 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:45:05.161Z,1628876705.161 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:45:05.161Z,1628876705.161 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:45:05.161Z,1628876705.161 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:45:05.162Z,1628876705.162 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:45:05.561Z,1628876705.561 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F3A,000,005A3,187,80,80,72,FF
2021-08-13T17:45:05.561Z,1628876705.561 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:45:05.562Z,1628876705.562 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:45:05.563Z,1628876705.563 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:45:05.965Z,1628876705.965 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:45:06.369Z,1628876706.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F62,000,005A6,186,80,80,9E,FF
2021-08-13T17:45:06.370Z,1628876706.369 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:45:06.817Z,1628876706.817 [Micromodem](INFO): Nmea in: $SNTTA,0.105162,,,,174506.09*49

2021-08-13T17:45:06.846Z,1628876706.846 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.259998 m, bearing: 85.671971 deg, deltaT: 4.417519 s, approachRate: 0.040747 m/s, LOS rate: -0.384867 deg/s, posRepo size: 4
2021-08-13T17:45:09.242Z,1628876709.242 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:45:09.605Z,1628876709.605 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:45:09.605Z,1628876709.605 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:45:09.605Z,1628876709.605 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:45:09.606Z,1628876709.606 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:45:10.021Z,1628876710.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F62,000,005A6,186,80,80,9E,FF
2021-08-13T17:45:10.021Z,1628876710.021 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:45:10.021Z,1628876710.021 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:45:10.023Z,1628876710.023 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:45:10.413Z,1628876710.413 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:45:10.817Z,1628876710.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F8F,000,005AF,187,80,80,B6,FF
2021-08-13T17:45:10.817Z,1628876710.817 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:45:11.245Z,1628876711.245 [Micromodem](INFO): Nmea in: $SNTTA,0.092366,,,,174510.55*4E

2021-08-13T17:45:11.285Z,1628876711.285 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.800003 m, bearing: 83.581476 deg, deltaT: 4.413414 s, approachRate: 0.122355 m/s, LOS rate: -0.473669 deg/s, posRepo size: 4
2021-08-13T17:45:13.690Z,1628876713.690 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:45:14.052Z,1628876714.052 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:45:14.053Z,1628876714.053 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:45:14.053Z,1628876714.053 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:45:14.054Z,1628876714.054 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:45:14.449Z,1628876714.449 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F8F,000,005AF,187,80,80,B6,FF
2021-08-13T17:45:14.449Z,1628876714.449 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:45:14.449Z,1628876714.449 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:45:14.451Z,1628876714.451 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:45:14.865Z,1628876714.865 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:45:15.257Z,1628876715.257 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F90,000,005BC,186,80,80,7B,FF
2021-08-13T17:45:15.258Z,1628876715.258 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:45:15.701Z,1628876715.701 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174514.97*52

2021-08-13T17:45:15.756Z,1628876715.756 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 50.580002 m, bearing: 83.865106 deg, deltaT: 4.500394 s, approachRate: 0.173318 m/s, LOS rate: 0.063023 deg/s, posRepo size: 4
2021-08-13T17:45:17.712Z,1628876717.712 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-13T17:45:18.146Z,1628876718.146 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:45:18.497Z,1628876718.497 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:45:18.497Z,1628876718.497 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:45:18.497Z,1628876718.497 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:45:18.498Z,1628876718.498 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:45:18.905Z,1628876718.905 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F90,000,005BC,186,80,80,7B,FF
2021-08-13T17:45:18.905Z,1628876718.905 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:45:18.905Z,1628876718.905 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:45:18.908Z,1628876718.908 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:45:19.309Z,1628876719.309 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:45:19.348Z,1628876719.348 [RDI_PathfinderUp](ERROR): DVL uart error: serial timeout
2021-08-13T17:45:19.348Z,1628876719.348 [RDI_PathfinderUp] Communications Fault, FailCount= 1
2021-08-13T17:45:19.348Z,1628876719.348 [RDI_PathfinderUp](ERROR): Communications Fault
2021-08-13T17:45:19.524Z,1628876719.524 [CBIT](ERROR): Communications Fault in component: RDI_PathfinderUp
2021-08-13T17:45:19.705Z,1628876719.705 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F9C,000,005C6,187,80,80,82,FF
2021-08-13T17:45:19.706Z,1628876719.706 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:45:19.709Z,1628876719.709 [Micromodem](INFO): Nmea in: $SNTTA,0.045222,0.173395,,,174519.43*5F

2021-08-13T17:45:19.800Z,1628876719.800 [RDI_PathfinderUp](INFO): Powering down
2021-08-13T17:45:20.142Z,1628876720.142 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.180000 m, bearing: 83.546553 deg, deltaT: 4.492426 s, approachRate: 0.133558 m/s, LOS rate: -0.070909 deg/s, posRepo size: 4
2021-08-13T17:45:20.712Z,1628876720.712 [CBIT](INFO): Clearing failed state for component RDI_PathfinderUp
2021-08-13T17:45:20.712Z,1628876720.712 [RDI_PathfinderUp] No Fault, FailCount= 1
2021-08-13T17:45:22.546Z,1628876722.546 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:45:22.945Z,1628876722.945 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:45:22.945Z,1628876722.945 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:45:22.945Z,1628876722.945 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:45:22.946Z,1628876722.946 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:45:23.337Z,1628876723.337 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F9C,000,005C6,187,80,80,82,FF
2021-08-13T17:45:23.337Z,1628876723.337 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:45:23.337Z,1628876723.337 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:45:23.339Z,1628876723.339 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:45:23.756Z,1628876723.756 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:45:24.157Z,1628876724.157 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA1,000,005CF,186,80,80,85,FF
2021-08-13T17:45:24.158Z,1628876724.158 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:45:24.593Z,1628876724.593 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174523.86*56

2021-08-13T17:45:24.615Z,1628876724.615 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.719997 m, bearing: 83.601959 deg, deltaT: 4.347467 s, approachRate: 0.124210 m/s, LOS rate: 0.012745 deg/s, posRepo size: 4
2021-08-13T17:45:27.005Z,1628876727.005 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:45:27.385Z,1628876727.385 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:45:27.385Z,1628876727.385 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:45:27.385Z,1628876727.385 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:45:27.386Z,1628876727.386 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:45:27.797Z,1628876727.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA1,000,005CF,186,80,80,85,FF
2021-08-13T17:45:27.797Z,1628876727.797 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:45:27.797Z,1628876727.797 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:45:27.799Z,1628876727.799 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:45:28.197Z,1628876728.197 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:45:28.597Z,1628876728.597 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FAB,000,005D9,184,80,80,9A,FF
2021-08-13T17:45:28.597Z,1628876728.597 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:45:29.037Z,1628876729.037 [Micromodem](INFO): Nmea in: $SNTTA,0.055561,,,,174528.32*4E

2021-08-13T17:45:29.071Z,1628876729.070 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.319996 m, bearing: 83.023552 deg, deltaT: 4.497121 s, approachRate: 0.133418 m/s, LOS rate: -0.128617 deg/s, posRepo size: 4
2021-08-13T17:45:31.507Z,1628876731.507 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:45:31.844Z,1628876731.844 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:45:31.844Z,1628876731.844 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:45:31.844Z,1628876731.844 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:45:31.845Z,1628876731.845 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:45:32.233Z,1628876732.233 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FAB,000,005D9,184,80,80,9A,FF
2021-08-13T17:45:32.233Z,1628876732.233 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:45:32.233Z,1628876732.233 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:45:32.235Z,1628876732.235 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:45:32.656Z,1628876732.656 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:45:33.045Z,1628876733.045 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FDD,000,005E1,185,80,80,97,FF
2021-08-13T17:45:33.045Z,1628876733.045 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:45:33.509Z,1628876733.509 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174532.76*59

2021-08-13T17:45:33.555Z,1628876733.555 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.799999 m, bearing: 80.082247 deg, deltaT: 4.422572 s, approachRate: 0.108535 m/s, LOS rate: -0.665067 deg/s, posRepo size: 4
2021-08-13T17:45:35.905Z,1628876735.905 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:45:36.281Z,1628876736.281 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:45:36.281Z,1628876736.281 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:45:36.281Z,1628876736.281 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:45:36.283Z,1628876736.283 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:45:36.681Z,1628876736.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FDD,000,005E1,185,80,80,97,FF
2021-08-13T17:45:36.682Z,1628876736.682 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:45:36.682Z,1628876736.682 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:45:36.684Z,1628876736.684 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:45:37.114Z,1628876737.114 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:45:37.521Z,1628876737.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD3,000,005E9,184,80,80,AD,FF
2021-08-13T17:45:37.522Z,1628876737.522 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:45:37.926Z,1628876737.926 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174537.21*5E

2021-08-13T17:45:37.947Z,1628876737.947 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.280003 m, bearing: 80.603821 deg, deltaT: 4.495724 s, approachRate: 0.106769 m/s, LOS rate: 0.116016 deg/s, posRepo size: 4
2021-08-13T17:45:40.350Z,1628876740.350 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:45:40.717Z,1628876740.717 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:45:40.717Z,1628876740.717 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:45:40.717Z,1628876740.717 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:45:40.718Z,1628876740.718 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:45:41.121Z,1628876741.121 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD3,000,005E9,184,80,80,AD,FF
2021-08-13T17:45:41.121Z,1628876741.121 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:45:41.121Z,1628876741.121 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:45:41.123Z,1628876741.123 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:45:41.548Z,1628876741.548 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:45:41.941Z,1628876741.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FEE,000,005F4,183,80,80,6B,FF
2021-08-13T17:45:41.941Z,1628876741.941 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:45:42.377Z,1628876742.377 [Micromodem](INFO): Nmea in: $SNTTA,0.105311,,,,174541.65*46

2021-08-13T17:45:42.403Z,1628876742.403 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.939995 m, bearing: 79.431623 deg, deltaT: 4.392454 s, approachRate: 0.150256 m/s, LOS rate: -0.266866 deg/s, posRepo size: 4
2021-08-13T17:45:44.791Z,1628876744.791 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:45:45.165Z,1628876745.165 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:45:45.165Z,1628876745.165 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:45:45.165Z,1628876745.165 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:45:45.166Z,1628876745.166 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:45:45.565Z,1628876745.565 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FEE,000,005F4,183,80,80,6B,FF
2021-08-13T17:45:45.565Z,1628876745.565 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:45:45.565Z,1628876745.565 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:45:45.567Z,1628876745.567 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:45:45.988Z,1628876745.988 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:45:46.373Z,1628876746.373 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FDD,000,00600,185,80,80,9E,FF
2021-08-13T17:45:46.373Z,1628876746.373 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:45:46.821Z,1628876746.821 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174546.09*52

2021-08-13T17:45:46.844Z,1628876746.844 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 54.660000 m, bearing: 80.101187 deg, deltaT: 4.441704 s, approachRate: 0.162101 m/s, LOS rate: 0.150745 deg/s, posRepo size: 4
2021-08-13T17:45:49.253Z,1628876749.253 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:45:49.605Z,1628876749.605 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:45:49.605Z,1628876749.605 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:45:49.605Z,1628876749.605 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:45:49.606Z,1628876749.606 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:45:50.036Z,1628876750.036 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FDD,000,00600,185,80,80,9E,FF
2021-08-13T17:45:50.037Z,1628876750.037 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:45:50.038Z,1628876750.038 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:45:50.064Z,1628876750.064 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:45:50.441Z,1628876750.441 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:45:50.849Z,1628876750.849 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FDD,000,0060B,185,80,80,8E,FF
2021-08-13T17:45:50.850Z,1628876750.850 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:45:51.270Z,1628876751.270 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174550.59*50

2021-08-13T17:45:51.298Z,1628876751.298 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 55.320004 m, bearing: 79.974692 deg, deltaT: 4.442266 s, approachRate: 0.148574 m/s, LOS rate: -0.028475 deg/s, posRepo size: 4
2021-08-13T17:45:53.706Z,1628876753.706 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:45:54.109Z,1628876754.109 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:45:54.109Z,1628876754.109 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:45:54.109Z,1628876754.109 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:45:54.110Z,1628876754.110 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:45:54.481Z,1628876754.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FDD,000,0060B,185,80,80,8E,FF
2021-08-13T17:45:54.481Z,1628876754.481 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:45:54.481Z,1628876754.481 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:45:54.483Z,1628876754.483 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:45:54.905Z,1628876754.905 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:45:55.293Z,1628876755.293 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD8,000,00614,184,80,80,83,FF
2021-08-13T17:45:55.293Z,1628876755.293 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:45:55.733Z,1628876755.733 [Micromodem](INFO): Nmea in: $SNTTA,0.078952,,,,174555.01*47

2021-08-13T17:45:55.799Z,1628876755.799 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 55.859997 m, bearing: 80.410574 deg, deltaT: 4.478433 s, approachRate: 0.120576 m/s, LOS rate: 0.097329 deg/s, posRepo size: 4
2021-08-13T17:45:58.165Z,1628876758.165 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:45:58.517Z,1628876758.517 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:45:58.517Z,1628876758.517 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:45:58.517Z,1628876758.517 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:45:58.518Z,1628876758.518 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:45:58.937Z,1628876758.937 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD8,000,00614,184,80,80,83,FF
2021-08-13T17:45:58.937Z,1628876758.937 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:45:58.938Z,1628876758.938 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:45:58.941Z,1628876758.941 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:45:59.329Z,1628876759.329 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:45:59.743Z,1628876759.743 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,020,000,0061D,185,80,80,73,FF
2021-08-13T17:45:59.745Z,1628876759.745 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:45:59.750Z,1628876759.750 [Micromodem](INFO): Nmea in: $SNTTA,0.064984,0.157222,,,174559.46*51

2021-08-13T17:46:00.186Z,1628876760.186 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 56.400005 m, bearing: 76.729355 deg, deltaT: 4.498747 s, approachRate: 0.120035 m/s, LOS rate: -0.818277 deg/s, posRepo size: 4
2021-08-13T17:46:02.578Z,1628876762.578 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:46:02.965Z,1628876762.965 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:46:02.966Z,1628876762.966 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:46:02.966Z,1628876762.966 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:46:02.967Z,1628876762.967 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:46:03.365Z,1628876763.365 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
020,000,0061D,185,80,80,73,FF
2021-08-13T17:46:03.365Z,1628876763.365 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:46:03.365Z,1628876763.365 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:46:03.367Z,1628876763.367 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:46:03.778Z,1628876763.778 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:46:04.173Z,1628876764.173 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,02F,000,00627,184,80,80,A2,FF
2021-08-13T17:46:04.173Z,1628876764.173 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:46:04.622Z,1628876764.622 [Micromodem](INFO): Nmea in: $SNTTA,0.045467,,,,174603.90*4A

2021-08-13T17:46:04.673Z,1628876764.673 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 57.000004 m, bearing: 76.217323 deg, deltaT: 4.403081 s, approachRate: 0.136268 m/s, LOS rate: -0.116289 deg/s, posRepo size: 4
2021-08-13T17:46:07.125Z,1628876767.125 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:46:07.410Z,1628876767.410 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:46:07.410Z,1628876767.410 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:46:07.411Z,1628876767.411 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:46:07.411Z,1628876767.411 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:46:07.809Z,1628876767.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
02F,000,00627,184,80,80,A2,FF
2021-08-13T17:46:07.809Z,1628876767.809 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:46:07.809Z,1628876767.809 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:46:07.811Z,1628876767.811 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:46:08.216Z,1628876768.216 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:46:08.621Z,1628876768.621 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,04C,000,00635,185,80,80,88,FF
2021-08-13T17:46:08.621Z,1628876768.621 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:46:09.070Z,1628876769.070 [Micromodem](INFO): Nmea in: $SNTTA,0.064090,,,,174608.34*40

2021-08-13T17:46:09.100Z,1628876769.100 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 57.840004 m, bearing: 75.823207 deg, deltaT: 4.391711 s, approachRate: 0.191269 m/s, LOS rate: -0.089741 deg/s, posRepo size: 4
2021-08-13T17:46:11.511Z,1628876771.511 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:46:11.853Z,1628876771.853 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:46:11.853Z,1628876771.853 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:46:11.853Z,1628876771.853 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:46:11.854Z,1628876771.854 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:46:12.261Z,1628876772.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
04C,000,00635,185,80,80,88,FF
2021-08-13T17:46:12.261Z,1628876772.261 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:46:12.261Z,1628876772.261 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:46:12.263Z,1628876772.263 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:46:12.674Z,1628876772.674 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:46:13.093Z,1628876773.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,06F,000,0063D,186,80,80,8F,FF
2021-08-13T17:46:13.094Z,1628876773.094 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:46:13.525Z,1628876773.525 [Micromodem](INFO): Nmea in: $SNTTA,0.111519,,,,174612.79*45

2021-08-13T17:46:13.607Z,1628876773.607 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.319996 m, bearing: 75.613835 deg, deltaT: 4.481729 s, approachRate: 0.107100 m/s, LOS rate: -0.046717 deg/s, posRepo size: 4
2021-08-13T17:46:15.922Z,1628876775.922 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:46:16.293Z,1628876776.293 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:46:16.293Z,1628876776.293 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:46:16.293Z,1628876776.293 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:46:16.294Z,1628876776.294 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:46:16.705Z,1628876776.705 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
06F,000,0063D,186,80,80,8F,FF
2021-08-13T17:46:16.705Z,1628876776.705 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:46:16.705Z,1628876776.705 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:46:16.707Z,1628876776.707 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:46:17.136Z,1628876777.136 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:46:17.536Z,1628876777.536 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0B3,000,00647,186,80,80,B3,FF
2021-08-13T17:46:17.537Z,1628876777.537 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:46:17.954Z,1628876777.954 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174617.23*5D

2021-08-13T17:46:17.969Z,1628876777.969 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.920006 m, bearing: 74.219718 deg, deltaT: 4.452744 s, approachRate: 0.134751 m/s, LOS rate: -0.313092 deg/s, posRepo size: 4
2021-08-13T17:46:20.388Z,1628876780.388 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:46:20.741Z,1628876780.741 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:46:20.741Z,1628876780.741 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:46:20.741Z,1628876780.741 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:46:20.742Z,1628876780.742 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:46:21.149Z,1628876781.149 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0B3,000,00647,186,80,80,B3,FF
2021-08-13T17:46:21.149Z,1628876781.149 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:46:21.149Z,1628876781.149 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:46:21.151Z,1628876781.151 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:46:21.558Z,1628876781.558 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:46:21.957Z,1628876781.957 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0FF,000,0064F,185,80,80,A3,FF
2021-08-13T17:46:21.957Z,1628876781.957 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:46:22.401Z,1628876782.401 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174621.67*58

2021-08-13T17:46:22.427Z,1628876782.427 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 59.400002 m, bearing: 72.581285 deg, deltaT: 4.454578 s, approachRate: 0.107753 m/s, LOS rate: -0.367809 deg/s, posRepo size: 4
2021-08-13T17:46:24.814Z,1628876784.814 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:46:25.181Z,1628876785.181 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:46:25.181Z,1628876785.181 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:46:25.181Z,1628876785.181 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:46:25.182Z,1628876785.182 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:46:25.597Z,1628876785.597 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0FF,000,0064F,185,80,80,A3,FF
2021-08-13T17:46:25.597Z,1628876785.597 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:46:25.597Z,1628876785.597 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:46:25.599Z,1628876785.599 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:46:26.010Z,1628876786.010 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:46:26.402Z,1628876786.402 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,13B,000,0065C,186,80,80,A5,FF
2021-08-13T17:46:26.402Z,1628876786.402 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:46:26.834Z,1628876786.834 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174626.12*5D

2021-08-13T17:46:26.850Z,1628876786.850 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 60.179996 m, bearing: 71.437666 deg, deltaT: 4.427273 s, approachRate: 0.176180 m/s, LOS rate: -0.258312 deg/s, posRepo size: 4
2021-08-13T17:46:29.257Z,1628876789.257 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:46:29.629Z,1628876789.629 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:46:29.629Z,1628876789.629 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:46:29.629Z,1628876789.629 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:46:29.630Z,1628876789.630 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:46:30.041Z,1628876790.041 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
13B,000,0065C,186,80,80,A5,FF
2021-08-13T17:46:30.042Z,1628876790.042 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:46:30.042Z,1628876790.042 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:46:30.048Z,1628876790.048 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:46:30.441Z,1628876790.441 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:46:30.845Z,1628876790.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,182,000,00668,186,80,80,B2,FF
2021-08-13T17:46:30.846Z,1628876790.846 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:46:31.269Z,1628876791.269 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174630.57*5B

2021-08-13T17:46:31.313Z,1628876791.313 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 60.900002 m, bearing: 69.532460 deg, deltaT: 4.407629 s, approachRate: 0.163354 m/s, LOS rate: -0.432252 deg/s, posRepo size: 4
2021-08-13T17:46:33.720Z,1628876793.720 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:46:34.093Z,1628876794.093 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:46:34.093Z,1628876794.093 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:46:34.093Z,1628876794.093 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:46:34.094Z,1628876794.094 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:46:34.477Z,1628876794.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
182,000,00668,186,80,80,B2,FF
2021-08-13T17:46:34.477Z,1628876794.477 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:46:34.477Z,1628876794.477 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:46:34.479Z,1628876794.479 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:46:34.886Z,1628876794.886 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:46:35.285Z,1628876795.285 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1BE,000,00673,186,80,80,B0,FF
2021-08-13T17:46:35.285Z,1628876795.285 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:46:35.701Z,1628876795.701 [Micromodem](INFO): Nmea in: $SNTTA,0.388643,0.388930,,,174635.00*57

2021-08-13T17:46:35.756Z,1628876795.756 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 61.560005 m, bearing: 68.213960 deg, deltaT: 4.478297 s, approachRate: 0.147378 m/s, LOS rate: -0.294420 deg/s, posRepo size: 4
2021-08-13T17:46:38.150Z,1628876798.150 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:46:38.517Z,1628876798.517 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:46:38.517Z,1628876798.517 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:46:38.517Z,1628876798.517 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:46:38.518Z,1628876798.518 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:46:38.929Z,1628876798.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1BE,000,00673,186,80,80,B0,FF
2021-08-13T17:46:38.929Z,1628876798.929 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:46:38.929Z,1628876798.929 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:46:38.931Z,1628876798.931 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:46:39.337Z,1628876799.337 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:46:39.729Z,1628876799.729 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1EF,000,0067F,186,80,80,BA,FF
2021-08-13T17:46:39.729Z,1628876799.729 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:46:39.733Z,1628876799.733 [Micromodem](INFO): Nmea in: $SNTTA,0.199331,0.160468,,,174639.46*5F

2021-08-13T17:46:40.187Z,1628876800.187 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 62.279999 m, bearing: 67.190292 deg, deltaT: 4.471906 s, approachRate: 0.161004 m/s, LOS rate: -0.228911 deg/s, posRepo size: 4
2021-08-13T17:46:42.602Z,1628876802.602 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:46:42.973Z,1628876802.973 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:46:42.973Z,1628876802.973 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:46:42.973Z,1628876802.973 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:46:42.974Z,1628876802.974 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:46:43.375Z,1628876803.375 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1EF,000,0067F,186,80,80,BA,FF
2021-08-13T17:46:43.375Z,1628876803.375 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:46:43.375Z,1628876803.375 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:46:43.377Z,1628876803.377 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:46:43.785Z,1628876803.785 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:46:44.178Z,1628876804.178 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,23E,000,0068E,188,80,80,A0,FF
2021-08-13T17:46:44.178Z,1628876804.178 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:46:44.621Z,1628876804.621 [Micromodem](INFO): Nmea in: $SNTTA,0.132175,,,,174643.90*49

2021-08-13T17:46:44.644Z,1628876804.644 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 63.180004 m, bearing: 64.320062 deg, deltaT: 4.392322 s, approachRate: 0.204904 m/s, LOS rate: -0.653465 deg/s, posRepo size: 4
2021-08-13T17:46:47.071Z,1628876807.071 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:46:47.436Z,1628876807.436 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:46:47.437Z,1628876807.437 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:46:47.437Z,1628876807.437 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:46:47.438Z,1628876807.438 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:46:47.817Z,1628876807.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
23E,000,0068E,188,80,80,A0,FF
2021-08-13T17:46:47.817Z,1628876807.817 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:46:47.817Z,1628876807.817 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:46:47.819Z,1628876807.819 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:46:48.220Z,1628876808.220 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:46:48.626Z,1628876808.626 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,24B,000,00694,189,80,80,9F,FF
2021-08-13T17:46:48.626Z,1628876808.626 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:46:49.065Z,1628876809.065 [Micromodem](INFO): Nmea in: $SNTTA,0.056151,,,,174648.34*49

2021-08-13T17:46:49.099Z,1628876809.099 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 63.540001 m, bearing: 64.425063 deg, deltaT: 4.438167 s, approachRate: 0.081114 m/s, LOS rate: 0.023659 deg/s, posRepo size: 4
2021-08-13T17:46:51.512Z,1628876811.512 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:46:51.862Z,1628876811.862 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:46:51.862Z,1628876811.862 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:46:51.862Z,1628876811.862 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:46:51.863Z,1628876811.863 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:46:52.253Z,1628876812.253 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
24B,000,00694,189,80,80,9F,FF
2021-08-13T17:46:52.253Z,1628876812.253 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:46:52.253Z,1628876812.253 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:46:52.255Z,1628876812.255 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:46:52.671Z,1628876812.671 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:46:53.089Z,1628876813.089 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,26A,000,006A4,189,80,80,A1,FF
2021-08-13T17:46:53.089Z,1628876813.089 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:46:53.545Z,1628876813.545 [Micromodem](INFO): Nmea in: $SNTTA,0.067297,,,,174652.78*41

2021-08-13T17:46:53.603Z,1628876813.603 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 64.500008 m, bearing: 63.199276 deg, deltaT: 4.497149 s, approachRate: 0.213470 m/s, LOS rate: -0.272570 deg/s, posRepo size: 4
2021-08-13T17:46:55.940Z,1628876815.940 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:46:56.293Z,1628876816.293 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:46:56.293Z,1628876816.293 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:46:56.293Z,1628876816.293 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:46:56.294Z,1628876816.294 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:46:56.754Z,1628876816.754 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
26A,000,006A4,189,80,80,A1,FF
2021-08-13T17:46:56.754Z,1628876816.754 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:46:56.754Z,1628876816.754 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:46:56.762Z,1628876816.762 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:46:57.109Z,1628876817.109 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:46:57.542Z,1628876817.542 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,27B,000,006B0,189,80,80,9F,FF
2021-08-13T17:46:57.543Z,1628876817.543 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:46:57.547Z,1628876817.547 [Micromodem](INFO): Nmea in: $SNTTA,0.247829,0.247948,,,174657.28*54

2021-08-13T17:46:57.964Z,1628876817.964 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 65.220001 m, bearing: 62.101671 deg, deltaT: 4.483867 s, approachRate: 0.160574 m/s, LOS rate: -0.244790 deg/s, posRepo size: 4
2021-08-13T17:47:00.395Z,1628876820.395 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:47:00.753Z,1628876820.753 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:47:00.753Z,1628876820.753 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:47:00.753Z,1628876820.753 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:47:00.754Z,1628876820.754 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:47:01.161Z,1628876821.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
27B,000,006B0,189,80,80,9F,FF
2021-08-13T17:47:01.162Z,1628876821.162 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:47:01.162Z,1628876821.162 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:47:01.163Z,1628876821.163 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:47:01.598Z,1628876821.598 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:47:01.981Z,1628876821.981 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,26D,000,006BC,189,80,80,89,FF
2021-08-13T17:47:01.981Z,1628876821.981 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:47:02.421Z,1628876822.421 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174701.69*55

2021-08-13T17:47:02.466Z,1628876822.466 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 65.940010 m, bearing: 62.641721 deg, deltaT: 4.447891 s, approachRate: 0.161876 m/s, LOS rate: 0.121417 deg/s, posRepo size: 4
2021-08-13T17:47:04.860Z,1628876824.860 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:47:05.213Z,1628876825.213 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:47:05.213Z,1628876825.213 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:47:05.213Z,1628876825.213 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:47:05.214Z,1628876825.214 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:47:05.613Z,1628876825.613 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
26D,000,006BC,189,80,80,89,FF
2021-08-13T17:47:05.613Z,1628876825.613 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:47:05.614Z,1628876825.614 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:47:05.615Z,1628876825.615 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:47:06.053Z,1628876826.053 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:47:06.425Z,1628876826.425 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,28D,000,006C6,188,80,80,8A,FF
2021-08-13T17:47:06.425Z,1628876826.425 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:47:06.867Z,1628876826.867 [Micromodem](INFO): Nmea in: $SNTTA,0.044261,,,,174706.14*43

2021-08-13T17:47:06.894Z,1628876826.894 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 66.540009 m, bearing: 60.626917 deg, deltaT: 4.408216 s, approachRate: 0.136109 m/s, LOS rate: -0.457056 deg/s, posRepo size: 4
2021-08-13T17:47:09.288Z,1628876829.288 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:47:09.661Z,1628876829.661 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:47:09.661Z,1628876829.661 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:47:09.661Z,1628876829.661 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:47:09.662Z,1628876829.662 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:47:10.089Z,1628876830.089 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
28D,000,006C6,188,80,80,8A,FF
2021-08-13T17:47:10.089Z,1628876830.089 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:47:10.089Z,1628876830.089 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:47:10.091Z,1628876830.091 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:47:10.469Z,1628876830.469 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:47:10.874Z,1628876830.874 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,283,000,006D4,189,80,80,A6,FF
2021-08-13T17:47:10.874Z,1628876830.874 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:47:11.301Z,1628876831.301 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174710.62*5E

2021-08-13T17:47:11.354Z,1628876831.354 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 67.380005 m, bearing: 61.022338 deg, deltaT: 4.444533 s, approachRate: 0.188995 m/s, LOS rate: 0.088968 deg/s, posRepo size: 4
2021-08-13T17:47:13.747Z,1628876833.747 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:47:14.101Z,1628876834.101 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:47:14.101Z,1628876834.101 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:47:14.101Z,1628876834.101 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:47:14.102Z,1628876834.102 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:47:14.505Z,1628876834.505 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
283,000,006D4,189,80,80,A6,FF
2021-08-13T17:47:14.505Z,1628876834.505 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:47:14.505Z,1628876834.505 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:47:14.507Z,1628876834.507 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:47:14.921Z,1628876834.921 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:47:15.313Z,1628876835.313 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,295,000,006DD,189,80,80,8D,FF
2021-08-13T17:47:15.313Z,1628876835.313 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:47:15.733Z,1628876835.733 [Micromodem](INFO): Nmea in: $SNTTA,0.414155,0.414111,,,174715.03*5C

2021-08-13T17:47:15.779Z,1628876835.779 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 67.920006 m, bearing: 59.749095 deg, deltaT: 4.456205 s, approachRate: 0.121180 m/s, LOS rate: -0.285724 deg/s, posRepo size: 4
2021-08-13T17:47:18.179Z,1628876838.179 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:47:18.553Z,1628876838.553 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:47:18.553Z,1628876838.553 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:47:18.553Z,1628876838.553 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:47:18.554Z,1628876838.554 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:47:18.965Z,1628876838.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
295,000,006DD,189,80,80,8D,FF
2021-08-13T17:47:18.965Z,1628876838.965 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:47:18.965Z,1628876838.965 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:47:18.967Z,1628876838.967 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:47:19.361Z,1628876839.361 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:47:19.757Z,1628876839.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,25F,000,006E8,189,80,80,9F,FF
2021-08-13T17:47:19.758Z,1628876839.758 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:47:20.193Z,1628876840.193 [Micromodem](INFO): Nmea in: $SNTTA,0.075598,,,,174719.49*46

2021-08-13T17:47:20.230Z,1628876840.230 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 68.580002 m, bearing: 61.929387 deg, deltaT: 4.441885 s, approachRate: 0.148585 m/s, LOS rate: 0.490848 deg/s, posRepo size: 4
2021-08-13T17:47:22.602Z,1628876842.602 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:47:22.998Z,1628876842.998 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:47:22.998Z,1628876842.998 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:47:22.998Z,1628876842.998 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:47:22.999Z,1628876842.999 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:47:23.393Z,1628876843.393 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
25F,000,006E8,189,80,80,9F,FF
2021-08-13T17:47:23.393Z,1628876843.393 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:47:23.393Z,1628876843.393 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:47:23.395Z,1628876843.395 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:47:23.801Z,1628876843.801 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:47:24.201Z,1628876844.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,27A,000,006F5,189,80,80,AE,FF
2021-08-13T17:47:24.201Z,1628876844.201 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:47:24.645Z,1628876844.645 [Micromodem](INFO): Nmea in: $SNTTA,0.060657,,,,174723.92*4D

2021-08-13T17:47:24.678Z,1628876844.678 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 69.360001 m, bearing: 60.484105 deg, deltaT: 4.405330 s, approachRate: 0.177058 m/s, LOS rate: -0.328076 deg/s, posRepo size: 4
2021-08-13T17:47:25.843Z,1628876845.843 [RDI_Pathfinder](ERROR): only read 1 of 4 data items
2021-08-13T17:47:27.085Z,1628876847.085 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:47:27.440Z,1628876847.440 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:47:27.441Z,1628876847.441 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:47:27.441Z,1628876847.441 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:47:27.443Z,1628876847.443 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:47:27.845Z,1628876847.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
27A,000,006F5,189,80,80,AE,FF
2021-08-13T17:47:27.846Z,1628876847.846 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:47:27.846Z,1628876847.846 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:47:27.847Z,1628876847.847 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:47:28.244Z,1628876848.244 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:47:28.654Z,1628876848.654 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,298,000,00705,189,80,80,9C,FF
2021-08-13T17:47:28.654Z,1628876848.654 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:47:29.102Z,1628876849.102 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174728.37*55

2021-08-13T17:47:29.127Z,1628876849.127 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 70.320000 m, bearing: 58.791099 deg, deltaT: 4.442928 s, approachRate: 0.216074 m/s, LOS rate: -0.381056 deg/s, posRepo size: 4
2021-08-13T17:47:31.567Z,1628876851.567 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:47:31.882Z,1628876851.882 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:47:31.882Z,1628876851.882 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:47:31.882Z,1628876851.882 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:47:31.883Z,1628876851.883 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:47:32.281Z,1628876852.281 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
298,000,00705,189,80,80,9C,FF
2021-08-13T17:47:32.281Z,1628876852.281 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:47:32.281Z,1628876852.281 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:47:32.283Z,1628876852.283 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:47:32.693Z,1628876852.693 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:47:33.097Z,1628876853.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,255,000,00711,189,80,80,A3,FF
2021-08-13T17:47:33.097Z,1628876853.097 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:47:33.546Z,1628876853.546 [Micromodem](INFO): Nmea in: $SNTTA,0.047298,0.487539,,,174732.81*57

2021-08-13T17:47:33.582Z,1628876853.582 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 71.040001 m, bearing: 61.754466 deg, deltaT: 4.477097 s, approachRate: 0.160819 m/s, LOS rate: 0.661895 deg/s, posRepo size: 4
2021-08-13T17:47:35.952Z,1628876855.952 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:47:36.321Z,1628876856.321 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:47:36.321Z,1628876856.321 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:47:36.322Z,1628876856.322 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:47:36.323Z,1628876856.323 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:47:36.733Z,1628876856.733 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
255,000,00711,189,80,80,A3,FF
2021-08-13T17:47:36.733Z,1628876856.733 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:47:36.733Z,1628876856.733 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:47:36.735Z,1628876856.735 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:47:37.133Z,1628876857.133 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:47:37.966Z,1628876857.966 [Micromodem](INFO): Nmea in: $SNTTA,0.300788,,,,174737.26*41

2021-08-13T17:47:38.745Z,1628876858.745 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,240,000,0379B,188,80,80,AA,FF
2021-08-13T17:47:38.745Z,1628876858.745 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:47:39.207Z,1628876859.207 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 816.600037 m, bearing: 62.377304 deg, deltaT: 5.614575 s, approachRate: 132.790115 m/s, LOS rate: 0.110932 deg/s, posRepo size: 4
2021-08-13T17:47:41.626Z,1628876861.626 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:47:41.970Z,1628876861.970 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:47:41.970Z,1628876861.970 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:47:41.971Z,1628876861.971 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:47:41.972Z,1628876861.972 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:47:42.389Z,1628876862.389 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
240,000,0379B,188,80,80,AA,FF
2021-08-13T17:47:42.389Z,1628876862.389 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:47:42.389Z,1628876862.389 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:47:42.391Z,1628876862.391 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:47:42.789Z,1628876862.789 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:47:43.197Z,1628876863.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,269,000,0072B,189,80,80,A4,FF
2021-08-13T17:47:43.198Z,1628876863.198 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:47:43.629Z,1628876863.629 [Micromodem](INFO): Nmea in: $SNTTA,,0.472691,,,174742.91*44

2021-08-13T17:47:43.681Z,1628876863.681 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 72.599998 m, bearing: 60.038449 deg, deltaT: 4.495564 s, approachRate: -165.496490 m/s, LOS rate: -0.520258 deg/s, posRepo size: 4
2021-08-13T17:47:46.090Z,1628876866.090 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:47:46.433Z,1628876866.433 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:47:46.433Z,1628876866.433 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:47:46.433Z,1628876866.433 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:47:46.434Z,1628876866.434 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:47:46.825Z,1628876866.825 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
269,000,0072B,189,80,80,A4,FF
2021-08-13T17:47:46.825Z,1628876866.825 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:47:46.825Z,1628876866.825 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:47:46.827Z,1628876866.827 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:47:47.257Z,1628876867.257 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:47:47.633Z,1628876867.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,27F,000,00739,189,80,80,97,FF
2021-08-13T17:47:47.634Z,1628876867.634 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:47:47.637Z,1628876867.637 [Micromodem](INFO): Nmea in: $SNTTA,0.214128,0.214609,,,174747.35*5A

2021-08-13T17:47:48.107Z,1628876868.107 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 73.440002 m, bearing: 58.803277 deg, deltaT: 4.469285 s, approachRate: 0.187950 m/s, LOS rate: -0.276369 deg/s, posRepo size: 4
2021-08-13T17:47:50.506Z,1628876870.506 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:47:50.869Z,1628876870.869 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:47:50.869Z,1628876870.869 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:47:50.869Z,1628876870.869 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:47:50.870Z,1628876870.870 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:47:51.341Z,1628876871.341 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
27F,000,00739,189,80,80,97,FF
2021-08-13T17:47:51.341Z,1628876871.341 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:47:51.341Z,1628876871.341 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:47:51.343Z,1628876871.343 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:47:51.723Z,1628876871.723 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:47:52.121Z,1628876872.121 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,26C,000,00745,189,80,80,C0,FF
2021-08-13T17:47:52.121Z,1628876872.121 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:47:52.535Z,1628876872.535 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174751.87*50

2021-08-13T17:47:52.571Z,1628876872.571 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 74.160004 m, bearing: 59.585594 deg, deltaT: 4.483639 s, approachRate: 0.160584 m/s, LOS rate: 0.174482 deg/s, posRepo size: 4
2021-08-13T17:47:54.974Z,1628876874.974 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:47:55.342Z,1628876875.342 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:47:55.342Z,1628876875.342 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:47:55.343Z,1628876875.343 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:47:55.343Z,1628876875.343 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:47:55.755Z,1628876875.755 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
26C,000,00745,189,80,80,C0,FF
2021-08-13T17:47:55.755Z,1628876875.755 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:47:55.756Z,1628876875.756 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:47:55.757Z,1628876875.757 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:47:56.150Z,1628876876.150 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:47:56.975Z,1628876876.975 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174756.28*52

2021-08-13T17:47:57.824Z,1628876877.824 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:47:59.373Z,1628876879.373 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
5,189,80,80,C0,FF
2021-08-13T17:47:59.373Z,1628876879.373 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
5,189,80,80,C0,FF
2021-08-13T17:47:59.374Z,1628876879.374 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T17:48:00.611Z,1628876880.611 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:48:01.006Z,1628876881.006 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:48:01.006Z,1628876881.006 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:48:01.006Z,1628876881.006 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:48:01.007Z,1628876881.007 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:48:01.436Z,1628876881.436 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
5,189,80,80,C0,FF
2021-08-13T17:48:01.437Z,1628876881.437 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:48:01.437Z,1628876881.437 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:48:01.443Z,1628876881.443 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:48:01.858Z,1628876881.858 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:48:02.253Z,1628876882.253 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,27F,000,00760,189,80,80,B2,FF
2021-08-13T17:48:02.253Z,1628876882.253 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:48:02.695Z,1628876882.695 [Micromodem](INFO): Nmea in: $SNTTA,0.050456,,,,174801.97*47

2021-08-13T17:48:02.714Z,1628876882.714 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 75.780006 m, bearing: 57.842645 deg, deltaT: 10.115767 s, approachRate: 0.160146 m/s, LOS rate: -0.172300 deg/s, posRepo size: 4
2021-08-13T17:48:05.160Z,1628876885.160 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:48:05.517Z,1628876885.517 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:48:05.517Z,1628876885.517 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:48:05.517Z,1628876885.517 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:48:05.518Z,1628876885.518 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:48:05.891Z,1628876885.891 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
27F,000,00760,189,80,80,B2,FF
2021-08-13T17:48:05.891Z,1628876885.891 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:48:05.891Z,1628876885.891 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:48:05.895Z,1628876885.895 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:48:06.296Z,1628876886.296 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:48:06.693Z,1628876886.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DD7,000,00769,188,80,80,2E,FF
2021-08-13T17:48:06.693Z,1628876886.693 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:48:07.125Z,1628876887.125 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174806.42*54

2021-08-13T17:48:07.171Z,1628876887.171 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 76.320000 m, bearing: 117.048446 deg, deltaT: 4.392695 s, approachRate: 0.122930 m/s, LOS rate: 13.478241 deg/s, posRepo size: 4
2021-08-13T17:48:09.571Z,1628876889.571 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:48:09.933Z,1628876889.933 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:48:09.933Z,1628876889.933 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:48:09.933Z,1628876889.933 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:48:09.934Z,1628876889.934 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:48:10.337Z,1628876890.337 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DD7,000,00769,188,80,80,2E,FF
2021-08-13T17:48:10.337Z,1628876890.337 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:48:10.337Z,1628876890.337 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:48:10.339Z,1628876890.339 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:48:10.737Z,1628876890.737 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:48:11.145Z,1628876891.145 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,262,000,00774,189,80,80,A5,FF
2021-08-13T17:48:11.145Z,1628876891.145 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:48:11.573Z,1628876891.573 [Micromodem](INFO): Nmea in: $SNTTA,0.051249,,,,174810.86*4E

2021-08-13T17:48:11.665Z,1628876891.665 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 76.980003 m, bearing: 58.687847 deg, deltaT: 4.481994 s, approachRate: 0.147257 m/s, LOS rate: -13.021124 deg/s, posRepo size: 4
2021-08-13T17:48:14.001Z,1628876894.001 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:48:14.377Z,1628876894.377 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:48:14.377Z,1628876894.377 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:48:14.377Z,1628876894.377 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:48:14.378Z,1628876894.378 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:48:14.785Z,1628876894.785 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
262,000,00774,189,80,80,A5,FF
2021-08-13T17:48:14.785Z,1628876894.785 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:48:14.785Z,1628876894.785 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:48:14.787Z,1628876894.787 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:48:15.185Z,1628876895.185 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:48:15.593Z,1628876895.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,27E,000,0077F,189,80,80,AC,FF
2021-08-13T17:48:15.593Z,1628876895.593 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:48:15.597Z,1628876895.597 [Micromodem](INFO): Nmea in: $SNTTA,0.051670,0.272224,,,174815.31*54

2021-08-13T17:48:16.069Z,1628876896.069 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 77.640007 m, bearing: 56.978439 deg, deltaT: 4.492189 s, approachRate: 0.146922 m/s, LOS rate: -0.380529 deg/s, posRepo size: 4
2021-08-13T17:48:18.430Z,1628876898.430 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:48:18.821Z,1628876898.821 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:48:18.821Z,1628876898.821 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:48:18.821Z,1628876898.821 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:48:18.822Z,1628876898.822 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:48:19.225Z,1628876899.225 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
27E,000,0077F,189,80,80,AC,FF
2021-08-13T17:48:19.226Z,1628876899.226 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:48:19.226Z,1628876899.226 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:48:19.227Z,1628876899.227 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:48:19.625Z,1628876899.625 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:48:20.029Z,1628876900.029 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,22D,000,0078D,189,80,80,B5,FF
2021-08-13T17:48:20.030Z,1628876900.030 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:48:20.488Z,1628876900.488 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 78.480003 m, bearing: 60.279575 deg, deltaT: 4.396773 s, approachRate: 0.191048 m/s, LOS rate: 0.750809 deg/s, posRepo size: 4
2021-08-13T17:48:22.092Z,1628876902.092 [RDI_PathfinderUp](ERROR): DVL uart error: serial timeout
2021-08-13T17:48:22.092Z,1628876902.092 [RDI_PathfinderUp] Communications Fault, FailCount= 1
2021-08-13T17:48:22.092Z,1628876902.092 [RDI_PathfinderUp](ERROR): Communications Fault
2021-08-13T17:48:22.260Z,1628876902.260 [CBIT](ERROR): Communications Fault in component: RDI_PathfinderUp
2021-08-13T17:48:22.536Z,1628876902.536 [RDI_PathfinderUp](INFO): Powering down
2021-08-13T17:48:22.912Z,1628876902.912 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:48:23.261Z,1628876903.261 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:48:23.261Z,1628876903.261 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:48:23.261Z,1628876903.261 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:48:23.262Z,1628876903.262 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:48:23.493Z,1628876903.493 [CBIT](INFO): Clearing failed state for component RDI_PathfinderUp
2021-08-13T17:48:23.493Z,1628876903.493 [RDI_PathfinderUp] No Fault, FailCount= 1
2021-08-13T17:48:23.673Z,1628876903.673 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
22D,000,0078D,189,80,80,B5,FF
2021-08-13T17:48:23.673Z,1628876903.673 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:48:23.674Z,1628876903.674 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:48:23.675Z,1628876903.675 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:48:24.084Z,1628876904.084 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:48:24.477Z,1628876904.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,232,000,0079A,188,80,80,98,FF
2021-08-13T17:48:24.478Z,1628876904.478 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:48:24.921Z,1628876904.921 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174824.20*50

2021-08-13T17:48:24.945Z,1628876904.945 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 79.260002 m, bearing: 59.377505 deg, deltaT: 4.430442 s, approachRate: 0.176054 m/s, LOS rate: -0.203607 deg/s, posRepo size: 4
2021-08-13T17:48:27.322Z,1628876907.322 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:48:27.705Z,1628876907.705 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:48:27.705Z,1628876907.705 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:48:27.705Z,1628876907.705 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:48:27.706Z,1628876907.706 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:48:28.109Z,1628876908.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
232,000,0079A,188,80,80,98,FF
2021-08-13T17:48:28.109Z,1628876908.109 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:48:28.109Z,1628876908.109 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:48:28.111Z,1628876908.111 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:48:28.517Z,1628876908.517 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:48:29.342Z,1628876909.342 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174828.63*5B

2021-08-13T17:48:30.166Z,1628876910.166 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:48:31.745Z,1628876911.745 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
A,188,80,80,98,FF
2021-08-13T17:48:31.745Z,1628876911.745 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
A,188,80,80,98,FF
2021-08-13T17:48:31.745Z,1628876911.745 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T17:48:32.988Z,1628876912.988 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:48:33.361Z,1628876913.361 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:48:33.361Z,1628876913.361 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:48:33.361Z,1628876913.361 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:48:33.362Z,1628876913.362 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:48:33.765Z,1628876913.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
A,188,80,80,98,FF
2021-08-13T17:48:33.765Z,1628876913.765 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:48:33.765Z,1628876913.765 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:48:33.767Z,1628876913.767 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:48:34.173Z,1628876914.173 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:48:34.573Z,1628876914.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,251,000,007BA,189,80,80,A8,FF
2021-08-13T17:48:34.574Z,1628876914.574 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:48:35.008Z,1628876915.008 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 81.180008 m, bearing: 57.849797 deg, deltaT: 10.069111 s, approachRate: 0.190683 m/s, LOS rate: -0.151722 deg/s, posRepo size: 4
2021-08-13T17:48:37.484Z,1628876917.484 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:48:37.801Z,1628876917.801 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:48:37.801Z,1628876917.801 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:48:37.801Z,1628876917.801 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:48:37.802Z,1628876917.802 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:48:38.209Z,1628876918.209 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
251,000,007BA,189,80,80,A8,FF
2021-08-13T17:48:38.209Z,1628876918.209 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:48:38.210Z,1628876918.210 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:48:38.211Z,1628876918.211 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:48:38.616Z,1628876918.616 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:48:39.021Z,1628876919.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,289,000,007C6,189,80,80,9D,FF
2021-08-13T17:48:39.021Z,1628876919.021 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:48:39.480Z,1628876919.480 [Micromodem](INFO): Nmea in: $SNTTA,0.074632,,,,174838.74*46

2021-08-13T17:48:39.540Z,1628876919.540 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 81.900002 m, bearing: 55.179381 deg, deltaT: 4.478167 s, approachRate: 0.160779 m/s, LOS rate: -0.596319 deg/s, posRepo size: 4
2021-08-13T17:48:41.934Z,1628876921.934 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:48:42.273Z,1628876922.273 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:48:42.273Z,1628876922.273 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:48:42.274Z,1628876922.274 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:48:42.275Z,1628876922.275 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:48:42.653Z,1628876922.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
289,000,007C6,189,80,80,9D,FF
2021-08-13T17:48:42.653Z,1628876922.653 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:48:42.653Z,1628876922.653 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:48:42.655Z,1628876922.655 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:48:43.061Z,1628876923.061 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:48:43.498Z,1628876923.498 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,265,000,007D0,188,80,80,A7,FF
2021-08-13T17:48:43.498Z,1628876923.498 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:48:43.899Z,1628876923.899 [Micromodem](INFO): Nmea in: $SNTTA,0.054893,0.340510,,,174843.18*5A

2021-08-13T17:48:43.951Z,1628876923.951 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 82.500000 m, bearing: 57.387618 deg, deltaT: 4.533065 s, approachRate: 0.132360 m/s, LOS rate: 0.487140 deg/s, posRepo size: 4
2021-08-13T17:48:46.322Z,1628876926.322 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:48:46.705Z,1628876926.705 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:48:46.705Z,1628876926.705 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:48:46.705Z,1628876926.705 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:48:46.706Z,1628876926.706 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:48:47.097Z,1628876927.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
265,000,007D0,188,80,80,A7,FF
2021-08-13T17:48:47.097Z,1628876927.097 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:48:47.097Z,1628876927.097 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:48:47.099Z,1628876927.099 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:48:47.586Z,1628876927.586 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:48:47.975Z,1628876927.975 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2A3,000,007DF,189,80,80,A7,FF
2021-08-13T17:48:47.975Z,1628876927.975 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:48:48.415Z,1628876928.415 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 83.400002 m, bearing: 55.122342 deg, deltaT: 4.426700 s, approachRate: 0.203312 m/s, LOS rate: -0.511730 deg/s, posRepo size: 4
2021-08-13T17:48:50.831Z,1628876930.831 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:48:51.197Z,1628876931.197 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:48:51.197Z,1628876931.197 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:48:51.197Z,1628876931.197 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:48:51.198Z,1628876931.198 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:48:51.613Z,1628876931.613 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2A3,000,007DF,189,80,80,A7,FF
2021-08-13T17:48:51.613Z,1628876931.613 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:48:51.613Z,1628876931.613 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:48:51.615Z,1628876931.615 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:48:52.027Z,1628876932.027 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:48:52.417Z,1628876932.417 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2C9,000,007EE,189,80,80,A7,FF
2021-08-13T17:48:52.418Z,1628876932.418 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:48:52.860Z,1628876932.860 [Micromodem](INFO): Nmea in: $SNTTA,0.060721,,,,174852.14*4A

2021-08-13T17:48:52.921Z,1628876932.921 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 84.300011 m, bearing: 54.007078 deg, deltaT: 4.424468 s, approachRate: 0.203416 m/s, LOS rate: -0.252067 deg/s, posRepo size: 4
2021-08-13T17:48:55.278Z,1628876935.278 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:48:55.649Z,1628876935.649 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:48:55.649Z,1628876935.649 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:48:55.649Z,1628876935.649 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:48:55.650Z,1628876935.650 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:48:56.057Z,1628876936.057 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2C9,000,007EE,189,80,80,A7,FF
2021-08-13T17:48:56.057Z,1628876936.057 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:48:56.057Z,1628876936.057 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:48:56.059Z,1628876936.059 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:48:56.461Z,1628876936.461 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:48:56.856Z,1628876936.856 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2EF,000,007F5,189,80,80,9E,FF
2021-08-13T17:48:56.857Z,1628876936.857 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:48:57.317Z,1628876937.317 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174856.58*5A

2021-08-13T17:48:57.367Z,1628876937.367 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 84.719994 m, bearing: 52.982508 deg, deltaT: 4.482650 s, approachRate: 0.093691 m/s, LOS rate: -0.228563 deg/s, posRepo size: 4
2021-08-13T17:48:59.727Z,1628876939.727 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:49:00.085Z,1628876940.085 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:49:00.085Z,1628876940.085 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:49:00.085Z,1628876940.085 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:49:00.086Z,1628876940.086 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:49:00.501Z,1628876940.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2EF,000,007F5,189,80,80,9E,FF
2021-08-13T17:49:00.501Z,1628876940.501 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:49:00.501Z,1628876940.501 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:49:00.503Z,1628876940.503 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:49:00.934Z,1628876940.934 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:49:01.313Z,1628876941.313 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2D2,000,00809,189,80,80,8F,FF
2021-08-13T17:49:01.313Z,1628876941.313 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:49:01.771Z,1628876941.771 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 85.920006 m, bearing: 55.266469 deg, deltaT: 4.421210 s, approachRate: 0.271422 m/s, LOS rate: 0.516592 deg/s, posRepo size: 4
2021-08-13T17:49:04.185Z,1628876944.185 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:49:04.530Z,1628876944.530 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:49:04.530Z,1628876944.530 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:49:04.530Z,1628876944.530 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:49:04.531Z,1628876944.531 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:49:04.953Z,1628876944.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2D2,000,00809,189,80,80,8F,FF
2021-08-13T17:49:04.953Z,1628876944.953 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:49:04.953Z,1628876944.953 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:49:04.955Z,1628876944.955 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:49:05.342Z,1628876945.342 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:49:05.749Z,1628876945.749 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,30F,000,00815,189,80,80,AD,FF
2021-08-13T17:49:05.749Z,1628876945.749 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:49:06.162Z,1628876946.162 [Micromodem](INFO): Nmea in: $SNTTA,0.065303,,,,174905.48*41

2021-08-13T17:49:06.207Z,1628876946.207 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 86.639999 m, bearing: 52.929485 deg, deltaT: 4.450689 s, approachRate: 0.161771 m/s, LOS rate: -0.525083 deg/s, posRepo size: 4
2021-08-13T17:49:08.629Z,1628876948.629 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:49:08.981Z,1628876948.981 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:49:08.981Z,1628876948.981 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:49:08.981Z,1628876948.981 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:49:08.982Z,1628876948.982 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:49:09.378Z,1628876949.378 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
30F,000,00815,189,80,80,AD,FF
2021-08-13T17:49:09.378Z,1628876949.378 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:49:09.378Z,1628876949.378 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:49:09.398Z,1628876949.398 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:49:09.789Z,1628876949.789 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:49:10.189Z,1628876950.189 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,30D,000,00824,189,80,80,B3,FF
2021-08-13T17:49:10.189Z,1628876950.189 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:49:10.619Z,1628876950.619 [Micromodem](INFO): Nmea in: $SNTTA,0.061788,,,,174909.92*49

2021-08-13T17:49:10.639Z,1628876950.639 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 87.540001 m, bearing: 53.859279 deg, deltaT: 4.472148 s, approachRate: 0.201246 m/s, LOS rate: 0.207908 deg/s, posRepo size: 4
2021-08-13T17:49:13.050Z,1628876953.050 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:49:13.417Z,1628876953.417 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:49:13.417Z,1628876953.417 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:49:13.417Z,1628876953.417 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:49:13.418Z,1628876953.418 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:49:13.849Z,1628876953.849 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
30D,000,00824,189,80,80,B3,FF
2021-08-13T17:49:13.849Z,1628876953.849 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:49:13.849Z,1628876953.849 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:49:13.851Z,1628876953.851 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:49:14.241Z,1628876954.241 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:49:14.649Z,1628876954.649 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,317,000,00832,189,80,80,C8,FF
2021-08-13T17:49:14.649Z,1628876954.649 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:49:15.073Z,1628876955.073 [Micromodem](INFO): Nmea in: $SNTTA,0.062682,,,,174914.38*4D

2021-08-13T17:49:15.151Z,1628876955.151 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 88.380005 m, bearing: 53.967046 deg, deltaT: 4.416697 s, approachRate: 0.190188 m/s, LOS rate: 0.024400 deg/s, posRepo size: 4
2021-08-13T17:49:17.565Z,1628876957.565 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:49:17.865Z,1628876957.865 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:49:17.865Z,1628876957.865 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:49:17.865Z,1628876957.865 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:49:17.866Z,1628876957.866 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:49:18.265Z,1628876958.265 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
317,000,00832,189,80,80,C8,FF
2021-08-13T17:49:18.265Z,1628876958.265 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:49:18.266Z,1628876958.266 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:49:18.267Z,1628876958.267 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:49:18.672Z,1628876958.672 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:49:19.081Z,1628876959.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,34A,000,00840,189,80,80,AC,FF
2021-08-13T17:49:19.082Z,1628876959.082 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:49:19.542Z,1628876959.542 [Micromodem](INFO): Nmea in: $SNTTA,0.490343,0.490361,,,174918.79*52

2021-08-13T17:49:19.606Z,1628876959.606 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 89.220009 m, bearing: 52.121010 deg, deltaT: 4.495723 s, approachRate: 0.186845 m/s, LOS rate: -0.410621 deg/s, posRepo size: 4
2021-08-13T17:49:21.955Z,1628876961.955 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:49:22.317Z,1628876962.317 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:49:22.317Z,1628876962.317 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:49:22.317Z,1628876962.317 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:49:22.318Z,1628876962.318 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:49:22.713Z,1628876962.713 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
34A,000,00840,189,80,80,AC,FF
2021-08-13T17:49:22.713Z,1628876962.713 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:49:22.713Z,1628876962.713 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:49:22.715Z,1628876962.715 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:49:23.125Z,1628876963.125 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:49:23.537Z,1628876963.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,34F,000,00841,189,80,80,A4,FF
2021-08-13T17:49:23.538Z,1628876963.538 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:49:23.977Z,1628876963.977 [Micromodem](INFO): Nmea in: $SNTTA,0.070921,,,,174923.24*41

2021-08-13T17:49:24.003Z,1628876964.003 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 89.279999 m, bearing: 52.396775 deg, deltaT: 4.419963 s, approachRate: 0.013572 m/s, LOS rate: 0.062391 deg/s, posRepo size: 4
2021-08-13T17:49:26.371Z,1628876966.371 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:49:26.749Z,1628876966.749 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:49:26.749Z,1628876966.749 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:49:26.749Z,1628876966.749 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:49:26.750Z,1628876966.750 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:49:27.166Z,1628876967.166 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
34F,000,00841,189,80,80,A4,FF
2021-08-13T17:49:27.166Z,1628876967.166 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:49:27.167Z,1628876967.167 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:49:27.168Z,1628876967.168 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:49:27.566Z,1628876967.566 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:49:27.973Z,1628876967.973 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,35E,000,00858,189,80,80,A4,FF
2021-08-13T17:49:27.974Z,1628876967.974 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:49:28.397Z,1628876968.397 [Micromodem](INFO): Nmea in: $SNTTA,,0.044157,,,174927.69*42

2021-08-13T17:49:28.420Z,1628876968.420 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 90.660004 m, bearing: 51.707811 deg, deltaT: 4.388705 s, approachRate: 0.314445 m/s, LOS rate: -0.156986 deg/s, posRepo size: 4
2021-08-13T17:49:30.822Z,1628876970.822 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:49:31.208Z,1628876971.208 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:49:31.209Z,1628876971.209 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:49:31.209Z,1628876971.209 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:49:31.210Z,1628876971.210 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:49:31.606Z,1628876971.606 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
35E,000,00858,189,80,80,A4,FF
2021-08-13T17:49:31.606Z,1628876971.606 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:49:31.606Z,1628876971.606 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:49:31.607Z,1628876971.607 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:49:32.008Z,1628876972.008 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:49:32.409Z,1628876972.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,35E,000,00865,188,80,80,89,FF
2021-08-13T17:49:32.410Z,1628876972.410 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:49:32.849Z,1628876972.849 [Micromodem](INFO): Nmea in: $SNTTA,0.072003,,,,174932.13*4E

2021-08-13T17:49:32.929Z,1628876972.929 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 91.440002 m, bearing: 52.206920 deg, deltaT: 4.483331 s, approachRate: 0.173978 m/s, LOS rate: 0.111326 deg/s, posRepo size: 4
2021-08-13T17:49:35.284Z,1628876975.284 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:49:35.645Z,1628876975.645 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:49:35.645Z,1628876975.645 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:49:35.645Z,1628876975.645 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:49:35.646Z,1628876975.646 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:49:36.045Z,1628876976.045 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
35E,000,00865,188,80,80,89,FF
2021-08-13T17:49:36.045Z,1628876976.045 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:49:36.045Z,1628876976.045 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:49:36.047Z,1628876976.047 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:49:36.453Z,1628876976.453 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:49:36.855Z,1628876976.855 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,372,000,00875,189,80,80,99,FF
2021-08-13T17:49:36.856Z,1628876976.856 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:49:37.317Z,1628876977.317 [Micromodem](INFO): Nmea in: $SNTTA,0.077557,,,,174936.57*4B

2021-08-13T17:49:37.343Z,1628876977.343 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 92.400002 m, bearing: 51.406521 deg, deltaT: 4.430539 s, approachRate: 0.216678 m/s, LOS rate: -0.180655 deg/s, posRepo size: 4
2021-08-13T17:49:39.728Z,1628876979.728 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:49:40.085Z,1628876980.085 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:49:40.085Z,1628876980.085 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:49:40.085Z,1628876980.085 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:49:40.086Z,1628876980.086 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:49:40.497Z,1628876980.497 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
372,000,00875,189,80,80,99,FF
2021-08-13T17:49:40.498Z,1628876980.498 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:49:40.498Z,1628876980.498 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:49:40.499Z,1628876980.499 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:49:40.924Z,1628876980.924 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:49:41.305Z,1628876981.305 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,372,000,0087C,189,80,80,8F,FF
2021-08-13T17:49:41.305Z,1628876981.305 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:49:41.750Z,1628876981.750 [Micromodem](INFO): Nmea in: $SNTTA,,0.416715,,,174941.02*4C

2021-08-13T17:49:41.786Z,1628876981.786 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 92.820000 m, bearing: 51.521510 deg, deltaT: 4.408154 s, approachRate: 0.095278 m/s, LOS rate: 0.026086 deg/s, posRepo size: 4
2021-08-13T17:49:44.184Z,1628876984.184 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:49:44.533Z,1628876984.533 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:49:44.533Z,1628876984.533 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:49:44.533Z,1628876984.533 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:49:44.534Z,1628876984.534 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:49:44.953Z,1628876984.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
372,000,0087C,189,80,80,8F,FF
2021-08-13T17:49:44.953Z,1628876984.953 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:49:44.953Z,1628876984.953 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:49:44.955Z,1628876984.955 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:49:45.344Z,1628876985.344 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:49:45.741Z,1628876985.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,35A,000,00887,189,80,80,A1,FF
2021-08-13T17:49:45.742Z,1628876985.742 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:49:46.177Z,1628876986.177 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174945.48*58

2021-08-13T17:49:46.222Z,1628876986.222 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 93.480003 m, bearing: 52.822832 deg, deltaT: 4.478452 s, approachRate: 0.147373 m/s, LOS rate: 0.290574 deg/s, posRepo size: 4
2021-08-13T17:49:48.607Z,1628876988.607 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:49:48.977Z,1628876988.977 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:49:48.977Z,1628876988.977 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:49:48.977Z,1628876988.977 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:49:48.978Z,1628876988.978 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:49:49.377Z,1628876989.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
35A,000,00887,189,80,80,A1,FF
2021-08-13T17:49:49.377Z,1628876989.377 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:49:49.377Z,1628876989.377 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:49:49.379Z,1628876989.379 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:49:49.793Z,1628876989.793 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:49:50.201Z,1628876990.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,38A,000,00893,189,80,80,99,FF
2021-08-13T17:49:50.201Z,1628876990.201 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:49:50.629Z,1628876990.629 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174949.90*51

2021-08-13T17:49:50.665Z,1628876990.665 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 94.200005 m, bearing: 50.555086 deg, deltaT: 4.451968 s, approachRate: 0.161727 m/s, LOS rate: -0.509381 deg/s, posRepo size: 4
2021-08-13T17:49:53.059Z,1628876993.059 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:49:53.437Z,1628876993.437 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:49:53.437Z,1628876993.437 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:49:53.438Z,1628876993.438 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:49:53.439Z,1628876993.439 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:49:53.821Z,1628876993.821 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
38A,000,00893,189,80,80,99,FF
2021-08-13T17:49:53.821Z,1628876993.821 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:49:53.821Z,1628876993.821 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:49:53.823Z,1628876993.823 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:49:54.249Z,1628876994.249 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:49:55.058Z,1628876995.058 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174954.35*52

2021-08-13T17:49:55.960Z,1628876995.960 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:49:57.500Z,1628876997.500 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
3,189,80,80,99,FF
2021-08-13T17:49:57.501Z,1628876997.501 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
3,189,80,80,99,FF
2021-08-13T17:49:57.501Z,1628876997.501 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T17:49:58.686Z,1628876998.686 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:49:59.086Z,1628876999.086 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:49:59.086Z,1628876999.086 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:49:59.086Z,1628876999.086 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:49:59.087Z,1628876999.087 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:49:59.524Z,1628876999.524 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
3,189,80,80,99,FF
2021-08-13T17:49:59.524Z,1628876999.524 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:49:59.524Z,1628876999.524 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:49:59.526Z,1628876999.526 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:49:59.923Z,1628876999.923 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:50:00.361Z,1628877000.361 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,372,000,008B2,189,80,80,CC,FF
2021-08-13T17:50:00.362Z,1628877000.362 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:50:00.829Z,1628877000.829 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175000.05*58

2021-08-13T17:50:00.879Z,1628877000.879 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 96.060005 m, bearing: 52.642542 deg, deltaT: 10.149891 s, approachRate: 0.183253 m/s, LOS rate: 0.205663 deg/s, posRepo size: 4
2021-08-13T17:50:03.172Z,1628877003.172 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:50:03.533Z,1628877003.533 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:50:03.533Z,1628877003.533 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:50:03.533Z,1628877003.533 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:50:03.534Z,1628877003.534 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:50:03.963Z,1628877003.963 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
372,000,008B2,189,80,80,CC,FF
2021-08-13T17:50:03.963Z,1628877003.963 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:50:03.963Z,1628877003.963 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:50:03.966Z,1628877003.966 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:50:04.336Z,1628877004.336 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:50:04.735Z,1628877004.735 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,359,000,008C1,189,80,80,9B,FF
2021-08-13T17:50:04.735Z,1628877004.735 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:50:05.159Z,1628877005.159 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175004.49*54

2021-08-13T17:50:05.200Z,1628877005.200 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 96.959999 m, bearing: 54.251868 deg, deltaT: 4.393012 s, approachRate: 0.204869 m/s, LOS rate: 0.366338 deg/s, posRepo size: 4
2021-08-13T17:50:07.612Z,1628877007.612 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:50:07.961Z,1628877007.961 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:50:07.961Z,1628877007.961 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:50:07.961Z,1628877007.961 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:50:07.962Z,1628877007.962 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:50:08.365Z,1628877008.365 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
359,000,008C1,189,80,80,9B,FF
2021-08-13T17:50:08.365Z,1628877008.365 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:50:08.365Z,1628877008.365 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:50:08.367Z,1628877008.367 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:50:08.781Z,1628877008.781 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:50:09.173Z,1628877009.173 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,37C,000,008CF,188,80,80,B9,FF
2021-08-13T17:50:09.173Z,1628877009.173 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:50:09.605Z,1628877009.605 [Micromodem](INFO): Nmea in: $SNTTA,0.264127,0.482987,,,175008.89*58

2021-08-13T17:50:09.679Z,1628877009.679 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 97.800003 m, bearing: 52.909063 deg, deltaT: 4.404290 s, approachRate: 0.190724 m/s, LOS rate: -0.304886 deg/s, posRepo size: 4
2021-08-13T17:50:12.051Z,1628877012.051 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:50:12.405Z,1628877012.405 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:50:12.405Z,1628877012.405 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:50:12.405Z,1628877012.405 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:50:12.406Z,1628877012.406 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:50:12.817Z,1628877012.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
37C,000,008CF,188,80,80,B9,FF
2021-08-13T17:50:12.817Z,1628877012.817 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:50:12.818Z,1628877012.818 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:50:12.819Z,1628877012.819 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:50:13.220Z,1628877013.220 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:50:13.687Z,1628877013.687 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,39D,000,008DC,189,80,80,D0,FF
2021-08-13T17:50:13.688Z,1628877013.688 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:50:14.161Z,1628877014.161 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175013.34*58

2021-08-13T17:50:14.210Z,1628877014.210 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 98.580002 m, bearing: 52.219535 deg, deltaT: 4.581000 s, approachRate: 0.170268 m/s, LOS rate: -0.150519 deg/s, posRepo size: 4
2021-08-13T17:50:16.462Z,1628877016.462 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:50:16.849Z,1628877016.849 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:50:16.849Z,1628877016.849 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:50:16.849Z,1628877016.849 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:50:16.850Z,1628877016.850 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:50:17.258Z,1628877017.258 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
39D,000,008DC,189,80,80,D0,FF
2021-08-13T17:50:17.258Z,1628877017.258 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:50:17.258Z,1628877017.258 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:50:17.260Z,1628877017.260 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:50:17.661Z,1628877017.661 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:50:18.061Z,1628877018.061 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3A6,000,008E9,189,80,80,C4,FF
2021-08-13T17:50:18.061Z,1628877018.061 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:50:18.500Z,1628877018.500 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 99.360008 m, bearing: 52.626379 deg, deltaT: 4.307961 s, approachRate: 0.181062 m/s, LOS rate: 0.094440 deg/s, posRepo size: 4
2021-08-13T17:50:20.943Z,1628877020.943 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:50:21.293Z,1628877021.293 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:50:21.293Z,1628877021.293 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:50:21.293Z,1628877021.293 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:50:21.294Z,1628877021.294 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:50:21.733Z,1628877021.733 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3A6,000,008E9,189,80,80,C4,FF
2021-08-13T17:50:21.733Z,1628877021.733 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:50:21.734Z,1628877021.734 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:50:21.735Z,1628877021.735 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:50:21.968Z,1628877021.968 [RDI_PathfinderUp](ERROR): DVL uart error: serial timeout
2021-08-13T17:50:21.968Z,1628877021.968 [RDI_PathfinderUp] Communications Fault, FailCount= 1
2021-08-13T17:50:21.968Z,1628877021.968 [RDI_PathfinderUp](ERROR): Communications Fault
2021-08-13T17:50:22.226Z,1628877022.226 [CBIT](ERROR): Communications Fault in component: RDI_PathfinderUp
2021-08-13T17:50:22.326Z,1628877022.326 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:50:22.428Z,1628877022.428 [RDI_PathfinderUp](INFO): Powering down
2021-08-13T17:50:22.705Z,1628877022.705 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3B1,000,008F5,189,80,80,D1,FF
2021-08-13T17:50:22.706Z,1628877022.706 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:50:23.096Z,1628877023.096 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175022.26*59

2021-08-13T17:50:23.116Z,1628877023.116 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 100.080002 m, bearing: 52.549836 deg, deltaT: 4.634970 s, approachRate: 0.155339 m/s, LOS rate: -0.016514 deg/s, posRepo size: 4
2021-08-13T17:50:23.226Z,1628877023.226 [CBIT](INFO): Clearing failed state for component RDI_PathfinderUp
2021-08-13T17:50:23.226Z,1628877023.226 [RDI_PathfinderUp] No Fault, FailCount= 1
2021-08-13T17:50:25.612Z,1628877025.612 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:50:25.931Z,1628877025.931 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:50:25.931Z,1628877025.931 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:50:25.931Z,1628877025.931 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:50:25.932Z,1628877025.932 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:50:26.410Z,1628877026.410 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3B1,000,008F5,189,80,80,D1,FF
2021-08-13T17:50:26.411Z,1628877026.411 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:50:26.411Z,1628877026.411 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:50:26.434Z,1628877026.434 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:50:26.840Z,1628877026.840 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:50:27.381Z,1628877027.381 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3C6,000,00904,189,80,80,B2,FF
2021-08-13T17:50:27.381Z,1628877027.381 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:50:27.697Z,1628877027.697 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175026.96*56

2021-08-13T17:50:27.765Z,1628877027.765 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 100.980003 m, bearing: 53.306092 deg, deltaT: 4.708578 s, approachRate: 0.191141 m/s, LOS rate: 0.160612 deg/s, posRepo size: 4
2021-08-13T17:50:30.089Z,1628877030.089 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:50:30.465Z,1628877030.465 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:50:30.465Z,1628877030.465 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:50:30.465Z,1628877030.465 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:50:30.466Z,1628877030.466 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:50:30.865Z,1628877030.865 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3C6,000,00904,189,80,80,B2,FF
2021-08-13T17:50:30.865Z,1628877030.865 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:50:30.865Z,1628877030.865 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:50:30.867Z,1628877030.867 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:50:31.269Z,1628877031.269 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:50:31.681Z,1628877031.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3EE,000,00913,189,80,80,BE,FF
2021-08-13T17:50:31.682Z,1628877031.682 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:50:31.685Z,1628877031.685 [Micromodem](INFO): Nmea in: $SNTTA,0.232919,0.191337,,,175031.39*59

2021-08-13T17:50:32.124Z,1628877032.124 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 101.879997 m, bearing: 52.846543 deg, deltaT: 4.322337 s, approachRate: 0.208219 m/s, LOS rate: -0.106320 deg/s, posRepo size: 4
2021-08-13T17:50:34.535Z,1628877034.535 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:50:34.917Z,1628877034.917 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:50:34.917Z,1628877034.917 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:50:34.917Z,1628877034.917 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:50:34.918Z,1628877034.918 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:50:35.305Z,1628877035.305 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3EE,000,00913,189,80,80,BE,FF
2021-08-13T17:50:35.305Z,1628877035.305 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:50:35.305Z,1628877035.305 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:50:35.307Z,1628877035.307 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:50:35.740Z,1628877035.740 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:50:36.113Z,1628877036.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,41C,000,0091F,189,80,80,BF,FF
2021-08-13T17:50:36.114Z,1628877036.114 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:50:36.553Z,1628877036.553 [Micromodem](INFO): Nmea in: $SNTTA,0.073710,,,,175035.83*4C

2021-08-13T17:50:36.593Z,1628877036.593 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 102.600006 m, bearing: 52.251668 deg, deltaT: 4.375664 s, approachRate: 0.164548 m/s, LOS rate: -0.135951 deg/s, posRepo size: 4
2021-08-13T17:50:38.999Z,1628877038.999 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:50:39.345Z,1628877039.345 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:50:39.345Z,1628877039.345 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:50:39.345Z,1628877039.345 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:50:39.346Z,1628877039.346 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:50:39.750Z,1628877039.750 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
41C,000,0091F,189,80,80,BF,FF
2021-08-13T17:50:39.750Z,1628877039.750 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:50:39.750Z,1628877039.750 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:50:39.753Z,1628877039.753 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:50:40.162Z,1628877040.162 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:50:41.056Z,1628877041.056 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175040.28*53

2021-08-13T17:50:41.855Z,1628877041.855 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:50:43.393Z,1628877043.393 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
F,189,80,80,BF,FF
2021-08-13T17:50:43.393Z,1628877043.393 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
F,189,80,80,BF,FF
2021-08-13T17:50:43.393Z,1628877043.393 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T17:50:44.625Z,1628877044.625 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:50:45.008Z,1628877045.008 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:50:45.008Z,1628877045.008 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:50:45.009Z,1628877045.009 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:50:45.009Z,1628877045.009 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:50:45.414Z,1628877045.414 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
F,189,80,80,BF,FF
2021-08-13T17:50:45.414Z,1628877045.414 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:50:45.414Z,1628877045.414 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:50:45.416Z,1628877045.416 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:50:45.820Z,1628877045.820 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:50:46.219Z,1628877046.219 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,49B,000,0093D,18A,80,80,B9,FF
2021-08-13T17:50:46.220Z,1628877046.220 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:50:46.660Z,1628877046.660 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175045.94*51

2021-08-13T17:50:46.715Z,1628877046.715 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 104.400002 m, bearing: 49.166546 deg, deltaT: 10.117319 s, approachRate: 0.177912 m/s, LOS rate: -0.304935 deg/s, posRepo size: 4
2021-08-13T17:50:49.082Z,1628877049.082 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:50:49.455Z,1628877049.455 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:50:49.455Z,1628877049.455 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:50:49.455Z,1628877049.455 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:50:49.465Z,1628877049.465 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:50:49.853Z,1628877049.853 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
49B,000,0093D,18A,80,80,B9,FF
2021-08-13T17:50:49.854Z,1628877049.854 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:50:49.854Z,1628877049.854 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:50:49.855Z,1628877049.855 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:50:50.256Z,1628877050.256 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:50:50.662Z,1628877050.662 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0094F,18A,80,80,BB,FF
2021-08-13T17:50:50.663Z,1628877050.663 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:50:51.102Z,1628877051.102 [Micromodem](INFO): Nmea in: $SNTTA,0.083309,,,,175050.38*4C

2021-08-13T17:50:51.130Z,1628877051.130 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 105.480003 m, bearing: 45.583883 deg, deltaT: 4.472279 s, approachRate: 0.241488 m/s, LOS rate: -0.801082 deg/s, posRepo size: 4
2021-08-13T17:50:53.608Z,1628877053.608 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:50:53.897Z,1628877053.897 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:50:53.898Z,1628877053.898 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:50:53.898Z,1628877053.898 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:50:53.899Z,1628877053.899 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:50:54.430Z,1628877054.430 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0094F,18A,80,80,BB,FF
2021-08-13T17:50:54.430Z,1628877054.430 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:50:54.431Z,1628877054.431 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:50:54.433Z,1628877054.433 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:50:54.752Z,1628877054.752 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:50:55.565Z,1628877055.565 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00957,189,80,80,C2,FF
2021-08-13T17:50:55.566Z,1628877055.566 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:50:55.569Z,1628877055.569 [Micromodem](INFO): Nmea in: $SNTTA,0.076753,0.452002,,,175054.96*52

2021-08-13T17:50:55.958Z,1628877055.958 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 105.960007 m, bearing: 47.200084 deg, deltaT: 4.946577 s, approachRate: 0.097037 m/s, LOS rate: 0.326731 deg/s, posRepo size: 4
2021-08-13T17:50:58.362Z,1628877058.362 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:50:58.741Z,1628877058.741 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:50:58.741Z,1628877058.741 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:50:58.742Z,1628877058.742 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:50:58.742Z,1628877058.742 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:50:59.145Z,1628877059.145 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00957,189,80,80,C2,FF
2021-08-13T17:50:59.145Z,1628877059.145 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:50:59.146Z,1628877059.146 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:50:59.147Z,1628877059.147 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:50:59.548Z,1628877059.548 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:50:59.953Z,1628877059.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00966,18A,80,80,B2,FF
2021-08-13T17:50:59.953Z,1628877059.953 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:51:00.386Z,1628877060.386 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175059.67*50

2021-08-13T17:51:00.402Z,1628877060.402 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 106.860001 m, bearing: 48.504059 deg, deltaT: 4.342061 s, approachRate: 0.207273 m/s, LOS rate: 0.300313 deg/s, posRepo size: 4
2021-08-13T17:51:02.825Z,1628877062.825 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:51:03.185Z,1628877063.185 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:51:03.185Z,1628877063.185 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:51:03.185Z,1628877063.185 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:51:03.186Z,1628877063.186 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:51:03.597Z,1628877063.597 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00966,18A,80,80,B2,FF
2021-08-13T17:51:03.597Z,1628877063.597 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:51:03.597Z,1628877063.597 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:51:03.599Z,1628877063.599 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:51:04.003Z,1628877064.003 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:51:04.397Z,1628877064.397 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00976,189,80,80,BD,FF
2021-08-13T17:51:04.397Z,1628877064.397 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:51:04.834Z,1628877064.834 [Micromodem](INFO): Nmea in: $SNTTA,0.092924,,,,175104.12*41

2021-08-13T17:51:04.861Z,1628877064.861 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 107.820000 m, bearing: 49.671157 deg, deltaT: 4.433789 s, approachRate: 0.216519 m/s, LOS rate: 0.263228 deg/s, posRepo size: 4
2021-08-13T17:51:07.247Z,1628877067.247 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:51:07.781Z,1628877067.781 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:51:07.781Z,1628877067.781 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:51:07.781Z,1628877067.781 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:51:07.782Z,1628877067.782 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:51:08.065Z,1628877068.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00976,189,80,80,BD,FF
2021-08-13T17:51:08.065Z,1628877068.065 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:51:08.065Z,1628877068.065 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:51:08.067Z,1628877068.067 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:51:08.464Z,1628877068.464 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:51:08.868Z,1628877068.868 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00986,189,80,80,BD,FF
2021-08-13T17:51:08.869Z,1628877068.869 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:51:09.267Z,1628877069.267 [Micromodem](INFO): Nmea in: $SNTTA,0.087487,,,,175108.59*42

2021-08-13T17:51:09.303Z,1628877069.303 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 108.780006 m, bearing: 50.446978 deg, deltaT: 4.465196 s, approachRate: 0.214998 m/s, LOS rate: 0.173748 deg/s, posRepo size: 4
2021-08-13T17:51:11.763Z,1628877071.763 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:51:12.073Z,1628877072.073 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:51:12.073Z,1628877072.073 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:51:12.073Z,1628877072.073 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:51:12.074Z,1628877072.074 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:51:12.477Z,1628877072.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00986,189,80,80,BD,FF
2021-08-13T17:51:12.478Z,1628877072.478 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:51:12.478Z,1628877072.478 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:51:12.480Z,1628877072.480 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:51:12.883Z,1628877072.883 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:51:13.285Z,1628877073.285 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00994,189,80,80,BB,FF
2021-08-13T17:51:13.286Z,1628877073.286 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:51:13.717Z,1628877073.717 [Micromodem](INFO): Nmea in: $SNTTA,0.072706,0.428510,,,175113.00*50

2021-08-13T17:51:13.773Z,1628877073.773 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 109.620003 m, bearing: 51.123727 deg, deltaT: 4.395013 s, approachRate: 0.191125 m/s, LOS rate: 0.153981 deg/s, posRepo size: 4
2021-08-13T17:51:15.811Z,1628877075.811 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:51:16.109Z,1628877076.109 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:51:16.109Z,1628877076.109 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:51:16.109Z,1628877076.109 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:51:16.110Z,1628877076.110 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:51:16.518Z,1628877076.518 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00994,189,80,80,BB,FF
2021-08-13T17:51:16.519Z,1628877076.519 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:51:16.519Z,1628877076.519 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:51:16.521Z,1628877076.521 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:51:16.932Z,1628877076.932 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:51:17.329Z,1628877077.329 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,009A2,189,80,80,B3,FF
2021-08-13T17:51:17.329Z,1628877077.329 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:51:17.753Z,1628877077.753 [Micromodem](INFO): Nmea in: $SNTTA,0.403489,0.405739,,,175117.05*51

2021-08-13T17:51:17.760Z,1628877077.760 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T17:51:17.805Z,1628877077.805 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 110.460007 m, bearing: 51.879320 deg, deltaT: 4.089541 s, approachRate: 0.205403 m/s, LOS rate: 0.184762 deg/s, posRepo size: 4
2021-08-13T17:51:20.170Z,1628877080.170 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:51:20.561Z,1628877080.561 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:51:20.561Z,1628877080.561 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:51:20.561Z,1628877080.561 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:51:20.562Z,1628877080.562 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:51:21.085Z,1628877081.085 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,009A2,189,80,80,B3,FF
2021-08-13T17:51:21.085Z,1628877081.085 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:51:21.085Z,1628877081.085 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:51:21.087Z,1628877081.087 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:51:21.391Z,1628877081.391 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:51:22.201Z,1628877082.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,009AF,189,80,80,B5,FF
2021-08-13T17:51:22.201Z,1628877082.201 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:51:22.581Z,1628877082.581 [Micromodem](INFO): Nmea in: $SNTTA,0.083539,,,,175121.61*42

2021-08-13T17:51:22.617Z,1628877082.617 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 111.240005 m, bearing: 52.284309 deg, deltaT: 4.830847 s, approachRate: 0.161462 m/s, LOS rate: 0.083834 deg/s, posRepo size: 4
2021-08-13T17:51:25.038Z,1628877085.038 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:51:25.413Z,1628877085.413 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:51:25.413Z,1628877085.413 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:51:25.413Z,1628877085.413 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:51:25.414Z,1628877085.414 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:51:25.809Z,1628877085.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,009AF,189,80,80,B5,FF
2021-08-13T17:51:25.809Z,1628877085.809 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:51:25.809Z,1628877085.809 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:51:25.811Z,1628877085.811 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:51:26.223Z,1628877086.223 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:51:26.630Z,1628877086.630 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,009BE,188,80,80,A3,FF
2021-08-13T17:51:26.630Z,1628877086.630 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:51:27.045Z,1628877087.045 [Micromodem](INFO): Nmea in: $SNTTA,0.085604,,,,175126.34*4E

2021-08-13T17:51:27.092Z,1628877087.092 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 112.140007 m, bearing: 52.572249 deg, deltaT: 4.472394 s, approachRate: 0.201235 m/s, LOS rate: 0.064382 deg/s, posRepo size: 4
2021-08-13T17:51:29.525Z,1628877089.525 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:51:29.849Z,1628877089.849 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:51:29.849Z,1628877089.849 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:51:29.849Z,1628877089.849 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:51:29.850Z,1628877089.850 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:51:30.269Z,1628877090.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,009BE,188,80,80,A3,FF
2021-08-13T17:51:30.269Z,1628877090.269 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:51:30.269Z,1628877090.269 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:51:30.271Z,1628877090.271 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:51:30.697Z,1628877090.697 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:51:31.070Z,1628877091.070 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,009CB,18A,80,80,B9,FF
2021-08-13T17:51:31.070Z,1628877091.070 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:51:31.517Z,1628877091.517 [Micromodem](INFO): Nmea in: $SNTTA,0.096836,0.492285,,,175130.79*53

2021-08-13T17:51:31.571Z,1628877091.571 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 112.920006 m, bearing: 53.284164 deg, deltaT: 4.413492 s, approachRate: 0.176731 m/s, LOS rate: 0.161304 deg/s, posRepo size: 4
2021-08-13T17:51:33.926Z,1628877093.926 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:51:34.285Z,1628877094.285 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:51:34.285Z,1628877094.285 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:51:34.286Z,1628877094.286 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:51:34.287Z,1628877094.287 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:51:34.845Z,1628877094.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,009CB,18A,80,80,B9,FF
2021-08-13T17:51:34.845Z,1628877094.845 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:51:34.846Z,1628877094.846 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:51:34.847Z,1628877094.847 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:51:35.220Z,1628877095.220 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:51:35.611Z,1628877095.611 [Micromodem](INFO): Nmea in: $SNTTA,0.244306,0.244126,,,175135.37*5E

2021-08-13T17:51:36.841Z,1628877096.841 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:51:38.409Z,1628877098.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
B,18A,80,80,B9,FF
2021-08-13T17:51:38.410Z,1628877098.410 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
B,18A,80,80,B9,FF
2021-08-13T17:51:38.410Z,1628877098.410 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T17:51:39.711Z,1628877099.711 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:51:40.022Z,1628877100.022 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:51:40.022Z,1628877100.022 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:51:40.023Z,1628877100.023 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:51:40.024Z,1628877100.024 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:51:40.421Z,1628877100.421 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
B,18A,80,80,B9,FF
2021-08-13T17:51:40.421Z,1628877100.421 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:51:40.422Z,1628877100.422 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:51:40.423Z,1628877100.423 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:51:40.842Z,1628877100.842 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:51:41.233Z,1628877101.233 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,009E7,189,80,80,A5,FF
2021-08-13T17:51:41.234Z,1628877101.234 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:51:41.681Z,1628877101.681 [Micromodem](INFO): Nmea in: $SNTTA,0.092765,0.416778,,,175140.95*50

2021-08-13T17:51:41.751Z,1628877101.751 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 114.600006 m, bearing: 54.392218 deg, deltaT: 10.177244 s, approachRate: 0.165074 m/s, LOS rate: 0.108876 deg/s, posRepo size: 4
2021-08-13T17:51:43.799Z,1628877103.799 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:51:44.057Z,1628877104.057 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:51:44.057Z,1628877104.057 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:51:44.057Z,1628877104.057 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:51:44.058Z,1628877104.058 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:51:44.461Z,1628877104.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,009E7,189,80,80,A5,FF
2021-08-13T17:51:44.461Z,1628877104.461 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:51:44.461Z,1628877104.461 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:51:44.463Z,1628877104.463 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:51:44.870Z,1628877104.870 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:51:45.277Z,1628877105.277 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,009F8,189,80,80,A3,FF
2021-08-13T17:51:45.278Z,1628877105.278 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:51:45.723Z,1628877105.723 [Micromodem](INFO): Nmea in: $SNTTA,0.084151,0.395148,,,175144.99*57

2021-08-13T17:51:45.785Z,1628877105.785 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 115.620003 m, bearing: 54.525117 deg, deltaT: 4.008361 s, approachRate: 0.254467 m/s, LOS rate: 0.033155 deg/s, posRepo size: 4
2021-08-13T17:51:48.147Z,1628877108.147 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:51:48.629Z,1628877108.629 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:51:48.629Z,1628877108.629 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:51:48.629Z,1628877108.629 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:51:48.630Z,1628877108.630 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:51:48.930Z,1628877108.930 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,009F8,189,80,80,A3,FF
2021-08-13T17:51:48.930Z,1628877108.930 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:51:48.930Z,1628877108.930 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:51:48.937Z,1628877108.937 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:51:49.339Z,1628877109.339 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:51:49.778Z,1628877109.778 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00A04,189,80,80,B0,FF
2021-08-13T17:51:49.778Z,1628877109.778 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:51:49.783Z,1628877109.783 [Micromodem](INFO): Nmea in: $SNTTA,0.084187,0.158876,,,175149.46*54

2021-08-13T17:51:50.151Z,1628877110.151 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 116.340004 m, bearing: 54.998213 deg, deltaT: 4.597604 s, approachRate: 0.156604 m/s, LOS rate: 0.102901 deg/s, posRepo size: 4
2021-08-13T17:51:52.558Z,1628877112.558 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:51:52.953Z,1628877112.953 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:51:52.953Z,1628877112.953 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:51:52.953Z,1628877112.953 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:51:52.954Z,1628877112.954 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:51:53.357Z,1628877113.357 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00A04,189,80,80,B0,FF
2021-08-13T17:51:53.358Z,1628877113.358 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:51:53.358Z,1628877113.358 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:51:53.364Z,1628877113.364 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:51:53.761Z,1628877113.761 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:51:54.161Z,1628877114.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00A13,189,80,80,A6,FF
2021-08-13T17:51:54.162Z,1628877114.162 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:51:54.589Z,1628877114.589 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175153.89*5B

2021-08-13T17:51:54.614Z,1628877114.614 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 117.240005 m, bearing: 55.356361 deg, deltaT: 4.291277 s, approachRate: 0.209728 m/s, LOS rate: 0.083459 deg/s, posRepo size: 4
2021-08-13T17:51:57.013Z,1628877117.013 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:51:57.413Z,1628877117.413 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:51:57.413Z,1628877117.413 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:51:57.413Z,1628877117.413 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:51:57.414Z,1628877117.414 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:51:57.813Z,1628877117.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00A13,189,80,80,A6,FF
2021-08-13T17:51:57.813Z,1628877117.813 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:51:57.813Z,1628877117.813 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:51:57.815Z,1628877117.815 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:51:58.209Z,1628877118.209 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:51:58.605Z,1628877118.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00A1D,189,80,80,BE,FF
2021-08-13T17:51:58.605Z,1628877118.605 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:51:59.029Z,1628877119.029 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175158.34*56

2021-08-13T17:51:59.068Z,1628877119.068 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 117.840004 m, bearing: 55.707303 deg, deltaT: 4.509520 s, approachRate: 0.133052 m/s, LOS rate: 0.077822 deg/s, posRepo size: 4
2021-08-13T17:52:01.510Z,1628877121.510 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:52:01.970Z,1628877121.970 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:52:01.970Z,1628877121.970 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:52:01.971Z,1628877121.971 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:52:01.971Z,1628877121.971 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:52:02.253Z,1628877122.253 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00A1D,189,80,80,BE,FF
2021-08-13T17:52:02.253Z,1628877122.253 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:52:02.253Z,1628877122.253 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:52:02.255Z,1628877122.255 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:52:02.687Z,1628877122.687 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:52:03.065Z,1628877123.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00A2E,189,80,80,9F,FF
2021-08-13T17:52:03.066Z,1628877123.066 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:52:03.509Z,1628877123.509 [Micromodem](INFO): Nmea in: $SNTTA,0.093586,,,,175202.78*4D

2021-08-13T17:52:03.566Z,1628877123.566 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 118.860001 m, bearing: 56.087902 deg, deltaT: 4.414001 s, approachRate: 0.231082 m/s, LOS rate: 0.086225 deg/s, posRepo size: 4
2021-08-13T17:52:05.925Z,1628877125.925 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:52:06.281Z,1628877126.281 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:52:06.281Z,1628877126.281 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:52:06.281Z,1628877126.281 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:52:06.282Z,1628877126.282 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:52:06.695Z,1628877126.695 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00A2E,189,80,80,9F,FF
2021-08-13T17:52:06.695Z,1628877126.695 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:52:06.695Z,1628877126.695 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:52:06.697Z,1628877126.697 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:52:07.089Z,1628877127.089 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:52:07.529Z,1628877127.529 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CEB,000,00A3B,189,80,80,B6,FF
2021-08-13T17:52:07.530Z,1628877127.530 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:52:07.921Z,1628877127.921 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175207.22*58

2021-08-13T17:52:07.960Z,1628877127.960 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 119.639999 m, bearing: 159.893349 deg, deltaT: 4.479355 s, approachRate: 0.174132 m/s, LOS rate: 23.174195 deg/s, posRepo size: 4
2021-08-13T17:52:10.349Z,1628877130.349 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:52:10.737Z,1628877130.737 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:52:10.737Z,1628877130.737 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:52:10.737Z,1628877130.737 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:52:10.738Z,1628877130.738 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:52:11.125Z,1628877131.125 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CEB,000,00A3B,189,80,80,B6,FF
2021-08-13T17:52:11.125Z,1628877131.125 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:52:11.125Z,1628877131.125 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:52:11.127Z,1628877131.127 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:52:11.541Z,1628877131.541 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:52:11.941Z,1628877131.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CDA,000,00A49,189,80,80,AD,FF
2021-08-13T17:52:11.942Z,1628877131.942 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:52:12.365Z,1628877132.365 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175211.65*5C

2021-08-13T17:52:12.427Z,1628877132.427 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 120.480003 m, bearing: 161.322484 deg, deltaT: 4.444533 s, approachRate: 0.188997 m/s, LOS rate: 0.321549 deg/s, posRepo size: 4
2021-08-13T17:52:14.808Z,1628877134.808 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:52:15.173Z,1628877135.173 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:52:15.173Z,1628877135.173 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:52:15.174Z,1628877135.174 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:52:15.175Z,1628877135.175 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:52:15.629Z,1628877135.629 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CDA,000,00A49,189,80,80,AD,FF
2021-08-13T17:52:15.629Z,1628877135.629 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:52:15.630Z,1628877135.630 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:52:15.632Z,1628877135.632 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:52:16.061Z,1628877136.061 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:52:16.417Z,1628877136.417 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00A53,189,80,80,BA,FF
2021-08-13T17:52:16.418Z,1628877136.418 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:52:16.826Z,1628877136.826 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175216.16*5F

2021-08-13T17:52:16.891Z,1628877136.891 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 121.080002 m, bearing: 57.233717 deg, deltaT: 4.423329 s, approachRate: 0.135644 m/s, LOS rate: -23.531771 deg/s, posRepo size: 4
2021-08-13T17:52:19.234Z,1628877139.234 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:52:19.609Z,1628877139.609 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:52:19.609Z,1628877139.609 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:52:19.609Z,1628877139.609 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:52:19.610Z,1628877139.610 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:52:20.021Z,1628877140.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00A53,189,80,80,BA,FF
2021-08-13T17:52:20.021Z,1628877140.021 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:52:20.021Z,1628877140.021 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:52:20.023Z,1628877140.023 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:52:20.421Z,1628877140.421 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:52:20.825Z,1628877140.825 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00A66,189,80,80,C5,FF
2021-08-13T17:52:20.826Z,1628877140.826 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:52:21.257Z,1628877141.257 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175220.54*5C

2021-08-13T17:52:21.287Z,1628877141.287 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 122.220009 m, bearing: 57.651667 deg, deltaT: 4.428651 s, approachRate: 0.257416 m/s, LOS rate: 0.094374 deg/s, posRepo size: 4
2021-08-13T17:52:23.751Z,1628877143.751 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:52:24.053Z,1628877144.053 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:52:24.053Z,1628877144.053 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:52:24.053Z,1628877144.053 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:52:24.054Z,1628877144.054 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:52:24.453Z,1628877144.453 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00A66,189,80,80,C5,FF
2021-08-13T17:52:24.453Z,1628877144.453 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:52:24.454Z,1628877144.454 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:52:24.455Z,1628877144.455 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:52:24.879Z,1628877144.879 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:52:25.273Z,1628877145.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00A74,189,80,80,C8,FF
2021-08-13T17:52:25.274Z,1628877145.274 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:52:25.721Z,1628877145.721 [Micromodem](INFO): Nmea in: $SNTTA,0.112126,0.439361,,,175224.98*55

2021-08-13T17:52:25.815Z,1628877145.815 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 123.060005 m, bearing: 58.252348 deg, deltaT: 4.470505 s, approachRate: 0.187897 m/s, LOS rate: 0.134365 deg/s, posRepo size: 4
2021-08-13T17:52:28.123Z,1628877148.123 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:52:28.501Z,1628877148.501 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:52:28.501Z,1628877148.501 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:52:28.501Z,1628877148.501 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:52:28.502Z,1628877148.502 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:52:28.993Z,1628877148.993 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00A74,189,80,80,C8,FF
2021-08-13T17:52:28.993Z,1628877148.993 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:52:28.993Z,1628877148.993 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:52:28.995Z,1628877148.995 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:52:29.412Z,1628877149.412 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:52:29.770Z,1628877149.770 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CF5,000,00A82,189,80,80,C8,FF
2021-08-13T17:52:29.770Z,1628877149.770 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:52:29.774Z,1628877149.774 [Micromodem](INFO): Nmea in: $SNTTA,0.166660,0.166722,,,175229.52*54

2021-08-13T17:52:30.162Z,1628877150.162 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 123.900009 m, bearing: 161.652150 deg, deltaT: 4.507675 s, approachRate: 0.186350 m/s, LOS rate: 22.938611 deg/s, posRepo size: 4
2021-08-13T17:52:32.557Z,1628877152.557 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:52:32.957Z,1628877152.957 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:52:32.957Z,1628877152.957 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:52:32.957Z,1628877152.957 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:52:32.958Z,1628877152.958 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:52:33.345Z,1628877153.345 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CF5,000,00A82,189,80,80,C8,FF
2021-08-13T17:52:33.345Z,1628877153.345 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:52:33.345Z,1628877153.345 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:52:33.347Z,1628877153.347 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:52:33.761Z,1628877153.761 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:52:34.161Z,1628877154.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CFD,000,00A8E,18A,80,80,CD,FF
2021-08-13T17:52:34.161Z,1628877154.161 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:52:34.593Z,1628877154.593 [Micromodem](INFO): Nmea in: $SNTTA,0.092646,,,,175233.87*41

2021-08-13T17:52:34.624Z,1628877154.624 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 124.620003 m, bearing: 161.465235 deg, deltaT: 4.317398 s, approachRate: 0.166766 m/s, LOS rate: -0.043293 deg/s, posRepo size: 4
2021-08-13T17:52:37.027Z,1628877157.027 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:52:37.389Z,1628877157.389 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:52:37.389Z,1628877157.389 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:52:37.389Z,1628877157.389 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:52:37.390Z,1628877157.390 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:52:37.798Z,1628877157.798 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CFD,000,00A8E,18A,80,80,CD,FF
2021-08-13T17:52:37.798Z,1628877157.798 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:52:37.798Z,1628877157.798 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:52:37.801Z,1628877157.801 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:52:37.847Z,1628877157.847 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T17:52:38.197Z,1628877158.197 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:52:38.607Z,1628877158.607 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CFB,000,00A9C,189,80,80,C1,FF
2021-08-13T17:52:38.607Z,1628877158.607 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:52:39.045Z,1628877159.045 [Micromodem](INFO): Nmea in: $SNTTA,0.134183,,,,175238.32*47

2021-08-13T17:52:39.071Z,1628877159.071 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 125.459999 m, bearing: 162.124075 deg, deltaT: 4.458541 s, approachRate: 0.188402 m/s, LOS rate: 0.147770 deg/s, posRepo size: 4
2021-08-13T17:52:41.510Z,1628877161.510 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:52:41.830Z,1628877161.830 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:52:41.830Z,1628877161.830 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:52:41.830Z,1628877161.830 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:52:41.831Z,1628877161.831 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:52:42.226Z,1628877162.226 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CFB,000,00A9C,189,80,80,C1,FF
2021-08-13T17:52:42.227Z,1628877162.227 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:52:42.227Z,1628877162.227 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:52:42.229Z,1628877162.229 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:52:42.670Z,1628877162.670 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:52:43.169Z,1628877163.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D14,000,00AA9,189,80,80,CD,FF
2021-08-13T17:52:43.169Z,1628877163.169 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:52:43.557Z,1628877163.557 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175242.75*5B

2021-08-13T17:52:43.610Z,1628877163.610 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 126.239998 m, bearing: 161.614734 deg, deltaT: 4.572390 s, approachRate: 0.170589 m/s, LOS rate: -0.111395 deg/s, posRepo size: 4
2021-08-13T17:52:45.957Z,1628877165.957 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:52:46.333Z,1628877166.333 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:52:46.333Z,1628877166.333 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:52:46.333Z,1628877166.333 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:52:46.334Z,1628877166.334 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:52:46.692Z,1628877166.692 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D14,000,00AA9,189,80,80,CD,FF
2021-08-13T17:52:46.692Z,1628877166.692 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:52:46.693Z,1628877166.693 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:52:46.694Z,1628877166.694 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:52:47.092Z,1628877167.092 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:52:47.534Z,1628877167.534 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D1C,000,00AB7,189,80,80,BE,FF
2021-08-13T17:52:47.535Z,1628877167.535 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:52:47.539Z,1628877167.539 [Micromodem](INFO): Nmea in: $SNTTA,0.087112,0.277911,,,175247.22*5A

2021-08-13T17:52:47.579Z,1628877167.579 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T17:52:47.939Z,1628877167.939 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 127.080002 m, bearing: 161.632110 deg, deltaT: 4.400048 s, approachRate: 0.190908 m/s, LOS rate: 0.003949 deg/s, posRepo size: 4
2021-08-13T17:52:50.335Z,1628877170.335 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:52:50.733Z,1628877170.733 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:52:50.733Z,1628877170.733 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:52:50.733Z,1628877170.733 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:52:50.734Z,1628877170.734 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:52:51.125Z,1628877171.125 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D1C,000,00AB7,189,80,80,BE,FF
2021-08-13T17:52:51.125Z,1628877171.125 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:52:51.125Z,1628877171.125 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:52:51.127Z,1628877171.127 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:52:51.537Z,1628877171.537 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:52:51.946Z,1628877171.946 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D0F,000,00AC6,189,80,80,CC,FF
2021-08-13T17:52:51.947Z,1628877171.947 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:52:52.375Z,1628877172.375 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 127.980003 m, bearing: 162.410970 deg, deltaT: 4.365430 s, approachRate: 0.206166 m/s, LOS rate: 0.178415 deg/s, posRepo size: 4
2021-08-13T17:52:54.784Z,1628877174.784 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:52:55.169Z,1628877175.169 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:52:55.169Z,1628877175.169 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:52:55.170Z,1628877175.170 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:52:55.171Z,1628877175.171 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:52:55.565Z,1628877175.565 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D0F,000,00AC6,189,80,80,CC,FF
2021-08-13T17:52:55.565Z,1628877175.565 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:52:55.565Z,1628877175.565 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:52:55.567Z,1628877175.567 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:52:55.970Z,1628877175.970 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:52:56.433Z,1628877176.433 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D1C,000,00763,189,80,80,D2,FF
2021-08-13T17:52:56.434Z,1628877176.434 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:52:56.909Z,1628877176.909 [Micromodem](INFO): Nmea in: $SNTTA,0.056582,,,,175256.09*47

2021-08-13T17:52:56.968Z,1628877176.968 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 75.959999 m, bearing: 162.182145 deg, deltaT: 4.480840 s, approachRate: -11.609431 m/s, LOS rate: -0.051067 deg/s, posRepo size: 4
2021-08-13T17:52:59.218Z,1628877179.218 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:52:59.605Z,1628877179.605 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:52:59.605Z,1628877179.605 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:52:59.605Z,1628877179.605 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:52:59.606Z,1628877179.606 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:53:00.022Z,1628877180.022 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D1C,000,00763,189,80,80,D2,FF
2021-08-13T17:53:00.022Z,1628877180.022 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:53:00.022Z,1628877180.022 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:53:00.023Z,1628877180.023 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:53:00.421Z,1628877180.421 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:53:00.821Z,1628877180.821 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D26,000,00AE3,18A,80,80,B9,FF
2021-08-13T17:53:00.821Z,1628877180.821 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:53:01.249Z,1628877181.249 [Micromodem](INFO): Nmea in: $SNTTA,0.094121,,,,175300.55*4F

2021-08-13T17:53:01.290Z,1628877181.290 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 129.720001 m, bearing: 162.320538 deg, deltaT: 4.393000 s, approachRate: 12.237651 m/s, LOS rate: 0.031503 deg/s, posRepo size: 4
2021-08-13T17:53:03.744Z,1628877183.744 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:53:04.053Z,1628877184.053 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:53:04.053Z,1628877184.053 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:53:04.053Z,1628877184.053 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:53:04.054Z,1628877184.054 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:53:04.449Z,1628877184.449 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D26,000,00AE3,18A,80,80,B9,FF
2021-08-13T17:53:04.449Z,1628877184.449 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:53:04.450Z,1628877184.450 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:53:04.451Z,1628877184.451 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:53:04.865Z,1628877184.865 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:53:05.265Z,1628877185.265 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D28,000,00AF2,189,80,80,CD,FF
2021-08-13T17:53:05.266Z,1628877185.266 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:53:05.693Z,1628877185.693 [Micromodem](INFO): Nmea in: $SNTTA,0.439486,0.440717,,,175304.97*51

2021-08-13T17:53:05.758Z,1628877185.758 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 130.619995 m, bearing: 162.498779 deg, deltaT: 4.434229 s, approachRate: 0.202965 m/s, LOS rate: 0.040197 deg/s, posRepo size: 4
2021-08-13T17:53:07.729Z,1628877187.729 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-13T17:53:08.105Z,1628877188.105 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:53:08.498Z,1628877188.498 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:53:08.498Z,1628877188.498 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:53:08.498Z,1628877188.498 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:53:08.499Z,1628877188.499 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:53:08.910Z,1628877188.910 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D28,000,00AF2,189,80,80,CD,FF
2021-08-13T17:53:08.910Z,1628877188.910 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:53:08.910Z,1628877188.910 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:53:08.912Z,1628877188.912 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:53:09.313Z,1628877189.313 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:53:09.804Z,1628877189.804 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D29,000,00B00,189,80,80,D6,FF
2021-08-13T17:53:09.805Z,1628877189.805 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:53:10.245Z,1628877190.245 [Micromodem](INFO): Nmea in: $SNTTA,0.095510,,,,175309.43*46

2021-08-13T17:53:10.261Z,1628877190.261 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 131.460007 m, bearing: 162.584471 deg, deltaT: 4.595234 s, approachRate: 0.182801 m/s, LOS rate: 0.018648 deg/s, posRepo size: 4
2021-08-13T17:53:12.565Z,1628877192.565 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:53:12.945Z,1628877192.945 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:53:12.945Z,1628877192.945 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:53:12.945Z,1628877192.945 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:53:12.946Z,1628877192.946 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:53:13.345Z,1628877193.345 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D29,000,00B00,189,80,80,D6,FF
2021-08-13T17:53:13.345Z,1628877193.345 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:53:13.345Z,1628877193.345 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:53:13.347Z,1628877193.347 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:53:13.753Z,1628877193.753 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:53:14.162Z,1628877194.162 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D36,000,00B10,18A,80,80,BD,FF
2021-08-13T17:53:14.163Z,1628877194.163 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:53:14.593Z,1628877194.593 [Micromodem](INFO): Nmea in: $SNTTA,0.098043,,,,175313.87*4B

2021-08-13T17:53:14.616Z,1628877194.616 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 132.419998 m, bearing: 162.482209 deg, deltaT: 4.301169 s, approachRate: 0.223193 m/s, LOS rate: -0.023775 deg/s, posRepo size: 4
2021-08-13T17:53:17.025Z,1628877197.025 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:53:17.381Z,1628877197.381 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:53:17.381Z,1628877197.381 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:53:17.381Z,1628877197.381 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:53:17.382Z,1628877197.382 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:53:17.793Z,1628877197.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D36,000,00B10,18A,80,80,BD,FF
2021-08-13T17:53:17.793Z,1628877197.793 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:53:17.793Z,1628877197.793 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:53:17.795Z,1628877197.795 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:53:18.198Z,1628877198.198 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:53:18.606Z,1628877198.606 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D2F,000,00B1A,189,80,80,C0,FF
2021-08-13T17:53:18.606Z,1628877198.606 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:53:19.037Z,1628877199.037 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175318.32*56

2021-08-13T17:53:19.067Z,1628877199.067 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 133.020004 m, bearing: 162.791029 deg, deltaT: 4.443680 s, approachRate: 0.135025 m/s, LOS rate: 0.069496 deg/s, posRepo size: 4
2021-08-13T17:53:21.499Z,1628877201.499 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:53:21.825Z,1628877201.825 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:53:21.825Z,1628877201.825 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:53:21.825Z,1628877201.825 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:53:21.826Z,1628877201.826 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:53:22.237Z,1628877202.237 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D2F,000,00B1A,189,80,80,C0,FF
2021-08-13T17:53:22.237Z,1628877202.237 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:53:22.237Z,1628877202.237 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:53:22.239Z,1628877202.239 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:53:22.644Z,1628877202.644 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:53:23.117Z,1628877203.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D38,000,00B28,189,80,80,C6,FF
2021-08-13T17:53:23.117Z,1628877203.117 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:53:23.597Z,1628877203.597 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175322.76*5F

2021-08-13T17:53:23.645Z,1628877203.645 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 133.860001 m, bearing: 162.152693 deg, deltaT: 4.546154 s, approachRate: 0.184771 m/s, LOS rate: -0.140412 deg/s, posRepo size: 4
2021-08-13T17:53:25.925Z,1628877205.925 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:53:26.266Z,1628877206.266 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:53:26.266Z,1628877206.266 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:53:26.266Z,1628877206.266 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:53:26.267Z,1628877206.267 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:53:26.702Z,1628877206.702 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D38,000,00B28,189,80,80,C6,FF
2021-08-13T17:53:26.702Z,1628877206.702 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:53:26.702Z,1628877206.702 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:53:26.704Z,1628877206.704 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:53:27.089Z,1628877207.089 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:53:27.555Z,1628877207.555 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D39,000,00B38,18A,80,80,C8,FF
2021-08-13T17:53:27.555Z,1628877207.555 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:53:27.571Z,1628877207.571 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-13T17:53:27.903Z,1628877207.903 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175327.23*5A

2021-08-13T17:53:27.943Z,1628877207.943 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 134.820007 m, bearing: 162.046730 deg, deltaT: 4.415291 s, approachRate: 0.217428 m/s, LOS rate: -0.023999 deg/s, posRepo size: 4
2021-08-13T17:53:30.342Z,1628877210.342 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:53:30.748Z,1628877210.748 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:53:30.748Z,1628877210.748 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:53:30.749Z,1628877210.749 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:53:30.749Z,1628877210.749 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:53:31.117Z,1628877211.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D39,000,00B38,18A,80,80,C8,FF
2021-08-13T17:53:31.117Z,1628877211.117 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:53:31.117Z,1628877211.117 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:53:31.119Z,1628877211.119 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:53:31.536Z,1628877211.536 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:53:31.941Z,1628877211.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D33,000,00B49,189,80,80,C9,FF
2021-08-13T17:53:31.941Z,1628877211.941 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:53:32.361Z,1628877212.361 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175331.64*5E

2021-08-13T17:53:32.390Z,1628877212.390 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 135.840012 m, bearing: 162.271033 deg, deltaT: 4.436084 s, approachRate: 0.229933 m/s, LOS rate: 0.050563 deg/s, posRepo size: 4
2021-08-13T17:53:34.807Z,1628877214.807 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:53:35.157Z,1628877215.157 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:53:35.157Z,1628877215.157 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:53:35.157Z,1628877215.157 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:53:35.158Z,1628877215.158 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:53:35.573Z,1628877215.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D33,000,00B49,189,80,80,C9,FF
2021-08-13T17:53:35.574Z,1628877215.574 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:53:35.574Z,1628877215.574 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:53:35.576Z,1628877215.576 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:53:35.969Z,1628877215.969 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:53:36.517Z,1628877216.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D36,000,00B55,189,80,80,CE,FF
2021-08-13T17:53:36.518Z,1628877216.518 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:53:36.833Z,1628877216.833 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175336.10*5A

2021-08-13T17:53:36.882Z,1628877216.882 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 136.559998 m, bearing: 162.088476 deg, deltaT: 4.536275 s, approachRate: 0.158717 m/s, LOS rate: -0.040244 deg/s, posRepo size: 4
2021-08-13T17:53:36.883Z,1628877216.883 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 136.56 m. Resuming terminal guidance.
2021-08-13T17:53:36.883Z,1628877216.883 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-13T17:53:37.248Z,1628877217.248 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-08-13T17:53:37.248Z,1628877217.248 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-13T17:53:37.248Z,1628877217.248 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-08-13T17:53:37.248Z,1628877217.248 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-08-13T17:53:37.248Z,1628877217.248 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2021-08-13T17:53:37.249Z,1628877217.249 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-08-13T17:53:37.249Z,1628877217.249 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-08-13T17:53:37.633Z,1628877217.633 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-13T17:53:39.237Z,1628877219.237 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:53:39.606Z,1628877219.606 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:53:39.606Z,1628877219.606 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:53:39.606Z,1628877219.606 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:53:39.608Z,1628877219.608 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:53:40.013Z,1628877220.013 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D36,000,00B55,189,80,80,CE,FF
2021-08-13T17:53:40.013Z,1628877220.013 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:53:40.013Z,1628877220.013 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:53:40.015Z,1628877220.015 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:53:40.413Z,1628877220.413 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:53:40.817Z,1628877220.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D2F,000,00B60,18A,80,80,BF,FF
2021-08-13T17:53:40.817Z,1628877220.817 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:53:41.258Z,1628877221.258 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175340.54*5B

2021-08-13T17:53:41.333Z,1628877221.333 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 137.220001 m, bearing: 161.896070 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-13T17:53:41.334Z,1628877221.334 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 161.896070deg and heading rate command to 0 deg/s.
2021-08-13T17:53:43.778Z,1628877223.778 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:53:44.055Z,1628877224.055 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:53:44.055Z,1628877224.055 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:53:44.055Z,1628877224.055 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:53:44.056Z,1628877224.056 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:53:44.465Z,1628877224.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D2F,000,00B60,18A,80,80,BF,FF
2021-08-13T17:53:44.465Z,1628877224.465 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:53:44.465Z,1628877224.465 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:53:44.467Z,1628877224.467 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:53:44.868Z,1628877224.868 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:53:45.266Z,1628877225.266 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D1C,000,00B6D,189,80,80,C3,FF
2021-08-13T17:53:45.266Z,1628877225.266 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:53:45.709Z,1628877225.709 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175344.99*5E

2021-08-13T17:53:45.776Z,1628877225.776 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 138.000000 m, bearing: 159.601713 deg, deltaT: 4.446295 s, approachRate: 0.175427 m/s, LOS rate: -0.516015 deg/s, posRepo size: 2
2021-08-13T17:53:45.778Z,1628877225.778 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 138.000000 m,
      bearing: 159.601713 deg,
      approachRate: 0.175427 m/s,
      LOS rate: -0.516015 deg/s,
      cmd update: -1.548046 deg/s,
      cmd heading: 161.896070 deg,
      new cmd heading: 161.896070 deg.

2021-08-13T17:53:47.752Z,1628877227.752 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2021-08-13T17:53:47.752Z,1628877227.752 [RDI_Pathfinder] Communications Fault, FailCount= 1
2021-08-13T17:53:47.752Z,1628877227.752 [RDI_Pathfinder](ERROR): Communications Fault
2021-08-13T17:53:47.821Z,1628877227.821 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:53:47.893Z,1628877227.893 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2021-08-13T17:53:48.093Z,1628877228.093 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:53:48.093Z,1628877228.093 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:53:48.093Z,1628877228.093 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:53:48.094Z,1628877228.094 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:53:48.176Z,1628877228.176 [RDI_Pathfinder](INFO): Powering down
2021-08-13T17:53:48.497Z,1628877228.497 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D1C,000,00B6D,189,80,80,C3,FF
2021-08-13T17:53:48.497Z,1628877228.497 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:53:48.497Z,1628877228.497 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:53:48.499Z,1628877228.499 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:53:48.916Z,1628877228.916 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:53:49.044Z,1628877229.044 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2021-08-13T17:53:49.044Z,1628877229.044 [RDI_Pathfinder] No Fault, FailCount= 1
2021-08-13T17:53:49.309Z,1628877229.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D17,000,00B6F,189,80,80,B5,FF
2021-08-13T17:53:49.310Z,1628877229.310 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:53:49.817Z,1628877229.817 [Micromodem](INFO): Nmea in: $SNTTA,,0.096352,,,175349.02*44

2021-08-13T17:53:49.863Z,1628877229.863 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 138.120010 m, bearing: 157.632775 deg, deltaT: 4.038105 s, approachRate: 0.029719 m/s, LOS rate: -0.487590 deg/s, posRepo size: 3
2021-08-13T17:53:49.869Z,1628877229.869 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 138.120010 m,
      bearing: 157.632775 deg,
      approachRate: 0.029719 m/s,
      LOS rate: -0.487590 deg/s,
      cmd update: -1.462769 deg/s,
      cmd heading: 155.641280 deg,
      new cmd heading: 154.851685 deg.

2021-08-13T17:53:52.160Z,1628877232.160 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:53:52.553Z,1628877232.553 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:53:52.553Z,1628877232.553 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:53:52.553Z,1628877232.553 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:53:52.554Z,1628877232.554 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:53:52.949Z,1628877232.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D17,000,00B6F,189,80,80,B5,FF
2021-08-13T17:53:52.949Z,1628877232.949 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:53:52.950Z,1628877232.950 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:53:52.951Z,1628877232.951 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:53:53.349Z,1628877233.349 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:53:54.178Z,1628877234.178 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175353.47*5B

2021-08-13T17:53:54.990Z,1628877234.990 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:53:56.577Z,1628877236.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
F,189,80,80,B5,FF
2021-08-13T17:53:56.578Z,1628877236.578 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
F,189,80,80,B5,FF
2021-08-13T17:53:56.578Z,1628877236.578 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T17:53:57.821Z,1628877237.821 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:53:58.189Z,1628877238.189 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:53:58.189Z,1628877238.189 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:53:58.189Z,1628877238.189 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:53:58.190Z,1628877238.190 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:53:58.593Z,1628877238.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
F,189,80,80,B5,FF
2021-08-13T17:53:58.593Z,1628877238.593 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:53:58.594Z,1628877238.594 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:53:58.595Z,1628877238.595 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:53:59.005Z,1628877239.005 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:53:59.413Z,1628877239.413 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F45,000,00B80,187,80,80,5A,FF
2021-08-13T17:53:59.414Z,1628877239.414 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:53:59.845Z,1628877239.845 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175359.12*51

2021-08-13T17:53:59.878Z,1628877239.878 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 139.139999 m, bearing: 159.950203 deg, deltaT: 10.105204 s, approachRate: 0.100937 m/s, LOS rate: 0.229330 deg/s, posRepo size: 4
2021-08-13T17:53:59.882Z,1628877239.882 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 139.139999 m,
      bearing: 159.950203 deg,
      approachRate: 0.100937 m/s,
      LOS rate: 0.229330 deg/s,
      cmd update: 0.687991 deg/s,
      cmd heading: 140.864378 deg,
      new cmd heading: 140.245270 deg.

2021-08-13T17:54:02.251Z,1628877242.251 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:54:02.639Z,1628877242.639 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:54:02.640Z,1628877242.640 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:54:02.640Z,1628877242.640 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:54:02.641Z,1628877242.641 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:54:03.037Z,1628877243.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F45,000,00B80,187,80,80,5A,FF
2021-08-13T17:54:03.037Z,1628877243.037 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:54:03.037Z,1628877243.037 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:54:03.039Z,1628877243.039 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:54:03.481Z,1628877243.481 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:54:03.996Z,1628877243.996 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,062,000,00B97,187,80,80,9F,FF
2021-08-13T17:54:03.997Z,1628877243.997 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:54:04.325Z,1628877244.325 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175403.56*59

2021-08-13T17:54:04.364Z,1628877244.364 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 140.520004 m, bearing: 145.128747 deg, deltaT: 4.572614 s, approachRate: 0.301798 m/s, LOS rate: -3.241353 deg/s, posRepo size: 4
2021-08-13T17:54:04.366Z,1628877244.366 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 140.520004 m,
      bearing: 145.128747 deg,
      approachRate: 0.301798 m/s,
      LOS rate: -3.241353 deg/s,
      cmd update: -9.724058 deg/s,
      cmd heading: 144.008019 deg,
      new cmd heading: 144.239144 deg.

2021-08-13T17:54:06.732Z,1628877246.732 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:54:07.085Z,1628877247.085 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:54:07.085Z,1628877247.085 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:54:07.085Z,1628877247.085 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:54:07.086Z,1628877247.086 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:54:07.492Z,1628877247.492 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
062,000,00B97,187,80,80,9F,FF
2021-08-13T17:54:07.493Z,1628877247.493 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:54:07.495Z,1628877247.495 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:54:07.519Z,1628877247.519 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:54:07.905Z,1628877247.905 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:54:08.297Z,1628877248.297 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00BB0,187,80,80,9F,FF
2021-08-13T17:54:08.298Z,1628877248.298 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:54:08.745Z,1628877248.745 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175408.04*55

2021-08-13T17:54:08.800Z,1628877248.800 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 142.020004 m, bearing: 83.225015 deg, deltaT: 4.316972 s, approachRate: 0.347466 m/s, LOS rate: -14.339618 deg/s, posRepo size: 4
2021-08-13T17:54:08.801Z,1628877248.801 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -14.339618 deg/s. Setting heading cmd to target bearing of 83.225015deg and heading rate command to 0 deg/s.
2021-08-13T17:54:11.151Z,1628877251.151 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:54:11.521Z,1628877251.521 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:54:11.521Z,1628877251.521 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:54:11.521Z,1628877251.521 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:54:11.522Z,1628877251.522 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:54:11.941Z,1628877251.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00BB0,187,80,80,9F,FF
2021-08-13T17:54:11.941Z,1628877251.941 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:54:11.941Z,1628877251.941 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:54:11.943Z,1628877251.943 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:54:12.349Z,1628877252.349 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:54:12.755Z,1628877252.755 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00BC5,18A,80,80,26,FF
2021-08-13T17:54:12.755Z,1628877252.755 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:54:13.170Z,1628877253.170 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175412.47*59

2021-08-13T17:54:13.192Z,1628877253.192 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 143.280014 m, bearing: 67.162602 deg, deltaT: 4.434098 s, approachRate: 0.284164 m/s, LOS rate: -3.622476 deg/s, posRepo size: 4
2021-08-13T17:54:13.194Z,1628877253.194 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 143.280014 m,
      bearing: 67.162602 deg,
      approachRate: 0.284164 m/s,
      LOS rate: -3.622476 deg/s,
      cmd update: -10.867427 deg/s,
      cmd heading: 83.225015 deg,
      new cmd heading: 83.225015 deg.

2021-08-13T17:54:15.618Z,1628877255.618 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:54:15.969Z,1628877255.969 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:54:15.969Z,1628877255.969 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:54:15.969Z,1628877255.969 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:54:15.970Z,1628877255.970 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:54:16.381Z,1628877256.381 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00BC5,18A,80,80,26,FF
2021-08-13T17:54:16.381Z,1628877256.381 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:54:16.382Z,1628877256.382 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:54:16.383Z,1628877256.383 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:54:16.777Z,1628877256.777 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:54:17.325Z,1628877257.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00BC3,188,80,80,B0,FF
2021-08-13T17:54:17.325Z,1628877257.325 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:54:17.630Z,1628877257.630 [Micromodem](INFO): Nmea in: $SNTTA,0.095062,0.449684,,,175416.91*5D

2021-08-13T17:54:17.750Z,1628877257.750 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 143.160004 m, bearing: 50.314875 deg, deltaT: 4.560987 s, approachRate: -0.026312 m/s, LOS rate: -3.693877 deg/s, posRepo size: 4
2021-08-13T17:54:17.756Z,1628877257.756 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 143.160004 m,
      bearing: 50.314875 deg,
      approachRate: -0.026312 m/s,
      LOS rate: -3.693877 deg/s,
      cmd update: -11.081632 deg/s,
      cmd heading: 33.663723 deg,
      new cmd heading: 29.236671 deg.

2021-08-13T17:54:20.049Z,1628877260.049 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:54:20.413Z,1628877260.413 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:54:20.413Z,1628877260.413 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:54:20.413Z,1628877260.413 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:54:20.414Z,1628877260.414 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:54:20.817Z,1628877260.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00BC3,188,80,80,B0,FF
2021-08-13T17:54:20.817Z,1628877260.817 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:54:20.817Z,1628877260.817 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:54:20.819Z,1628877260.819 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:54:21.229Z,1628877261.229 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:54:21.629Z,1628877261.629 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4F4,000,00BC0,18A,80,80,B8,FF
2021-08-13T17:54:21.630Z,1628877261.630 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:54:22.101Z,1628877262.101 [Micromodem](INFO): Nmea in: $SNTTA,0.192864,,,,175421.34*43

2021-08-13T17:54:22.135Z,1628877262.135 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 142.979996 m, bearing: 35.181738 deg, deltaT: 4.545537 s, approachRate: -0.039601 m/s, LOS rate: -3.329230 deg/s, posRepo size: 4
2021-08-13T17:54:22.138Z,1628877262.138 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 142.979996 m,
      bearing: 35.181738 deg,
      approachRate: -0.039601 m/s,
      LOS rate: -3.329230 deg/s,
      cmd update: -9.987690 deg/s,
      cmd heading: 343.316546 deg,
      new cmd heading: 340.553806 deg.

2021-08-13T17:54:24.543Z,1628877264.543 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:54:24.913Z,1628877264.913 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:54:24.913Z,1628877264.913 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:54:24.914Z,1628877264.914 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:54:24.915Z,1628877264.915 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:54:25.309Z,1628877265.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
4F4,000,00BC0,18A,80,80,B8,FF
2021-08-13T17:54:25.309Z,1628877265.309 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:54:25.309Z,1628877265.309 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:54:25.311Z,1628877265.311 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:54:25.747Z,1628877265.747 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:54:26.129Z,1628877266.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,32D,000,00BAD,189,80,80,A8,FF
2021-08-13T17:54:26.130Z,1628877266.130 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:54:26.545Z,1628877266.545 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175425.84*52

2021-08-13T17:54:26.568Z,1628877266.568 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 141.840012 m, bearing: 40.753007 deg, deltaT: 4.302661 s, approachRate: -0.264949 m/s, LOS rate: 1.294843 deg/s, posRepo size: 4
2021-08-13T17:54:26.570Z,1628877266.570 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 141.840012 m,
      bearing: 40.753007 deg,
      approachRate: -0.264949 m/s,
      LOS rate: 1.294843 deg/s,
      cmd update: 3.884528 deg/s,
      cmd heading: 300.315015 deg,
      new cmd heading: 296.559145 deg.

2021-08-13T17:54:28.988Z,1628877268.988 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:54:29.361Z,1628877269.361 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:54:29.361Z,1628877269.361 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:54:29.361Z,1628877269.361 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:54:29.362Z,1628877269.362 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:54:29.758Z,1628877269.758 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
32D,000,00BAD,189,80,80,A8,FF
2021-08-13T17:54:29.758Z,1628877269.758 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:54:29.758Z,1628877269.758 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:54:29.760Z,1628877269.760 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:54:30.237Z,1628877270.237 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:54:30.674Z,1628877270.674 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,217,000,00B8B,187,80,80,BF,FF
2021-08-13T17:54:30.675Z,1628877270.675 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:54:31.033Z,1628877271.033 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175430.28*50

2021-08-13T17:54:31.065Z,1628877271.065 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 139.800003 m, bearing: 39.247073 deg, deltaT: 4.543608 s, approachRate: -0.448984 m/s, LOS rate: -0.331440 deg/s, posRepo size: 4
2021-08-13T17:54:31.067Z,1628877271.067 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 139.800003 m,
      bearing: 39.247073 deg,
      approachRate: -0.448984 m/s,
      LOS rate: -0.331440 deg/s,
      cmd update: -0.994320 deg/s,
      cmd heading: 317.963546 deg,
      new cmd heading: 319.196810 deg.

2021-08-13T17:54:33.502Z,1628877273.502 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:54:33.793Z,1628877273.793 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:54:33.793Z,1628877273.793 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:54:33.793Z,1628877273.793 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:54:33.794Z,1628877273.794 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:54:34.215Z,1628877274.215 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
217,000,00B8B,187,80,80,BF,FF
2021-08-13T17:54:34.215Z,1628877274.215 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:54:34.215Z,1628877274.215 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:54:34.217Z,1628877274.217 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:54:34.605Z,1628877274.605 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:54:35.017Z,1628877275.017 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,065,000,00B6C,186,80,80,AD,FF
2021-08-13T17:54:35.018Z,1628877275.018 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:54:35.473Z,1628877275.473 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175434.74*5D

2021-08-13T17:54:35.528Z,1628877275.528 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 137.940002 m, bearing: 45.060793 deg, deltaT: 4.355116 s, approachRate: -0.427084 m/s, LOS rate: 1.334917 deg/s, posRepo size: 4
2021-08-13T17:54:35.531Z,1628877275.531 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 137.940002 m,
      bearing: 45.060793 deg,
      approachRate: -0.427084 m/s,
      LOS rate: 1.334917 deg/s,
      cmd update: 4.004753 deg/s,
      cmd heading: 313.643493 deg,
      new cmd heading: 313.217667 deg.

2021-08-13T17:54:37.882Z,1628877277.882 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:54:38.246Z,1628877278.246 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:54:38.246Z,1628877278.246 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:54:38.246Z,1628877278.246 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:54:38.247Z,1628877278.247 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:54:38.671Z,1628877278.671 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
065,000,00B6C,186,80,80,AD,FF
2021-08-13T17:54:38.672Z,1628877278.672 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:54:38.673Z,1628877278.673 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:54:38.678Z,1628877278.678 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:54:39.055Z,1628877279.055 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:54:39.497Z,1628877279.497 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE7,000,00B4D,186,80,80,B1,FF
2021-08-13T17:54:39.498Z,1628877279.498 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:54:39.871Z,1628877279.871 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175439.20*51

2021-08-13T17:54:39.940Z,1628877279.940 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 136.080002 m, bearing: 47.556616 deg, deltaT: 4.499619 s, approachRate: -0.413368 m/s, LOS rate: 0.554674 deg/s, posRepo size: 4
2021-08-13T17:54:39.942Z,1628877279.942 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 136.080002 m,
      bearing: 47.556616 deg,
      approachRate: -0.413368 m/s,
      LOS rate: 0.554674 deg/s,
      cmd update: 1.664023 deg/s,
      cmd heading: 331.706213 deg,
      new cmd heading: 333.091332 deg.

2021-08-13T17:54:42.326Z,1628877282.326 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:54:42.697Z,1628877282.697 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:54:42.697Z,1628877282.697 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:54:42.698Z,1628877282.698 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:54:42.699Z,1628877282.699 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:54:43.085Z,1628877283.085 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE7,000,00B4D,186,80,80,B1,FF
2021-08-13T17:54:43.085Z,1628877283.085 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:54:43.085Z,1628877283.085 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:54:43.087Z,1628877283.087 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:54:43.497Z,1628877283.497 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:54:44.057Z,1628877284.057 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1FE,000,00B2D,187,80,80,B6,FF
2021-08-13T17:54:44.057Z,1628877284.057 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:54:44.360Z,1628877284.360 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 134.160004 m, bearing: 352.879565 deg, deltaT: 4.520792 s, approachRate: -0.424704 m/s, LOS rate: -12.094573 deg/s, posRepo size: 4
2021-08-13T17:54:44.361Z,1628877284.361 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.094573 deg/s. Setting heading cmd to target bearing of 352.879565deg and heading rate command to 0 deg/s.
2021-08-13T17:54:46.781Z,1628877286.781 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:54:47.130Z,1628877287.130 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:54:47.131Z,1628877287.131 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:54:47.131Z,1628877287.131 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:54:47.132Z,1628877287.132 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:54:47.542Z,1628877287.542 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1FE,000,00B2D,187,80,80,B6,FF
2021-08-13T17:54:47.542Z,1628877287.542 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:54:47.542Z,1628877287.542 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:54:47.545Z,1628877287.545 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:54:47.949Z,1628877287.949 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:54:48.349Z,1628877288.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B71,000,00B14,18A,80,80,B7,FF
2021-08-13T17:54:48.349Z,1628877288.349 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:54:48.777Z,1628877288.777 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175448.07*52

2021-08-13T17:54:48.849Z,1628877288.849 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 132.660004 m, bearing: 58.764967 deg, deltaT: 4.255779 s, approachRate: -0.352462 m/s, LOS rate: 15.481394 deg/s, posRepo size: 4
2021-08-13T17:54:48.850Z,1628877288.850 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 15.481394 deg/s. Setting heading cmd to target bearing of 58.764967deg and heading rate command to 0 deg/s.
2021-08-13T17:54:51.191Z,1628877291.191 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:54:51.581Z,1628877291.581 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:54:51.581Z,1628877291.581 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:54:51.581Z,1628877291.581 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:54:51.581Z,1628877291.581 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:54:51.981Z,1628877291.981 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B71,000,00B14,18A,80,80,B7,FF
2021-08-13T17:54:51.981Z,1628877291.981 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:54:51.981Z,1628877291.981 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:54:51.983Z,1628877291.983 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:54:52.392Z,1628877292.392 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:54:52.796Z,1628877292.796 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,BF0,000,00B07,189,80,80,D1,FF
2021-08-13T17:54:52.797Z,1628877292.797 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:54:53.233Z,1628877293.233 [Micromodem](INFO): Nmea in: $SNTTA,0.087602,,,,175452.51*4F

2021-08-13T17:54:53.256Z,1628877293.256 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 131.880005 m, bearing: 50.660340 deg, deltaT: 4.457163 s, approachRate: -0.174999 m/s, LOS rate: -1.818338 deg/s, posRepo size: 4
2021-08-13T17:54:53.258Z,1628877293.258 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 131.880005 m,
      bearing: 50.660340 deg,
      approachRate: -0.174999 m/s,
      LOS rate: -1.818338 deg/s,
      cmd update: -5.455013 deg/s,
      cmd heading: 58.764967 deg,
      new cmd heading: 58.764967 deg.

2021-08-13T17:54:55.710Z,1628877295.710 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:54:56.017Z,1628877296.017 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:54:56.017Z,1628877296.017 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:54:56.017Z,1628877296.017 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:54:56.018Z,1628877296.018 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:54:56.417Z,1628877296.417 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
BF0,000,00B07,189,80,80,D1,FF
2021-08-13T17:54:56.417Z,1628877296.417 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:54:56.417Z,1628877296.417 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:54:56.419Z,1628877296.419 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:54:56.825Z,1628877296.825 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:54:57.241Z,1628877297.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D50,000,00AF1,189,80,80,A3,FF
2021-08-13T17:54:57.242Z,1628877297.242 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:54:57.850Z,1628877297.850 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175456.94*57

2021-08-13T17:54:57.938Z,1628877297.938 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 130.559998 m, bearing: 46.410394 deg, deltaT: 4.465571 s, approachRate: -0.295597 m/s, LOS rate: -0.951714 deg/s, posRepo size: 4
2021-08-13T17:54:57.945Z,1628877297.945 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 130.559998 m,
      bearing: 46.410394 deg,
      approachRate: -0.295597 m/s,
      LOS rate: -0.951714 deg/s,
      cmd update: -2.855141 deg/s,
      cmd heading: 34.406365 deg,
      new cmd heading: 30.865167 deg.

2021-08-13T17:54:59.825Z,1628877299.825 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:55:00.141Z,1628877300.141 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:55:00.141Z,1628877300.141 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:55:00.141Z,1628877300.141 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:55:00.142Z,1628877300.142 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:55:00.545Z,1628877300.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D50,000,00AF1,189,80,80,A3,FF
2021-08-13T17:55:00.545Z,1628877300.545 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:55:00.545Z,1628877300.545 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:55:00.547Z,1628877300.547 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:55:00.956Z,1628877300.956 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:55:01.366Z,1628877301.366 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DF0,000,00AD8,187,80,80,A5,FF
2021-08-13T17:55:01.366Z,1628877301.366 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:55:01.793Z,1628877301.793 [Micromodem](INFO): Nmea in: $SNTTA,0.088616,,,,175501.07*41

2021-08-13T17:55:01.913Z,1628877301.913 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 129.060013 m, bearing: 54.667028 deg, deltaT: 4.160922 s, approachRate: -0.360493 m/s, LOS rate: 1.984328 deg/s, posRepo size: 4
2021-08-13T17:55:01.915Z,1628877301.915 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 129.060013 m,
      bearing: 54.667028 deg,
      approachRate: -0.360493 m/s,
      LOS rate: 1.984328 deg/s,
      cmd update: 5.952984 deg/s,
      cmd heading: 22.537535 deg,
      new cmd heading: 21.217797 deg.

2021-08-13T17:55:04.203Z,1628877304.203 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:55:04.585Z,1628877304.585 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:55:04.585Z,1628877304.585 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:55:04.585Z,1628877304.585 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:55:04.586Z,1628877304.586 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:55:04.998Z,1628877304.998 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DF0,000,00AD8,187,80,80,A5,FF
2021-08-13T17:55:04.998Z,1628877304.998 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:55:04.998Z,1628877304.998 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:55:04.000Z,1628877305.000 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:55:05.427Z,1628877305.427 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:55:05.807Z,1628877305.807 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ECC,000,00AB7,186,80,80,B1,FF
2021-08-13T17:55:05.807Z,1628877305.807 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:55:06.230Z,1628877306.230 [Micromodem](INFO): Nmea in: $SNTTA,0.093783,,,,175505.53*43

2021-08-13T17:55:06.252Z,1628877306.252 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 127.080002 m, bearing: 52.463134 deg, deltaT: 4.384403 s, approachRate: -0.451603 m/s, LOS rate: -0.502667 deg/s, posRepo size: 4
2021-08-13T17:55:06.254Z,1628877306.254 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 127.080002 m,
      bearing: 52.463134 deg,
      approachRate: -0.451603 m/s,
      LOS rate: -0.502667 deg/s,
      cmd update: -1.508000 deg/s,
      cmd heading: 48.662376 deg,
      new cmd heading: 51.144580 deg.

2021-08-13T17:55:08.647Z,1628877308.647 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:55:09.033Z,1628877309.033 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:55:09.033Z,1628877309.033 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:55:09.034Z,1628877309.034 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:55:09.035Z,1628877309.035 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:55:09.473Z,1628877309.473 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ECC,000,00AB7,186,80,80,B1,FF
2021-08-13T17:55:09.473Z,1628877309.473 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:55:09.473Z,1628877309.473 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:55:09.475Z,1628877309.475 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:55:09.845Z,1628877309.845 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:55:10.250Z,1628877310.250 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE5,000,00A93,183,80,80,A7,FF
2021-08-13T17:55:10.250Z,1628877310.250 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:55:10.669Z,1628877310.669 [Micromodem](INFO): Nmea in: $SNTTA,0.096522,,,,175510.00*4D

2021-08-13T17:55:10.735Z,1628877310.735 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 124.920006 m, bearing: 48.645577 deg, deltaT: 4.456391 s, approachRate: -0.484696 m/s, LOS rate: -0.856648 deg/s, posRepo size: 4
2021-08-13T17:55:10.737Z,1628877310.737 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 124.920006 m,
      bearing: 48.645577 deg,
      approachRate: -0.484696 m/s,
      LOS rate: -0.856648 deg/s,
      cmd update: -2.569943 deg/s,
      cmd heading: 41.942565 deg,
      new cmd heading: 41.273164 deg.

2021-08-13T17:55:13.090Z,1628877313.090 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:55:13.481Z,1628877313.481 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:55:13.481Z,1628877313.481 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:55:13.481Z,1628877313.481 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:55:13.482Z,1628877313.482 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:55:13.890Z,1628877313.890 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE5,000,00A93,183,80,80,A7,FF
2021-08-13T17:55:13.891Z,1628877313.891 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:55:13.891Z,1628877313.891 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:55:13.894Z,1628877313.894 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:55:14.293Z,1628877314.293 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:55:14.699Z,1628877314.699 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,03A,000,00A70,184,80,80,92,FF
2021-08-13T17:55:14.699Z,1628877314.699 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:55:15.129Z,1628877315.129 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175514.42*5B

2021-08-13T17:55:15.173Z,1628877315.173 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 122.820007 m, bearing: 48.564206 deg, deltaT: 4.459682 s, approachRate: -0.470885 m/s, LOS rate: -0.018246 deg/s, posRepo size: 4
2021-08-13T17:55:15.175Z,1628877315.175 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 122.820007 m,
      bearing: 48.564206 deg,
      approachRate: -0.470885 m/s,
      LOS rate: -0.018246 deg/s,
      cmd update: -0.054738 deg/s,
      cmd heading: 30.543050 deg,
      new cmd heading: 29.396410 deg.

2021-08-13T17:55:17.602Z,1628877317.602 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:55:17.929Z,1628877317.929 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:55:17.929Z,1628877317.929 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:55:17.930Z,1628877317.930 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:55:17.930Z,1628877317.930 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:55:18.321Z,1628877318.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
03A,000,00A70,184,80,80,92,FF
2021-08-13T17:55:18.321Z,1628877318.321 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:55:18.321Z,1628877318.321 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:55:18.323Z,1628877318.323 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:55:18.744Z,1628877318.744 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:55:19.140Z,1628877319.140 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F3B,000,00A4C,187,80,80,A5,FF
2021-08-13T17:55:19.141Z,1628877319.141 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:55:19.577Z,1628877319.577 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175518.85*5C

2021-08-13T17:55:19.639Z,1628877319.639 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 120.659996 m, bearing: 50.401793 deg, deltaT: 4.430684 s, approachRate: -0.487512 m/s, LOS rate: 0.414741 deg/s, posRepo size: 4
2021-08-13T17:55:19.645Z,1628877319.645 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 120.659996 m,
      bearing: 50.401793 deg,
      approachRate: -0.487512 m/s,
      LOS rate: 0.414741 deg/s,
      cmd update: 1.244224 deg/s,
      cmd heading: 30.299193 deg,
      new cmd heading: 30.274473 deg.

2021-08-13T17:55:21.990Z,1628877321.990 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:55:22.361Z,1628877322.361 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:55:22.361Z,1628877322.361 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:55:22.361Z,1628877322.361 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:55:22.362Z,1628877322.362 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:55:22.769Z,1628877322.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F3B,000,00A4C,187,80,80,A5,FF
2021-08-13T17:55:22.769Z,1628877322.769 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:55:22.769Z,1628877322.769 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:55:22.771Z,1628877322.771 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:55:23.188Z,1628877323.188 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:55:24.006Z,1628877324.006 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175523.29*52

2021-08-13T17:55:24.944Z,1628877324.944 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:55:26.401Z,1628877326.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F3D,000,08B30,186,80,80,9D,FF
2021-08-13T17:55:26.401Z,1628877326.401 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:55:26.851Z,1628877326.851 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 2100.419922 m, bearing: 50.737586 deg, deltaT: 7.268005 s, approachRate: 272.393860 m/s, LOS rate: 0.046201 deg/s, posRepo size: 4
2021-08-13T17:55:26.853Z,1628877326.853 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2100.419922 m,
      bearing: 50.737586 deg,
      approachRate: 272.393860 m/s,
      LOS rate: 0.046201 deg/s,
      cmd update: 0.138604 deg/s,
      cmd heading: 39.338723 deg,
      new cmd heading: 39.841799 deg.

2021-08-13T17:55:29.247Z,1628877329.247 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:55:29.641Z,1628877329.641 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:55:29.641Z,1628877329.641 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:55:29.641Z,1628877329.641 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:55:29.642Z,1628877329.642 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:55:30.050Z,1628877330.050 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F3D,000,08B30,186,80,80,9D,FF
2021-08-13T17:55:30.051Z,1628877330.051 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:55:30.051Z,1628877330.051 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:55:30.052Z,1628877330.052 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:55:30.448Z,1628877330.448 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:55:30.857Z,1628877330.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F9D,000,009EE,186,80,80,9D,FF
2021-08-13T17:55:30.858Z,1628877330.858 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:55:31.313Z,1628877331.313 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175530.58*56

2021-08-13T17:55:31.329Z,1628877331.329 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 115.020004 m, bearing: 49.909541 deg, deltaT: 4.472138 s, approachRate: -443.948700 m/s, LOS rate: -0.185156 deg/s, posRepo size: 4
2021-08-13T17:55:31.331Z,1628877331.331 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 115.020004 m,
      bearing: 49.909541 deg,
      approachRate: -443.948700 m/s,
      LOS rate: -0.185156 deg/s,
      cmd update: -0.555469 deg/s,
      cmd heading: 39.958383 deg,
      new cmd heading: 40.015381 deg.

2021-08-13T17:55:33.749Z,1628877333.749 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:55:34.081Z,1628877334.081 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:55:34.081Z,1628877334.081 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:55:34.081Z,1628877334.081 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:55:34.082Z,1628877334.082 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:55:34.489Z,1628877334.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F9D,000,009EE,186,80,80,9D,FF
2021-08-13T17:55:34.489Z,1628877334.489 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:55:34.489Z,1628877334.489 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:55:34.491Z,1628877334.491 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:55:34.895Z,1628877334.895 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:55:35.301Z,1628877335.301 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F9F,000,009CB,187,80,80,93,FF
2021-08-13T17:55:35.302Z,1628877335.302 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:55:35.750Z,1628877335.750 [Micromodem](INFO): Nmea in: $SNTTA,,0.395958,,,175535.02*49

2021-08-13T17:55:35.816Z,1628877335.816 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 112.920006 m, bearing: 51.388345 deg, deltaT: 4.443106 s, approachRate: -0.472642 m/s, LOS rate: 0.332831 deg/s, posRepo size: 4
2021-08-13T17:55:35.818Z,1628877335.818 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 112.920006 m,
      bearing: 51.388345 deg,
      approachRate: -0.472642 m/s,
      LOS rate: 0.332831 deg/s,
      cmd update: 0.998494 deg/s,
      cmd heading: 37.488124 deg,
      new cmd heading: 37.239774 deg.

2021-08-13T17:55:37.714Z,1628877337.714 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2021-08-13T17:55:37.717Z,1628877337.717 [BPC1](INFO): Received data from all battery sticks.
2021-08-13T17:55:38.138Z,1628877338.138 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:55:38.533Z,1628877338.533 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:55:38.533Z,1628877338.533 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:55:38.533Z,1628877338.533 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:55:38.534Z,1628877338.534 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:55:38.941Z,1628877338.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F9F,000,009CB,187,80,80,93,FF
2021-08-13T17:55:38.941Z,1628877338.941 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:55:38.941Z,1628877338.941 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:55:38.943Z,1628877338.943 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:55:39.361Z,1628877339.361 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:55:39.753Z,1628877339.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F88,000,009A4,186,80,80,A8,FF
2021-08-13T17:55:39.753Z,1628877339.753 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:55:40.183Z,1628877340.183 [Micromodem](INFO): Nmea in: $SNTTA,0.073475,,,,175539.47*4D

2021-08-13T17:55:40.204Z,1628877340.204 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 110.580002 m, bearing: 51.464577 deg, deltaT: 4.483060 s, approachRate: -0.521966 m/s, LOS rate: 0.017004 deg/s, posRepo size: 4
2021-08-13T17:55:40.206Z,1628877340.206 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 110.580002 m,
      bearing: 51.464577 deg,
      approachRate: -0.521966 m/s,
      LOS rate: 0.017004 deg/s,
      cmd update: 0.051013 deg/s,
      cmd heading: 41.960422 deg,
      new cmd heading: 42.319951 deg.

2021-08-13T17:55:42.623Z,1628877342.623 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:55:42.974Z,1628877342.974 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:55:42.974Z,1628877342.974 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:55:42.974Z,1628877342.974 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:55:42.975Z,1628877342.975 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:55:43.401Z,1628877343.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F88,000,009A4,186,80,80,A8,FF
2021-08-13T17:55:43.402Z,1628877343.402 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:55:43.402Z,1628877343.402 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:55:43.417Z,1628877343.417 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:55:43.785Z,1628877343.785 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:55:44.198Z,1628877344.198 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC6,000,0097D,185,80,80,AD,FF
2021-08-13T17:55:44.198Z,1628877344.198 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:55:44.622Z,1628877344.622 [Micromodem](INFO): Nmea in: $SNTTA,0.074782,,,,175543.94*42

2021-08-13T17:55:44.681Z,1628877344.681 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 108.239998 m, bearing: 50.849136 deg, deltaT: 4.372711 s, approachRate: -0.535138 m/s, LOS rate: -0.140746 deg/s, posRepo size: 4
2021-08-13T17:55:44.697Z,1628877344.697 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 108.239998 m,
      bearing: 50.849136 deg,
      approachRate: -0.535138 m/s,
      LOS rate: -0.140746 deg/s,
      cmd update: -0.422238 deg/s,
      cmd heading: 42.183694 deg,
      new cmd heading: 42.205302 deg.

2021-08-13T17:55:47.049Z,1628877347.049 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:55:47.457Z,1628877347.457 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:55:47.457Z,1628877347.457 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:55:47.457Z,1628877347.457 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:55:47.458Z,1628877347.458 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:55:47.817Z,1628877347.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC6,000,0097D,185,80,80,AD,FF
2021-08-13T17:55:47.817Z,1628877347.817 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:55:47.817Z,1628877347.817 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:55:47.819Z,1628877347.819 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:55:48.231Z,1628877348.231 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:55:48.638Z,1628877348.638 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD8,000,00958,184,80,80,BB,FF
2021-08-13T17:55:48.638Z,1628877348.638 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:55:49.074Z,1628877349.074 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175548.34*53

2021-08-13T17:55:49.122Z,1628877349.122 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 106.019997 m, bearing: 51.092646 deg, deltaT: 4.488555 s, approachRate: -0.494592 m/s, LOS rate: 0.054251 deg/s, posRepo size: 4
2021-08-13T17:55:49.125Z,1628877349.125 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 106.019997 m,
      bearing: 51.092646 deg,
      approachRate: -0.494592 m/s,
      LOS rate: 0.054251 deg/s,
      cmd update: 0.162754 deg/s,
      cmd heading: 40.295232 deg,
      new cmd heading: 40.113852 deg.

2021-08-13T17:55:51.546Z,1628877351.546 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:55:51.857Z,1628877351.857 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:55:51.857Z,1628877351.857 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:55:51.857Z,1628877351.857 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:55:51.858Z,1628877351.858 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:55:52.269Z,1628877352.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD8,000,00958,184,80,80,BB,FF
2021-08-13T17:55:52.269Z,1628877352.269 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:55:52.269Z,1628877352.269 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:55:52.271Z,1628877352.271 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:55:52.703Z,1628877352.703 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:55:53.073Z,1628877353.073 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FAD,000,00936,185,80,80,BF,FF
2021-08-13T17:55:53.073Z,1628877353.073 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:55:53.521Z,1628877353.521 [Micromodem](INFO): Nmea in: $SNTTA,0.078554,,,,175552.79*44

2021-08-13T17:55:53.585Z,1628877353.585 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 103.980003 m, bearing: 51.971835 deg, deltaT: 4.434123 s, approachRate: -0.460067 m/s, LOS rate: 0.198278 deg/s, posRepo size: 4
2021-08-13T17:55:53.587Z,1628877353.587 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 103.980003 m,
      bearing: 51.971835 deg,
      approachRate: -0.460067 m/s,
      LOS rate: 0.198278 deg/s,
      cmd update: 0.594834 deg/s,
      cmd heading: 41.017841 deg,
      new cmd heading: 41.090703 deg.

2021-08-13T17:55:55.946Z,1628877355.946 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:55:56.310Z,1628877356.310 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:55:56.310Z,1628877356.310 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:55:56.310Z,1628877356.310 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:55:56.311Z,1628877356.311 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:55:56.745Z,1628877356.745 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FAD,000,00936,185,80,80,BF,FF
2021-08-13T17:55:56.745Z,1628877356.745 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:55:56.745Z,1628877356.745 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:55:56.747Z,1628877356.747 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:55:57.125Z,1628877357.125 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:55:57.513Z,1628877357.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC5,000,0090C,184,80,80,B8,FF
2021-08-13T17:55:57.514Z,1628877357.514 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:55:57.952Z,1628877357.952 [Micromodem](INFO): Nmea in: $SNTTA,0.095133,,,,175557.27*4C

2021-08-13T17:55:57.978Z,1628877357.978 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 101.459999 m, bearing: 50.720298 deg, deltaT: 4.427125 s, approachRate: -0.569219 m/s, LOS rate: -0.282697 deg/s, posRepo size: 4
2021-08-13T17:55:57.980Z,1628877357.980 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 101.459999 m,
      bearing: 50.720298 deg,
      approachRate: -0.569219 m/s,
      LOS rate: -0.282697 deg/s,
      cmd update: -0.848092 deg/s,
      cmd heading: 43.645543 deg,
      new cmd heading: 43.899860 deg.

2021-08-13T17:56:00.376Z,1628877360.376 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:56:00.745Z,1628877360.745 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:56:00.745Z,1628877360.745 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:56:00.745Z,1628877360.745 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:56:00.746Z,1628877360.746 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:56:01.157Z,1628877361.157 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC5,000,0090C,184,80,80,B8,FF
2021-08-13T17:56:01.157Z,1628877361.157 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:56:01.157Z,1628877361.157 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:56:01.159Z,1628877361.159 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:56:01.570Z,1628877361.570 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:56:01.957Z,1628877361.957 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,009,000,008EA,183,80,80,9C,FF
2021-08-13T17:56:01.958Z,1628877361.958 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:56:02.402Z,1628877362.402 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175601.68*54

2021-08-13T17:56:02.425Z,1628877362.425 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 99.419998 m, bearing: 48.460954 deg, deltaT: 4.492895 s, approachRate: -0.454050 m/s, LOS rate: -0.502871 deg/s, posRepo size: 4
2021-08-13T17:56:02.427Z,1628877362.427 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 99.419998 m,
      bearing: 48.460954 deg,
      approachRate: -0.454050 m/s,
      LOS rate: -0.502871 deg/s,
      cmd update: -1.508612 deg/s,
      cmd heading: 39.827854 deg,
      new cmd heading: 39.511772 deg.

2021-08-13T17:56:04.833Z,1628877364.833 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:56:05.189Z,1628877365.189 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:56:05.189Z,1628877365.189 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:56:05.189Z,1628877365.189 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:56:05.190Z,1628877365.190 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:56:05.601Z,1628877365.601 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
009,000,008EA,183,80,80,9C,FF
2021-08-13T17:56:05.601Z,1628877365.601 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:56:05.601Z,1628877365.601 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:56:05.603Z,1628877365.603 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:56:06.001Z,1628877366.001 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:56:06.834Z,1628877366.834 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175606.13*5F

2021-08-13T17:56:07.711Z,1628877367.711 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:56:09.229Z,1628877369.229 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
A,183,80,80,9C,FF
2021-08-13T17:56:09.229Z,1628877369.229 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
A,183,80,80,9C,FF
2021-08-13T17:56:09.229Z,1628877369.229 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T17:56:10.479Z,1628877370.479 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:56:10.849Z,1628877370.849 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:56:10.849Z,1628877370.849 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:56:10.849Z,1628877370.849 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:56:10.850Z,1628877370.850 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:56:11.249Z,1628877371.249 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
A,183,80,80,9C,FF
2021-08-13T17:56:11.249Z,1628877371.249 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:56:11.249Z,1628877371.249 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:56:11.251Z,1628877371.251 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:56:11.693Z,1628877371.693 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:56:12.065Z,1628877372.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE9,000,00899,186,80,80,93,FF
2021-08-13T17:56:12.066Z,1628877372.066 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:56:12.505Z,1628877372.505 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175611.77*5B

2021-08-13T17:56:12.528Z,1628877372.528 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 94.560005 m, bearing: 53.544230 deg, deltaT: 10.043176 s, approachRate: -0.483910 m/s, LOS rate: 0.506142 deg/s, posRepo size: 4
2021-08-13T17:56:12.530Z,1628877372.530 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 94.560005 m,
      bearing: 53.544230 deg,
      approachRate: -0.483910 m/s,
      LOS rate: 0.506142 deg/s,
      cmd update: 1.518427 deg/s,
      cmd heading: 24.665429 deg,
      new cmd heading: 24.023652 deg.

2021-08-13T17:56:14.929Z,1628877374.929 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:56:15.289Z,1628877375.289 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:56:15.289Z,1628877375.289 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:56:15.290Z,1628877375.290 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:56:15.291Z,1628877375.291 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:56:15.717Z,1628877375.717 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE9,000,00899,186,80,80,93,FF
2021-08-13T17:56:15.717Z,1628877375.717 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:56:15.718Z,1628877375.718 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:56:15.719Z,1628877375.719 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:56:16.105Z,1628877376.105 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:56:16.501Z,1628877376.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E1D,000,00875,187,80,80,A6,FF
2021-08-13T17:56:16.501Z,1628877376.501 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:56:16.933Z,1628877376.933 [Micromodem](INFO): Nmea in: $SNTTA,0.061365,,,,175616.24*43

2021-08-13T17:56:16.975Z,1628877376.975 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 92.400002 m, bearing: 57.497140 deg, deltaT: 4.412602 s, approachRate: -0.489508 m/s, LOS rate: 0.895823 deg/s, posRepo size: 4
2021-08-13T17:56:16.977Z,1628877376.977 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 92.400002 m,
      bearing: 57.497140 deg,
      approachRate: -0.489508 m/s,
      LOS rate: 0.895823 deg/s,
      cmd update: 2.687469 deg/s,
      cmd heading: 31.371422 deg,
      new cmd heading: 32.063937 deg.

2021-08-13T17:56:19.347Z,1628877379.347 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:56:19.741Z,1628877379.741 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:56:19.741Z,1628877379.741 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:56:19.742Z,1628877379.742 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:56:19.743Z,1628877379.743 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:56:20.137Z,1628877380.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E1D,000,00875,187,80,80,A6,FF
2021-08-13T17:56:20.137Z,1628877380.137 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:56:20.137Z,1628877380.137 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:56:20.139Z,1628877380.139 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:56:20.553Z,1628877380.553 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:56:20.960Z,1628877380.960 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB2,000,00853,186,80,80,A4,FF
2021-08-13T17:56:20.961Z,1628877380.961 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:56:21.505Z,1628877381.505 [Micromodem](INFO): Nmea in: $SNTTA,0.104317,,,,175620.66*47

2021-08-13T17:56:21.567Z,1628877381.567 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 90.360001 m, bearing: 54.344065 deg, deltaT: 4.472005 s, approachRate: -0.456171 m/s, LOS rate: -0.705070 deg/s, posRepo size: 4
2021-08-13T17:56:21.573Z,1628877381.573 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 90.360001 m,
      bearing: 54.344065 deg,
      approachRate: -0.456171 m/s,
      LOS rate: -0.705070 deg/s,
      cmd update: -2.115209 deg/s,
      cmd heading: 43.390163 deg,
      new cmd heading: 44.938046 deg.

2021-08-13T17:56:23.883Z,1628877383.883 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:56:24.197Z,1628877384.197 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:56:24.197Z,1628877384.197 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:56:24.197Z,1628877384.197 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:56:24.198Z,1628877384.198 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:56:24.601Z,1628877384.601 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EB2,000,00853,186,80,80,A4,FF
2021-08-13T17:56:24.601Z,1628877384.601 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:56:24.601Z,1628877384.601 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:56:24.603Z,1628877384.603 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:56:25.016Z,1628877385.016 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:56:25.439Z,1628877385.439 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F95,000,0082E,186,80,80,BE,FF
2021-08-13T17:56:25.439Z,1628877385.439 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:56:25.849Z,1628877385.849 [Micromodem](INFO): Nmea in: $SNTTA,0.065266,,,,175625.13*41

2021-08-13T17:56:25.930Z,1628877385.930 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 88.140007 m, bearing: 52.194082 deg, deltaT: 4.530167 s, approachRate: -0.490047 m/s, LOS rate: -0.474592 deg/s, posRepo size: 4
2021-08-13T17:56:25.932Z,1628877385.932 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 88.140007 m,
      bearing: 52.194082 deg,
      approachRate: -0.490047 m/s,
      LOS rate: -0.474592 deg/s,
      cmd update: -1.423777 deg/s,
      cmd heading: 33.826409 deg,
      new cmd heading: 32.942927 deg.

2021-08-13T17:56:27.045Z,1628877387.045 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T17:56:28.284Z,1628877388.284 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:56:28.649Z,1628877388.649 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:56:28.649Z,1628877388.649 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:56:28.649Z,1628877388.649 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:56:28.650Z,1628877388.650 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:56:29.057Z,1628877389.057 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F95,000,0082E,186,80,80,BE,FF
2021-08-13T17:56:29.058Z,1628877389.058 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:56:29.058Z,1628877389.058 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:56:29.059Z,1628877389.059 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:56:29.485Z,1628877389.485 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:56:29.860Z,1628877389.860 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE6,000,0080A,187,80,80,AA,FF
2021-08-13T17:56:29.860Z,1628877389.860 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:56:30.294Z,1628877390.294 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175629.58*5D

2021-08-13T17:56:30.316Z,1628877390.316 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 85.979996 m, bearing: 55.605458 deg, deltaT: 4.426215 s, approachRate: -0.488004 m/s, LOS rate: 0.770721 deg/s, posRepo size: 4
2021-08-13T17:56:30.318Z,1628877390.318 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 85.979996 m,
      bearing: 55.605458 deg,
      approachRate: -0.488004 m/s,
      LOS rate: 0.770721 deg/s,
      cmd update: 2.312162 deg/s,
      cmd heading: 27.517640 deg,
      new cmd heading: 26.987325 deg.

2021-08-13T17:56:32.769Z,1628877392.769 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:56:33.097Z,1628877393.097 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:56:33.097Z,1628877393.097 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:56:33.097Z,1628877393.097 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:56:33.098Z,1628877393.098 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:56:33.501Z,1628877393.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE6,000,0080A,187,80,80,AA,FF
2021-08-13T17:56:33.501Z,1628877393.501 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:56:33.501Z,1628877393.501 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:56:33.503Z,1628877393.503 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:56:33.926Z,1628877393.926 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:56:34.298Z,1628877394.298 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DFA,000,007ED,187,80,80,75,FF
2021-08-13T17:56:34.298Z,1628877394.298 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:56:34.761Z,1628877394.761 [Micromodem](INFO): Nmea in: $SNTTA,0.110244,,,,175634.02*42

2021-08-13T17:56:34.787Z,1628877394.787 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 84.240005 m, bearing: 61.818669 deg, deltaT: 4.372098 s, approachRate: -0.397976 m/s, LOS rate: 1.421105 deg/s, posRepo size: 4
2021-08-13T17:56:34.789Z,1628877394.789 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 84.240005 m,
      bearing: 61.818669 deg,
      approachRate: -0.397976 m/s,
      LOS rate: 1.421105 deg/s,
      cmd update: 4.263316 deg/s,
      cmd heading: 37.635876 deg,
      new cmd heading: 38.717066 deg.

2021-08-13T17:56:37.179Z,1628877397.179 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:56:37.529Z,1628877397.529 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:56:37.529Z,1628877397.529 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:56:37.529Z,1628877397.529 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:56:37.530Z,1628877397.530 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:56:37.965Z,1628877397.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DFA,000,007ED,187,80,80,75,FF
2021-08-13T17:56:37.965Z,1628877397.965 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:56:37.965Z,1628877397.965 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:56:37.967Z,1628877397.967 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:56:38.341Z,1628877398.341 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:56:39.150Z,1628877399.150 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175638.49*5D

2021-08-13T17:56:40.017Z,1628877400.017 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:56:41.573Z,1628877401.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,187,80,80,75,FF
2021-08-13T17:56:41.573Z,1628877401.573 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,187,80,80,75,FF
2021-08-13T17:56:41.573Z,1628877401.573 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T17:56:42.824Z,1628877402.824 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:56:43.185Z,1628877403.185 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:56:43.185Z,1628877403.185 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:56:43.185Z,1628877403.185 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:56:43.186Z,1628877403.186 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:56:43.602Z,1628877403.602 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,187,80,80,75,FF
2021-08-13T17:56:43.602Z,1628877403.602 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:56:43.602Z,1628877403.602 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:56:43.605Z,1628877403.605 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:56:44.000Z,1628877404.000 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:56:44.398Z,1628877404.398 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,164,000,0079A,186,80,80,9A,FF
2021-08-13T17:56:44.399Z,1628877404.399 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:56:44.842Z,1628877404.842 [Micromodem](INFO): Nmea in: $SNTTA,0.073745,,,,175644.13*45

2021-08-13T17:56:44.872Z,1628877404.872 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 79.260002 m, bearing: 47.582195 deg, deltaT: 10.135903 s, approachRate: -0.491323 m/s, LOS rate: -1.404559 deg/s, posRepo size: 4
2021-08-13T17:56:44.875Z,1628877404.875 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 79.260002 m,
      bearing: 47.582195 deg,
      approachRate: -0.491323 m/s,
      LOS rate: -1.404559 deg/s,
      cmd update: -4.213677 deg/s,
      cmd heading: 80.814089 deg,
      new cmd heading: 82.623223 deg.

2021-08-13T17:56:47.242Z,1628877407.242 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:56:47.673Z,1628877407.673 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:56:47.674Z,1628877407.674 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:56:47.674Z,1628877407.674 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:56:47.676Z,1628877407.676 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:56:47.747Z,1628877407.747 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T17:56:48.038Z,1628877408.038 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
164,000,0079A,186,80,80,9A,FF
2021-08-13T17:56:48.038Z,1628877408.038 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:56:48.038Z,1628877408.038 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:56:48.040Z,1628877408.040 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:56:48.440Z,1628877408.440 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:56:48.845Z,1628877408.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,36C,000,00779,188,80,80,A0,FF
2021-08-13T17:56:48.845Z,1628877408.845 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:56:49.286Z,1628877409.286 [Micromodem](INFO): Nmea in: $SNTTA,0.064667,,,,175648.56*4F

2021-08-13T17:56:49.330Z,1628877409.330 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 77.280006 m, bearing: 39.259876 deg, deltaT: 4.440303 s, approachRate: -0.445915 m/s, LOS rate: -1.874268 deg/s, posRepo size: 4
2021-08-13T17:56:49.332Z,1628877409.332 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 77.280006 m,
      bearing: 39.259876 deg,
      approachRate: -0.445915 m/s,
      LOS rate: -1.874268 deg/s,
      cmd update: -5.622805 deg/s,
      cmd heading: 62.165922 deg,
      new cmd heading: 60.241561 deg.

2021-08-13T17:56:51.792Z,1628877411.792 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:56:52.077Z,1628877412.077 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:56:52.077Z,1628877412.077 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:56:52.078Z,1628877412.078 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:56:52.079Z,1628877412.079 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:56:52.477Z,1628877412.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
36C,000,00779,188,80,80,A0,FF
2021-08-13T17:56:52.477Z,1628877412.477 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:56:52.477Z,1628877412.477 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:56:52.479Z,1628877412.479 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:56:52.899Z,1628877412.899 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:56:53.285Z,1628877413.285 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,338,000,00768,189,80,80,A9,FF
2021-08-13T17:56:53.286Z,1628877413.286 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:56:53.745Z,1628877413.745 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175653.00*5D

2021-08-13T17:56:53.811Z,1628877413.811 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 76.259995 m, bearing: 38.349364 deg, deltaT: 4.446703 s, approachRate: -0.229386 m/s, LOS rate: -0.204761 deg/s, posRepo size: 4
2021-08-13T17:56:53.813Z,1628877413.813 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 76.259995 m,
      bearing: 38.349364 deg,
      approachRate: -0.229386 m/s,
      LOS rate: -0.204761 deg/s,
      cmd update: -0.614283 deg/s,
      cmd heading: 37.100109 deg,
      new cmd heading: 34.400201 deg.

2021-08-13T17:56:55.859Z,1628877415.859 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:56:56.121Z,1628877416.121 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:56:56.121Z,1628877416.121 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:56:56.121Z,1628877416.121 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:56:56.122Z,1628877416.122 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:56:56.521Z,1628877416.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
338,000,00768,189,80,80,A9,FF
2021-08-13T17:56:56.521Z,1628877416.521 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:56:56.522Z,1628877416.522 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:56:56.523Z,1628877416.523 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:56:56.933Z,1628877416.933 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:56:57.334Z,1628877417.334 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,176,000,00747,186,80,80,97,FF
2021-08-13T17:56:57.334Z,1628877417.334 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:56:57.777Z,1628877417.777 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175657.05*5C

2021-08-13T17:56:57.849Z,1628877417.849 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 74.279999 m, bearing: 47.341397 deg, deltaT: 4.012616 s, approachRate: -0.493443 m/s, LOS rate: 2.240940 deg/s, posRepo size: 4
2021-08-13T17:56:57.851Z,1628877417.851 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 74.279999 m,
      bearing: 47.341397 deg,
      approachRate: -0.493443 m/s,
      LOS rate: 2.240940 deg/s,
      cmd update: 6.722821 deg/s,
      cmd heading: 34.631003 deg,
      new cmd heading: 34.324766 deg.

2021-08-13T17:57:00.171Z,1628877420.171 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:57:00.565Z,1628877420.565 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:57:00.565Z,1628877420.565 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:57:00.565Z,1628877420.565 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:57:00.566Z,1628877420.566 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:57:00.967Z,1628877420.967 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
176,000,00747,186,80,80,97,FF
2021-08-13T17:57:00.967Z,1628877420.967 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:57:00.967Z,1628877420.967 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:57:00.969Z,1628877420.969 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:57:01.368Z,1628877421.368 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:57:01.769Z,1628877421.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,001,000,00726,182,80,80,B5,FF
2021-08-13T17:57:01.769Z,1628877421.769 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:57:02.205Z,1628877422.205 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175701.49*56

2021-08-13T17:57:02.246Z,1628877422.246 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 72.300003 m, bearing: 50.677456 deg, deltaT: 4.493027 s, approachRate: -0.440682 m/s, LOS rate: 0.742497 deg/s, posRepo size: 4
2021-08-13T17:57:02.248Z,1628877422.248 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 72.300003 m,
      bearing: 50.677456 deg,
      approachRate: -0.440682 m/s,
      LOS rate: 0.742497 deg/s,
      cmd update: 2.227491 deg/s,
      cmd heading: 64.840771 deg,
      new cmd heading: 67.545053 deg.

2021-08-13T17:57:03.003Z,1628877423.003 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T17:57:04.636Z,1628877424.636 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:57:05.006Z,1628877425.006 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:57:05.006Z,1628877425.006 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:57:05.006Z,1628877425.006 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:57:05.007Z,1628877425.007 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:57:05.428Z,1628877425.428 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
001,000,00726,182,80,80,B5,FF
2021-08-13T17:57:05.429Z,1628877425.429 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:57:05.429Z,1628877425.429 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:57:05.436Z,1628877425.436 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:57:05.816Z,1628877425.816 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:57:06.217Z,1628877426.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,100,000,006FE,186,80,80,62,FF
2021-08-13T17:57:06.218Z,1628877426.218 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:57:06.656Z,1628877426.656 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175705.96*50

2021-08-13T17:57:06.707Z,1628877426.707 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 69.900002 m, bearing: 44.648482 deg, deltaT: 4.427530 s, approachRate: -0.542063 m/s, LOS rate: -1.361701 deg/s, posRepo size: 4
2021-08-13T17:57:06.710Z,1628877426.710 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 69.900002 m,
      bearing: 44.648482 deg,
      approachRate: -0.542063 m/s,
      LOS rate: -1.361701 deg/s,
      cmd update: -4.085104 deg/s,
      cmd heading: 74.712196 deg,
      new cmd heading: 75.674414 deg.

2021-08-13T17:57:07.853Z,1628877427.853 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T17:57:09.102Z,1628877429.102 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:57:09.488Z,1628877429.488 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:57:09.488Z,1628877429.488 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:57:09.488Z,1628877429.488 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:57:09.489Z,1628877429.489 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:57:09.857Z,1628877429.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
100,000,006FE,186,80,80,62,FF
2021-08-13T17:57:09.857Z,1628877429.857 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:57:09.857Z,1628877429.857 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:57:09.859Z,1628877429.859 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:57:10.257Z,1628877430.257 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:57:10.661Z,1628877430.661 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2AD,000,006E2,189,80,80,8D,FF
2021-08-13T17:57:10.663Z,1628877430.663 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:57:11.117Z,1628877431.117 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175710.38*50

2021-08-13T17:57:11.143Z,1628877431.143 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 68.219994 m, bearing: 39.815089 deg, deltaT: 4.456623 s, approachRate: -0.376969 m/s, LOS rate: -1.084542 deg/s, posRepo size: 4
2021-08-13T17:57:11.145Z,1628877431.145 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 68.219994 m,
      bearing: 39.815089 deg,
      approachRate: -0.376969 m/s,
      LOS rate: -1.084542 deg/s,
      cmd update: -3.253625 deg/s,
      cmd heading: 56.522869 deg,
      new cmd heading: 54.829128 deg.

2021-08-13T17:57:13.527Z,1628877433.527 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:57:13.890Z,1628877433.890 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:57:13.890Z,1628877433.890 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:57:13.890Z,1628877433.890 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:57:13.891Z,1628877433.891 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:57:14.289Z,1628877434.289 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2AD,000,006E2,189,80,80,8D,FF
2021-08-13T17:57:14.289Z,1628877434.289 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:57:14.290Z,1628877434.290 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:57:14.291Z,1628877434.291 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:57:14.728Z,1628877434.728 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:57:15.105Z,1628877435.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,26D,000,006CC,189,80,80,A9,FF
2021-08-13T17:57:15.106Z,1628877435.106 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:57:15.549Z,1628877435.549 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175714.81*56

2021-08-13T17:57:15.609Z,1628877435.609 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 66.900002 m, bearing: 39.447778 deg, deltaT: 4.418055 s, approachRate: -0.298772 m/s, LOS rate: -0.083139 deg/s, posRepo size: 4
2021-08-13T17:57:15.611Z,1628877435.611 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 66.900002 m,
      bearing: 39.447778 deg,
      approachRate: -0.298772 m/s,
      LOS rate: -0.083139 deg/s,
      cmd update: -0.249416 deg/s,
      cmd heading: 42.148197 deg,
      new cmd heading: 40.722449 deg.

2021-08-13T17:57:17.956Z,1628877437.956 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T17:57:17.971Z,1628877437.971 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:57:18.333Z,1628877438.333 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:57:18.333Z,1628877438.333 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:57:18.333Z,1628877438.333 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:57:18.334Z,1628877438.334 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:57:18.741Z,1628877438.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
26D,000,006CC,189,80,80,A9,FF
2021-08-13T17:57:18.741Z,1628877438.741 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:57:18.741Z,1628877438.741 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:57:18.743Z,1628877438.743 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:57:19.149Z,1628877439.149 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:57:19.545Z,1628877439.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0D8,000,006A4,186,80,80,BE,FF
2021-08-13T17:57:19.546Z,1628877439.546 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:57:19.989Z,1628877439.989 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175719.26*56

2021-08-13T17:57:20.015Z,1628877440.015 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 64.500008 m, bearing: 43.561188 deg, deltaT: 4.477472 s, approachRate: -0.536015 m/s, LOS rate: 0.918690 deg/s, posRepo size: 4
2021-08-13T17:57:20.017Z,1628877440.017 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 64.500008 m,
      bearing: 43.561188 deg,
      approachRate: -0.536015 m/s,
      LOS rate: 0.918690 deg/s,
      cmd update: 2.756071 deg/s,
      cmd heading: 41.030447 deg,
      new cmd heading: 40.933870 deg.

2021-08-13T17:57:22.407Z,1628877442.407 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:57:22.790Z,1628877442.790 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:57:22.790Z,1628877442.790 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:57:22.790Z,1628877442.790 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:57:22.791Z,1628877442.791 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:57:22.813Z,1628877442.813 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T17:57:23.181Z,1628877443.181 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0D8,000,006A4,186,80,80,BE,FF
2021-08-13T17:57:23.181Z,1628877443.181 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:57:23.181Z,1628877443.181 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:57:23.183Z,1628877443.183 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:57:23.597Z,1628877443.597 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:57:23.989Z,1628877443.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,053,000,00686,183,80,80,AE,FF
2021-08-13T17:57:23.990Z,1628877443.990 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:57:24.433Z,1628877444.433 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175723.70*5C

2021-08-13T17:57:24.456Z,1628877444.456 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 62.700001 m, bearing: 45.515790 deg, deltaT: 4.435941 s, approachRate: -0.405778 m/s, LOS rate: 0.440628 deg/s, posRepo size: 4
2021-08-13T17:57:24.458Z,1628877444.458 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 62.700001 m,
      bearing: 45.515790 deg,
      approachRate: -0.405778 m/s,
      LOS rate: 0.440628 deg/s,
      cmd update: 1.321885 deg/s,
      cmd heading: 53.200926 deg,
      new cmd heading: 54.337309 deg.

2021-08-13T17:57:26.859Z,1628877446.859 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:57:27.221Z,1628877447.221 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:57:27.221Z,1628877447.221 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:57:27.221Z,1628877447.221 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:57:27.222Z,1628877447.222 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:57:27.639Z,1628877447.639 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
053,000,00686,183,80,80,AE,FF
2021-08-13T17:57:27.640Z,1628877447.640 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:57:27.640Z,1628877447.640 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:57:27.642Z,1628877447.642 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:57:27.806Z,1628877447.806 [RDI_PathfinderUp](ERROR): DVL BIT error. See manual. Result code: 53
2021-08-13T17:57:28.050Z,1628877448.050 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:57:28.441Z,1628877448.441 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,14C,000,00662,186,80,80,A5,FF
2021-08-13T17:57:28.442Z,1628877448.442 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:57:28.865Z,1628877448.865 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175728.17*56

2021-08-13T17:57:28.915Z,1628877448.915 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 60.540005 m, bearing: 41.569952 deg, deltaT: 4.394619 s, approachRate: -0.491509 m/s, LOS rate: -0.897879 deg/s, posRepo size: 4
2021-08-13T17:57:28.917Z,1628877448.917 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 60.540005 m,
      bearing: 41.569952 deg,
      approachRate: -0.491509 m/s,
      LOS rate: -0.897879 deg/s,
      cmd update: -2.693638 deg/s,
      cmd heading: 59.036662 deg,
      new cmd heading: 59.640777 deg.

2021-08-13T17:57:31.289Z,1628877451.289 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:57:31.688Z,1628877451.688 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:57:31.689Z,1628877451.689 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:57:31.689Z,1628877451.689 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:57:31.691Z,1628877451.691 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:57:32.069Z,1628877452.069 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
14C,000,00662,186,80,80,A5,FF
2021-08-13T17:57:32.069Z,1628877452.069 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:57:32.069Z,1628877452.069 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:57:32.071Z,1628877452.071 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:57:32.485Z,1628877452.485 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:57:33.314Z,1628877453.314 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175732.59*57

2021-08-13T17:57:34.117Z,1628877454.117 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:57:35.753Z,1628877455.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
2,186,80,80,A5,FF
2021-08-13T17:57:35.753Z,1628877455.753 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
2,186,80,80,A5,FF
2021-08-13T17:57:35.753Z,1628877455.753 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T17:57:36.963Z,1628877456.963 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:57:37.320Z,1628877457.320 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:57:37.320Z,1628877457.320 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:57:37.320Z,1628877457.320 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:57:37.321Z,1628877457.321 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:57:37.773Z,1628877457.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
2,186,80,80,A5,FF
2021-08-13T17:57:37.773Z,1628877457.773 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:57:37.773Z,1628877457.773 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:57:37.775Z,1628877457.775 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:57:38.157Z,1628877458.157 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:57:38.553Z,1628877458.553 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A8,000,00611,186,80,80,6F,FF
2021-08-13T17:57:38.554Z,1628877458.554 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:57:38.982Z,1628877458.982 [Micromodem](INFO): Nmea in: $SNTTA,0.055440,,,,175738.30*4C

2021-08-13T17:57:39.009Z,1628877459.009 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 55.680000 m, bearing: 42.291199 deg, deltaT: 10.117382 s, approachRate: -0.480362 m/s, LOS rate: 0.071288 deg/s, posRepo size: 4
2021-08-13T17:57:39.011Z,1628877459.011 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 55.680000 m,
      bearing: 42.291199 deg,
      approachRate: -0.480362 m/s,
      LOS rate: 0.071288 deg/s,
      cmd update: 0.213864 deg/s,
      cmd heading: 31.784282 deg,
      new cmd heading: 30.618160 deg.

2021-08-13T17:57:41.454Z,1628877461.454 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:57:41.782Z,1628877461.782 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:57:41.782Z,1628877461.782 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:57:41.783Z,1628877461.783 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:57:41.783Z,1628877461.783 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:57:42.199Z,1628877462.199 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0A8,000,00611,186,80,80,6F,FF
2021-08-13T17:57:42.199Z,1628877462.199 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:57:42.199Z,1628877462.199 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:57:42.206Z,1628877462.206 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:57:42.588Z,1628877462.588 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:57:43.002Z,1628877463.002 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA2,000,005F2,186,80,80,7C,FF
2021-08-13T17:57:43.002Z,1628877463.002 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:57:43.457Z,1628877463.457 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175742.73*58

2021-08-13T17:57:43.513Z,1628877463.513 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.820000 m, bearing: 44.681926 deg, deltaT: 4.500492 s, approachRate: -0.413288 m/s, LOS rate: 0.531215 deg/s, posRepo size: 4
2021-08-13T17:57:43.515Z,1628877463.515 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 53.820000 m,
      bearing: 44.681926 deg,
      approachRate: -0.413288 m/s,
      LOS rate: 0.531215 deg/s,
      cmd update: 1.593644 deg/s,
      cmd heading: 32.745928 deg,
      new cmd heading: 32.840189 deg.

2021-08-13T17:57:45.870Z,1628877465.870 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:57:46.227Z,1628877466.227 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:57:46.227Z,1628877466.227 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:57:46.228Z,1628877466.228 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:57:46.229Z,1628877466.229 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:57:46.637Z,1628877466.637 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA2,000,005F2,186,80,80,7C,FF
2021-08-13T17:57:46.638Z,1628877466.638 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:57:46.638Z,1628877466.638 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:57:46.640Z,1628877466.640 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:57:47.032Z,1628877467.032 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:57:47.487Z,1628877467.487 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA9,000,005C9,184,80,80,63,FF
2021-08-13T17:57:47.493Z,1628877467.493 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:57:47.503Z,1628877467.503 [Micromodem](INFO): Nmea in: $SNTTA,0.077781,0.321018,,,175747.16*59

2021-08-13T17:57:47.862Z,1628877467.862 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-13T17:57:47.914Z,1628877467.914 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.360001 m, bearing: 44.185115 deg, deltaT: 4.490692 s, approachRate: -0.547800 m/s, LOS rate: -0.110631 deg/s, posRepo size: 4
2021-08-13T17:57:47.923Z,1628877467.923 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 51.360001 m,
      bearing: 44.185115 deg,
      approachRate: -0.547800 m/s,
      LOS rate: -0.110631 deg/s,
      cmd update: -0.331894 deg/s,
      cmd heading: 39.908040 deg,
      new cmd heading: 40.462832 deg.

2021-08-13T17:57:50.272Z,1628877470.272 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:57:50.676Z,1628877470.676 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:57:50.676Z,1628877470.676 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:57:50.677Z,1628877470.677 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:57:50.679Z,1628877470.679 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:57:51.075Z,1628877471.075 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA9,000,005C9,184,80,80,63,FF
2021-08-13T17:57:51.075Z,1628877471.075 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:57:51.075Z,1628877471.075 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:57:51.077Z,1628877471.077 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:57:51.537Z,1628877471.537 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:57:51.939Z,1628877471.939 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,007,000,005A4,183,80,80,BD,FF
2021-08-13T17:57:51.940Z,1628877471.940 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:57:52.354Z,1628877472.354 [Micromodem](INFO): Nmea in: $SNTTA,0.055179,,,,175751.60*49

2021-08-13T17:57:52.376Z,1628877472.376 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.140003 m, bearing: 43.599297 deg, deltaT: 4.459581 s, approachRate: -0.497804 m/s, LOS rate: -0.131362 deg/s, posRepo size: 4
2021-08-13T17:57:52.378Z,1628877472.378 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 49.140003 m,
      bearing: 43.599297 deg,
      approachRate: -0.497804 m/s,
      LOS rate: -0.131362 deg/s,
      cmd update: -0.394085 deg/s,
      cmd heading: 38.429083 deg,
      new cmd heading: 38.311822 deg.

2021-08-13T17:57:53.989Z,1628877473.989 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-13T17:57:54.789Z,1628877474.789 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:57:55.173Z,1628877475.173 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:57:55.173Z,1628877475.173 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:57:55.173Z,1628877475.173 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:57:55.174Z,1628877475.174 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:57:55.569Z,1628877475.569 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
007,000,005A4,183,80,80,BD,FF
2021-08-13T17:57:55.569Z,1628877475.569 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:57:55.569Z,1628877475.569 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:57:55.571Z,1628877475.571 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:57:55.981Z,1628877475.981 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:57:56.382Z,1628877476.382 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,008,000,0057D,183,80,80,BC,FF
2021-08-13T17:57:56.382Z,1628877476.382 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:57:56.813Z,1628877476.813 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175756.09*50

2021-08-13T17:57:56.912Z,1628877476.912 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.800003 m, bearing: 44.075849 deg, deltaT: 4.377290 s, approachRate: -0.534577 m/s, LOS rate: 0.108869 deg/s, posRepo size: 4
2021-08-13T17:57:56.914Z,1628877476.914 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 46.800003 m,
      bearing: 44.075849 deg,
      approachRate: -0.534577 m/s,
      LOS rate: 0.108869 deg/s,
      cmd update: 0.326608 deg/s,
      cmd heading: 36.702485 deg,
      new cmd heading: 36.503932 deg.

2021-08-13T17:57:58.017Z,1628877478.017 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-13T17:57:59.243Z,1628877479.243 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:57:59.609Z,1628877479.609 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:57:59.609Z,1628877479.609 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:57:59.609Z,1628877479.609 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:57:59.610Z,1628877479.610 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:58:00.019Z,1628877480.019 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
008,000,0057D,183,80,80,BC,FF
2021-08-13T17:58:00.019Z,1628877480.019 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:58:00.019Z,1628877480.019 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:58:00.021Z,1628877480.021 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:58:00.420Z,1628877480.420 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:58:00.825Z,1628877480.825 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FFE,000,00555,182,80,80,6F,FF
2021-08-13T17:58:00.826Z,1628877480.826 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:58:01.261Z,1628877481.261 [Micromodem](INFO): Nmea in: $SNTTA,0.061086,,,,175800.54*43

2021-08-13T17:58:01.300Z,1628877481.300 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 44.400002 m, bearing: 44.339730 deg, deltaT: 4.538752 s, approachRate: -0.528780 m/s, LOS rate: 0.058140 deg/s, posRepo size: 4
2021-08-13T17:58:01.302Z,1628877481.302 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 44.400002 m,
      bearing: 44.339730 deg,
      approachRate: -0.528780 m/s,
      LOS rate: 0.058140 deg/s,
      cmd update: 0.174419 deg/s,
      cmd heading: 38.181708 deg,
      new cmd heading: 38.301758 deg.

2021-08-13T17:58:03.756Z,1628877483.756 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:58:04.059Z,1628877484.059 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:58:04.060Z,1628877484.060 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:58:04.060Z,1628877484.060 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:58:04.061Z,1628877484.061 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:58:04.457Z,1628877484.457 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FFE,000,00555,182,80,80,6F,FF
2021-08-13T17:58:04.457Z,1628877484.457 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:58:04.457Z,1628877484.457 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:58:04.459Z,1628877484.459 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:58:04.865Z,1628877484.865 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:58:05.269Z,1628877485.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FFF,000,0052C,183,80,80,9C,FF
2021-08-13T17:58:05.269Z,1628877485.269 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:58:05.729Z,1628877485.729 [Micromodem](INFO): Nmea in: $SNTTA,,0.372462,,,175804.98*48

2021-08-13T17:58:05.836Z,1628877485.836 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 41.940002 m, bearing: 44.717494 deg, deltaT: 4.348915 s, approachRate: -0.565658 m/s, LOS rate: 0.086864 deg/s, posRepo size: 4
2021-08-13T17:58:05.838Z,1628877485.838 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 41.940002 m,
      bearing: 44.717494 deg,
      approachRate: -0.565658 m/s,
      LOS rate: 0.086864 deg/s,
      cmd update: 0.260592 deg/s,
      cmd heading: 38.941928 deg,
      new cmd heading: 39.036906 deg.

2021-08-13T17:58:07.811Z,1628877487.811 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:58:08.101Z,1628877488.101 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:58:08.101Z,1628877488.101 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:58:08.101Z,1628877488.101 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:58:08.102Z,1628877488.102 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:58:08.497Z,1628877488.497 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FFF,000,0052C,183,80,80,9C,FF
2021-08-13T17:58:08.497Z,1628877488.497 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:58:08.497Z,1628877488.497 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:58:08.499Z,1628877488.499 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:58:08.916Z,1628877488.916 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:58:09.306Z,1628877489.306 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,004,000,00507,182,80,80,6E,FF
2021-08-13T17:58:09.306Z,1628877489.306 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:58:09.749Z,1628877489.749 [Micromodem](INFO): Nmea in: $SNTTA,0.392454,0.392323,,,175809.02*59

2021-08-13T17:58:09.846Z,1628877489.846 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.719997 m, bearing: 44.414152 deg, deltaT: 4.042021 s, approachRate: -0.549231 m/s, LOS rate: -0.075047 deg/s, posRepo size: 4
2021-08-13T17:58:09.846Z,1628877489.846 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 39.72 m.
2021-08-13T17:58:09.853Z,1628877489.853 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 39.719997 m,
      bearing: 44.414152 deg,
      approachRate: -0.549231 m/s,
      LOS rate: -0.075047 deg/s,
      cmd update: -0.225142 deg/s,
      cmd heading: 39.993920 deg,
      new cmd heading: 40.127314 deg.

2021-08-13T17:58:10.155Z,1628877490.155 [PowerOnly](INFO): Powering up loadControl
2021-08-13T17:58:10.186Z,1628877490.186 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-13T17:58:10.186Z,1628877490.186 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T17:58:10.186Z,1628877490.186 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-13T17:58:10.187Z,1628877490.187 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-13T17:58:10.187Z,1628877490.187 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-13T17:58:10.187Z,1628877490.187 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-13T17:58:10.579Z,1628877490.579 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-13T17:58:10.581Z,1628877490.581 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T17:58:10.581Z,1628877490.581 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-13T17:58:10.581Z,1628877490.581 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T17:58:11.842Z,1628877491.842 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:58:12.133Z,1628877492.133 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:58:12.133Z,1628877492.133 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:58:12.133Z,1628877492.133 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:58:12.134Z,1628877492.134 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:58:12.537Z,1628877492.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
004,000,00507,182,80,80,6E,FF
2021-08-13T17:58:12.537Z,1628877492.537 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:58:12.537Z,1628877492.537 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:58:12.539Z,1628877492.539 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:58:12.957Z,1628877492.957 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:58:13.345Z,1628877493.345 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,00E,000,004E9,184,80,80,65,FF
2021-08-13T17:58:13.345Z,1628877493.345 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:58:13.453Z,1628877493.453 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T17:58:13.789Z,1628877493.789 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175813.06*51

2021-08-13T17:58:13.848Z,1628877493.848 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.920002 m, bearing: 46.097531 deg, deltaT: 4.116825 s, approachRate: -0.437229 m/s, LOS rate: 0.408902 deg/s, posRepo size: 4
2021-08-13T17:58:13.848Z,1628877493.848 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 37.92 m.
2021-08-13T17:58:13.851Z,1628877493.851 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 37.920002 m,
      bearing: 46.097531 deg,
      approachRate: -0.437229 m/s,
      LOS rate: 0.408902 deg/s,
      cmd update: 1.226706 deg/s,
      cmd heading: 39.066913 deg,
      new cmd heading: 38.976365 deg.

2021-08-13T17:58:16.201Z,1628877496.201 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:58:16.577Z,1628877496.577 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:58:16.577Z,1628877496.577 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:58:16.577Z,1628877496.577 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:58:16.578Z,1628877496.578 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:58:16.985Z,1628877496.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
00E,000,004E9,184,80,80,65,FF
2021-08-13T17:58:16.985Z,1628877496.985 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:58:16.985Z,1628877496.985 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:58:16.987Z,1628877496.987 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:58:17.431Z,1628877497.431 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:58:17.793Z,1628877497.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE4,000,004C0,183,80,80,5F,FF
2021-08-13T17:58:17.793Z,1628877497.793 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:58:17.879Z,1628877497.879 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T17:58:18.230Z,1628877498.230 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175817.51*57

2021-08-13T17:58:18.246Z,1628877498.246 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.460003 m, bearing: 49.551639 deg, deltaT: 4.426246 s, approachRate: -0.555776 m/s, LOS rate: 0.780370 deg/s, posRepo size: 4
2021-08-13T17:58:18.246Z,1628877498.246 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 35.46 m.
2021-08-13T17:58:18.249Z,1628877498.249 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 35.460003 m,
      bearing: 49.551639 deg,
      approachRate: -0.555776 m/s,
      LOS rate: 0.780370 deg/s,
      cmd update: 2.341109 deg/s,
      cmd heading: 44.497830 deg,
      new cmd heading: 44.955641 deg.

2021-08-13T17:58:20.693Z,1628877500.693 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:58:21.021Z,1628877501.021 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:58:21.021Z,1628877501.021 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:58:21.021Z,1628877501.021 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:58:21.022Z,1628877501.022 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:58:21.481Z,1628877501.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE4,000,004C0,183,80,80,5F,FF
2021-08-13T17:58:21.481Z,1628877501.481 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:58:21.481Z,1628877501.481 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:58:21.483Z,1628877501.483 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:58:21.828Z,1628877501.828 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:58:22.228Z,1628877502.228 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,066,000,00499,186,80,80,A2,FF
2021-08-13T17:58:22.229Z,1628877502.229 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:58:22.249Z,1628877502.249 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T17:58:22.666Z,1628877502.666 [Micromodem](INFO): Nmea in: $SNTTA,0.050595,,,,175822.01*46

2021-08-13T17:58:22.765Z,1628877502.765 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 33.119999 m, bearing: 45.904479 deg, deltaT: 4.370065 s, approachRate: -0.535462 m/s, LOS rate: -0.834578 deg/s, posRepo size: 4
2021-08-13T17:58:22.766Z,1628877502.766 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 33.12 m.
2021-08-13T17:58:22.772Z,1628877502.772 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 33.119999 m,
      bearing: 45.904479 deg,
      approachRate: -0.535462 m/s,
      LOS rate: -0.834578 deg/s,
      cmd update: -2.503734 deg/s,
      cmd heading: 54.735809 deg,
      new cmd heading: 55.941546 deg.

2021-08-13T17:58:24.767Z,1628877504.767 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:58:25.061Z,1628877505.061 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:58:25.061Z,1628877505.061 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:58:25.061Z,1628877505.061 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:58:25.062Z,1628877505.062 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:58:25.489Z,1628877505.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
066,000,00499,186,80,80,A2,FF
2021-08-13T17:58:25.489Z,1628877505.489 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:58:25.489Z,1628877505.489 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:58:25.491Z,1628877505.491 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:58:25.869Z,1628877505.869 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:58:26.266Z,1628877506.266 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,123,000,00479,186,80,80,69,FF
2021-08-13T17:58:26.266Z,1628877506.266 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:58:26.271Z,1628877506.271 [Micromodem](INFO): Nmea in: $SNTTA,0.151410,0.148497,,,175826.01*57

2021-08-13T17:58:26.290Z,1628877506.290 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T17:58:26.742Z,1628877506.742 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.200001 m, bearing: 44.012298 deg, deltaT: 4.041235 s, approachRate: -0.475102 m/s, LOS rate: -0.468218 deg/s, posRepo size: 4
2021-08-13T17:58:26.743Z,1628877506.743 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 31.20 m.
2021-08-13T17:58:26.745Z,1628877506.745 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 31.200001 m,
      bearing: 44.012298 deg,
      approachRate: -0.475102 m/s,
      LOS rate: -0.468218 deg/s,
      cmd update: -1.404656 deg/s,
      cmd heading: 44.617668 deg,
      new cmd heading: 43.477848 deg.

2021-08-13T17:58:29.123Z,1628877509.123 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:58:29.501Z,1628877509.501 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:58:29.501Z,1628877509.501 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:58:29.501Z,1628877509.501 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:58:29.502Z,1628877509.502 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:58:29.909Z,1628877509.909 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
123,000,00479,186,80,80,69,FF
2021-08-13T17:58:29.910Z,1628877509.910 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:58:29.910Z,1628877509.910 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:58:29.911Z,1628877509.911 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:58:30.318Z,1628877510.318 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:58:30.733Z,1628877510.733 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,09E,000,0045A,186,80,80,9A,FF
2021-08-13T17:58:30.733Z,1628877510.733 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:58:30.765Z,1628877510.765 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T17:58:31.157Z,1628877511.157 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175830.44*56

2021-08-13T17:58:31.176Z,1628877511.176 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.340000 m, bearing: 46.626778 deg, deltaT: 4.474232 s, approachRate: -0.415714 m/s, LOS rate: 0.584342 deg/s, posRepo size: 4
2021-08-13T17:58:31.177Z,1628877511.177 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 29.34 m.
2021-08-13T17:58:31.179Z,1628877511.179 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 29.340000 m,
      bearing: 46.626778 deg,
      approachRate: -0.415714 m/s,
      LOS rate: 0.584342 deg/s,
      cmd update: 1.753025 deg/s,
      cmd heading: 38.333464 deg,
      new cmd heading: 37.750820 deg.

2021-08-13T17:58:33.589Z,1628877513.589 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:58:33.949Z,1628877513.949 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:58:33.949Z,1628877513.949 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:58:33.949Z,1628877513.949 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:58:33.950Z,1628877513.950 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:58:34.354Z,1628877514.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
09E,000,0045A,186,80,80,9A,FF
2021-08-13T17:58:34.354Z,1628877514.354 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:58:34.354Z,1628877514.354 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:58:34.355Z,1628877514.355 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:58:34.756Z,1628877514.756 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:58:35.161Z,1628877515.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,01A,000,00435,182,80,80,A5,FF
2021-08-13T17:58:35.162Z,1628877515.162 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:58:35.182Z,1628877515.182 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T17:58:35.597Z,1628877515.597 [Micromodem](INFO): Nmea in: $SNTTA,,0.044773,,,175834.88*4F

2021-08-13T17:58:35.669Z,1628877515.669 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.119997 m, bearing: 46.135708 deg, deltaT: 4.417219 s, approachRate: -0.502579 m/s, LOS rate: -0.111172 deg/s, posRepo size: 4
2021-08-13T17:58:35.671Z,1628877515.671 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 27.12 m.
2021-08-13T17:58:35.677Z,1628877515.677 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 27.12 m.
2021-08-13T17:58:35.677Z,1628877515.677 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-13T17:58:35.693Z,1628877515.693 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 27.119997 m,
      bearing: 46.135708 deg,
      approachRate: -0.502579 m/s,
      LOS rate: -0.111172 deg/s,
      cmd update: -0.333515 deg/s,
      cmd heading: 46.077871 deg,
      new cmd heading: 46.903046 deg.

2021-08-13T17:58:38.037Z,1628877518.037 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:58:38.389Z,1628877518.389 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:58:38.389Z,1628877518.389 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:58:38.389Z,1628877518.389 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:58:38.390Z,1628877518.390 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:58:38.802Z,1628877518.802 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
01A,000,00435,182,80,80,A5,FF
2021-08-13T17:58:38.802Z,1628877518.802 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:58:38.802Z,1628877518.802 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:58:38.803Z,1628877518.803 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:58:39.198Z,1628877519.198 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:58:39.605Z,1628877519.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,06A,000,00412,187,80,80,B3,FF
2021-08-13T17:58:39.606Z,1628877519.606 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:58:39.724Z,1628877519.724 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T17:58:40.044Z,1628877520.044 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.020000 m, bearing: 47.057777 deg, deltaT: 4.542051 s, approachRate: -0.462345 m/s, LOS rate: 0.203007 deg/s, posRepo size: 4
2021-08-13T17:58:40.046Z,1628877520.046 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 25.020000 m,
      bearing: 47.057777 deg,
      approachRate: -0.462345 m/s,
      LOS rate: 0.203007 deg/s,
      cmd update: 0.609021 deg/s,
      cmd heading: 44.563115 deg,
      new cmd heading: 44.455370 deg.

2021-08-13T17:58:42.472Z,1628877522.472 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:58:42.837Z,1628877522.837 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:58:42.837Z,1628877522.837 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:58:42.837Z,1628877522.837 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:58:42.838Z,1628877522.838 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:58:43.245Z,1628877523.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
06A,000,00412,187,80,80,B3,FF
2021-08-13T17:58:43.245Z,1628877523.245 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:58:43.245Z,1628877523.245 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:58:43.247Z,1628877523.247 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:58:43.704Z,1628877523.704 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:58:44.093Z,1628877524.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,020,000,003EE,184,80,80,9E,FF
2021-08-13T17:58:44.094Z,1628877524.094 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:58:44.114Z,1628877524.114 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T17:58:44.517Z,1628877524.517 [Micromodem](INFO): Nmea in: $SNTTA,0.038428,,,,175843.77*49

2021-08-13T17:58:44.545Z,1628877524.545 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.860001 m, bearing: 46.346604 deg, deltaT: 4.390174 s, approachRate: -0.492008 m/s, LOS rate: -0.161992 deg/s, posRepo size: 4
2021-08-13T17:58:44.547Z,1628877524.547 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 22.860001 m,
      bearing: 46.346604 deg,
      approachRate: -0.492008 m/s,
      LOS rate: -0.161992 deg/s,
      cmd update: -0.485976 deg/s,
      cmd heading: 47.237007 deg,
      new cmd heading: 47.501384 deg.

2021-08-13T17:58:46.950Z,1628877526.950 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:58:47.309Z,1628877527.309 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:58:47.309Z,1628877527.309 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:58:47.309Z,1628877527.309 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:58:47.310Z,1628877527.310 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:58:47.747Z,1628877527.747 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
020,000,003EE,184,80,80,9E,FF
2021-08-13T17:58:47.747Z,1628877527.747 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:58:47.747Z,1628877527.747 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:58:47.761Z,1628877527.761 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:58:48.140Z,1628877528.140 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:58:48.537Z,1628877528.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,07C,000,003C8,186,80,80,A7,FF
2021-08-13T17:58:48.538Z,1628877528.538 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:58:48.590Z,1628877528.590 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T17:58:48.955Z,1628877528.955 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175848.29*52

2021-08-13T17:58:49.000Z,1628877529.000 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.580000 m, bearing: 44.181311 deg, deltaT: 4.476129 s, approachRate: -0.509369 m/s, LOS rate: -0.483742 deg/s, posRepo size: 4
2021-08-13T17:58:49.002Z,1628877529.002 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 20.580000 m,
      bearing: 44.181311 deg,
      approachRate: -0.509369 m/s,
      LOS rate: -0.483742 deg/s,
      cmd update: -1.451227 deg/s,
      cmd heading: 45.063751 deg,
      new cmd heading: 44.861140 deg.

2021-08-13T17:58:51.442Z,1628877531.442 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:58:51.761Z,1628877531.761 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:58:51.761Z,1628877531.761 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:58:51.762Z,1628877531.762 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:58:51.762Z,1628877531.762 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:58:52.161Z,1628877532.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
07C,000,003C8,186,80,80,A7,FF
2021-08-13T17:58:52.161Z,1628877532.161 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:58:52.161Z,1628877532.161 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:58:52.163Z,1628877532.163 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:58:52.580Z,1628877532.580 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:58:52.973Z,1628877532.973 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,081,000,003B0,187,80,80,70,FF
2021-08-13T17:58:52.974Z,1628877532.974 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:58:53.055Z,1628877533.055 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T17:58:53.439Z,1628877533.439 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175852.68*5C

2021-08-13T17:58:53.493Z,1628877533.493 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.140001 m, bearing: 45.033578 deg, deltaT: 4.465938 s, approachRate: -0.322440 m/s, LOS rate: 0.190837 deg/s, posRepo size: 4
2021-08-13T17:58:53.495Z,1628877533.495 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.140001 m,
      bearing: 45.033578 deg,
      approachRate: -0.322440 m/s,
      LOS rate: 0.190837 deg/s,
      cmd update: 0.572512 deg/s,
      cmd heading: 38.577650 deg,
      new cmd heading: 37.939011 deg.

2021-08-13T17:58:55.803Z,1628877535.803 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-13T17:58:55.834Z,1628877535.834 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:58:56.213Z,1628877536.213 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:58:56.213Z,1628877536.213 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:58:56.213Z,1628877536.213 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:58:56.214Z,1628877536.214 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:58:56.609Z,1628877536.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
081,000,003B0,187,80,80,70,FF
2021-08-13T17:58:56.609Z,1628877536.609 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:58:56.609Z,1628877536.609 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:58:56.611Z,1628877536.611 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:58:57.021Z,1628877537.021 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:58:57.433Z,1628877537.433 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD5,000,0039B,184,80,80,8E,FF
2021-08-13T17:58:57.435Z,1628877537.435 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:58:57.556Z,1628877537.556 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T17:58:57.849Z,1628877537.849 [Micromodem](INFO): Nmea in: $SNTTA,0.336551,0.336563,,,175857.13*54

2021-08-13T17:58:57.920Z,1628877537.920 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.879999 m, bearing: 42.805523 deg, deltaT: 4.499896 s, approachRate: -0.280007 m/s, LOS rate: -0.495135 deg/s, posRepo size: 4
2021-08-13T17:58:57.922Z,1628877537.922 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.879999 m,
      bearing: 42.805523 deg,
      approachRate: -0.280007 m/s,
      LOS rate: -0.495135 deg/s,
      cmd update: -1.485405 deg/s,
      cmd heading: 41.149254 deg,
      new cmd heading: 41.357330 deg.

2021-08-13T17:59:00.271Z,1628877540.271 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:59:00.667Z,1628877540.667 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:59:00.668Z,1628877540.668 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:59:00.669Z,1628877540.669 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:59:00.670Z,1628877540.670 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:59:01.058Z,1628877541.058 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD5,000,0039B,184,80,80,8E,FF
2021-08-13T17:59:01.058Z,1628877541.058 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:59:01.059Z,1628877541.059 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:59:01.061Z,1628877541.061 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:59:01.484Z,1628877541.484 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:59:01.865Z,1628877541.865 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FDD,000,00361,185,80,80,77,FF
2021-08-13T17:59:01.866Z,1628877541.866 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:59:01.938Z,1628877541.938 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T17:59:02.294Z,1628877542.294 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175901.58*58

2021-08-13T17:59:02.316Z,1628877542.316 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.400001 m, bearing: 44.682141 deg, deltaT: 4.382274 s, approachRate: -0.794108 m/s, LOS rate: 0.428229 deg/s, posRepo size: 4
2021-08-13T17:59:02.318Z,1628877542.318 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.400001 m,
      bearing: 44.682141 deg,
      approachRate: -0.794108 m/s,
      LOS rate: 0.428229 deg/s,
      cmd update: 1.284688 deg/s,
      cmd heading: 34.626673 deg,
      new cmd heading: 34.061724 deg.

2021-08-13T17:59:04.730Z,1628877544.730 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:59:05.089Z,1628877545.089 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:59:05.089Z,1628877545.089 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:59:05.090Z,1628877545.090 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:59:05.091Z,1628877545.091 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:59:05.489Z,1628877545.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FDD,000,00361,185,80,80,77,FF
2021-08-13T17:59:05.489Z,1628877545.489 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:59:05.489Z,1628877545.489 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:59:05.491Z,1628877545.491 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:59:05.921Z,1628877545.921 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:59:06.297Z,1628877546.297 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F90,000,0033F,186,80,80,88,FF
2021-08-13T17:59:06.298Z,1628877546.298 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:59:06.364Z,1628877546.364 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T17:59:06.755Z,1628877546.755 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175906.01*53

2021-08-13T17:59:06.787Z,1628877546.787 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.360002 m, bearing: 44.932147 deg, deltaT: 4.425855 s, approachRate: -0.460928 m/s, LOS rate: 0.056487 deg/s, posRepo size: 4
2021-08-13T17:59:06.789Z,1628877546.789 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.360002 m,
      bearing: 44.932147 deg,
      approachRate: -0.460928 m/s,
      LOS rate: 0.056487 deg/s,
      cmd update: 0.169462 deg/s,
      cmd heading: 40.311989 deg,
      new cmd heading: 40.859180 deg.

2021-08-13T17:59:09.175Z,1628877549.175 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:59:09.533Z,1628877549.533 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:59:09.533Z,1628877549.533 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:59:09.533Z,1628877549.533 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:59:09.534Z,1628877549.534 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:59:09.949Z,1628877549.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F90,000,0033F,186,80,80,88,FF
2021-08-13T17:59:09.949Z,1628877549.949 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:59:09.949Z,1628877549.949 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:59:09.951Z,1628877549.951 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:59:10.357Z,1628877550.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:59:10.745Z,1628877550.745 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FFC,000,0031F,183,80,80,97,FF
2021-08-13T17:59:10.746Z,1628877550.746 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:59:10.818Z,1628877550.818 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T17:59:11.169Z,1628877551.169 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175910.47*56

2021-08-13T17:59:11.210Z,1628877551.210 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.439999 m, bearing: 43.677622 deg, deltaT: 4.453841 s, approachRate: -0.431089 m/s, LOS rate: -0.281673 deg/s, posRepo size: 4
2021-08-13T17:59:11.213Z,1628877551.213 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.439999 m,
      bearing: 43.677622 deg,
      approachRate: -0.431089 m/s,
      LOS rate: -0.281673 deg/s,
      cmd update: -0.845018 deg/s,
      cmd heading: 41.065013 deg,
      new cmd heading: 41.133818 deg.

2021-08-13T17:59:13.636Z,1628877553.636 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:59:13.973Z,1628877553.973 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:59:13.973Z,1628877553.973 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:59:13.973Z,1628877553.973 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:59:13.974Z,1628877553.974 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:59:14.382Z,1628877554.382 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FFC,000,0031F,183,80,80,97,FF
2021-08-13T17:59:14.383Z,1628877554.383 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:59:14.383Z,1628877554.383 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:59:14.385Z,1628877554.385 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:59:14.788Z,1628877554.788 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:59:15.185Z,1628877555.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FEF,000,00301,183,80,80,BA,FF
2021-08-13T17:59:15.186Z,1628877555.186 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:59:15.211Z,1628877555.211 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T17:59:15.625Z,1628877555.625 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175914.91*59

2021-08-13T17:59:15.758Z,1628877555.758 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.639998 m, bearing: 45.110521 deg, deltaT: 4.392642 s, approachRate: -0.409776 m/s, LOS rate: 0.326204 deg/s, posRepo size: 4
2021-08-13T17:59:15.764Z,1628877555.764 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.639998 m,
      bearing: 45.110521 deg,
      approachRate: -0.409776 m/s,
      LOS rate: 0.326204 deg/s,
      cmd update: 0.978613 deg/s,
      cmd heading: 37.344153 deg,
      new cmd heading: 36.879307 deg.

2021-08-13T17:59:17.724Z,1628877557.724 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:59:18.013Z,1628877558.013 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:59:18.013Z,1628877558.013 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:59:18.013Z,1628877558.013 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:59:18.014Z,1628877558.014 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:59:18.417Z,1628877558.417 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FEF,000,00301,183,80,80,BA,FF
2021-08-13T17:59:18.417Z,1628877558.417 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:59:18.417Z,1628877558.417 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:59:18.419Z,1628877558.419 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:59:18.834Z,1628877558.834 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:59:19.229Z,1628877559.229 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F8E,000,007DD,187,80,80,B9,FF
2021-08-13T17:59:19.229Z,1628877559.229 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:59:19.282Z,1628877559.282 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T17:59:19.650Z,1628877559.650 [Micromodem](INFO): Nmea in: $SNTTA,0.427355,0.427468,,,175918.95*58

2021-08-13T17:59:19.757Z,1628877559.757 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 83.279999 m, bearing: 48.129304 deg, deltaT: 4.071226 s, approachRate: 18.333544 m/s, LOS rate: 0.741492 deg/s, posRepo size: 4
2021-08-13T17:59:19.778Z,1628877559.778 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 83.279999 m,
      bearing: 48.129304 deg,
      approachRate: 18.333544 m/s,
      LOS rate: 0.741492 deg/s,
      cmd update: 2.224477 deg/s,
      cmd heading: 41.324363 deg,
      new cmd heading: 41.793972 deg.

2021-08-13T17:59:20.069Z,1628877560.069 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-13T17:59:20.069Z,1628877560.069 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T17:59:20.070Z,1628877560.070 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-13T17:59:20.070Z,1628877560.070 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-13T17:59:20.070Z,1628877560.070 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-13T17:59:20.071Z,1628877560.071 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-13T17:59:20.481Z,1628877560.481 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-13T17:59:20.482Z,1628877560.482 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T17:59:20.482Z,1628877560.482 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-13T17:59:20.482Z,1628877560.482 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T17:59:22.086Z,1628877562.086 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:59:22.457Z,1628877562.457 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:59:22.457Z,1628877562.457 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:59:22.457Z,1628877562.457 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:59:22.458Z,1628877562.458 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:59:22.861Z,1628877562.861 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F8E,000,007DD,187,80,80,B9,FF
2021-08-13T17:59:22.862Z,1628877562.862 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:59:22.862Z,1628877562.862 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:59:22.863Z,1628877562.863 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:59:23.268Z,1628877563.268 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:59:23.685Z,1628877563.685 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE9,000,002D7,183,80,80,97,FF
2021-08-13T17:59:23.686Z,1628877563.686 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:59:24.118Z,1628877564.118 [Micromodem](INFO): Nmea in: $SNTTA,0.053999,,,,175923.39*4E

2021-08-13T17:59:24.134Z,1628877564.134 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 6.119999 m, bearing: 47.552221 deg, deltaT: 4.507170 s, approachRate: -17.119390 m/s, LOS rate: -0.128037 deg/s, posRepo size: 4
2021-08-13T17:59:24.136Z,1628877564.136 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.119999 m,
      bearing: 47.552221 deg,
      approachRate: -17.119390 m/s,
      LOS rate: -0.128037 deg/s,
      cmd update: -0.384110 deg/s,
      cmd heading: 51.351040 deg,
      new cmd heading: 52.133994 deg.

2021-08-13T17:59:24.518Z,1628877564.518 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-13T17:59:24.518Z,1628877564.518 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T17:59:24.518Z,1628877564.518 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-13T17:59:24.519Z,1628877564.519 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-13T17:59:24.519Z,1628877564.519 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-13T17:59:24.519Z,1628877564.519 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-13T17:59:24.931Z,1628877564.931 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-13T17:59:24.931Z,1628877564.931 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T17:59:24.931Z,1628877564.931 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-13T17:59:24.931Z,1628877564.931 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T17:59:26.523Z,1628877566.523 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:59:26.909Z,1628877566.909 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:59:26.909Z,1628877566.909 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:59:26.909Z,1628877566.909 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:59:26.910Z,1628877566.910 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:59:27.305Z,1628877567.305 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE9,000,002D7,183,80,80,97,FF
2021-08-13T17:59:27.305Z,1628877567.305 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:59:27.305Z,1628877567.305 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:59:27.307Z,1628877567.307 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:59:27.737Z,1628877567.737 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:59:28.109Z,1628877568.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,03F,000,002C5,185,80,80,85,FF
2021-08-13T17:59:28.110Z,1628877568.110 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:59:28.135Z,1628877568.135 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T17:59:28.561Z,1628877568.561 [Micromodem](INFO): Nmea in: $SNTTA,0.006892,,,,175927.83*41

2021-08-13T17:59:28.584Z,1628877568.584 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.039999 m, bearing: 52.972844 deg, deltaT: 4.345745 s, approachRate: -0.248519 m/s, LOS rate: 1.247340 deg/s, posRepo size: 4
2021-08-13T17:59:28.586Z,1628877568.586 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.039999 m,
      bearing: 52.972844 deg,
      approachRate: -0.248519 m/s,
      LOS rate: 1.247340 deg/s,
      cmd update: 3.742021 deg/s,
      cmd heading: 49.680358 deg,
      new cmd heading: 49.506758 deg.

2021-08-13T17:59:30.978Z,1628877570.978 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:59:31.349Z,1628877571.349 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:59:31.349Z,1628877571.349 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:59:31.349Z,1628877571.349 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:59:31.350Z,1628877571.350 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:59:31.761Z,1628877571.761 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
03F,000,002C5,185,80,80,85,FF
2021-08-13T17:59:31.761Z,1628877571.761 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:59:31.761Z,1628877571.761 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:59:31.763Z,1628877571.763 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:59:32.156Z,1628877572.156 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:59:32.557Z,1628877572.557 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FEF,000,002BF,183,80,80,6C,FF
2021-08-13T17:59:32.557Z,1628877572.557 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:59:32.578Z,1628877572.578 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T17:59:32.989Z,1628877572.989 [Micromodem](INFO): Nmea in: $SNTTA,0.018479,,,,175932.28*42

2021-08-13T17:59:33.031Z,1628877573.031 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-08-13T17:59:33.031Z,1628877573.031 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-08-13T17:59:33.031Z,1628877573.031 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-08-13T17:59:33.031Z,1628877573.031 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-13T17:59:33.036Z,1628877573.036 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-08-13T17:59:33.037Z,1628877573.037 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.679999 m 
2021-08-13T17:59:33.037Z,1628877573.037 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-08-13T17:59:33.037Z,1628877573.037 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-08-13T17:59:33.037Z,1628877573.037 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-08-13T17:59:33.039Z,1628877573.039 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.679999 m, bearing: 55.958784 deg, deltaT: 4.442974 s, approachRate: -0.081027 m/s, LOS rate: 0.672059 deg/s, posRepo size: 4
2021-08-13T17:59:33.046Z,1628877573.046 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.679999 m,
      bearing: 55.958784 deg,
      approachRate: -0.081027 m/s,
      LOS rate: 0.672059 deg/s,
      cmd update: 2.016177 deg/s,
      cmd heading: 66.305860 deg,
      new cmd heading: 68.045541 deg.

2021-08-13T17:59:33.456Z,1628877573.456 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210813T175933: (41.552319, -70.708603)
2021-08-13T17:59:33.456Z,1628877573.456 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-08-13T17:59:33.456Z,1628877573.456 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-08-13T17:59:33.457Z,1628877573.457 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-13T17:59:33.457Z,1628877573.457 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-08-13T17:59:33.457Z,1628877573.457 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-13T17:59:33.457Z,1628877573.457 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-08-13T17:59:33.457Z,1628877573.457 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-08-13T17:59:33.457Z,1628877573.457 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-08-13T17:59:33.848Z,1628877573.848 [UniversalFixResidualReporter](INFO): Fix residual: 30.2 %DT, over the last 529.5 m. Residual distance 160.1 m at bearing 55.8 degrees. Fix at (41.5527, -70.7070) with 142.4 m made good.
2021-08-13T17:59:35.477Z,1628877575.477 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:59:35.801Z,1628877575.801 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:59:35.801Z,1628877575.801 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:59:35.801Z,1628877575.801 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:59:35.802Z,1628877575.802 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:59:36.197Z,1628877576.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FEF,000,002BF,183,80,80,6C,FF
2021-08-13T17:59:36.197Z,1628877576.197 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:59:36.197Z,1628877576.197 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:59:36.199Z,1628877576.199 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:59:36.613Z,1628877576.613 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:59:37.009Z,1628877577.009 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F8E,000,002C0,187,80,80,8B,FF
2021-08-13T17:59:37.009Z,1628877577.010 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:59:37.066Z,1628877577.066 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T17:59:37.465Z,1628877577.465 [Micromodem](INFO): Nmea in: $SNTTA,0.021849,,,,175936.72*4C

2021-08-13T17:59:37.516Z,1628877577.516 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.740000 m, bearing: 57.513963 deg, deltaT: 4.488232 s, approachRate: 0.013368 m/s, LOS rate: 0.346502 deg/s, posRepo size: 4
2021-08-13T17:59:37.518Z,1628877577.518 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.740000 m,
      bearing: 57.513963 deg,
      approachRate: 0.013368 m/s,
      LOS rate: 0.346502 deg/s,
      cmd update: 1.039505 deg/s,
      cmd heading: 75.355002 deg,
      new cmd heading: 76.268527 deg.

2021-08-13T17:59:39.868Z,1628877579.868 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:59:40.237Z,1628877580.237 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:59:40.237Z,1628877580.237 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:59:40.237Z,1628877580.237 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:59:40.238Z,1628877580.238 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:59:40.641Z,1628877580.641 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F8E,000,002C0,187,80,80,8B,FF
2021-08-13T17:59:40.641Z,1628877580.641 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:59:40.642Z,1628877580.642 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:59:40.643Z,1628877580.643 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:59:41.045Z,1628877581.045 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:59:41.477Z,1628877581.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,18D,000,002C2,185,80,80,5E,FF
2021-08-13T17:59:41.478Z,1628877581.478 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:59:41.595Z,1628877581.595 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T17:59:41.899Z,1628877581.899 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175941.16*56

2021-08-13T17:59:41.928Z,1628877581.928 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.860001 m, bearing: 32.703598 deg, deltaT: 4.528736 s, approachRate: 0.026498 m/s, LOS rate: -5.478430 deg/s, posRepo size: 4
2021-08-13T17:59:41.930Z,1628877581.930 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.860001 m,
      bearing: 32.703598 deg,
      approachRate: 0.026498 m/s,
      LOS rate: -5.478430 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 80.038381 deg,
      new cmd heading: 80.412364 deg.

2021-08-13T17:59:44.279Z,1628877584.279 [PowerOnly](INFO): Powering down loadControl
2021-08-13T17:59:44.314Z,1628877584.314 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:59:44.692Z,1628877584.692 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:59:44.693Z,1628877584.693 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:59:44.693Z,1628877584.693 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:59:44.694Z,1628877584.694 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:59:45.085Z,1628877585.085 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
18D,000,002C2,185,80,80,5E,FF
2021-08-13T17:59:45.085Z,1628877585.085 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:59:45.086Z,1628877585.086 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:59:45.087Z,1628877585.087 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:59:45.492Z,1628877585.492 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:59:45.898Z,1628877585.898 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,10E,000,002C2,186,80,80,5E,FF
2021-08-13T17:59:45.899Z,1628877585.899 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:59:45.961Z,1628877585.961 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T17:59:46.333Z,1628877586.333 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175945.61*52

2021-08-13T17:59:46.364Z,1628877586.364 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.860001 m, bearing: 36.039319 deg, deltaT: 4.366375 s, approachRate: 0.000000 m/s, LOS rate: 0.763957 deg/s, posRepo size: 4
2021-08-13T17:59:46.365Z,1628877586.365 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 4.86 m.
2021-08-13T17:59:46.367Z,1628877586.367 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.860001 m,
      bearing: 36.039319 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.763957 deg/s,
      cmd update: 2.291870 deg/s,
      cmd heading: 27.409739 deg,
      new cmd heading: 22.491443 deg.

2021-08-13T17:59:48.790Z,1628877588.790 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:59:49.141Z,1628877589.141 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:59:49.141Z,1628877589.141 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:59:49.141Z,1628877589.141 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:59:49.142Z,1628877589.142 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:59:49.557Z,1628877589.557 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
10E,000,002C2,186,80,80,5E,FF
2021-08-13T17:59:49.557Z,1628877589.557 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:59:49.557Z,1628877589.557 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:59:49.559Z,1628877589.559 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:59:49.953Z,1628877589.953 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:59:50.345Z,1628877590.345 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,192,000,002C2,186,80,80,7A,FF
2021-08-13T17:59:50.346Z,1628877590.346 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:59:50.366Z,1628877590.366 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T17:59:50.785Z,1628877590.785 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175950.08*59

2021-08-13T17:59:50.835Z,1628877590.835 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.860001 m, bearing: 26.156981 deg, deltaT: 4.405215 s, approachRate: 0.000000 m/s, LOS rate: -2.243327 deg/s, posRepo size: 4
2021-08-13T17:59:50.835Z,1628877590.835 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](IMPORTANT): Docking sequence complete at range 4.86 m. Cable present.
2021-08-13T17:59:50.843Z,1628877590.843 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture] Stopped
2021-08-13T17:59:50.843Z,1628877590.843 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2021-08-13T17:59:50.848Z,1628877590.848 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:G] Running Loop=1
2021-08-13T17:59:51.138Z,1628877591.138 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:G](INFO): Docked. Homing sequence complete.
2021-08-13T17:59:51.138Z,1628877591.138 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:G] Stopped
2021-08-13T17:59:51.138Z,1628877591.138 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:H] Running Loop=1
2021-08-13T17:59:51.602Z,1628877591.602 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:H] Stopped
2021-08-13T17:59:51.603Z,1628877591.603 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-13T17:59:51.603Z,1628877591.603 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2021-08-13T17:59:51.603Z,1628877591.603 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-13T17:59:51.603Z,1628877591.603 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Stopped
2021-08-13T17:59:51.603Z,1628877591.603 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Stopped
2021-08-13T17:59:51.603Z,1628877591.603 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2021-08-13T17:59:51.604Z,1628877591.604 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-13T17:59:51.974Z,1628877591.974 [lineCaptureDepth:UpdateNumPings_Terminal] Stopped
2021-08-13T17:59:51.974Z,1628877591.974 [lineCaptureDepth:UpdateNumPings_Terminal](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal
2021-08-13T17:59:51.974Z,1628877591.974 [lineCaptureDepth:UpdateNumPings_NotTerminal] Running Loop=1
2021-08-13T17:59:51.974Z,1628877591.974 [lineCaptureDepth:UpdateNumPings_NotTerminal](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_NotTerminal
2021-08-13T17:59:51.974Z,1628877591.974 [lineCaptureDepth:UpdateNumPings_NotTerminal:A] Running Loop=1
2021-08-13T17:59:51.975Z,1628877591.975 [lineCaptureDepth:UpdateNumPings_NotTerminal] Running Loop=1
2021-08-13T17:59:51.975Z,1628877591.975 [lineCaptureDepth:UpdateNumPings_NotTerminal:A](INFO): No longer in Terminal. Resuming normal ranging with 1.000000 count pings.
2021-08-13T17:59:51.975Z,1628877591.975 [lineCaptureDepth:UpdateNumPings_NotTerminal:A] Stopped
2021-08-13T17:59:51.975Z,1628877591.975 [lineCaptureDepth:UpdateNumPings_NotTerminal:B] Running Loop=1
2021-08-13T17:59:51.980Z,1628877591.980 [lineCaptureDepth:LineCapture:HomingSequence] Stopped
2021-08-13T17:59:51.980Z,1628877591.980 [lineCaptureDepth:LineCapture:HomingSequence](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence
2021-08-13T17:59:51.980Z,1628877591.980 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Stopped
2021-08-13T17:59:51.980Z,1628877591.980 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-08-13T17:59:51.980Z,1628877591.980 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Stopped
2021-08-13T17:59:51.981Z,1628877591.981 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-13T17:59:51.981Z,1628877591.981 [lineCaptureDepth:LineCapture:K.Wait] Running Loop=1
2021-08-13T17:59:51.981Z,1628877591.981 [lineCaptureDepth:LineCapture:K.Wait](DEBUG): Initialize Wait Component.
2021-08-13T17:59:52.362Z,1628877592.362 [lineCaptureDepth:UpdateNumPings_NotTerminal:B] Stopped
2021-08-13T17:59:52.362Z,1628877592.362 [lineCaptureDepth:UpdateNumPings_NotTerminal](INFO): Completed lineCaptureDepth:UpdateNumPings_NotTerminal
2021-08-13T17:59:53.180Z,1628877593.180 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:59:53.557Z,1628877593.557 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:59:53.557Z,1628877593.557 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:59:53.557Z,1628877593.557 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:59:53.558Z,1628877593.558 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:59:53.961Z,1628877593.961 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
192,000,002C2,186,80,80,7A,FF
2021-08-13T17:59:53.961Z,1628877593.961 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:59:53.962Z,1628877593.962 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:59:53.965Z,1628877593.965 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:59:54.348Z,1628877594.348 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:59:54.775Z,1628877594.775 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,147,000,002C0,185,80,80,89,FF
2021-08-13T17:59:54.775Z,1628877594.775 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:59:55.185Z,1628877595.185 [Micromodem](INFO): Nmea in: $SNTTA,0.006888,,,,175954.49*48

2021-08-13T17:59:55.645Z,1628877595.645 [lineCaptureDepth:LineCapture:K.Wait](INFO): Done Waiting.
2021-08-13T17:59:55.645Z,1628877595.645 [lineCaptureDepth:LineCapture:K.Wait] Stopped
2021-08-13T17:59:55.646Z,1628877595.646 [lineCaptureDepth:LineCapture:K.Wait](DEBUG): Uninitialize Wait Component.
2021-08-13T17:59:55.646Z,1628877595.646 [lineCaptureDepth:LineCapture:L] Running Loop=1
2021-08-13T17:59:55.995Z,1628877595.995 [lineCaptureDepth:LineCapture:L](INFO): GuidanceMode 0.000000 count 
2021-08-13T17:59:55.995Z,1628877595.995 [lineCaptureDepth:LineCapture:L] Stopped
2021-08-13T17:59:56.009Z,1628877596.009 [lineCaptureDepth:LineCapture](INFO): Completed lineCaptureDepth:LineCapture
2021-08-13T17:59:56.009Z,1628877596.009 [lineCaptureDepth:LineCapture] Stopped
2021-08-13T17:59:56.010Z,1628877596.010 [lineCaptureDepth:LineCapture](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture
2021-08-13T17:59:56.010Z,1628877596.010 [lineCaptureDepth:LineCapture:StandardEnvelopes] Stopped
2021-08-13T17:59:56.010Z,1628877596.010 [lineCaptureDepth:LineCapture:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:StandardEnvelopes
2021-08-13T17:59:56.010Z,1628877596.010 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2021-08-13T17:59:56.010Z,1628877596.010 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2021-08-13T17:59:56.010Z,1628877596.010 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Stopped
2021-08-13T17:59:56.010Z,1628877596.010 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2021-08-13T17:59:56.010Z,1628877596.010 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2021-08-13T17:59:56.010Z,1628877596.010 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2021-08-13T17:59:56.010Z,1628877596.010 [lineCaptureDepth:LineCapture:G] Stopped
2021-08-13T17:59:56.010Z,1628877596.010 [lineCaptureDepth:LineCapture:H] Stopped
2021-08-13T17:59:56.011Z,1628877596.011 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2021-08-13T17:59:56.011Z,1628877596.011 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-13T17:59:56.011Z,1628877596.011 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2021-08-13T17:59:56.011Z,1628877596.011 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2021-08-13T17:59:56.011Z,1628877596.011 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2021-08-13T17:59:56.011Z,1628877596.011 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2021-08-13T17:59:56.011Z,1628877596.011 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-08-13T17:59:56.430Z,1628877596.430 [lineCaptureDepth:Lap:B](INFO): Completed lineCaptureDepth:Lap:B
2021-08-13T17:59:56.430Z,1628877596.430 [lineCaptureDepth:Lap:B] Stopped
2021-08-13T17:59:56.431Z,1628877596.431 [lineCaptureDepth:Lap:B](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap:B
2021-08-13T17:59:56.431Z,1628877596.431 [lineCaptureDepth:Lap:C] Running Loop=1
2021-08-13T17:59:56.844Z,1628877596.844 [lineCaptureDepth:Lap:C] Stopped
2021-08-13T17:59:56.844Z,1628877596.844 [lineCaptureDepth:Lap:D] Running Loop=1
2021-08-13T17:59:57.234Z,1628877597.234 [lineCaptureDepth:Lap:D](INFO): Mode 0.000000 count 
2021-08-13T17:59:57.234Z,1628877597.234 [lineCaptureDepth:Lap:D] Stopped
2021-08-13T17:59:57.234Z,1628877597.234 [lineCaptureDepth:Lap:Docked] Running Loop=1
2021-08-13T17:59:57.234Z,1628877597.234 [lineCaptureDepth:Lap:Docked](DEBUG): Aggregate::initialize lineCaptureDepth:Lap:Docked
2021-08-13T17:59:57.234Z,1628877597.234 [lineCaptureDepth:Lap:Docked:A] Running Loop=1
2021-08-13T17:59:57.633Z,1628877597.633 [lineCaptureDepth:Lap:Docked:A](INFO): Waiting on dock for 5.000000 min 
2021-08-13T17:59:57.634Z,1628877597.634 [lineCaptureDepth:Lap:Docked:A] Stopped
2021-08-13T17:59:57.634Z,1628877597.634 [lineCaptureDepth:Lap:Docked:Docked.Docked] Running Loop=1
2021-08-13T17:59:57.634Z,1628877597.634 [lineCaptureDepth:Lap:Docked:Docked.Docked](DEBUG): Initialize.
2021-08-13T17:59:57.634Z,1628877597.634 [lineCaptureDepth:Lap:Docked:Docked.Docked](DEBUG): Initializing internal variables to default values.
2021-08-13T17:59:57.637Z,1628877597.637 [lineCaptureDepth:Lap:Docked:Docked.Docked](INFO): Maintaining depth of 6.000000 m.
2021-08-13T17:59:57.638Z,1628877597.638 [lineCaptureDepth:Lap:Docked:Docked.Docked](INFO): Maintaining pitch angle of 20.000000 degree.
2021-08-13T17:59:57.640Z,1628877597.640 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T17:59:57.997Z,1628877597.997 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T17:59:57.997Z,1628877597.997 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T17:59:57.998Z,1628877597.998 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T17:59:57.999Z,1628877597.999 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T17:59:58.389Z,1628877598.389 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
147,000,002C0,185,80,80,89,FF
2021-08-13T17:59:58.389Z,1628877598.389 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T17:59:58.389Z,1628877598.389 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T17:59:58.391Z,1628877598.391 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T17:59:58.903Z,1628877598.903 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T17:59:59.231Z,1628877599.231 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,120,000,002C0,187,80,80,67,FF
2021-08-13T17:59:59.231Z,1628877599.231 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T17:59:59.670Z,1628877599.670 [Micromodem](INFO): Nmea in: $SNTTA,0.006461,,,,175958.91*4A

2021-08-13T18:00:02.090Z,1628877602.090 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:00:02.457Z,1628877602.457 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:00:02.457Z,1628877602.457 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:00:02.457Z,1628877602.457 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:00:02.458Z,1628877602.458 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:00:02.878Z,1628877602.878 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
120,000,002C0,187,80,80,67,FF
2021-08-13T18:00:02.878Z,1628877602.878 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:00:02.879Z,1628877602.879 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:00:02.882Z,1628877602.882 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:00:03.277Z,1628877603.277 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:00:03.673Z,1628877603.673 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,140,000,002C0,185,80,80,81,FF
2021-08-13T18:00:03.674Z,1628877603.674 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:00:04.101Z,1628877604.101 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180003.41*51

2021-08-13T18:00:06.532Z,1628877606.532 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:00:06.902Z,1628877606.902 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:00:06.902Z,1628877606.902 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:00:06.902Z,1628877606.902 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:00:06.903Z,1628877606.903 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:00:07.305Z,1628877607.305 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
140,000,002C0,185,80,80,81,FF
2021-08-13T18:00:07.305Z,1628877607.305 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:00:07.305Z,1628877607.305 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:00:07.307Z,1628877607.307 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:00:07.741Z,1628877607.741 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:00:08.113Z,1628877608.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0DC,000,002C0,186,80,80,40,FF
2021-08-13T18:00:08.114Z,1628877608.114 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:00:08.554Z,1628877608.554 [Micromodem](INFO): Nmea in: $SNTTA,0.006329,,,,180007.83*4B

2021-08-13T18:00:10.941Z,1628877610.941 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:00:11.501Z,1628877611.501 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:00:11.501Z,1628877611.501 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:00:11.501Z,1628877611.501 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:00:11.502Z,1628877611.502 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:00:11.761Z,1628877611.761 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0DC,000,002C0,186,80,80,40,FF
2021-08-13T18:00:11.761Z,1628877611.761 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:00:11.761Z,1628877611.761 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:00:11.763Z,1628877611.763 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:00:12.173Z,1628877612.173 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:00:12.574Z,1628877612.574 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F6E,000,002BE,187,80,80,73,FF
2021-08-13T18:00:12.575Z,1628877612.575 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:00:13.005Z,1628877613.005 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180012.29*5F

2021-08-13T18:00:15.454Z,1628877615.454 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:00:15.801Z,1628877615.801 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:00:15.801Z,1628877615.801 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:00:15.801Z,1628877615.801 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:00:15.802Z,1628877615.802 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:00:16.198Z,1628877616.198 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F6E,000,002BE,187,80,80,73,FF
2021-08-13T18:00:16.198Z,1628877616.198 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:00:16.199Z,1628877616.199 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:00:16.200Z,1628877616.200 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:00:16.609Z,1628877616.609 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:00:17.022Z,1628877617.022 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA8,000,002C2,185,80,80,86,FF
2021-08-13T18:00:17.022Z,1628877617.022 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:00:17.485Z,1628877617.485 [Micromodem](INFO): Nmea in: $SNTTA,0.028025,,,,180016.73*47

2021-08-13T18:00:19.845Z,1628877619.845 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:00:20.251Z,1628877620.251 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:00:20.251Z,1628877620.251 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:00:20.251Z,1628877620.251 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:00:20.252Z,1628877620.252 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:00:20.618Z,1628877620.618 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EA8,000,002C2,185,80,80,86,FF
2021-08-13T18:00:20.618Z,1628877620.618 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:00:20.619Z,1628877620.619 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:00:20.621Z,1628877620.621 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:00:21.041Z,1628877621.041 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:00:21.549Z,1628877621.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E9B,000,002C3,186,80,80,8A,FF
2021-08-13T18:00:21.550Z,1628877621.550 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:00:21.878Z,1628877621.878 [Micromodem](INFO): Nmea in: $SNTTA,0.024237,,,,180021.14*4F

2021-08-13T18:00:24.307Z,1628877624.307 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:00:24.705Z,1628877624.705 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:00:24.705Z,1628877624.705 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:00:24.705Z,1628877624.705 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:00:24.706Z,1628877624.706 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:00:25.093Z,1628877625.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E9B,000,002C3,186,80,80,8A,FF
2021-08-13T18:00:25.093Z,1628877625.093 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:00:25.093Z,1628877625.093 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:00:25.095Z,1628877625.095 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:00:25.501Z,1628877625.501 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:00:25.917Z,1628877625.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E1E,000,002C3,186,80,80,94,FF
2021-08-13T18:00:25.917Z,1628877625.917 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:00:26.354Z,1628877626.354 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180025.62*54

2021-08-13T18:00:28.777Z,1628877628.777 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:00:29.133Z,1628877629.133 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:00:29.133Z,1628877629.133 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:00:29.133Z,1628877629.133 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:00:29.134Z,1628877629.134 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:00:29.537Z,1628877629.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E1E,000,002C3,186,80,80,94,FF
2021-08-13T18:00:29.537Z,1628877629.537 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:00:29.537Z,1628877629.537 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:00:29.539Z,1628877629.539 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:00:29.923Z,1628877629.923 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:00:30.351Z,1628877630.351 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E1C,000,002C2,186,80,80,8A,FF
2021-08-13T18:00:30.351Z,1628877630.351 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:00:30.753Z,1628877630.753 [Micromodem](INFO): Nmea in: $SNTTA,0.033361,,,,180030.06*48

2021-08-13T18:00:33.189Z,1628877633.189 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:00:33.573Z,1628877633.573 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:00:33.573Z,1628877633.573 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:00:33.573Z,1628877633.573 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:00:33.574Z,1628877633.574 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:00:33.986Z,1628877633.986 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E1C,000,002C2,186,80,80,8A,FF
2021-08-13T18:00:33.986Z,1628877633.986 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:00:33.986Z,1628877633.986 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:00:33.988Z,1628877633.988 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:00:34.397Z,1628877634.397 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:00:34.797Z,1628877634.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DD2,000,002C3,188,80,80,8F,FF
2021-08-13T18:00:34.798Z,1628877634.798 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:00:35.230Z,1628877635.230 [Micromodem](INFO): Nmea in: $SNTTA,0.159528,,,,180034.51*48

2021-08-13T18:00:37.699Z,1628877637.699 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:00:38.025Z,1628877638.025 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:00:38.025Z,1628877638.025 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:00:38.025Z,1628877638.025 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:00:38.026Z,1628877638.026 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:00:38.425Z,1628877638.425 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DD2,000,002C3,188,80,80,8F,FF
2021-08-13T18:00:38.425Z,1628877638.425 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:00:38.425Z,1628877638.425 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:00:38.427Z,1628877638.427 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:00:38.832Z,1628877638.832 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:00:39.242Z,1628877639.242 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E2D,000,002C4,186,80,80,94,FF
2021-08-13T18:00:39.243Z,1628877639.243 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:00:39.701Z,1628877639.701 [Micromodem](INFO): Nmea in: $SNTTA,,0.427981,,,180038.95*4F

2021-08-13T18:00:41.784Z,1628877641.784 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:00:42.061Z,1628877642.061 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:00:42.061Z,1628877642.061 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:00:42.061Z,1628877642.061 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:00:42.062Z,1628877642.062 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:00:42.474Z,1628877642.474 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E2D,000,002C4,186,80,80,94,FF
2021-08-13T18:00:42.474Z,1628877642.474 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:00:42.474Z,1628877642.474 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:00:42.476Z,1628877642.476 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:00:42.890Z,1628877642.890 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:00:43.273Z,1628877643.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D81,000,002C3,18A,80,80,86,FF
2021-08-13T18:00:43.274Z,1628877643.274 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:00:43.713Z,1628877643.713 [Micromodem](INFO): Nmea in: $SNTTA,0.025367,0.361547,,,180043.00*57

2021-08-13T18:00:45.796Z,1628877645.796 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:00:46.109Z,1628877646.109 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:00:46.109Z,1628877646.109 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:00:46.109Z,1628877646.109 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:00:46.110Z,1628877646.110 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:00:46.509Z,1628877646.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D81,000,002C3,18A,80,80,86,FF
2021-08-13T18:00:46.510Z,1628877646.510 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:00:46.510Z,1628877646.510 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:00:46.511Z,1628877646.511 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:00:46.935Z,1628877646.935 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:00:47.317Z,1628877647.317 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D3E,000,002C4,189,80,80,6C,FF
2021-08-13T18:00:47.318Z,1628877647.318 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:00:47.762Z,1628877647.762 [Micromodem](INFO): Nmea in: $SNTTA,0.030071,0.346489,,,180047.03*56

2021-08-13T18:00:50.141Z,1628877650.141 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:00:50.545Z,1628877650.545 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:00:50.545Z,1628877650.545 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:00:50.545Z,1628877650.545 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:00:50.546Z,1628877650.546 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:00:50.925Z,1628877650.925 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D3E,000,002C4,189,80,80,6C,FF
2021-08-13T18:00:50.925Z,1628877650.925 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:00:50.925Z,1628877650.925 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:00:50.928Z,1628877650.928 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:00:51.333Z,1628877651.333 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:00:51.837Z,1628877651.837 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E47,000,002C2,186,80,80,7A,FF
2021-08-13T18:00:51.838Z,1628877651.838 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:00:52.185Z,1628877652.185 [Micromodem](INFO): Nmea in: $SNTTA,0.023224,,,,180051.45*49

2021-08-13T18:00:54.611Z,1628877654.611 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:00:54.990Z,1628877654.990 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:00:54.990Z,1628877654.990 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:00:54.990Z,1628877654.990 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:00:54.991Z,1628877654.991 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:00:55.409Z,1628877655.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E47,000,002C2,186,80,80,7A,FF
2021-08-13T18:00:55.409Z,1628877655.409 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:00:55.410Z,1628877655.410 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:00:55.420Z,1628877655.420 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:00:55.804Z,1628877655.804 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:00:56.209Z,1628877656.209 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E04,000,002C1,186,80,80,77,FF
2021-08-13T18:00:56.209Z,1628877656.209 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:00:56.637Z,1628877656.637 [Micromodem](INFO): Nmea in: $SNTTA,0.024929,,,,180055.94*40

2021-08-13T18:00:59.089Z,1628877659.089 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:00:59.473Z,1628877659.473 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:00:59.473Z,1628877659.473 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:00:59.473Z,1628877659.473 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:00:59.474Z,1628877659.474 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:00:59.841Z,1628877659.841 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E04,000,002C1,186,80,80,77,FF
2021-08-13T18:00:59.841Z,1628877659.841 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:00:59.842Z,1628877659.842 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:00:59.896Z,1628877659.896 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:01:00.021Z,1628877660.021 [CTD_Seabird](ERROR): Failed to parse device response: .98
2021-08-13T18:01:00.217Z,1628877660.217 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:01:00.645Z,1628877660.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DD2,000,002C3,189,80,80,76,FF
2021-08-13T18:01:00.646Z,1628877660.646 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:01:01.457Z,1628877661.457 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180100.44*56

2021-08-13T18:01:03.528Z,1628877663.528 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:01:03.878Z,1628877663.878 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:01:03.878Z,1628877663.878 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:01:03.878Z,1628877663.878 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:01:03.879Z,1628877663.879 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:01:04.289Z,1628877664.289 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DD2,000,002C3,189,80,80,76,FF
2021-08-13T18:01:04.289Z,1628877664.289 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:01:04.289Z,1628877664.289 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:01:04.291Z,1628877664.291 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:01:04.712Z,1628877664.712 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:01:05.093Z,1628877665.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E4C,000,002C1,186,80,80,71,FF
2021-08-13T18:01:05.094Z,1628877665.094 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:01:05.525Z,1628877665.525 [Micromodem](INFO): Nmea in: $SNTTA,0.006372,,,,180104.82*46

2021-08-13T18:01:07.961Z,1628877667.961 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:01:08.328Z,1628877668.328 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:01:08.329Z,1628877668.329 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:01:08.329Z,1628877668.329 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:01:08.330Z,1628877668.330 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:01:08.741Z,1628877668.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E4C,000,002C1,186,80,80,71,FF
2021-08-13T18:01:08.741Z,1628877668.741 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:01:08.741Z,1628877668.741 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:01:08.743Z,1628877668.743 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:01:09.136Z,1628877669.136 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:01:09.543Z,1628877669.543 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E4B,000,002C2,186,80,80,72,FF
2021-08-13T18:01:09.543Z,1628877669.543 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:01:09.977Z,1628877669.977 [Micromodem](INFO): Nmea in: $SNTTA,0.268786,,,,180109.27*41

2021-08-13T18:01:12.113Z,1628877672.113 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:01:12.366Z,1628877672.366 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:01:12.366Z,1628877672.366 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:01:12.366Z,1628877672.366 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:01:12.367Z,1628877672.367 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:01:12.765Z,1628877672.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E4B,000,002C2,186,80,80,72,FF
2021-08-13T18:01:12.765Z,1628877672.765 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:01:12.765Z,1628877672.765 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:01:12.788Z,1628877672.788 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:01:13.172Z,1628877673.172 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:01:13.577Z,1628877673.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E2B,000,002C1,186,80,80,74,FF
2021-08-13T18:01:13.578Z,1628877673.578 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:01:13.581Z,1628877673.581 [Micromodem](INFO): Nmea in: $SNTTA,0.006739,0.206543,,,180113.31*5B

2021-08-13T18:01:16.415Z,1628877676.415 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:01:16.809Z,1628877676.809 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:01:16.809Z,1628877676.809 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:01:16.809Z,1628877676.809 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:01:16.810Z,1628877676.810 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:01:17.221Z,1628877677.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E2B,000,002C1,186,80,80,74,FF
2021-08-13T18:01:17.221Z,1628877677.221 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:01:17.222Z,1628877677.222 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:01:17.223Z,1628877677.223 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:01:17.616Z,1628877677.616 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:01:18.021Z,1628877678.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E51,000,002C1,186,80,80,70,FF
2021-08-13T18:01:18.021Z,1628877678.021 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:01:18.457Z,1628877678.457 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180117.75*52

2021-08-13T18:01:20.891Z,1628877680.891 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:01:21.216Z,1628877681.216 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:01:21.217Z,1628877681.217 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:01:21.217Z,1628877681.217 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:01:21.218Z,1628877681.218 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:01:21.621Z,1628877681.621 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E51,000,002C1,186,80,80,70,FF
2021-08-13T18:01:21.621Z,1628877681.621 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:01:21.621Z,1628877681.621 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:01:21.623Z,1628877681.623 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:01:22.134Z,1628877682.134 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:01:22.461Z,1628877682.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E53,000,002C3,186,80,80,6D,FF
2021-08-13T18:01:22.462Z,1628877682.462 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:01:22.906Z,1628877682.906 [Micromodem](INFO): Nmea in: $SNTTA,,0.066496,,,180122.14*46

2021-08-13T18:01:25.324Z,1628877685.324 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:01:25.724Z,1628877685.724 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:01:25.724Z,1628877685.724 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:01:25.725Z,1628877685.725 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:01:25.725Z,1628877685.725 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:01:26.097Z,1628877686.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E53,000,002C3,186,80,80,6D,FF
2021-08-13T18:01:26.097Z,1628877686.097 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:01:26.097Z,1628877686.097 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:01:26.099Z,1628877686.099 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:01:26.509Z,1628877686.509 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:01:26.913Z,1628877686.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E81,000,002BF,186,80,80,5F,FF
2021-08-13T18:01:26.914Z,1628877686.914 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:01:27.350Z,1628877687.350 [Micromodem](INFO): Nmea in: $SNTTA,0.005181,,,,180126.62*45

2021-08-13T18:01:29.795Z,1628877689.795 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:01:30.145Z,1628877690.145 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:01:30.145Z,1628877690.145 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:01:30.145Z,1628877690.145 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:01:30.146Z,1628877690.146 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:01:30.509Z,1628877690.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E81,000,002BF,186,80,80,5F,FF
2021-08-13T18:01:30.509Z,1628877690.509 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:01:30.509Z,1628877690.509 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:01:30.511Z,1628877690.511 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:01:30.963Z,1628877690.963 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:01:31.317Z,1628877691.317 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E6B,000,002C1,185,80,80,6D,FF
2021-08-13T18:01:31.318Z,1628877691.318 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:01:31.753Z,1628877691.753 [Micromodem](INFO): Nmea in: $SNTTA,0.006438,,,,180131.04*47

2021-08-13T18:01:34.206Z,1628877694.206 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:01:34.581Z,1628877694.581 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:01:34.581Z,1628877694.581 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:01:34.581Z,1628877694.581 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:01:34.582Z,1628877694.582 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:01:34.989Z,1628877694.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E6B,000,002C1,185,80,80,6D,FF
2021-08-13T18:01:34.989Z,1628877694.989 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:01:34.989Z,1628877694.989 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:01:34.991Z,1628877694.991 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:01:35.429Z,1628877695.429 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:01:35.797Z,1628877695.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EBA,000,002C2,186,80,80,6E,FF
2021-08-13T18:01:35.798Z,1628877695.798 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:01:36.245Z,1628877696.245 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180135.51*54

2021-08-13T18:01:38.661Z,1628877698.661 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:01:39.037Z,1628877699.037 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:01:39.037Z,1628877699.037 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:01:39.037Z,1628877699.037 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:01:39.038Z,1628877699.038 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:01:39.469Z,1628877699.469 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EBA,000,002C2,186,80,80,6E,FF
2021-08-13T18:01:39.469Z,1628877699.469 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:01:39.469Z,1628877699.469 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:01:39.471Z,1628877699.471 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:01:39.841Z,1628877699.841 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:01:40.244Z,1628877700.244 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EAE,000,002C4,186,80,80,70,FF
2021-08-13T18:01:40.245Z,1628877700.245 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:01:41.061Z,1628877701.061 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180140.00*52

2021-08-13T18:01:43.092Z,1628877703.092 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:01:43.488Z,1628877703.488 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:01:43.489Z,1628877703.489 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:01:43.489Z,1628877703.489 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:01:43.490Z,1628877703.490 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:01:43.886Z,1628877703.886 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EAE,000,002C4,186,80,80,70,FF
2021-08-13T18:01:43.886Z,1628877703.886 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:01:43.886Z,1628877703.886 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:01:43.888Z,1628877703.888 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:01:44.291Z,1628877704.291 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:01:44.705Z,1628877704.705 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA1,000,002C3,186,80,80,76,FF
2021-08-13T18:01:44.706Z,1628877704.706 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:01:45.118Z,1628877705.118 [Micromodem](INFO): Nmea in: $SNTTA,0.005319,,,,180144.41*43

2021-08-13T18:01:47.577Z,1628877707.577 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:01:47.961Z,1628877707.961 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:01:47.961Z,1628877707.961 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:01:47.961Z,1628877707.961 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:01:47.962Z,1628877707.962 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:01:48.321Z,1628877708.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EA1,000,002C3,186,80,80,76,FF
2021-08-13T18:01:48.321Z,1628877708.321 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:01:48.321Z,1628877708.321 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:01:48.323Z,1628877708.323 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:01:48.743Z,1628877708.743 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:01:49.134Z,1628877709.134 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E5D,000,002C1,186,80,80,67,FF
2021-08-13T18:01:49.134Z,1628877709.134 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:01:49.573Z,1628877709.573 [Micromodem](INFO): Nmea in: $SNTTA,0.479255,0.479273,,,180148.84*52

2021-08-13T18:01:51.966Z,1628877711.966 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:01:52.433Z,1628877712.433 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:01:52.433Z,1628877712.433 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:01:52.433Z,1628877712.433 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:01:52.434Z,1628877712.434 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:01:52.761Z,1628877712.761 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E5D,000,002C1,186,80,80,67,FF
2021-08-13T18:01:52.762Z,1628877712.762 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:01:52.762Z,1628877712.762 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:01:52.780Z,1628877712.780 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:01:52.847Z,1628877712.847 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T18:01:53.179Z,1628877713.179 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:01:53.994Z,1628877713.994 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180153.30*53

2021-08-13T18:01:54.813Z,1628877714.813 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:01:56.397Z,1628877716.397 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
1,186,80,80,67,FF
2021-08-13T18:01:56.397Z,1628877716.397 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
1,186,80,80,67,FF
2021-08-13T18:01:56.397Z,1628877716.397 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T18:01:57.689Z,1628877717.689 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:01:58.022Z,1628877718.022 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:01:58.022Z,1628877718.022 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:01:58.022Z,1628877718.022 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:01:58.023Z,1628877718.023 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:01:58.417Z,1628877718.417 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
1,186,80,80,67,FF
2021-08-13T18:01:58.417Z,1628877718.417 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:01:58.417Z,1628877718.417 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:01:58.419Z,1628877718.419 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:01:58.845Z,1628877718.845 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:01:59.229Z,1628877719.229 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3D2,000,002C0,18A,80,80,5A,FF
2021-08-13T18:01:59.230Z,1628877719.230 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:02:02.041Z,1628877722.041 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:02:02.534Z,1628877722.534 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:02:02.534Z,1628877722.534 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:02:02.534Z,1628877722.534 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:02:02.535Z,1628877722.535 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:02:02.866Z,1628877722.866 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3D2,000,002C0,18A,80,80,5A,FF
2021-08-13T18:02:02.866Z,1628877722.866 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:02:02.866Z,1628877722.866 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:02:02.868Z,1628877722.868 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:02:03.273Z,1628877723.273 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:02:03.677Z,1628877723.677 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3A1,000,00CC0,18A,80,80,5A,FF
2021-08-13T18:02:03.678Z,1628877723.678 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:02:04.105Z,1628877724.105 [Micromodem](INFO): Nmea in: $SNTTA,0.142435,,,,180203.40*49

2021-08-13T18:02:06.510Z,1628877726.510 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:02:06.902Z,1628877726.902 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:02:06.902Z,1628877726.902 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:02:06.902Z,1628877726.902 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:02:06.903Z,1628877726.903 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:02:07.313Z,1628877727.313 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3A1,000,00CC0,18A,80,80,5A,FF
2021-08-13T18:02:07.314Z,1628877727.314 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:02:07.314Z,1628877727.314 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:02:07.320Z,1628877727.320 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:02:07.741Z,1628877727.741 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:02:08.117Z,1628877728.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,474,000,002BF,18A,80,80,59,FF
2021-08-13T18:02:08.117Z,1628877728.117 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:02:08.545Z,1628877728.545 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180207.84*5E

2021-08-13T18:02:10.939Z,1628877730.939 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:02:11.345Z,1628877731.345 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:02:11.345Z,1628877731.345 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:02:11.345Z,1628877731.345 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:02:11.346Z,1628877731.346 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:02:11.717Z,1628877731.717 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
474,000,002BF,18A,80,80,59,FF
2021-08-13T18:02:11.717Z,1628877731.717 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:02:11.718Z,1628877731.718 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:02:11.719Z,1628877731.719 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:02:12.135Z,1628877732.135 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:02:12.629Z,1628877732.629 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EFB,000,002BE,186,80,80,7F,FF
2021-08-13T18:02:12.629Z,1628877732.629 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:02:15.452Z,1628877735.452 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:02:15.789Z,1628877735.789 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:02:15.789Z,1628877735.789 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:02:15.789Z,1628877735.789 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:02:15.790Z,1628877735.790 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:02:16.202Z,1628877736.202 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EFB,000,002BE,186,80,80,7F,FF
2021-08-13T18:02:16.202Z,1628877736.202 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:02:16.202Z,1628877736.202 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:02:16.204Z,1628877736.204 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:02:16.601Z,1628877736.601 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:02:17.009Z,1628877737.009 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3EF,000,002BD,18A,80,80,60,FF
2021-08-13T18:02:17.010Z,1628877737.010 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:02:17.481Z,1628877737.481 [Micromodem](INFO): Nmea in: $SNTTA,0.038482,,,,180216.73*4D

2021-08-13T18:02:19.870Z,1628877739.870 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:02:20.241Z,1628877740.241 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:02:20.241Z,1628877740.241 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:02:20.241Z,1628877740.241 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:02:20.242Z,1628877740.242 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:02:20.650Z,1628877740.650 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3EF,000,002BD,18A,80,80,60,FF
2021-08-13T18:02:20.651Z,1628877740.651 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:02:20.651Z,1628877740.651 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:02:20.658Z,1628877740.658 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:02:21.018Z,1628877741.018 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:02:21.481Z,1628877741.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EC2,000,002C2,186,80,80,66,FF
2021-08-13T18:02:21.482Z,1628877741.482 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:02:21.852Z,1628877741.852 [Micromodem](INFO): Nmea in: $SNTTA,0.006535,,,,180221.18*44

2021-08-13T18:02:24.307Z,1628877744.307 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:02:24.682Z,1628877744.682 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:02:24.682Z,1628877744.682 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:02:24.683Z,1628877744.683 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:02:24.684Z,1628877744.684 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:02:25.089Z,1628877745.089 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EC2,000,002C2,186,80,80,66,FF
2021-08-13T18:02:25.089Z,1628877745.089 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:02:25.089Z,1628877745.089 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:02:25.091Z,1628877745.091 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:02:25.489Z,1628877745.489 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:02:25.890Z,1628877745.890 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,45F,000,002BE,189,80,80,77,FF
2021-08-13T18:02:25.890Z,1628877745.890 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:02:26.354Z,1628877746.354 [Micromodem](INFO): Nmea in: $SNTTA,0.114991,,,,180225.61*4E

2021-08-13T18:02:28.781Z,1628877748.781 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:02:29.125Z,1628877749.125 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:02:29.125Z,1628877749.125 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:02:29.126Z,1628877749.126 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:02:29.127Z,1628877749.127 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:02:29.533Z,1628877749.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
45F,000,002BE,189,80,80,77,FF
2021-08-13T18:02:29.533Z,1628877749.533 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:02:29.533Z,1628877749.533 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:02:29.535Z,1628877749.535 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:02:29.940Z,1628877749.940 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:02:30.337Z,1628877750.337 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F38,000,002BE,187,80,80,7E,FF
2021-08-13T18:02:30.338Z,1628877750.338 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:02:30.769Z,1628877750.769 [Micromodem](INFO): Nmea in: $SNTTA,0.005249,,,,180230.06*44

2021-08-13T18:02:33.182Z,1628877753.182 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:02:33.573Z,1628877753.573 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:02:33.573Z,1628877753.573 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:02:33.573Z,1628877753.573 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:02:33.574Z,1628877753.574 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:02:33.977Z,1628877753.977 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F38,000,002BE,187,80,80,7E,FF
2021-08-13T18:02:33.977Z,1628877753.977 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:02:33.977Z,1628877753.977 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:02:33.979Z,1628877753.979 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:02:34.377Z,1628877754.377 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:02:34.778Z,1628877754.778 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,468,000,002BE,189,80,80,72,FF
2021-08-13T18:02:34.778Z,1628877754.778 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:02:35.213Z,1628877755.213 [Micromodem](INFO): Nmea in: $SNTTA,0.043787,,,,180234.50*46

2021-08-13T18:02:37.702Z,1628877757.702 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:02:38.020Z,1628877758.020 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:02:38.020Z,1628877758.020 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:02:38.020Z,1628877758.020 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:02:38.021Z,1628877758.021 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:02:38.425Z,1628877758.425 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
468,000,002BE,189,80,80,72,FF
2021-08-13T18:02:38.425Z,1628877758.425 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:02:38.425Z,1628877758.425 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:02:38.427Z,1628877758.427 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:02:38.824Z,1628877758.824 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:02:39.229Z,1628877759.229 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F3A,000,002BE,187,80,80,83,FF
2021-08-13T18:02:39.230Z,1628877759.230 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:02:39.649Z,1628877759.649 [Micromodem](INFO): Nmea in: $SNTTA,0.006425,0.386599,,,180238.95*5F

2021-08-13T18:02:42.041Z,1628877762.041 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:02:42.433Z,1628877762.433 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:02:42.433Z,1628877762.433 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:02:42.434Z,1628877762.434 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:02:42.435Z,1628877762.435 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:02:42.935Z,1628877762.935 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F3A,000,002BE,187,80,80,83,FF
2021-08-13T18:02:42.935Z,1628877762.935 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:02:42.935Z,1628877762.935 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:02:42.937Z,1628877762.937 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:02:43.275Z,1628877763.275 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:02:43.669Z,1628877763.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3BE,000,002C1,189,80,80,54,FF
2021-08-13T18:02:43.670Z,1628877763.670 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:02:44.497Z,1628877764.497 [Micromodem](INFO): Nmea in: $SNTTA,0.171693,,,,180243.46*45

2021-08-13T18:02:46.549Z,1628877766.549 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:02:46.897Z,1628877766.897 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:02:46.898Z,1628877766.898 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:02:46.898Z,1628877766.898 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:02:46.899Z,1628877766.899 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:02:47.308Z,1628877767.308 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3BE,000,002C1,189,80,80,54,FF
2021-08-13T18:02:47.309Z,1628877767.309 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:02:47.309Z,1628877767.309 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:02:47.311Z,1628877767.311 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:02:47.737Z,1628877767.737 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:02:48.120Z,1628877768.120 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F27,000,002BE,186,80,80,6B,FF
2021-08-13T18:02:48.121Z,1628877768.121 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:02:48.573Z,1628877768.573 [Micromodem](INFO): Nmea in: $SNTTA,0.007159,,,,180247.84*4E

2021-08-13T18:02:50.973Z,1628877770.973 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:02:51.317Z,1628877771.317 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:02:51.317Z,1628877771.317 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:02:51.317Z,1628877771.317 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:02:51.318Z,1628877771.318 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:02:51.745Z,1628877771.745 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F27,000,002BE,186,80,80,6B,FF
2021-08-13T18:02:51.745Z,1628877771.745 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:02:51.745Z,1628877771.745 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:02:51.747Z,1628877771.747 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:02:51.826Z,1628877771.826 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-13T18:02:52.125Z,1628877772.125 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:02:52.540Z,1628877772.540 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3CF,000,002BF,18A,80,80,67,FF
2021-08-13T18:02:52.541Z,1628877772.541 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:02:53.089Z,1628877773.089 [Micromodem](INFO): Nmea in: $SNTTA,0.045967,,,,180252.27*40

2021-08-13T18:02:55.458Z,1628877775.458 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:02:55.789Z,1628877775.789 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:02:55.789Z,1628877775.789 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:02:55.790Z,1628877775.790 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:02:55.790Z,1628877775.790 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:02:56.190Z,1628877776.190 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3CF,000,002BF,18A,80,80,67,FF
2021-08-13T18:02:56.190Z,1628877776.190 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:02:56.190Z,1628877776.190 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:02:56.192Z,1628877776.192 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:02:56.600Z,1628877776.600 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:02:56.997Z,1628877776.997 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3B1,000,002BE,189,80,80,70,FF
2021-08-13T18:02:56.997Z,1628877776.997 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:02:57.469Z,1628877777.469 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180256.72*53

2021-08-13T18:02:59.853Z,1628877779.853 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:03:00.237Z,1628877780.237 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:03:00.237Z,1628877780.237 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:03:00.238Z,1628877780.238 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:03:00.238Z,1628877780.238 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:03:00.645Z,1628877780.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3B1,000,002BE,189,80,80,70,FF
2021-08-13T18:03:00.645Z,1628877780.645 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:03:00.645Z,1628877780.645 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:03:00.647Z,1628877780.647 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:03:01.045Z,1628877781.045 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:03:01.455Z,1628877781.455 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA1,000,002C2,186,80,80,6E,FF
2021-08-13T18:03:01.456Z,1628877781.456 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:03:01.863Z,1628877781.863 [Micromodem](INFO): Nmea in: $SNTTA,0.092941,0.316832,,,180301.17*59

2021-08-13T18:03:04.282Z,1628877784.282 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:03:04.692Z,1628877784.692 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:03:04.692Z,1628877784.692 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:03:04.693Z,1628877784.693 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:03:04.693Z,1628877784.693 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:03:05.077Z,1628877785.077 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EA1,000,002C2,186,80,80,6E,FF
2021-08-13T18:03:05.077Z,1628877785.077 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:03:05.077Z,1628877785.077 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:03:05.079Z,1628877785.079 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:03:05.488Z,1628877785.488 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:03:05.886Z,1628877785.886 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F0E,000,002BE,186,80,80,67,FF
2021-08-13T18:03:05.886Z,1628877785.886 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:03:06.329Z,1628877786.329 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180305.60*57

2021-08-13T18:03:08.774Z,1628877788.774 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:03:09.125Z,1628877789.125 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:03:09.125Z,1628877789.125 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:03:09.126Z,1628877789.126 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:03:09.127Z,1628877789.127 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:03:09.525Z,1628877789.525 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F0E,000,002BE,186,80,80,67,FF
2021-08-13T18:03:09.525Z,1628877789.525 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:03:09.525Z,1628877789.525 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:03:09.527Z,1628877789.527 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:03:09.945Z,1628877789.945 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:03:10.337Z,1628877790.337 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,377,000,002BE,189,80,80,57,FF
2021-08-13T18:03:10.338Z,1628877790.338 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:03:10.774Z,1628877790.774 [Micromodem](INFO): Nmea in: $SNTTA,0.058676,,,,180310.05*44

2021-08-13T18:03:13.247Z,1628877793.247 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:03:13.565Z,1628877793.565 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:03:13.565Z,1628877793.565 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:03:13.565Z,1628877793.565 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:03:13.566Z,1628877793.566 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:03:13.969Z,1628877793.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
377,000,002BE,189,80,80,57,FF
2021-08-13T18:03:13.969Z,1628877793.969 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:03:13.970Z,1628877793.970 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:03:13.971Z,1628877793.971 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:03:14.376Z,1628877794.376 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:03:14.773Z,1628877794.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3C1,000,002BF,18A,80,80,61,FF
2021-08-13T18:03:14.774Z,1628877794.774 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:03:15.209Z,1628877795.209 [Micromodem](INFO): Nmea in: $SNTTA,0.005307,,,,180314.49*43

2021-08-13T18:03:17.691Z,1628877797.691 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:03:18.005Z,1628877798.005 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:03:18.005Z,1628877798.005 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:03:18.005Z,1628877798.005 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:03:18.006Z,1628877798.006 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:03:18.409Z,1628877798.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3C1,000,002BF,18A,80,80,61,FF
2021-08-13T18:03:18.409Z,1628877798.409 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:03:18.410Z,1628877798.410 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:03:18.411Z,1628877798.411 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:03:18.826Z,1628877798.826 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:03:19.221Z,1628877799.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA6,000,002C1,186,80,80,61,FF
2021-08-13T18:03:19.222Z,1628877799.222 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:03:19.629Z,1628877799.629 [Micromodem](INFO): Nmea in: $SNTTA,0.058063,0.434868,,,180318.93*5A

2021-08-13T18:03:22.066Z,1628877802.066 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:03:22.418Z,1628877802.418 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:03:22.418Z,1628877802.418 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:03:22.418Z,1628877802.418 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:03:22.419Z,1628877802.419 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:03:22.825Z,1628877802.825 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EA6,000,002C1,186,80,80,61,FF
2021-08-13T18:03:22.825Z,1628877802.825 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:03:22.826Z,1628877802.826 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:03:22.827Z,1628877802.827 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:03:23.341Z,1628877803.341 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:03:23.681Z,1628877803.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E68,000,002C4,186,80,80,75,FF
2021-08-13T18:03:23.682Z,1628877803.682 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:03:24.098Z,1628877804.098 [Micromodem](INFO): Nmea in: $SNTTA,0.034655,,,,180323.35*4C

2021-08-13T18:03:26.512Z,1628877806.512 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:03:26.893Z,1628877806.893 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:03:26.894Z,1628877806.894 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:03:26.894Z,1628877806.894 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:03:26.895Z,1628877806.895 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:03:27.309Z,1628877807.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E68,000,002C4,186,80,80,75,FF
2021-08-13T18:03:27.309Z,1628877807.309 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:03:27.309Z,1628877807.309 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:03:27.311Z,1628877807.311 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:03:27.740Z,1628877807.740 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:03:28.522Z,1628877808.522 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180327.84*5D

2021-08-13T18:03:29.342Z,1628877809.342 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:03:30.950Z,1628877810.950 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
4,186,80,80,75,FF
2021-08-13T18:03:30.950Z,1628877810.950 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
4,186,80,80,75,FF
2021-08-13T18:03:30.951Z,1628877810.951 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T18:03:32.166Z,1628877812.166 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:03:32.525Z,1628877812.525 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:03:32.525Z,1628877812.525 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:03:32.525Z,1628877812.525 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:03:32.526Z,1628877812.526 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:03:32.932Z,1628877812.932 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
4,186,80,80,75,FF
2021-08-13T18:03:32.932Z,1628877812.932 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:03:32.932Z,1628877812.932 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:03:32.934Z,1628877812.934 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:03:33.445Z,1628877813.445 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:03:33.769Z,1628877813.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E94,000,002C3,185,80,80,6A,FF
2021-08-13T18:03:33.770Z,1628877813.770 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:03:36.610Z,1628877816.610 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:03:37.009Z,1628877817.009 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:03:37.010Z,1628877817.010 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:03:37.010Z,1628877817.010 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:03:37.011Z,1628877817.011 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:03:37.413Z,1628877817.413 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E94,000,002C3,185,80,80,6A,FF
2021-08-13T18:03:37.414Z,1628877817.414 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:03:37.414Z,1628877817.414 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:03:37.421Z,1628877817.421 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:03:37.826Z,1628877817.826 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:03:38.205Z,1628877818.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3A8,000,002BF,18A,80,80,65,FF
2021-08-13T18:03:38.206Z,1628877818.206 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:03:38.642Z,1628877818.642 [Micromodem](INFO): Nmea in: $SNTTA,0.034008,,,,180337.94*4C

2021-08-13T18:03:41.079Z,1628877821.079 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:03:41.473Z,1628877821.473 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:03:41.473Z,1628877821.473 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:03:41.473Z,1628877821.473 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:03:41.474Z,1628877821.474 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:03:41.824Z,1628877821.824 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3A8,000,002BF,18A,80,80,65,FF
2021-08-13T18:03:41.825Z,1628877821.825 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:03:41.825Z,1628877821.825 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:03:41.856Z,1628877821.856 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:03:42.255Z,1628877822.255 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:03:42.618Z,1628877822.618 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3C5,000,002BE,189,80,80,6F,FF
2021-08-13T18:03:42.619Z,1628877822.619 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:03:43.065Z,1628877823.065 [Micromodem](INFO): Nmea in: $SNTTA,0.067993,,,,180342.38*45

2021-08-13T18:03:45.519Z,1628877825.519 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:03:45.881Z,1628877825.881 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:03:45.882Z,1628877825.882 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:03:45.882Z,1628877825.882 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:03:45.883Z,1628877825.883 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:03:46.285Z,1628877826.285 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3C5,000,002BE,189,80,80,6F,FF
2021-08-13T18:03:46.285Z,1628877826.285 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:03:46.285Z,1628877826.285 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:03:46.287Z,1628877826.287 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:03:46.731Z,1628877826.731 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:03:47.089Z,1628877827.089 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3AB,000,002BF,18A,80,80,57,FF
2021-08-13T18:03:47.090Z,1628877827.090 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:03:47.525Z,1628877827.525 [Micromodem](INFO): Nmea in: $SNTTA,0.006421,,,,180346.81*40

2021-08-13T18:03:49.973Z,1628877829.973 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:03:50.333Z,1628877830.333 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:03:50.333Z,1628877830.333 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:03:50.333Z,1628877830.333 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:03:50.334Z,1628877830.334 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:03:50.741Z,1628877830.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3AB,000,002BF,18A,80,80,57,FF
2021-08-13T18:03:50.741Z,1628877830.741 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:03:50.741Z,1628877830.741 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:03:50.743Z,1628877830.743 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:03:51.137Z,1628877831.137 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:03:51.549Z,1628877831.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED0,000,002C4,187,80,80,66,FF
2021-08-13T18:03:51.549Z,1628877831.549 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:03:51.553Z,1628877831.553 [Micromodem](INFO): Nmea in: $SNTTA,0.070232,0.268411,,,180351.27*59

2021-08-13T18:03:54.381Z,1628877834.381 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:03:54.765Z,1628877834.765 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:03:54.765Z,1628877834.765 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:03:54.766Z,1628877834.766 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:03:54.767Z,1628877834.767 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:03:55.173Z,1628877835.173 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ED0,000,002C4,187,80,80,66,FF
2021-08-13T18:03:55.174Z,1628877835.174 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:03:55.174Z,1628877835.174 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:03:55.175Z,1628877835.175 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:03:55.589Z,1628877835.589 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:03:55.981Z,1628877835.981 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE1,000,002C4,186,80,80,67,FF
2021-08-13T18:03:55.981Z,1628877835.981 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:03:56.421Z,1628877836.421 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180355.70*53

2021-08-13T18:03:58.838Z,1628877838.838 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:03:59.221Z,1628877839.221 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:03:59.221Z,1628877839.221 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:03:59.221Z,1628877839.221 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:03:59.222Z,1628877839.222 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:03:59.617Z,1628877839.617 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE1,000,002C4,186,80,80,67,FF
2021-08-13T18:03:59.617Z,1628877839.617 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:03:59.617Z,1628877839.617 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:03:59.619Z,1628877839.619 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:04:00.049Z,1628877840.049 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:04:00.445Z,1628877840.445 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3D9,000,002BD,189,80,80,6D,FF
2021-08-13T18:04:00.445Z,1628877840.445 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:04:00.874Z,1628877840.874 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180400.14*56

2021-08-13T18:04:03.253Z,1628877843.253 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:04:03.754Z,1628877843.754 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:04:03.754Z,1628877843.754 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:04:03.754Z,1628877843.754 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:04:03.755Z,1628877843.755 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:04:04.081Z,1628877844.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3D9,000,002BD,189,80,80,6D,FF
2021-08-13T18:04:04.081Z,1628877844.081 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:04:04.081Z,1628877844.081 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:04:04.083Z,1628877844.083 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:04:04.485Z,1628877844.485 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:04:04.886Z,1628877844.886 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EDF,000,002C0,186,80,80,6B,FF
2021-08-13T18:04:04.886Z,1628877844.886 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:04:05.321Z,1628877845.321 [Micromodem](INFO): Nmea in: $SNTTA,0.081458,,,,180404.61*4E

2021-08-13T18:04:07.833Z,1628877847.833 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:04:08.129Z,1628877848.129 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:04:08.129Z,1628877848.129 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:04:08.129Z,1628877848.129 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:04:08.130Z,1628877848.130 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:04:08.530Z,1628877848.530 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EDF,000,002C0,186,80,80,6B,FF
2021-08-13T18:04:08.530Z,1628877848.530 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:04:08.530Z,1628877848.530 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:04:08.532Z,1628877848.532 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:04:08.941Z,1628877848.941 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:04:09.329Z,1628877849.329 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EEE,000,002C2,187,80,80,6B,FF
2021-08-13T18:04:09.329Z,1628877849.329 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:04:09.773Z,1628877849.773 [Micromodem](INFO): Nmea in: $SNTTA,0.028475,,,,180409.05*4D

2021-08-13T18:04:12.147Z,1628877852.147 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:04:12.561Z,1628877852.561 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:04:12.561Z,1628877852.561 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:04:12.561Z,1628877852.561 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:04:12.562Z,1628877852.562 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:04:12.933Z,1628877852.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EEE,000,002C2,187,80,80,6B,FF
2021-08-13T18:04:12.933Z,1628877852.933 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:04:12.933Z,1628877852.933 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:04:12.935Z,1628877852.935 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:04:13.349Z,1628877853.349 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:04:13.845Z,1628877853.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED5,000,002BC,186,80,80,65,FF
2021-08-13T18:04:13.846Z,1628877853.846 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:04:13.849Z,1628877853.849 [Micromodem](INFO): Nmea in: $SNTTA,0.042598,0.171397,,,180413.46*5B

2021-08-13T18:04:16.615Z,1628877856.615 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:04:17.009Z,1628877857.009 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:04:17.009Z,1628877857.009 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:04:17.009Z,1628877857.009 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:04:17.010Z,1628877857.010 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:04:17.436Z,1628877857.436 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ED5,000,002BC,186,80,80,65,FF
2021-08-13T18:04:17.436Z,1628877857.436 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:04:17.437Z,1628877857.437 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:04:17.438Z,1628877857.438 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:04:17.834Z,1628877857.834 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:04:18.221Z,1628877858.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3EE,000,002BE,18A,80,80,5A,FF
2021-08-13T18:04:18.222Z,1628877858.222 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:04:18.648Z,1628877858.648 [Micromodem](INFO): Nmea in: $SNTTA,0.051675,,,,180417.96*44

2021-08-13T18:04:21.062Z,1628877861.062 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:04:21.473Z,1628877861.473 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:04:21.473Z,1628877861.473 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:04:21.473Z,1628877861.473 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:04:21.474Z,1628877861.474 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:04:21.861Z,1628877861.861 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3EE,000,002BE,18A,80,80,5A,FF
2021-08-13T18:04:21.862Z,1628877861.862 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:04:21.862Z,1628877861.862 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:04:21.863Z,1628877861.863 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:04:22.239Z,1628877862.239 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:04:22.665Z,1628877862.665 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,40F,000,002BF,189,80,80,76,FF
2021-08-13T18:04:22.666Z,1628877862.666 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:04:23.071Z,1628877863.071 [Micromodem](INFO): Nmea in: $SNTTA,0.051217,,,,180422.39*47

2021-08-13T18:04:25.550Z,1628877865.550 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:04:25.894Z,1628877865.894 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:04:25.894Z,1628877865.894 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:04:25.894Z,1628877865.894 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:04:25.895Z,1628877865.895 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:04:26.305Z,1628877866.305 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
40F,000,002BF,189,80,80,76,FF
2021-08-13T18:04:26.306Z,1628877866.306 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:04:26.306Z,1628877866.306 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:04:26.307Z,1628877866.307 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:04:26.732Z,1628877866.732 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:04:27.105Z,1628877867.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E63,000,002C2,186,80,80,6E,FF
2021-08-13T18:04:27.106Z,1628877867.106 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:04:27.537Z,1628877867.537 [Micromodem](INFO): Nmea in: $SNTTA,0.446522,,,,180426.83*41

2021-08-13T18:04:29.986Z,1628877869.986 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:04:30.337Z,1628877870.337 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:04:30.337Z,1628877870.337 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:04:30.337Z,1628877870.337 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:04:30.338Z,1628877870.338 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:04:30.755Z,1628877870.755 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E63,000,002C2,186,80,80,6E,FF
2021-08-13T18:04:30.755Z,1628877870.755 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:04:30.755Z,1628877870.755 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:04:30.757Z,1628877870.757 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:04:31.157Z,1628877871.157 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:04:31.557Z,1628877871.557 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E75,000,002C0,186,80,80,65,FF
2021-08-13T18:04:31.558Z,1628877871.558 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:04:31.561Z,1628877871.561 [Micromodem](INFO): Nmea in: $SNTTA,0.006344,0.221599,,,180431.28*5A

2021-08-13T18:04:33.585Z,1628877873.585 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-08-13T18:04:33.586Z,1628877873.586 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-08-13T18:04:33.586Z,1628877873.586 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-08-13T18:04:33.586Z,1628877873.586 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-13T18:04:33.586Z,1628877873.586 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-08-13T18:04:33.587Z,1628877873.587 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.740000 m 
2021-08-13T18:04:33.587Z,1628877873.587 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-08-13T18:04:33.587Z,1628877873.587 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-08-13T18:04:33.587Z,1628877873.587 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-08-13T18:04:34.095Z,1628877874.095 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210813T180434: (41.552319, -70.708603)
2021-08-13T18:04:34.095Z,1628877874.095 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-08-13T18:04:34.095Z,1628877874.095 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-08-13T18:04:34.095Z,1628877874.095 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-13T18:04:34.095Z,1628877874.095 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-08-13T18:04:34.096Z,1628877874.096 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-13T18:04:34.096Z,1628877874.096 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-08-13T18:04:34.096Z,1628877874.096 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-08-13T18:04:34.096Z,1628877874.096 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-08-13T18:04:34.403Z,1628877874.403 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:04:34.789Z,1628877874.789 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:04:34.789Z,1628877874.789 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:04:34.789Z,1628877874.789 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:04:34.790Z,1628877874.790 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:04:35.193Z,1628877875.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E75,000,002C0,186,80,80,65,FF
2021-08-13T18:04:35.193Z,1628877875.193 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:04:35.193Z,1628877875.193 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:04:35.195Z,1628877875.195 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:04:35.605Z,1628877875.605 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:04:35.997Z,1628877875.997 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB7,000,002C1,186,80,80,65,FF
2021-08-13T18:04:35.998Z,1628877875.998 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:04:36.430Z,1628877876.430 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180435.72*50

2021-08-13T18:04:38.869Z,1628877878.869 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:04:39.225Z,1628877879.225 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:04:39.225Z,1628877879.225 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:04:39.225Z,1628877879.225 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:04:39.226Z,1628877879.226 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:04:39.634Z,1628877879.634 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EB7,000,002C1,186,80,80,65,FF
2021-08-13T18:04:39.634Z,1628877879.634 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:04:39.634Z,1628877879.634 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:04:39.640Z,1628877879.640 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:04:40.045Z,1628877880.045 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:04:40.437Z,1628877880.437 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,395,000,002BF,189,80,80,67,FF
2021-08-13T18:04:40.438Z,1628877880.438 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:04:40.882Z,1628877880.882 [Micromodem](INFO): Nmea in: $SNTTA,0.006350,,,,180440.17*4F

2021-08-13T18:04:43.271Z,1628877883.271 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:04:43.645Z,1628877883.645 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:04:43.645Z,1628877883.645 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:04:43.645Z,1628877883.645 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:04:43.646Z,1628877883.646 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:04:44.154Z,1628877884.154 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
395,000,002BF,189,80,80,67,FF
2021-08-13T18:04:44.154Z,1628877884.154 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:04:44.154Z,1628877884.154 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:04:44.155Z,1628877884.155 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:04:44.487Z,1628877884.487 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:04:44.882Z,1628877884.882 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E22,000,002C2,187,80,80,6A,FF
2021-08-13T18:04:44.882Z,1628877884.882 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:04:45.745Z,1628877885.745 [Micromodem](INFO): Nmea in: $SNTTA,0.006662,,,,180444.68*47

2021-08-13T18:04:45.961Z,1628877885.961 [CTD_Seabird](ERROR): Failed to parse device response: .06
2021-08-13T18:04:47.810Z,1628877887.810 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:04:48.113Z,1628877888.113 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:04:48.113Z,1628877888.113 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:04:48.113Z,1628877888.113 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:04:48.114Z,1628877888.114 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:04:48.521Z,1628877888.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E22,000,002C2,187,80,80,6A,FF
2021-08-13T18:04:48.521Z,1628877888.521 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:04:48.521Z,1628877888.521 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:04:48.523Z,1628877888.523 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:04:48.943Z,1628877888.943 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:04:49.739Z,1628877889.739 [Micromodem](INFO): Nmea in: $SNTTA,0.377201,0.377451,,,180449.05*58

2021-08-13T18:04:50.561Z,1628877890.561 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:04:52.161Z,1628877892.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
2,187,80,80,6A,FF
2021-08-13T18:04:52.162Z,1628877892.162 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
2,187,80,80,6A,FF
2021-08-13T18:04:52.162Z,1628877892.162 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T18:04:53.346Z,1628877893.346 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:04:53.741Z,1628877893.741 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:04:53.741Z,1628877893.741 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:04:53.741Z,1628877893.741 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:04:53.742Z,1628877893.742 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:04:54.250Z,1628877894.250 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
2,187,80,80,6A,FF
2021-08-13T18:04:54.250Z,1628877894.250 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:04:54.251Z,1628877894.251 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:04:54.255Z,1628877894.255 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:04:54.586Z,1628877894.586 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:04:54.981Z,1628877894.981 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E6B,000,002C0,186,80,80,72,FF
2021-08-13T18:04:54.981Z,1628877894.981 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:04:55.805Z,1628877895.805 [Micromodem](INFO): Nmea in: $SNTTA,0.019494,,,,180454.78*42

2021-08-13T18:04:57.832Z,1628877897.832 [lineCaptureDepth:Lap:Docked:Docked.Docked](INFO): Timed out from 2021-08-13T17:59:57.6Z
2021-08-13T18:04:57.832Z,1628877897.832 [lineCaptureDepth:Lap:Docked:Docked.Docked] Stopped
2021-08-13T18:04:57.832Z,1628877897.832 [lineCaptureDepth:Lap:Docked:Detach] Running Loop=1
2021-08-13T18:04:57.832Z,1628877897.832 [lineCaptureDepth:Lap:Docked:Detach](DEBUG): Aggregate::initialize lineCaptureDepth:Lap:Docked:Detach
2021-08-13T18:04:57.833Z,1628877897.833 [lineCaptureDepth:Lap:Docked:Detach:A] Running Loop=1
2021-08-13T18:04:57.833Z,1628877897.833 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:04:58.181Z,1628877898.181 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:04:58.181Z,1628877898.181 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:04:58.181Z,1628877898.181 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:04:58.182Z,1628877898.182 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:04:58.210Z,1628877898.210 [lineCaptureDepth:Lap:Docked:Detach:A](IMPORTANT): Breaking off. Range: 4.740000 m .
2021-08-13T18:04:58.211Z,1628877898.211 [lineCaptureDepth:Lap:Docked:Detach:A] Stopped
2021-08-13T18:04:58.211Z,1628877898.211 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock] Running Loop=1
2021-08-13T18:04:58.211Z,1628877898.211 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](DEBUG): Initialize.
2021-08-13T18:04:58.211Z,1628877898.211 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](DEBUG): Initializing internal variables to default values.
2021-08-13T18:04:58.617Z,1628877898.617 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E6B,000,002C0,186,80,80,72,FF
2021-08-13T18:04:58.617Z,1628877898.617 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:04:58.617Z,1628877898.617 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:04:58.619Z,1628877898.619 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:04:58.993Z,1628877898.993 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:04:59.005Z,1628877899.005 [PowerOnly](INFO): Powering up loadControl
2021-08-13T18:04:59.439Z,1628877899.439 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,375,000,002BE,189,80,80,64,FF
2021-08-13T18:04:59.439Z,1628877899.439 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:04:59.443Z,1628877899.443 [Micromodem](INFO): Nmea in: $SNTTA,0.040266,0.291884,,,180459.14*52

2021-08-13T18:05:01.923Z,1628877901.923 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): Detaching from dock.
2021-08-13T18:05:02.270Z,1628877902.270 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): Engaging thruster for 10.0 seconds (max) to disengage.
2021-08-13T18:05:02.271Z,1628877902.271 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:05:02.672Z,1628877902.672 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:05:02.673Z,1628877902.673 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:05:02.673Z,1628877902.673 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:05:02.675Z,1628877902.675 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:05:03.097Z,1628877903.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
375,000,002BE,189,80,80,64,FF
2021-08-13T18:05:03.097Z,1628877903.097 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:05:03.097Z,1628877903.097 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:05:03.099Z,1628877903.099 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:05:03.495Z,1628877903.495 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:05:03.878Z,1628877903.878 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,349,000,002BE,189,80,80,71,FF
2021-08-13T18:05:03.879Z,1628877903.879 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:05:04.301Z,1628877904.301 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180503.62*55

2021-08-13T18:05:06.745Z,1628877906.745 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:05:07.113Z,1628877907.113 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:05:07.113Z,1628877907.113 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:05:07.113Z,1628877907.113 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:05:07.114Z,1628877907.114 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:05:07.505Z,1628877907.505 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
349,000,002BE,189,80,80,71,FF
2021-08-13T18:05:07.505Z,1628877907.505 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:05:07.505Z,1628877907.505 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:05:07.507Z,1628877907.507 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:05:07.921Z,1628877907.921 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:05:08.313Z,1628877908.313 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,013,000,002B7,183,80,80,AA,FF
2021-08-13T18:05:08.313Z,1628877908.313 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:05:08.765Z,1628877908.765 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180508.03*59

2021-08-13T18:05:11.166Z,1628877911.166 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:05:11.541Z,1628877911.541 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:05:11.541Z,1628877911.541 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:05:11.542Z,1628877911.542 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:05:11.543Z,1628877911.543 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:05:11.950Z,1628877911.950 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
013,000,002B7,183,80,80,AA,FF
2021-08-13T18:05:11.950Z,1628877911.950 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:05:11.950Z,1628877911.950 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:05:11.951Z,1628877911.951 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:05:12.362Z,1628877912.362 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:05:12.393Z,1628877912.393 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): Thruster off.
2021-08-13T18:05:12.757Z,1628877912.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FFC,000,002BF,183,80,80,C4,FF
2021-08-13T18:05:12.757Z,1628877912.757 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:05:13.209Z,1628877913.209 [Micromodem](INFO): Nmea in: $SNTTA,0.025667,,,,180512.47*4C

2021-08-13T18:05:15.651Z,1628877915.651 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:05:15.993Z,1628877915.993 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:05:15.993Z,1628877915.993 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:05:15.994Z,1628877915.994 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:05:15.995Z,1628877915.995 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:05:16.393Z,1628877916.393 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FFC,000,002BF,183,80,80,C4,FF
2021-08-13T18:05:16.393Z,1628877916.393 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:05:16.393Z,1628877916.393 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:05:16.395Z,1628877916.395 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:05:16.805Z,1628877916.805 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:05:17.201Z,1628877917.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,035,000,002CE,184,80,80,C6,FF
2021-08-13T18:05:17.201Z,1628877917.201 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:05:17.641Z,1628877917.641 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180516.92*5E

2021-08-13T18:05:20.046Z,1628877920.046 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:05:20.433Z,1628877920.433 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:05:20.433Z,1628877920.433 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:05:20.433Z,1628877920.433 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:05:20.434Z,1628877920.434 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:05:20.846Z,1628877920.846 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
035,000,002CE,184,80,80,C6,FF
2021-08-13T18:05:20.846Z,1628877920.846 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:05:20.846Z,1628877920.846 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:05:20.849Z,1628877920.849 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:05:21.245Z,1628877921.245 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:05:21.649Z,1628877921.649 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,031,000,002DC,185,80,80,B4,FF
2021-08-13T18:05:21.650Z,1628877921.650 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:05:22.089Z,1628877922.089 [Micromodem](INFO): Nmea in: $SNTTA,0.034120,,,,180521.38*40

2021-08-13T18:05:24.495Z,1628877924.495 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:05:24.878Z,1628877924.878 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:05:24.878Z,1628877924.878 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:05:24.878Z,1628877924.878 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:05:24.879Z,1628877924.879 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:05:25.285Z,1628877925.285 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
031,000,002DC,185,80,80,B4,FF
2021-08-13T18:05:25.285Z,1628877925.285 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:05:25.285Z,1628877925.285 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:05:25.287Z,1628877925.287 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:05:25.709Z,1628877925.709 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:05:26.090Z,1628877926.090 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,006,000,002EC,182,80,80,B9,FF
2021-08-13T18:05:26.090Z,1628877926.090 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:05:26.537Z,1628877926.537 [Micromodem](INFO): Nmea in: $SNTTA,0.023989,,,,180525.81*4B

2021-08-13T18:05:28.960Z,1628877928.960 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:05:29.337Z,1628877929.337 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:05:29.337Z,1628877929.337 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:05:29.337Z,1628877929.337 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:05:29.338Z,1628877929.338 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:05:29.737Z,1628877929.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
006,000,002EC,182,80,80,B9,FF
2021-08-13T18:05:29.737Z,1628877929.737 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:05:29.737Z,1628877929.737 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:05:29.739Z,1628877929.739 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:05:30.140Z,1628877930.140 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:05:30.537Z,1628877930.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FFB,000,002FD,183,80,80,A4,FF
2021-08-13T18:05:30.537Z,1628877930.537 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:05:30.969Z,1628877930.969 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180530.26*55

2021-08-13T18:05:33.458Z,1628877933.458 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:05:33.765Z,1628877933.765 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:05:33.765Z,1628877933.765 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:05:33.765Z,1628877933.765 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:05:33.766Z,1628877933.766 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:05:34.181Z,1628877934.181 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FFB,000,002FD,183,80,80,A4,FF
2021-08-13T18:05:34.181Z,1628877934.181 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:05:34.181Z,1628877934.181 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:05:34.184Z,1628877934.184 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:05:34.577Z,1628877934.577 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:05:34.990Z,1628877934.990 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FEE,000,0030A,183,80,80,AE,FF
2021-08-13T18:05:34.990Z,1628877934.990 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:05:35.425Z,1628877935.425 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180534.71*53

2021-08-13T18:05:37.845Z,1628877937.845 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:05:38.213Z,1628877938.213 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:05:38.213Z,1628877938.213 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:05:38.213Z,1628877938.213 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:05:38.213Z,1628877938.213 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:05:38.623Z,1628877938.623 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FEE,000,0030A,183,80,80,AE,FF
2021-08-13T18:05:38.623Z,1628877938.623 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:05:38.623Z,1628877938.623 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:05:38.625Z,1628877938.625 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:05:39.023Z,1628877939.023 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:05:39.475Z,1628877939.475 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F81,000,0031C,186,80,80,9F,FF
2021-08-13T18:05:39.475Z,1628877939.475 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:05:39.869Z,1628877939.869 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180539.15*5C

2021-08-13T18:05:39.921Z,1628877939.921 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): Detected possible detachment. Starting timer.
2021-08-13T18:05:42.275Z,1628877942.275 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:05:42.672Z,1628877942.672 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:05:42.673Z,1628877942.673 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:05:42.673Z,1628877942.673 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:05:42.677Z,1628877942.677 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:05:43.060Z,1628877943.060 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F81,000,0031C,186,80,80,9F,FF
2021-08-13T18:05:43.062Z,1628877943.062 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:05:43.063Z,1628877943.063 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:05:43.087Z,1628877943.087 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:05:43.491Z,1628877943.491 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:05:43.874Z,1628877943.874 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F69,000,0032C,187,80,80,B9,FF
2021-08-13T18:05:43.875Z,1628877943.875 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:05:46.760Z,1628877946.760 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:05:47.107Z,1628877947.107 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:05:47.107Z,1628877947.107 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:05:47.107Z,1628877947.107 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:05:47.108Z,1628877947.108 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:05:47.501Z,1628877947.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F69,000,0032C,187,80,80,B9,FF
2021-08-13T18:05:47.501Z,1628877947.501 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:05:47.501Z,1628877947.501 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:05:47.503Z,1628877947.503 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:05:47.922Z,1628877947.922 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:05:48.317Z,1628877948.317 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F33,000,00249,186,80,80,A7,FF
2021-08-13T18:05:48.317Z,1628877948.317 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2021-08-13T18:05:48.761Z,1628877948.761 [Micromodem](INFO): Nmea in: $SNTTA,0.020374,,,,180548.03*41

2021-08-13T18:05:49.607Z,1628877949.607 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:05:52.368Z,1628877952.368 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:05:52.753Z,1628877952.753 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:05:52.753Z,1628877952.753 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:05:52.753Z,1628877952.753 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:05:52.754Z,1628877952.754 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:05:53.161Z,1628877953.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F33,000,00249,186,80,80,A7,FF
2021-08-13T18:05:53.161Z,1628877953.161 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:05:53.161Z,1628877953.161 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:05:53.163Z,1628877953.163 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:05:53.565Z,1628877953.565 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:05:53.965Z,1628877953.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F00,000,0035E,186,80,80,AE,FF
2021-08-13T18:05:53.966Z,1628877953.966 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:05:54.401Z,1628877954.401 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180553.69*5B

2021-08-13T18:05:56.839Z,1628877956.839 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:05:57.193Z,1628877957.193 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:05:57.193Z,1628877957.193 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:05:57.193Z,1628877957.193 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:05:57.194Z,1628877957.194 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:05:57.609Z,1628877957.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F00,000,0035E,186,80,80,AE,FF
2021-08-13T18:05:57.609Z,1628877957.609 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:05:57.609Z,1628877957.609 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:05:57.611Z,1628877957.611 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:05:58.021Z,1628877958.021 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:05:58.413Z,1628877958.413 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED1,000,00365,186,80,80,77,FF
2021-08-13T18:05:58.414Z,1628877958.414 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:05:58.857Z,1628877958.857 [Micromodem](INFO): Nmea in: $SNTTA,0.032348,,,,180558.13*4D

2021-08-13T18:06:00.053Z,1628877960.053 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): Detached at range: 14.64 m. Transitioning DDM to standby.
2021-08-13T18:06:01.251Z,1628877961.251 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:06:01.641Z,1628877961.641 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:06:01.641Z,1628877961.641 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:06:01.641Z,1628877961.641 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:06:01.642Z,1628877961.642 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:06:02.053Z,1628877962.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ED1,000,00365,186,80,80,77,FF
2021-08-13T18:06:02.053Z,1628877962.053 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:06:02.054Z,1628877962.054 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:06:02.055Z,1628877962.055 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:06:02.481Z,1628877962.481 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:06:02.509Z,1628877962.509 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): DDM at standby.
2021-08-13T18:06:02.857Z,1628877962.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E58,000,0037B,186,80,80,74,FF
2021-08-13T18:06:02.858Z,1628877962.858 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:06:02.911Z,1628877962.911 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](IMPORTANT): Undocking sequence complete.
2021-08-13T18:06:02.911Z,1628877962.911 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock] Stopped
2021-08-13T18:06:02.916Z,1628877962.916 [lineCaptureDepth:Lap:Docked:Detach](INFO): Completed lineCaptureDepth:Lap:Docked:Detach
2021-08-13T18:06:02.916Z,1628877962.916 [lineCaptureDepth:Lap:Docked:Detach] Stopped
2021-08-13T18:06:02.916Z,1628877962.916 [lineCaptureDepth:Lap:Docked:Detach](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap:Docked:Detach
2021-08-13T18:06:02.916Z,1628877962.916 [lineCaptureDepth:Lap:Docked](INFO): Completed lineCaptureDepth:Lap:Docked
2021-08-13T18:06:02.916Z,1628877962.916 [lineCaptureDepth:Lap:Docked] Stopped
2021-08-13T18:06:02.917Z,1628877962.917 [lineCaptureDepth:Lap:Docked](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap:Docked
2021-08-13T18:06:02.917Z,1628877962.917 [lineCaptureDepth:Lap](INFO): Completed lineCaptureDepth:Lap
2021-08-13T18:06:02.917Z,1628877962.917 [lineCaptureDepth:Lap] Stopped
2021-08-13T18:06:02.917Z,1628877962.917 [lineCaptureDepth:Lap](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap
2021-08-13T18:06:02.917Z,1628877962.917 [lineCaptureDepth:Lap](INFO): Running loop #2
2021-08-13T18:06:02.917Z,1628877962.917 [lineCaptureDepth:Lap] Running Loop=2
2021-08-13T18:06:02.918Z,1628877962.918 [lineCaptureDepth:Lap](DEBUG): Aggregate::initialize lineCaptureDepth:Lap
2021-08-13T18:06:02.918Z,1628877962.918 [lineCaptureDepth:Lap:A] Running Loop=1
2021-08-13T18:06:03.273Z,1628877963.273 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180602.58*5E

2021-08-13T18:06:03.293Z,1628877963.293 [lineCaptureDepth:Lap:A] Stopped
2021-08-13T18:06:03.293Z,1628877963.293 [lineCaptureDepth:Lap:B] Running Loop=1
2021-08-13T18:06:03.294Z,1628877963.294 [lineCaptureDepth:Lap:B](DEBUG): Aggregate::initialize lineCaptureDepth:Lap:B
2021-08-13T18:06:03.741Z,1628877963.741 [lineCaptureDepth:LineCapture] Running Loop=1
2021-08-13T18:06:03.741Z,1628877963.741 [lineCaptureDepth:LineCapture](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture
2021-08-13T18:06:03.741Z,1628877963.741 [lineCaptureDepth:LineCapture:StandardEnvelopes] Running Loop=1
2021-08-13T18:06:03.742Z,1628877963.742 [lineCaptureDepth:LineCapture:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:StandardEnvelopes
2021-08-13T18:06:03.742Z,1628877963.742 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-08-13T18:06:03.742Z,1628877963.742 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2021-08-13T18:06:03.742Z,1628877963.742 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-08-13T18:06:03.742Z,1628877963.742 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2021-08-13T18:06:03.742Z,1628877963.742 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-08-13T18:06:03.742Z,1628877963.742 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2021-08-13T18:06:03.742Z,1628877963.742 [lineCaptureDepth:LineCapture:G] Running Loop=1
2021-08-13T18:06:03.742Z,1628877963.742 [lineCaptureDepth:LineCapture:H] Running Loop=1
2021-08-13T18:06:03.743Z,1628877963.743 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-08-13T18:06:03.743Z,1628877963.743 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-13T18:06:03.743Z,1628877963.743 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-08-13T18:06:03.743Z,1628877963.743 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-08-13T18:06:03.743Z,1628877963.743 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2021-08-13T18:06:03.743Z,1628877963.743 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-08-13T18:06:03.743Z,1628877963.743 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-08-13T18:06:03.743Z,1628877963.743 [lineCaptureDepth:LineCapture:A] Running Loop=1
2021-08-13T18:06:03.744Z,1628877963.744 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2021-08-13T18:06:03.744Z,1628877963.744 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-13T18:06:03.744Z,1628877963.744 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2021-08-13T18:06:03.744Z,1628877963.744 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2021-08-13T18:06:03.744Z,1628877963.744 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2021-08-13T18:06:03.744Z,1628877963.744 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2021-08-13T18:06:03.744Z,1628877963.744 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-08-13T18:06:03.746Z,1628877963.746 [lineCaptureDepth:LineCapture:A] Stopped
2021-08-13T18:06:03.746Z,1628877963.746 [lineCaptureDepth:LineCapture:B] Running Loop=1
2021-08-13T18:06:04.078Z,1628877964.078 [lineCaptureDepth:LineCapture:B] Stopped
2021-08-13T18:06:04.079Z,1628877964.079 [lineCaptureDepth:LineCapture:D] Running Loop=1
2021-08-13T18:06:04.466Z,1628877964.466 [lineCaptureDepth:LineCapture:D] Stopped
2021-08-13T18:06:04.466Z,1628877964.466 [lineCaptureDepth:LineCapture:E] Running Loop=1
2021-08-13T18:06:04.901Z,1628877964.901 [lineCaptureDepth:LineCapture:E] Stopped
2021-08-13T18:06:04.901Z,1628877964.901 [lineCaptureDepth:LineCapture:F] Running Loop=1
2021-08-13T18:06:05.274Z,1628877965.274 [lineCaptureDepth:LineCapture:F] Stopped
2021-08-13T18:06:05.274Z,1628877965.274 [lineCaptureDepth:LineCapture:HomingSequence] Running Loop=1
2021-08-13T18:06:05.274Z,1628877965.274 [lineCaptureDepth:LineCapture:HomingSequence](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence
2021-08-13T18:06:05.274Z,1628877965.274 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2021-08-13T18:06:05.274Z,1628877965.274 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-08-13T18:06:05.274Z,1628877965.274 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide] Running Loop=1
2021-08-13T18:06:05.274Z,1628877965.274 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-08-13T18:06:05.275Z,1628877965.275 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Running Loop=1
2021-08-13T18:06:05.275Z,1628877965.275 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize.
2021-08-13T18:06:05.275Z,1628877965.275 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2021-08-13T18:06:05.275Z,1628877965.275 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2021-08-13T18:06:05.275Z,1628877965.275 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-08-13T18:06:05.275Z,1628877965.275 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2021-08-13T18:06:05.292Z,1628877965.292 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-08-13T18:06:05.292Z,1628877965.292 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2021-08-13T18:06:05.292Z,1628877965.292 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2021-08-13T18:06:05.292Z,1628877965.292 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2021-08-13T18:06:05.292Z,1628877965.292 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2021-08-13T18:06:05.292Z,1628877965.292 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2021-08-13T18:06:05.292Z,1628877965.292 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2021-08-13T18:06:05.293Z,1628877965.293 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-13T18:06:05.293Z,1628877965.293 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2021-08-13T18:06:05.293Z,1628877965.293 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-13T18:06:05.293Z,1628877965.293 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1
2021-08-13T18:06:05.293Z,1628877965.293 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Initialize.
2021-08-13T18:06:05.293Z,1628877965.293 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2021-08-13T18:06:05.293Z,1628877965.293 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2021-08-13T18:06:05.293Z,1628877965.293 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2021-08-13T18:06:05.740Z,1628877965.740 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Stopped
2021-08-13T18:06:05.740Z,1628877965.740 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-13T18:06:05.740Z,1628877965.740 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2021-08-13T18:06:05.740Z,1628877965.740 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-13T18:06:05.741Z,1628877965.741 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2021-08-13T18:06:05.741Z,1628877965.741 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Stopped
2021-08-13T18:06:05.741Z,1628877965.741 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Stopped
2021-08-13T18:06:05.741Z,1628877965.741 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2021-08-13T18:06:05.741Z,1628877965.741 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2021-08-13T18:06:05.741Z,1628877965.741 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-08-13T18:06:05.741Z,1628877965.741 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2021-08-13T18:06:05.741Z,1628877965.741 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-08-13T18:06:05.741Z,1628877965.741 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2021-08-13T18:06:05.741Z,1628877965.741 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2021-08-13T18:06:05.741Z,1628877965.741 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2021-08-13T18:06:05.741Z,1628877965.741 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2021-08-13T18:06:05.744Z,1628877965.744 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:06:06.053Z,1628877966.053 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:06:06.053Z,1628877966.053 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:06:06.053Z,1628877966.053 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:06:06.054Z,1628877966.054 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:06:06.565Z,1628877966.565 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E58,000,0037B,186,80,80,74,FF
2021-08-13T18:06:06.565Z,1628877966.565 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:06:06.565Z,1628877966.565 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:06:06.567Z,1628877966.567 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:06:06.899Z,1628877966.899 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:06:07.293Z,1628877967.293 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DD8,000,00388,189,80,80,66,FF
2021-08-13T18:06:07.294Z,1628877967.294 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:06:07.754Z,1628877967.754 [Micromodem](INFO): Nmea in: $SNTTA,0.036932,,,,180607.09*4C

2021-08-13T18:06:08.570Z,1628877968.570 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detaching from dock.
2021-08-13T18:06:08.962Z,1628877968.962 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Engaging thruster for 10.0 seconds (max) to disengage.
2021-08-13T18:06:09.351Z,1628877969.351 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Thruster off.
2021-08-13T18:06:09.801Z,1628877969.801 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detected possible detachment. Starting timer.
2021-08-13T18:06:10.169Z,1628877970.169 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:06:10.533Z,1628877970.533 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:06:10.533Z,1628877970.533 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:06:10.533Z,1628877970.533 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:06:10.534Z,1628877970.534 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:06:10.941Z,1628877970.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DD8,000,00388,189,80,80,66,FF
2021-08-13T18:06:10.941Z,1628877970.941 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:06:10.941Z,1628877970.941 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:06:10.943Z,1628877970.943 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:06:11.341Z,1628877971.341 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:06:11.764Z,1628877971.764 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D4E,000,0039C,189,80,80,93,FF
2021-08-13T18:06:11.764Z,1628877971.764 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:06:12.181Z,1628877972.181 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180611.46*53

2021-08-13T18:06:14.599Z,1628877974.599 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:06:14.977Z,1628877974.977 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:06:14.977Z,1628877974.977 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:06:14.978Z,1628877974.978 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:06:14.979Z,1628877974.979 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:06:15.396Z,1628877975.396 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D4E,000,0039C,189,80,80,93,FF
2021-08-13T18:06:15.396Z,1628877975.396 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:06:15.397Z,1628877975.397 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:06:15.407Z,1628877975.407 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:06:15.791Z,1628877975.791 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:06:16.185Z,1628877976.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CA6,000,003AF,189,80,80,AE,FF
2021-08-13T18:06:16.185Z,1628877976.185 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:06:16.603Z,1628877976.603 [Micromodem](INFO): Nmea in: $SNTTA,0.015167,,,,180615.93*45

2021-08-13T18:06:19.048Z,1628877979.048 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:06:19.473Z,1628877979.473 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:06:19.473Z,1628877979.473 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:06:19.473Z,1628877979.473 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:06:19.474Z,1628877979.474 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:06:19.825Z,1628877979.825 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CA6,000,003AF,189,80,80,AE,FF
2021-08-13T18:06:19.825Z,1628877979.825 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:06:19.826Z,1628877979.826 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:06:19.827Z,1628877979.827 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:06:20.233Z,1628877980.233 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:06:20.625Z,1628877980.625 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C4F,000,003BC,189,80,80,9E,FF
2021-08-13T18:06:20.626Z,1628877980.626 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:06:21.069Z,1628877981.069 [Micromodem](INFO): Nmea in: $SNTTA,0.015363,,,,180620.35*49

2021-08-13T18:06:23.533Z,1628877983.533 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:06:23.865Z,1628877983.865 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:06:23.865Z,1628877983.865 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:06:23.865Z,1628877983.865 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:06:23.866Z,1628877983.866 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:06:24.269Z,1628877984.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C4F,000,003BC,189,80,80,9E,FF
2021-08-13T18:06:24.270Z,1628877984.270 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:06:24.270Z,1628877984.270 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:06:24.271Z,1628877984.271 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:06:24.677Z,1628877984.677 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:06:25.081Z,1628877985.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C6A,000,003C7,189,80,80,AF,FF
2021-08-13T18:06:25.082Z,1628877985.082 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:06:25.525Z,1628877985.525 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180624.80*5F

2021-08-13T18:06:27.951Z,1628877987.951 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:06:28.313Z,1628877988.313 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:06:28.313Z,1628877988.313 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:06:28.313Z,1628877988.313 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:06:28.314Z,1628877988.314 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:06:28.713Z,1628877988.713 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C6A,000,003C7,189,80,80,AF,FF
2021-08-13T18:06:28.713Z,1628877988.713 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:06:28.713Z,1628877988.713 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:06:28.715Z,1628877988.715 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:06:29.121Z,1628877989.121 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:06:29.320Z,1628877989.320 [Radio_Surface](INFO): Powering up
2021-08-13T18:06:29.535Z,1628877989.535 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C80,000,003CC,189,80,80,CA,FF
2021-08-13T18:06:29.535Z,1628877989.535 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:06:29.961Z,1628877989.961 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180629.24*5C

2021-08-13T18:06:29.982Z,1628877989.982 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached at range: 20.82 m. Transitioning DDM to standby.
2021-08-13T18:06:30.346Z,1628877990.346 [PowerOnly](INFO): Powering down loadControl
2021-08-13T18:06:32.390Z,1628877992.390 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): DDM at standby.
2021-08-13T18:06:32.411Z,1628877992.411 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:06:32.753Z,1628877992.753 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:06:32.753Z,1628877992.753 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:06:32.753Z,1628877992.753 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:06:32.754Z,1628877992.754 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:06:32.797Z,1628877992.797 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](IMPORTANT): Undocking sequence complete.
2021-08-13T18:06:32.797Z,1628877992.797 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Stopped
2021-08-13T18:06:32.798Z,1628877992.798 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B] Running Loop=1
2021-08-13T18:06:33.141Z,1628877993.141 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C80,000,003CC,189,80,80,CA,FF
2021-08-13T18:06:33.141Z,1628877993.141 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:06:33.142Z,1628877993.142 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:06:33.143Z,1628877993.143 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:06:33.255Z,1628877993.255 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B](INFO): Transitioning to midcourse guidance.
2021-08-13T18:06:33.255Z,1628877993.255 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B] Stopped
2021-08-13T18:06:33.261Z,1628877993.261 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:C] Running Loop=1
2021-08-13T18:06:33.573Z,1628877993.573 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:06:33.626Z,1628877993.626 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:C] Stopped
2021-08-13T18:06:33.626Z,1628877993.626 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-08-13T18:06:33.626Z,1628877993.626 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide] Stopped
2021-08-13T18:06:33.626Z,1628877993.626 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-08-13T18:06:33.626Z,1628877993.626 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-08-13T18:06:33.973Z,1628877993.973 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C28,000,003DA,189,80,80,BC,FF
2021-08-13T18:06:33.974Z,1628877993.974 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:06:33.998Z,1628877993.998 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2021-08-13T18:06:33.998Z,1628877993.998 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-08-13T18:06:33.998Z,1628877993.998 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2021-08-13T18:06:33.998Z,1628877993.998 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-08-13T18:06:33.998Z,1628877993.998 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2021-08-13T18:06:33.998Z,1628877993.998 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2021-08-13T18:06:33.999Z,1628877993.999 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2021-08-13T18:06:33.999Z,1628877993.999 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2021-08-13T18:06:33.999Z,1628877993.999 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2021-08-13T18:06:34.000Z,1628877994.000 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Running Loop=1
2021-08-13T18:06:34.000Z,1628877994.000 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-08-13T18:06:34.000Z,1628877994.000 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Running Loop=1
2021-08-13T18:06:34.001Z,1628877994.001 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A](INFO): Transitioning to terminal guidance at range 20.820002 m 
2021-08-13T18:06:34.001Z,1628877994.001 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Stopped
2021-08-13T18:06:34.001Z,1628877994.001 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Running Loop=1
2021-08-13T18:06:34.002Z,1628877994.002 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A](INFO): Navigating to dock waypoint ( 41.552317 arcdeg , -70.708600 arcdeg )
2021-08-13T18:06:34.002Z,1628877994.002 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2021-08-13T18:06:34.002Z,1628877994.002 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Running Loop=1
2021-08-13T18:06:34.002Z,1628877994.002 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Initialize WaypointComponent.
2021-08-13T18:06:34.358Z,1628877994.358 [Micromodem](INFO): Nmea in: $SNTTA,0.439842,0.426032,,,180633.66*50

2021-08-13T18:06:34.373Z,1628877994.373 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Stopped
2021-08-13T18:06:34.374Z,1628877994.374 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-08-13T18:06:34.374Z,1628877994.374 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Stopped
2021-08-13T18:06:34.374Z,1628877994.374 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-08-13T18:06:34.374Z,1628877994.374 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-08-13T18:06:34.374Z,1628877994.374 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-13T18:06:34.374Z,1628877994.374 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-08-13T18:06:34.374Z,1628877994.374 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-08-13T18:06:34.374Z,1628877994.374 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2021-08-13T18:06:34.375Z,1628877994.375 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-08-13T18:06:34.375Z,1628877994.375 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-08-13T18:06:34.776Z,1628877994.776 [lineCaptureDepth:UpdateNumPings_Terminal] Running Loop=1
2021-08-13T18:06:34.776Z,1628877994.776 [lineCaptureDepth:UpdateNumPings_Terminal](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal
2021-08-13T18:06:34.777Z,1628877994.777 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-13T18:06:34.777Z,1628877994.777 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T18:06:34.777Z,1628877994.777 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-13T18:06:34.777Z,1628877994.777 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-13T18:06:34.778Z,1628877994.778 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-13T18:06:34.778Z,1628877994.778 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-13T18:06:34.778Z,1628877994.778 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2021-08-13T18:06:34.779Z,1628877994.779 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-13T18:06:34.779Z,1628877994.779 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2021-08-13T18:06:34.779Z,1628877994.779 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-13T18:06:34.779Z,1628877994.779 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1
2021-08-13T18:06:34.779Z,1628877994.779 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Initialize.
2021-08-13T18:06:34.779Z,1628877994.779 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2021-08-13T18:06:34.779Z,1628877994.779 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2021-08-13T18:06:34.779Z,1628877994.779 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2021-08-13T18:06:34.781Z,1628877994.781 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A](INFO): Terminal guidance.
2021-08-13T18:06:34.781Z,1628877994.781 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2021-08-13T18:06:34.781Z,1628877994.781 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture] Running Loop=1
2021-08-13T18:06:34.781Z,1628877994.781 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initialize.
2021-08-13T18:06:34.781Z,1628877994.781 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initializing internal variables to default values.
2021-08-13T18:06:34.781Z,1628877994.781 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2021-08-13T18:06:34.782Z,1628877994.782 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Rollout timeout set to 900.00 sec.
2021-08-13T18:06:34.782Z,1628877994.782 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-13T18:06:34.783Z,1628877994.783 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2021-08-13T18:06:34.783Z,1628877994.783 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-08-13T18:06:34.783Z,1628877994.783 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2021-08-13T18:06:34.783Z,1628877994.783 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-08-13T18:06:34.783Z,1628877994.783 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2021-08-13T18:06:34.783Z,1628877994.783 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2021-08-13T18:06:34.783Z,1628877994.783 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2021-08-13T18:06:34.783Z,1628877994.783 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Stopped
2021-08-13T18:06:34.783Z,1628877994.783 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Uninitialize WaypointComponent.
2021-08-13T18:06:35.190Z,1628877995.190 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-13T18:06:35.191Z,1628877995.191 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T18:06:35.191Z,1628877995.191 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-13T18:06:35.191Z,1628877995.191 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T18:06:35.198Z,1628877995.198 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.659998 m, bearing: 46.961720 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-13T18:06:35.198Z,1628877995.198 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 21.66 m.
2021-08-13T18:06:35.199Z,1628877995.199 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 46.961720deg and heading rate command to 0 deg/s.
2021-08-13T18:06:35.390Z,1628877995.390 [DataOverHttps](INFO): Radio surface powered ON.
2021-08-13T18:06:35.566Z,1628877995.566 [PowerOnly](INFO): Powering up loadControl
2021-08-13T18:06:36.513Z,1628877996.513 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:06:36.878Z,1628877996.878 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:06:36.878Z,1628877996.878 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:06:36.878Z,1628877996.878 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:06:36.879Z,1628877996.879 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:06:37.281Z,1628877997.281 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C28,000,003DA,189,80,80,BC,FF
2021-08-13T18:06:37.281Z,1628877997.281 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:06:37.281Z,1628877997.281 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:06:37.283Z,1628877997.283 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:06:37.701Z,1628877997.701 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:06:38.101Z,1628877998.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CC7,000,003E0,189,80,80,BF,FF
2021-08-13T18:06:38.103Z,1628877998.103 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:06:38.174Z,1628877998.174 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T18:06:38.529Z,1628877998.529 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180637.80*5D

2021-08-13T18:06:38.571Z,1628877998.571 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.020000 m, bearing: 41.933192 deg, deltaT: 4.169536 s, approachRate: 0.086341 m/s, LOS rate: -1.206016 deg/s, posRepo size: 2
2021-08-13T18:06:38.571Z,1628877998.571 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 22.02 m.
2021-08-13T18:06:38.578Z,1628877998.578 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 22.020000 m,
      bearing: 41.933192 deg,
      approachRate: 0.086341 m/s,
      LOS rate: -1.206016 deg/s,
      cmd update: -3.618049 deg/s,
      cmd heading: 46.961720 deg,
      new cmd heading: 46.961720 deg.

2021-08-13T18:06:40.926Z,1628878000.926 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:06:41.297Z,1628878001.297 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:06:41.297Z,1628878001.297 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:06:41.297Z,1628878001.297 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:06:41.298Z,1628878001.298 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:06:41.701Z,1628878001.701 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CC7,000,003E0,189,80,80,BF,FF
2021-08-13T18:06:41.701Z,1628878001.701 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:06:41.701Z,1628878001.701 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:06:41.703Z,1628878001.703 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:06:41.792Z,1628878001.792 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-13T18:06:42.132Z,1628878002.132 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:06:42.553Z,1628878002.553 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CF2,000,003DE,189,80,80,99,FF
2021-08-13T18:06:42.554Z,1628878002.554 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:06:42.609Z,1628878002.609 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T18:06:42.962Z,1628878002.962 [Micromodem](INFO): Nmea in: $SNTTA,0.016785,,,,180642.23*45

2021-08-13T18:06:42.978Z,1628878002.978 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.900000 m, bearing: 43.534577 deg, deltaT: 4.434327 s, approachRate: -0.027062 m/s, LOS rate: 0.361134 deg/s, posRepo size: 3
2021-08-13T18:06:42.979Z,1628878002.979 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 21.90 m.
2021-08-13T18:06:42.981Z,1628878002.981 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 21.900000 m,
      bearing: 43.534577 deg,
      approachRate: -0.027062 m/s,
      LOS rate: 0.361134 deg/s,
      cmd update: 1.083402 deg/s,
      cmd heading: 30.918211 deg,
      new cmd heading: 29.555509 deg.

2021-08-13T18:06:45.554Z,1628878005.554 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:06:45.887Z,1628878005.887 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:06:45.887Z,1628878005.887 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:06:45.888Z,1628878005.888 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:06:45.889Z,1628878005.889 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:06:46.205Z,1628878006.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CF2,000,003DE,189,80,80,99,FF
2021-08-13T18:06:46.205Z,1628878006.205 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:06:46.205Z,1628878006.205 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:06:46.207Z,1628878006.207 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:06:46.608Z,1628878006.608 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:06:47.017Z,1628878007.017 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E04,000,003C9,186,80,80,96,FF
2021-08-13T18:06:47.018Z,1628878007.018 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:06:47.038Z,1628878007.038 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T18:06:47.510Z,1628878007.510 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180646.73*57

2021-08-13T18:06:47.614Z,1628878007.614 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.639997 m, bearing: 44.015628 deg, deltaT: 4.429271 s, approachRate: -0.284472 m/s, LOS rate: 0.108607 deg/s, posRepo size: 4
2021-08-13T18:06:47.615Z,1628878007.615 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 20.64 m.
2021-08-13T18:06:47.621Z,1628878007.621 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 20.639997 m,
      bearing: 44.015628 deg,
      approachRate: -0.284472 m/s,
      LOS rate: 0.108607 deg/s,
      cmd update: 0.325821 deg/s,
      cmd heading: 35.721192 deg,
      new cmd heading: 36.348749 deg.

2021-08-13T18:06:49.543Z,1628878009.543 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:06:49.845Z,1628878009.845 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:06:49.845Z,1628878009.845 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:06:49.846Z,1628878009.846 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:06:49.847Z,1628878009.847 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:06:50.254Z,1628878010.254 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E04,000,003C9,186,80,80,96,FF
2021-08-13T18:06:50.254Z,1628878010.254 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:06:50.254Z,1628878010.254 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:06:50.255Z,1628878010.255 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:06:50.656Z,1628878010.656 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:06:51.057Z,1628878011.057 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB7,000,003AF,185,80,80,C1,FF
2021-08-13T18:06:51.058Z,1628878011.058 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:06:51.124Z,1628878011.124 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T18:06:51.529Z,1628878011.529 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180650.78*5B

2021-08-13T18:06:51.583Z,1628878011.583 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.079998 m, bearing: 40.418064 deg, deltaT: 4.085999 s, approachRate: -0.381791 m/s, LOS rate: -0.880461 deg/s, posRepo size: 4
2021-08-13T18:06:51.583Z,1628878011.583 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 19.08 m.
2021-08-13T18:06:51.584Z,1628878011.584 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 19.08 m.
2021-08-13T18:06:51.584Z,1628878011.584 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-13T18:06:51.586Z,1628878011.586 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.079998 m,
      bearing: 40.418064 deg,
      approachRate: -0.381791 m/s,
      LOS rate: -0.880461 deg/s,
      cmd update: -2.641383 deg/s,
      cmd heading: 37.051464 deg,
      new cmd heading: 37.202998 deg.

2021-08-13T18:06:53.929Z,1628878013.929 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:06:54.305Z,1628878014.305 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:06:54.305Z,1628878014.305 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:06:54.305Z,1628878014.305 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:06:54.306Z,1628878014.306 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:06:54.693Z,1628878014.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB7,000,003AF,185,80,80,C1,FF
2021-08-13T18:06:54.693Z,1628878014.693 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:06:54.694Z,1628878014.694 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:06:54.695Z,1628878014.695 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:06:55.115Z,1628878015.115 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:06:55.537Z,1628878015.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0AD,000,0038F,185,80,80,BE,FF
2021-08-13T18:06:55.537Z,1628878015.537 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:06:55.541Z,1628878015.541 [Micromodem](INFO): Nmea in: $SNTTA,0.291583,0.291583,,,180655.22*51

2021-08-13T18:06:55.648Z,1628878015.648 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T18:06:55.949Z,1628878015.949 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.160000 m, bearing: 36.752159 deg, deltaT: 4.524084 s, approachRate: -0.424395 m/s, LOS rate: -0.810309 deg/s, posRepo size: 4
2021-08-13T18:06:55.951Z,1628878015.951 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.160000 m,
      bearing: 36.752159 deg,
      approachRate: -0.424395 m/s,
      LOS rate: -0.810309 deg/s,
      cmd update: -2.430927 deg/s,
      cmd heading: 25.114628 deg,
      new cmd heading: 24.290770 deg.

2021-08-13T18:06:58.368Z,1628878018.368 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:06:58.745Z,1628878018.745 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:06:58.745Z,1628878018.745 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:06:58.745Z,1628878018.745 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:06:58.746Z,1628878018.746 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:06:59.145Z,1628878019.145 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0AD,000,0038F,185,80,80,BE,FF
2021-08-13T18:06:59.145Z,1628878019.145 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:06:59.145Z,1628878019.145 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:06:59.147Z,1628878019.147 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:06:59.573Z,1628878019.573 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:06:59.985Z,1628878019.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F98,000,00366,187,80,80,83,FF
2021-08-13T18:06:59.985Z,1628878019.985 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:07:00.038Z,1628878020.038 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T18:07:00.401Z,1628878020.401 [Micromodem](INFO): Nmea in: $SNTTA,0.009513,,,,180659.67*4C

2021-08-13T18:07:00.437Z,1628878020.437 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.700000 m, bearing: 40.896352 deg, deltaT: 4.390097 s, approachRate: -0.560352 m/s, LOS rate: 0.943987 deg/s, posRepo size: 4
2021-08-13T18:07:00.439Z,1628878020.439 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.700000 m,
      bearing: 40.896352 deg,
      approachRate: -0.560352 m/s,
      LOS rate: 0.943987 deg/s,
      cmd update: 2.831960 deg/s,
      cmd heading: 14.424021 deg,
      new cmd heading: 13.446409 deg.

2021-08-13T18:07:02.807Z,1628878022.807 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:07:03.209Z,1628878023.209 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:07:03.209Z,1628878023.209 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:07:03.209Z,1628878023.209 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:07:03.210Z,1628878023.210 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:07:03.227Z,1628878023.227 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T18:07:03.601Z,1628878023.601 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F98,000,00366,187,80,80,83,FF
2021-08-13T18:07:03.601Z,1628878023.601 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:07:03.601Z,1628878023.601 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:07:03.602Z,1628878023.602 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:07:04.001Z,1628878024.001 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:07:04.401Z,1628878024.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E3D,000,0033F,186,80,80,39,FF
2021-08-13T18:07:04.401Z,1628878024.401 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:07:04.432Z,1628878024.432 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T18:07:04.845Z,1628878024.845 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180704.12*57

2021-08-13T18:07:04.895Z,1628878024.895 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.360002 m, bearing: 40.904999 deg, deltaT: 4.393861 s, approachRate: -0.532561 m/s, LOS rate: 0.001968 deg/s, posRepo size: 4
2021-08-13T18:07:04.898Z,1628878024.898 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.360002 m,
      bearing: 40.904999 deg,
      approachRate: -0.532561 m/s,
      LOS rate: 0.001968 deg/s,
      cmd update: 0.005904 deg/s,
      cmd heading: 26.868334 deg,
      new cmd heading: 28.170988 deg.

2021-08-13T18:07:05.504Z,1628878025.504 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-13T18:07:07.251Z,1628878027.251 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:07:07.633Z,1628878027.633 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:07:07.633Z,1628878027.633 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:07:07.633Z,1628878027.633 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:07:07.634Z,1628878027.634 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:07:08.033Z,1628878028.033 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E3D,000,0033F,186,80,80,39,FF
2021-08-13T18:07:08.034Z,1628878028.034 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:07:08.034Z,1628878028.034 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:07:08.035Z,1628878028.035 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:07:08.445Z,1628878028.445 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:07:08.845Z,1628878028.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E78,000,0031F,186,80,80,5E,FF
2021-08-13T18:07:08.845Z,1628878028.845 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:07:09.027Z,1628878029.027 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T18:07:09.305Z,1628878029.305 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180708.56*5B

2021-08-13T18:07:09.341Z,1628878029.341 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.439999 m, bearing: 41.373686 deg, deltaT: 4.595270 s, approachRate: -0.417822 m/s, LOS rate: 0.101993 deg/s, posRepo size: 4
2021-08-13T18:07:09.343Z,1628878029.343 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.439999 m,
      bearing: 41.373686 deg,
      approachRate: -0.417822 m/s,
      LOS rate: 0.101993 deg/s,
      cmd update: 0.305980 deg/s,
      cmd heading: 26.895465 deg,
      new cmd heading: 26.897335 deg.

2021-08-13T18:07:09.561Z,1628878029.561 [CTD_Seabird](ERROR): Failed to parse device response: .32
2021-08-13T18:07:11.763Z,1628878031.763 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:07:12.113Z,1628878032.113 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:07:12.113Z,1628878032.113 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:07:12.113Z,1628878032.113 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:07:12.114Z,1628878032.114 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:07:12.513Z,1628878032.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E78,000,0031F,186,80,80,5E,FF
2021-08-13T18:07:12.513Z,1628878032.513 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:07:12.513Z,1628878032.513 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:07:12.515Z,1628878032.515 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:07:12.929Z,1628878032.929 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:07:13.321Z,1628878033.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F31,000,002FF,186,80,80,75,FF
2021-08-13T18:07:13.321Z,1628878033.321 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:07:13.460Z,1628878033.460 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T18:07:13.773Z,1628878033.773 [Micromodem](INFO): Nmea in: $SNTTA,0.065152,,,,180713.04*4D

2021-08-13T18:07:13.836Z,1628878033.836 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.520000 m, bearing: 39.946624 deg, deltaT: 4.432657 s, approachRate: -0.433148 m/s, LOS rate: -0.321943 deg/s, posRepo size: 4
2021-08-13T18:07:13.838Z,1628878033.838 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.520000 m,
      bearing: 39.946624 deg,
      approachRate: -0.433148 m/s,
      LOS rate: -0.321943 deg/s,
      cmd update: -0.965828 deg/s,
      cmd heading: 28.249286 deg,
      new cmd heading: 28.367836 deg.

2021-08-13T18:07:16.163Z,1628878036.163 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:07:16.550Z,1628878036.550 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:07:16.550Z,1628878036.550 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:07:16.550Z,1628878036.550 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:07:16.551Z,1628878036.551 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:07:16.961Z,1628878036.961 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F31,000,002FF,186,80,80,75,FF
2021-08-13T18:07:16.961Z,1628878036.961 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:07:16.962Z,1628878036.962 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:07:16.963Z,1628878036.963 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:07:17.422Z,1628878037.422 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:07:17.841Z,1628878037.841 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F05,000,002DD,187,80,80,BD,FF
2021-08-13T18:07:17.842Z,1628878037.842 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:07:17.906Z,1628878037.906 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T18:07:18.257Z,1628878038.257 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180717.49*5B

2021-08-13T18:07:18.306Z,1628878038.306 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 6.479999 m, bearing: 44.266576 deg, deltaT: 4.446369 s, approachRate: -0.458802 m/s, LOS rate: 0.971568 deg/s, posRepo size: 4
2021-08-13T18:07:18.308Z,1628878038.308 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.479999 m,
      bearing: 44.266576 deg,
      approachRate: -0.458802 m/s,
      LOS rate: 0.971568 deg/s,
      cmd update: 2.914705 deg/s,
      cmd heading: 23.954630 deg,
      new cmd heading: 23.558303 deg.

2021-08-13T18:07:20.760Z,1628878040.760 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:07:21.073Z,1628878041.073 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:07:21.073Z,1628878041.073 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:07:21.074Z,1628878041.074 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:07:21.075Z,1628878041.075 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:07:21.477Z,1628878041.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F05,000,002DD,187,80,80,BD,FF
2021-08-13T18:07:21.477Z,1628878041.477 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:07:21.477Z,1628878041.477 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:07:21.479Z,1628878041.479 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:07:21.910Z,1628878041.910 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:07:22.296Z,1628878042.296 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,BB5,000,002C7,189,80,80,A8,FF
2021-08-13T18:07:22.297Z,1628878042.297 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:07:22.345Z,1628878042.345 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T18:07:22.757Z,1628878042.757 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180722.00*50

2021-08-13T18:07:22.783Z,1628878042.783 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.160000 m, bearing: 81.566112 deg, deltaT: 4.438684 s, approachRate: -0.297385 m/s, LOS rate: 8.403288 deg/s, posRepo size: 4
2021-08-13T18:07:22.802Z,1628878042.802 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.160000 m,
      bearing: 81.566112 deg,
      approachRate: -0.297385 m/s,
      LOS rate: 8.403288 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 36.903919 deg,
      new cmd heading: 38.201631 deg.

2021-08-13T18:07:25.149Z,1628878045.149 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:07:25.515Z,1628878045.515 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:07:25.515Z,1628878045.515 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:07:25.515Z,1628878045.515 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:07:25.517Z,1628878045.517 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:07:25.921Z,1628878045.921 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
BB5,000,002C7,189,80,80,A8,FF
2021-08-13T18:07:25.921Z,1628878045.921 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:07:25.922Z,1628878045.922 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:07:25.923Z,1628878045.923 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:07:26.339Z,1628878046.339 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:07:26.729Z,1628878046.729 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F76,000,002BD,186,80,80,8C,FF
2021-08-13T18:07:26.730Z,1628878046.730 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:07:26.778Z,1628878046.778 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T18:07:27.170Z,1628878047.170 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180726.44*54

2021-08-13T18:07:27.186Z,1628878047.186 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.559999 m, bearing: 46.694076 deg, deltaT: 4.433389 s, approachRate: -0.135337 m/s, LOS rate: -7.865774 deg/s, posRepo size: 4
2021-08-13T18:07:27.189Z,1628878047.189 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.559999 m,
      bearing: 46.694076 deg,
      approachRate: -0.135337 m/s,
      LOS rate: -7.865774 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 90.101780 deg,
      new cmd heading: 95.083712 deg.

2021-08-13T18:07:29.622Z,1628878049.622 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:07:29.959Z,1628878049.959 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:07:29.959Z,1628878049.959 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:07:29.959Z,1628878049.959 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:07:29.960Z,1628878049.960 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:07:30.373Z,1628878050.373 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F76,000,002BD,186,80,80,8C,FF
2021-08-13T18:07:30.373Z,1628878050.373 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:07:30.373Z,1628878050.373 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:07:30.375Z,1628878050.375 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:07:30.771Z,1628878050.771 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:07:31.171Z,1628878051.171 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F38,000,002BA,186,80,80,7D,FF
2021-08-13T18:07:31.172Z,1628878051.172 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:07:31.195Z,1628878051.195 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T18:07:31.625Z,1628878051.625 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180730.90*5A

2021-08-13T18:07:31.722Z,1628878051.722 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.380000 m, bearing: 69.859066 deg, deltaT: 4.416460 s, approachRate: -0.040756 m/s, LOS rate: 5.245149 deg/s, posRepo size: 4
2021-08-13T18:07:31.725Z,1628878051.725 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.380000 m,
      bearing: 69.859066 deg,
      approachRate: -0.040756 m/s,
      LOS rate: 5.245149 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 37.094539 deg,
      new cmd heading: 30.688399 deg.

2021-08-13T18:07:34.048Z,1628878054.048 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:07:34.407Z,1628878054.407 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:07:34.407Z,1628878054.407 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:07:34.407Z,1628878054.407 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:07:34.409Z,1628878054.409 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:07:34.811Z,1628878054.811 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F38,000,002BA,186,80,80,7D,FF
2021-08-13T18:07:34.812Z,1628878054.812 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:07:34.812Z,1628878054.812 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:07:34.814Z,1628878054.814 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:07:35.224Z,1628878055.224 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:07:35.613Z,1628878055.613 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EDA,000,002BA,187,80,80,73,FF
2021-08-13T18:07:35.613Z,1628878055.613 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:07:35.821Z,1628878055.821 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T18:07:36.093Z,1628878056.093 [Micromodem](INFO): Nmea in: $SNTTA,0.037487,,,,180735.34*40

2021-08-13T18:07:36.128Z,1628878056.128 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.380000 m, bearing: 91.201576 deg, deltaT: 4.625890 s, approachRate: 0.000000 m/s, LOS rate: 4.613709 deg/s, posRepo size: 4
2021-08-13T18:07:36.130Z,1628878056.130 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.380000 m,
      bearing: 91.201576 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 4.613709 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 92.646476 deg,
      new cmd heading: 96.369440 deg.

2021-08-13T18:07:38.492Z,1628878058.492 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:07:38.851Z,1628878058.851 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:07:38.851Z,1628878058.851 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:07:38.851Z,1628878058.851 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:07:38.853Z,1628878058.853 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:07:39.265Z,1628878059.265 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EDA,000,002BA,187,80,80,73,FF
2021-08-13T18:07:39.265Z,1628878059.265 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:07:39.265Z,1628878059.265 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:07:39.267Z,1628878059.267 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:07:39.744Z,1628878059.744 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:07:40.125Z,1628878060.125 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EBD,000,002CA,186,80,80,85,FF
2021-08-13T18:07:40.125Z,1628878060.125 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:07:40.175Z,1628878060.175 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T18:07:40.545Z,1628878060.545 [Micromodem](INFO): Nmea in: $SNTTA,0.029318,,,,180739.79*4B

2021-08-13T18:07:40.571Z,1628878060.571 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.339999 m, bearing: 89.448233 deg, deltaT: 4.354204 s, approachRate: 0.220476 m/s, LOS rate: -0.402678 deg/s, posRepo size: 4
2021-08-13T18:07:40.618Z,1628878060.618 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.339999 m,
      bearing: 89.448233 deg,
      approachRate: 0.220476 m/s,
      LOS rate: -0.402678 deg/s,
      cmd update: -1.208035 deg/s,
      cmd heading: 144.848398 deg,
      new cmd heading: 149.641186 deg.

2021-08-13T18:07:40.646Z,1628878060.646 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-13T18:07:42.993Z,1628878062.993 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:07:43.356Z,1628878063.356 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:07:43.356Z,1628878063.356 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:07:43.356Z,1628878063.356 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:07:43.357Z,1628878063.357 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:07:43.769Z,1628878063.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EBD,000,002CA,186,80,80,85,FF
2021-08-13T18:07:43.769Z,1628878063.769 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:07:43.769Z,1628878063.769 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:07:43.771Z,1628878063.771 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:07:44.189Z,1628878064.189 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:07:45.018Z,1628878065.018 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180744.29*5B

2021-08-13T18:07:45.830Z,1628878065.830 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:07:47.476Z,1628878067.476 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
A,186,80,80,85,FF
2021-08-13T18:07:47.477Z,1628878067.477 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
A,186,80,80,85,FF
2021-08-13T18:07:47.477Z,1628878067.477 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T18:07:48.650Z,1628878068.650 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:07:49.057Z,1628878069.057 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:07:49.057Z,1628878069.057 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:07:49.057Z,1628878069.057 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:07:49.058Z,1628878069.058 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:07:49.481Z,1628878069.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
A,186,80,80,85,FF
2021-08-13T18:07:49.481Z,1628878069.481 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:07:49.481Z,1628878069.481 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:07:49.483Z,1628878069.483 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:07:49.903Z,1628878069.903 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:07:50.285Z,1628878070.285 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F15,000,0032F,187,80,80,89,FF
2021-08-13T18:07:50.286Z,1628878070.286 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:07:50.342Z,1628878070.342 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T18:07:50.738Z,1628878070.738 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180750.01*54

2021-08-13T18:07:50.788Z,1628878070.788 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.400001 m, bearing: 121.906897 deg, deltaT: 10.167375 s, approachRate: 0.596024 m/s, LOS rate: 3.192433 deg/s, posRepo size: 4
2021-08-13T18:07:50.790Z,1628878070.790 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.400001 m,
      bearing: 121.906897 deg,
      approachRate: 0.596024 m/s,
      LOS rate: 3.192433 deg/s,
      cmd update: 9.577299 deg/s,
      cmd heading: 132.561019 deg,
      new cmd heading: 132.053418 deg.

2021-08-13T18:07:53.139Z,1628878073.139 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:07:53.520Z,1628878073.520 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:07:53.520Z,1628878073.520 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:07:53.520Z,1628878073.520 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:07:53.521Z,1628878073.521 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:07:53.929Z,1628878073.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F15,000,0032F,187,80,80,89,FF
2021-08-13T18:07:53.929Z,1628878073.929 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:07:53.929Z,1628878073.929 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:07:53.931Z,1628878073.931 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:07:54.320Z,1628878074.320 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:07:54.746Z,1628878074.746 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F05,000,00328,186,80,80,99,FF
2021-08-13T18:07:54.747Z,1628878074.747 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:07:54.781Z,1628878074.781 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T18:07:55.158Z,1628878075.158 [Micromodem](INFO): Nmea in: $SNTTA,0.034239,,,,180754.45*41

2021-08-13T18:07:55.174Z,1628878075.174 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.980000 m, bearing: 138.501319 deg, deltaT: 4.438809 s, approachRate: -0.094620 m/s, LOS rate: 3.738485 deg/s, posRepo size: 4
2021-08-13T18:07:55.177Z,1628878075.177 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.980000 m,
      bearing: 138.501319 deg,
      approachRate: -0.094620 m/s,
      LOS rate: 3.738485 deg/s,
      cmd update: 11.215456 deg/s,
      cmd heading: 175.072791 deg,
      new cmd heading: 178.866129 deg.

2021-08-13T18:07:57.657Z,1628878077.657 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:07:57.969Z,1628878077.969 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:07:57.969Z,1628878077.969 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:07:57.969Z,1628878077.969 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:07:57.970Z,1628878077.970 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:07:58.365Z,1628878078.365 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F05,000,00328,186,80,80,99,FF
2021-08-13T18:07:58.365Z,1628878078.365 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:07:58.365Z,1628878078.365 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:07:58.367Z,1628878078.367 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:07:58.785Z,1628878078.785 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:07:59.169Z,1628878079.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F9C,000,0033F,187,80,80,52,FF
2021-08-13T18:07:59.169Z,1628878079.169 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:07:59.213Z,1628878079.213 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T18:07:59.617Z,1628878079.617 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180758.89*5C

2021-08-13T18:07:59.684Z,1628878079.684 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.360002 m, bearing: 151.044647 deg, deltaT: 4.432127 s, approachRate: 0.311363 m/s, LOS rate: 2.830092 deg/s, posRepo size: 4
2021-08-13T18:07:59.686Z,1628878079.686 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.360002 m,
      bearing: 151.044647 deg,
      approachRate: 0.311363 m/s,
      LOS rate: 2.830092 deg/s,
      cmd update: 8.490277 deg/s,
      cmd heading: 224.781137 deg,
      new cmd heading: 230.050327 deg.

2021-08-13T18:08:02.044Z,1628878082.044 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:08:02.409Z,1628878082.409 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:08:02.409Z,1628878082.409 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:08:02.410Z,1628878082.410 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:08:02.411Z,1628878082.411 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:08:02.802Z,1628878082.802 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F9C,000,0033F,187,80,80,52,FF
2021-08-13T18:08:02.802Z,1628878082.802 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:08:02.802Z,1628878082.802 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:08:02.805Z,1628878082.805 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:08:03.227Z,1628878083.227 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:08:03.496Z,1628878083.496 [Radio_Surface](INFO): Powering down
2021-08-13T18:08:03.618Z,1628878083.618 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4F1,000,001E7,188,80,80,8F,FF
2021-08-13T18:08:03.619Z,1628878083.619 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2021-08-13T18:08:04.045Z,1628878084.045 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180803.33*5C

2021-08-13T18:08:04.880Z,1628878084.880 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:08:07.742Z,1628878087.742 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:08:08.053Z,1628878088.053 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:08:08.053Z,1628878088.053 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:08:08.053Z,1628878088.053 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:08:08.054Z,1628878088.054 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:08:08.462Z,1628878088.462 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
4F1,000,001E7,188,80,80,8F,FF
2021-08-13T18:08:08.462Z,1628878088.462 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:08:08.462Z,1628878088.462 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:08:08.464Z,1628878088.464 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:08:08.874Z,1628878088.874 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:08:09.261Z,1628878089.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E08,000,0036B,187,80,80,B6,FF
2021-08-13T18:08:09.262Z,1628878089.262 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:08:09.265Z,1628878089.265 [PowerOnly](INFO): Powering down loadControl
2021-08-13T18:08:09.298Z,1628878089.298 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T18:08:09.721Z,1628878089.721 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180808.99*57

2021-08-13T18:08:09.768Z,1628878089.768 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.000000 m, bearing: 216.518445 deg, deltaT: 10.084916 s, approachRate: 0.261777 m/s, LOS rate: 6.492250 deg/s, posRepo size: 4
2021-08-13T18:08:09.770Z,1628878089.770 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.000000 m,
      bearing: 216.518445 deg,
      approachRate: 0.261777 m/s,
      LOS rate: 6.492250 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 310.361303 deg,
      new cmd heading: 314.417295 deg.

2021-08-13T18:08:11.836Z,1628878091.836 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:08:12.101Z,1628878092.101 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:08:12.101Z,1628878092.101 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:08:12.102Z,1628878092.102 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:08:12.102Z,1628878092.102 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:08:12.497Z,1628878092.497 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E08,000,0036B,187,80,80,B6,FF
2021-08-13T18:08:12.497Z,1628878092.497 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:08:12.497Z,1628878092.497 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:08:12.499Z,1628878092.499 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:08:12.953Z,1628878092.953 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:08:13.309Z,1628878093.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DDD,000,0037D,189,80,80,46,FF
2021-08-13T18:08:13.310Z,1628878093.310 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:08:13.340Z,1628878093.340 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T18:08:13.775Z,1628878093.775 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.079996 m, bearing: 235.642974 deg, deltaT: 4.041670 s, approachRate: 0.267215 m/s, LOS rate: 4.731839 deg/s, posRepo size: 4
2021-08-13T18:08:13.794Z,1628878093.794 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.079996 m,
      bearing: 235.642974 deg,
      approachRate: 0.267215 m/s,
      LOS rate: 4.731839 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 358.919820 deg,
      new cmd heading: 4.178616 deg.

2021-08-13T18:08:15.802Z,1628878095.802 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-13T18:08:16.163Z,1628878096.163 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:08:16.542Z,1628878096.542 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:08:16.542Z,1628878096.542 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:08:16.543Z,1628878096.543 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:08:16.544Z,1628878096.544 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:08:16.804Z,1628878096.804 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2021-08-13T18:08:16.957Z,1628878096.957 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DDD,000,0037D,189,80,80,46,FF
2021-08-13T18:08:16.957Z,1628878096.957 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:08:16.957Z,1628878096.957 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:08:16.959Z,1628878096.959 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:08:17.362Z,1628878097.362 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:08:17.764Z,1628878097.764 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DB1,000,0039E,189,80,80,97,FF
2021-08-13T18:08:17.765Z,1628878097.765 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:08:17.846Z,1628878097.846 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T18:08:18.204Z,1628878098.204 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180817.48*55

2021-08-13T18:08:18.271Z,1628878098.271 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.059998 m, bearing: 255.675264 deg, deltaT: 4.506200 s, approachRate: 0.439395 m/s, LOS rate: 4.445495 deg/s, posRepo size: 4
2021-08-13T18:08:18.276Z,1628878098.276 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 18.06 m. Rolling out.
2021-08-13T18:08:18.277Z,1628878098.277 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-08-13T18:08:18.619Z,1628878098.619 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2021-08-13T18:08:18.619Z,1628878098.619 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-13T18:08:18.619Z,1628878098.619 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2021-08-13T18:08:18.619Z,1628878098.619 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2021-08-13T18:08:18.619Z,1628878098.619 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2021-08-13T18:08:18.619Z,1628878098.619 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2021-08-13T18:08:18.619Z,1628878098.619 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-08-13T18:08:19.446Z,1628878099.446 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-13T18:08:20.617Z,1628878100.617 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:08:20.989Z,1628878100.989 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:08:20.989Z,1628878100.989 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:08:20.990Z,1628878100.990 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:08:20.991Z,1628878100.991 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:08:21.410Z,1628878101.410 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DB1,000,0039E,189,80,80,97,FF
2021-08-13T18:08:21.410Z,1628878101.411 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:08:21.411Z,1628878101.411 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:08:21.434Z,1628878101.434 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:08:21.518Z,1628878101.518 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-13T18:08:21.801Z,1628878101.801 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4006

2021-08-13T18:08:21.801Z,1628878101.801 [Micromodem](ERROR): Response from modem failed NMEA checksum: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4006
 expected 5E
2021-08-13T18:08:21.801Z,1628878101.801 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:08:21.807Z,1628878101.807 [Micromodem](INFO): Nmea in: $CATXF,40*60

2021-08-13T18:08:21.809Z,1628878101.809 [Micromodem](ERROR): Response from modem unexpected: $CATXF,40*60

2021-08-13T18:08:22.185Z,1628878102.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DE3,000,003AA,187,80,80,76,FF
2021-08-13T18:08:22.186Z,1628878102.186 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:08:22.190Z,1628878102.190 [Micromodem](INFO): Nmea in: $CAXST,7,20210813,180821.961626,3,0,40,4000,14500,1,19829,28005,0,1,0,3,0,14500*69

2021-08-13T18:08:22.192Z,1628878102.192 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210813,180821.961626,3,0,40,4000,14500,1,19829,28005,0,1,0,3,0,14500*69

2021-08-13T18:08:22.197Z,1628878102.197 [Micromodem](INFO): Nmea in: $CAERR,180822,NI  ,29,Busy completing a previous request*7A

2021-08-13T18:08:22.197Z,1628878102.197 [Micromodem](ERROR): Got error from modem: $CAERR,180822,NI  ,29,Busy completing a previous request*7A

2021-08-13T18:08:22.238Z,1628878102.238 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T18:08:22.705Z,1628878102.705 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180821.96*53

2021-08-13T18:08:22.705Z,1628878102.705 [Micromodem](ERROR): Response from modem unexpected: $SNTTA,,,,,180821.96*53

2021-08-13T18:08:22.730Z,1628878102.730 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.779997 m, bearing: 268.522959 deg, deltaT: 4.391555 s, approachRate: 0.163951 m/s, LOS rate: 2.925546 deg/s, posRepo size: 4
2021-08-13T18:08:25.049Z,1628878105.049 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:08:25.477Z,1628878105.477 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:08:25.477Z,1628878105.477 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:08:25.477Z,1628878105.477 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:08:25.478Z,1628878105.478 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:08:25.837Z,1628878105.837 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DE3,000,003AA,187,80,80,76,FF
2021-08-13T18:08:25.837Z,1628878105.837 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:08:25.837Z,1628878105.837 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:08:27.554Z,1628878107.554 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:08:30.286Z,1628878110.286 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:08:31.504Z,1628878111.504 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.026017
2021-08-13T18:08:33.121Z,1628878113.121 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:08:33.242Z,1628878113.242 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:08:33.508Z,1628878113.508 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:08:33.508Z,1628878113.508 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:08:33.509Z,1628878113.509 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:08:33.509Z,1628878113.509 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:08:33.522Z,1628878113.522 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:08:33.917Z,1628878113.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DE3,000,003AA,187,80,80,76,FF
2021-08-13T18:08:33.917Z,1628878113.917 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:08:33.917Z,1628878113.917 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:08:33.919Z,1628878113.919 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:08:34.321Z,1628878114.321 [Micromodem](INFO): Nmea in: $CAERR,180834,NI  ,29,Busy completing a previous request*7D

2021-08-13T18:08:34.322Z,1628878114.322 [Micromodem](ERROR): Got error from modem: $CAERR,180834,NI  ,29,Busy completing a previous request*7D

2021-08-13T18:08:34.323Z,1628878114.323 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180833.64*5D

2021-08-13T18:08:34.323Z,1628878114.323 [Micromodem](ERROR): Response from modem unexpected: $SNTTA,,,,,180833.64*5D

2021-08-13T18:08:35.974Z,1628878115.974 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:08:37.599Z,1628878117.599 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T18:08:38.822Z,1628878118.822 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:08:39.640Z,1628878119.640 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.130544
2021-08-13T18:08:39.647Z,1628878119.647 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T18:08:41.781Z,1628878121.781 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:08:42.037Z,1628878122.037 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:08:42.037Z,1628878122.037 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:08:42.037Z,1628878122.037 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:08:42.038Z,1628878122.038 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:08:42.469Z,1628878122.469 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DE3,000,003AA,187,80,80,76,FF
2021-08-13T18:08:42.469Z,1628878122.469 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:08:42.469Z,1628878122.469 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:08:44.501Z,1628878124.501 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:08:45.273Z,1628878125.273 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:08:45.677Z,1628878125.677 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:08:46.081Z,1628878126.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EDE,000,00411,187,80,80,54,FF
2021-08-13T18:08:46.081Z,1628878126.081 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:08:46.149Z,1628878126.149 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T18:08:46.513Z,1628878126.513 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180845.80*56

2021-08-13T18:08:46.551Z,1628878126.551 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.959997 m, bearing: 231.393149 deg, deltaT: 23.911408 s, approachRate: 0.258454 m/s, LOS rate: -1.552807 deg/s, posRepo size: 4
2021-08-13T18:08:48.930Z,1628878128.930 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:08:49.317Z,1628878129.317 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:08:49.317Z,1628878129.317 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:08:49.317Z,1628878129.317 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:08:49.318Z,1628878129.318 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:08:49.713Z,1628878129.713 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EDE,000,00411,187,80,80,54,FF
2021-08-13T18:08:49.713Z,1628878129.713 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:08:49.713Z,1628878129.713 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:08:49.715Z,1628878129.715 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:08:50.124Z,1628878130.124 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:08:50.528Z,1628878130.528 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F5A,000,0042E,187,80,80,58,FF
2021-08-13T18:08:50.528Z,1628878130.528 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:08:50.562Z,1628878130.562 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T18:08:50.962Z,1628878130.962 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180850.24*5C

2021-08-13T18:08:51.016Z,1628878131.016 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.700003 m, bearing: 221.270030 deg, deltaT: 4.413141 s, approachRate: 0.394278 m/s, LOS rate: -2.293858 deg/s, posRepo size: 4
2021-08-13T18:08:53.449Z,1628878133.449 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:08:53.755Z,1628878133.755 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:08:53.757Z,1628878133.757 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:08:53.757Z,1628878133.757 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:08:53.759Z,1628878133.759 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:08:54.158Z,1628878134.158 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F5A,000,0042E,187,80,80,58,FF
2021-08-13T18:08:54.159Z,1628878134.159 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:08:54.159Z,1628878134.159 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:08:54.161Z,1628878134.161 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:08:54.577Z,1628878134.577 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:08:54.965Z,1628878134.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CDB,000,00441,189,80,80,25,FF
2021-08-13T18:08:54.965Z,1628878134.965 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:08:55.013Z,1628878135.013 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T18:08:55.441Z,1628878135.441 [Micromodem](INFO): Nmea in: $SNTTA,0.070902,,,,180854.68*42

2021-08-13T18:08:55.517Z,1628878135.517 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.839996 m, bearing: 249.172022 deg, deltaT: 4.450879 s, approachRate: 0.256128 m/s, LOS rate: 6.268872 deg/s, posRepo size: 4
2021-08-13T18:08:57.838Z,1628878137.838 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:08:58.209Z,1628878138.209 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:08:58.209Z,1628878138.209 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:08:58.209Z,1628878138.209 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:08:58.210Z,1628878138.210 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:08:58.597Z,1628878138.597 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CDB,000,00441,189,80,80,25,FF
2021-08-13T18:08:58.597Z,1628878138.597 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:08:58.598Z,1628878138.598 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:08:58.599Z,1628878138.599 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:08:59.009Z,1628878139.009 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:08:59.463Z,1628878139.463 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D69,000,00451,18A,80,80,71,FF
2021-08-13T18:08:59.465Z,1628878139.465 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:08:59.471Z,1628878139.471 [Micromodem](INFO): Nmea in: $SNTTA,0.048750,0.340731,,,180859.12*5C

2021-08-13T18:08:59.579Z,1628878139.579 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T18:08:59.855Z,1628878139.855 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.799999 m, bearing: 238.153069 deg, deltaT: 4.566004 s, approachRate: 0.210250 m/s, LOS rate: -2.413260 deg/s, posRepo size: 4
2021-08-13T18:09:02.254Z,1628878142.254 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:09:02.649Z,1628878142.649 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:09:02.649Z,1628878142.649 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:09:02.649Z,1628878142.649 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:09:02.650Z,1628878142.650 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:09:03.057Z,1628878143.057 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D69,000,00451,18A,80,80,71,FF
2021-08-13T18:09:03.057Z,1628878143.057 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:09:03.057Z,1628878143.057 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:09:03.059Z,1628878143.059 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:09:03.484Z,1628878143.484 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:09:03.853Z,1628878143.853 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E3C,000,0045E,186,80,80,AD,FF
2021-08-13T18:09:03.853Z,1628878143.853 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:09:03.873Z,1628878143.873 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T18:09:04.281Z,1628878144.281 [Micromodem](INFO): Nmea in: $SNTTA,0.031980,,,,180903.58*4D

2021-08-13T18:09:04.320Z,1628878144.320 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.580002 m, bearing: 224.480369 deg, deltaT: 4.294242 s, approachRate: 0.181639 m/s, LOS rate: -3.183961 deg/s, posRepo size: 4
2021-08-13T18:09:06.712Z,1628878146.712 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:09:07.089Z,1628878147.089 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:09:07.089Z,1628878147.089 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:09:07.089Z,1628878147.089 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:09:07.090Z,1628878147.090 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:09:07.493Z,1628878147.493 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E3C,000,0045E,186,80,80,AD,FF
2021-08-13T18:09:07.493Z,1628878147.493 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:09:07.493Z,1628878147.493 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:09:07.495Z,1628878147.495 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:09:07.913Z,1628878147.913 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:09:08.305Z,1628878148.305 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F27,000,0046E,187,80,80,83,FF
2021-08-13T18:09:08.305Z,1628878148.305 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:09:08.325Z,1628878148.325 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T18:09:08.741Z,1628878148.741 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180908.02*54

2021-08-13T18:09:08.783Z,1628878148.783 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.539997 m, bearing: 209.741736 deg, deltaT: 4.451445 s, approachRate: 0.215659 m/s, LOS rate: -3.310977 deg/s, posRepo size: 4
2021-08-13T18:09:11.173Z,1628878151.173 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:09:11.533Z,1628878151.533 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:09:11.533Z,1628878151.533 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:09:11.533Z,1628878151.533 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:09:11.534Z,1628878151.534 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:09:11.949Z,1628878151.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F27,000,0046E,187,80,80,83,FF
2021-08-13T18:09:11.949Z,1628878151.949 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:09:11.949Z,1628878151.949 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:09:11.951Z,1628878151.951 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:09:12.349Z,1628878152.349 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:09:12.745Z,1628878152.745 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FFF,000,00489,182,80,80,8F,FF
2021-08-13T18:09:12.745Z,1628878152.745 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:09:12.849Z,1628878152.849 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T18:09:13.189Z,1628878153.189 [Micromodem](INFO): Nmea in: $SNTTA,0.089478,,,,180912.47*4A

2021-08-13T18:09:13.220Z,1628878153.220 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.160004 m, bearing: 196.381449 deg, deltaT: 4.524666 s, approachRate: 0.358039 m/s, LOS rate: -2.952768 deg/s, posRepo size: 4
2021-08-13T18:09:15.644Z,1628878155.644 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:09:15.990Z,1628878155.990 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:09:15.990Z,1628878155.990 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:09:15.991Z,1628878155.991 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:09:15.992Z,1628878155.992 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:09:16.392Z,1628878156.392 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FFF,000,00489,182,80,80,8F,FF
2021-08-13T18:09:16.393Z,1628878156.393 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:09:16.393Z,1628878156.393 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:09:16.399Z,1628878156.399 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:09:16.793Z,1628878156.793 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:09:17.201Z,1628878157.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF7,000,0049C,183,80,80,87,FF
2021-08-13T18:09:17.201Z,1628878157.201 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:09:17.220Z,1628878157.220 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T18:09:17.622Z,1628878157.622 [Micromodem](INFO): Nmea in: $SNTTA,0.440360,0.440491,,,180916.92*5B

2021-08-13T18:09:17.667Z,1628878157.667 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 33.300003 m, bearing: 194.619629 deg, deltaT: 4.370951 s, approachRate: 0.260813 m/s, LOS rate: -0.403075 deg/s, posRepo size: 4
2021-08-13T18:09:20.053Z,1628878160.053 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:09:20.441Z,1628878160.441 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:09:20.441Z,1628878160.441 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:09:20.441Z,1628878160.441 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:09:20.442Z,1628878160.442 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:09:20.833Z,1628878160.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF7,000,0049C,183,80,80,87,FF
2021-08-13T18:09:20.834Z,1628878160.834 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:09:20.834Z,1628878160.834 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:09:20.835Z,1628878160.835 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:09:21.244Z,1628878161.244 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:09:21.641Z,1628878161.641 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0EE,000,004A4,187,80,80,47,FF
2021-08-13T18:09:21.641Z,1628878161.641 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:09:21.734Z,1628878161.734 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T18:09:22.074Z,1628878162.074 [Micromodem](INFO): Nmea in: $SNTTA,0.067407,,,,180921.36*44

2021-08-13T18:09:22.090Z,1628878162.090 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 33.779999 m, bearing: 180.330695 deg, deltaT: 4.513187 s, approachRate: 0.106354 m/s, LOS rate: -3.166041 deg/s, posRepo size: 4
2021-08-13T18:09:24.502Z,1628878164.502 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:09:24.881Z,1628878164.881 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:09:24.882Z,1628878164.882 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:09:24.882Z,1628878164.882 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:09:24.883Z,1628878164.883 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:09:25.269Z,1628878165.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0EE,000,004A4,187,80,80,47,FF
2021-08-13T18:09:25.269Z,1628878165.269 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:09:25.269Z,1628878165.269 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:09:25.271Z,1628878165.271 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:09:25.698Z,1628878165.698 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:09:26.081Z,1628878166.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1AC,000,004B3,185,80,80,5F,FF
2021-08-13T18:09:26.081Z,1628878166.081 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:09:26.100Z,1628878166.100 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T18:09:26.520Z,1628878166.520 [Micromodem](INFO): Nmea in: $SNTTA,0.051477,,,,180925.80*4F

2021-08-13T18:09:26.557Z,1628878166.557 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.680000 m, bearing: 169.321537 deg, deltaT: 4.366709 s, approachRate: 0.206105 m/s, LOS rate: -2.521157 deg/s, posRepo size: 4
2021-08-13T18:09:28.950Z,1628878168.950 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:09:29.305Z,1628878169.305 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:09:29.305Z,1628878169.305 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:09:29.305Z,1628878169.305 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:09:29.306Z,1628878169.306 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:09:29.718Z,1628878169.718 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1AC,000,004B3,185,80,80,5F,FF
2021-08-13T18:09:29.718Z,1628878169.718 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:09:29.718Z,1628878169.718 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:09:29.721Z,1628878169.721 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:09:30.129Z,1628878170.129 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:09:30.522Z,1628878170.522 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1D9,000,004C2,187,80,80,52,FF
2021-08-13T18:09:30.523Z,1628878170.523 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:09:30.594Z,1628878170.594 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T18:09:30.973Z,1628878170.973 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180930.24*5B

2021-08-13T18:09:30.995Z,1628878170.995 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.579998 m, bearing: 165.735633 deg, deltaT: 4.494060 s, approachRate: 0.200264 m/s, LOS rate: -0.797921 deg/s, posRepo size: 4
2021-08-13T18:09:33.449Z,1628878173.449 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:09:33.449Z,1628878173.449 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-08-13T18:09:33.449Z,1628878173.449 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-08-13T18:09:33.449Z,1628878173.449 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-08-13T18:09:33.449Z,1628878173.449 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-13T18:09:33.450Z,1628878173.450 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-08-13T18:09:33.829Z,1628878173.829 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:09:33.829Z,1628878173.829 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:09:33.829Z,1628878173.829 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:09:33.830Z,1628878173.830 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:09:34.012Z,1628878174.012 [Micromodem](INFO): Outgoing frame #1, 64 bytes: B2AB16610C0001005D00000400830100000000000000151D80030C5669BF3148E2FA22188B6A3173E51AA1508F2C2560E38C4E31BE8E0EFE5E41AD29BB47E895
2021-08-13T18:09:34.013Z,1628878174.013 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 4CAB4C1EBBB97A1756A06107373D1D7AB27E5ACDB870D0D98F53B08612FBF911D6AE090130943E26CC3AC8DF8D94F6E2A89DF48D61302FD0645226A875AF15FB
2021-08-13T18:09:34.014Z,1628878174.014 [Micromodem](INFO): Outgoing frame #3, 64 bytes: EA22C45FEB6B4C7917EDA6FC9E19C72368AB871E793B2479FA8C785D065A13A4285F50FA6FCD7F096641484133041AF9D2E814BEFBA058E2197489AE03C3FC62
2021-08-13T18:09:34.014Z,1628878174.014 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,3*6B

2021-08-13T18:09:34.261Z,1628878174.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1D9,000,004C2,187,80,80,52,FF
2021-08-13T18:09:34.261Z,1628878174.261 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:09:34.261Z,1628878174.261 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:09:34.263Z,1628878174.263 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,3*69

2021-08-13T18:09:34.264Z,1628878174.264 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:09:34.671Z,1628878174.671 [Micromodem](INFO): Nmea in: $CADRQ,180934,1,10,0,64,1*71

2021-08-13T18:09:34.671Z,1628878174.671 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,180934,1,10,0,64,1*71

2021-08-13T18:09:35.069Z,1628878175.069 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,290,000,004D1,189,80,80,63,FF
2021-08-13T18:09:35.070Z,1628878175.070 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:09:35.074Z,1628878175.074 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:09:35.150Z,1628878175.150 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T18:09:35.505Z,1628878175.505 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180934.79*57

2021-08-13T18:09:35.808Z,1628878175.808 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.480000 m, bearing: 154.953305 deg, deltaT: 4.555684 s, approachRate: 0.197556 m/s, LOS rate: -2.366786 deg/s, posRepo size: 4
2021-08-13T18:09:38.005Z,1628878178.005 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:09:38.380Z,1628878178.380 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:09:38.380Z,1628878178.380 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:09:38.381Z,1628878178.381 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:09:38.382Z,1628878178.382 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:09:38.777Z,1628878178.777 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
290,000,004D1,189,80,80,63,FF
2021-08-13T18:09:38.777Z,1628878178.777 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:09:38.778Z,1628878178.778 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:09:38.779Z,1628878178.779 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:09:39.185Z,1628878179.185 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:09:39.593Z,1628878179.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2B4,000,004E2,189,80,80,67,FF
2021-08-13T18:09:39.593Z,1628878179.593 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:09:39.822Z,1628878179.822 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T18:09:40.021Z,1628878180.021 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180939.30*57

2021-08-13T18:09:40.058Z,1628878180.058 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.500000 m, bearing: 151.761148 deg, deltaT: 4.671743 s, approachRate: 0.218334 m/s, LOS rate: -0.683290 deg/s, posRepo size: 4
2021-08-13T18:09:42.504Z,1628878182.504 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:09:42.841Z,1628878182.841 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:09:42.841Z,1628878182.841 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:09:42.841Z,1628878182.841 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:09:42.842Z,1628878182.842 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:09:43.249Z,1628878183.249 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2B4,000,004E2,189,80,80,67,FF
2021-08-13T18:09:43.249Z,1628878183.249 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:09:43.249Z,1628878183.249 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:09:43.251Z,1628878183.251 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:09:43.661Z,1628878183.661 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:09:44.060Z,1628878184.060 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2F5,000,004ED,189,80,80,56,FF
2021-08-13T18:09:44.060Z,1628878184.060 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:09:44.080Z,1628878184.080 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T18:09:44.489Z,1628878184.489 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180943.78*56

2021-08-13T18:09:44.549Z,1628878184.549 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.159996 m, bearing: 147.109543 deg, deltaT: 4.258288 s, approachRate: 0.154991 m/s, LOS rate: -1.092365 deg/s, posRepo size: 4
2021-08-13T18:09:46.987Z,1628878186.987 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:09:47.332Z,1628878187.332 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:09:47.332Z,1628878187.332 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:09:47.333Z,1628878187.333 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:09:47.334Z,1628878187.334 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:09:47.729Z,1628878187.729 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2F5,000,004ED,189,80,80,56,FF
2021-08-13T18:09:47.729Z,1628878187.729 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:09:47.729Z,1628878187.729 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:09:47.731Z,1628878187.731 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:09:48.267Z,1628878188.267 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:09:48.665Z,1628878188.665 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED9,000,00503,186,80,80,63,FF
2021-08-13T18:09:48.666Z,1628878188.666 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:09:48.719Z,1628878188.719 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T18:09:49.073Z,1628878189.073 [Micromodem](INFO): Nmea in: $SNTTA,0.045809,,,,180948.25*4B

2021-08-13T18:09:49.127Z,1628878189.127 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.480003 m, bearing: 198.570634 deg, deltaT: 4.638759 s, approachRate: 0.284560 m/s, LOS rate: 11.093720 deg/s, posRepo size: 4
2021-08-13T18:09:51.560Z,1628878191.560 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:09:51.890Z,1628878191.890 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:09:51.891Z,1628878191.891 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:09:51.891Z,1628878191.891 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:09:51.892Z,1628878191.892 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:09:52.325Z,1628878192.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ED9,000,00503,186,80,80,63,FF
2021-08-13T18:09:52.325Z,1628878192.325 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:09:52.325Z,1628878192.325 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:09:52.327Z,1628878192.327 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:09:52.724Z,1628878192.724 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:09:53.126Z,1628878193.126 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF2,000,00510,186,80,80,77,FF
2021-08-13T18:09:53.126Z,1628878193.126 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:09:53.198Z,1628878193.198 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T18:09:53.538Z,1628878193.538 [Micromodem](INFO): Nmea in: $SNTTA,0.435516,0.436035,,,180952.85*53

2021-08-13T18:09:53.619Z,1628878193.619 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.259998 m, bearing: 196.276933 deg, deltaT: 4.479290 s, approachRate: 0.174134 m/s, LOS rate: -0.512068 deg/s, posRepo size: 4
2021-08-13T18:09:54.132Z,1628878194.132 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-13T18:09:54.133Z,1628878194.133 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T18:09:54.133Z,1628878194.133 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-13T18:09:54.133Z,1628878194.133 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-13T18:09:54.134Z,1628878194.134 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-13T18:09:54.134Z,1628878194.134 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-13T18:09:54.427Z,1628878194.427 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-13T18:09:54.427Z,1628878194.427 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T18:09:54.428Z,1628878194.428 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-13T18:09:54.428Z,1628878194.428 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T18:09:55.583Z,1628878195.583 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T18:09:55.987Z,1628878195.987 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:09:56.409Z,1628878196.409 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:09:56.409Z,1628878196.409 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:09:56.410Z,1628878196.410 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:09:56.411Z,1628878196.411 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:09:56.785Z,1628878196.785 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF2,000,00510,186,80,80,77,FF
2021-08-13T18:09:56.785Z,1628878196.785 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:09:56.785Z,1628878196.785 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:09:56.787Z,1628878196.787 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:09:57.193Z,1628878197.193 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:09:57.593Z,1628878197.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF1,000,00522,186,80,80,A7,FF
2021-08-13T18:09:57.593Z,1628878197.593 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:09:58.013Z,1628878198.013 [Micromodem](INFO): Nmea in: $SNTTA,0.392623,0.247873,,,180957.31*5C

2021-08-13T18:09:58.068Z,1628878198.068 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 41.340000 m, bearing: 195.521282 deg, deltaT: 4.473741 s, approachRate: 0.241409 m/s, LOS rate: -0.168908 deg/s, posRepo size: 4
2021-08-13T18:10:00.646Z,1628878200.646 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:10:00.873Z,1628878200.873 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:10:00.873Z,1628878200.873 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:10:00.874Z,1628878200.874 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:10:00.876Z,1628878200.876 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:10:01.261Z,1628878201.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF1,000,00522,186,80,80,A7,FF
2021-08-13T18:10:01.261Z,1628878201.261 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:10:01.262Z,1628878201.262 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:10:01.263Z,1628878201.263 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:10:01.689Z,1628878201.689 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:10:02.089Z,1628878202.089 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F02,000,00532,186,80,80,7C,FF
2021-08-13T18:10:02.089Z,1628878202.089 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:10:02.517Z,1628878202.517 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181001.79*59

2021-08-13T18:10:02.554Z,1628878202.554 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.299999 m, bearing: 194.152580 deg, deltaT: 4.436800 s, approachRate: 0.216372 m/s, LOS rate: -0.308488 deg/s, posRepo size: 4
2021-08-13T18:10:04.121Z,1628878204.121 [Micromodem](INFO): Nmea in: $CAERR,181004,DATA_TIMEOUT,1*42

2021-08-13T18:10:04.737Z,1628878204.737 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:10:04.941Z,1628878204.941 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:10:04.941Z,1628878204.941 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:10:04.941Z,1628878204.941 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:10:04.942Z,1628878204.942 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:10:05.333Z,1628878205.333 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F02,000,00532,186,80,80,7C,FF
2021-08-13T18:10:05.333Z,1628878205.333 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:10:05.333Z,1628878205.333 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:10:05.335Z,1628878205.335 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:10:05.762Z,1628878205.762 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:10:06.157Z,1628878206.157 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EFF,000,00542,186,80,80,93,FF
2021-08-13T18:10:06.157Z,1628878206.157 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:10:06.601Z,1628878206.601 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181005.86*5D

2021-08-13T18:10:06.785Z,1628878206.785 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.259998 m, bearing: 193.700627 deg, deltaT: 4.104624 s, approachRate: 0.233882 m/s, LOS rate: -0.110108 deg/s, posRepo size: 4
2021-08-13T18:10:09.061Z,1628878209.061 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:10:09.481Z,1628878209.481 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:10:09.481Z,1628878209.481 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:10:09.481Z,1628878209.481 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:10:09.482Z,1628878209.482 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:10:09.878Z,1628878209.878 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EFF,000,00542,186,80,80,93,FF
2021-08-13T18:10:09.878Z,1628878209.878 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:10:09.879Z,1628878209.879 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:10:09.882Z,1628878209.882 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:10:10.282Z,1628878210.282 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:10:10.677Z,1628878210.677 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EAE,000,0054E,186,80,80,77,FF
2021-08-13T18:10:10.678Z,1628878210.678 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:10:11.121Z,1628878211.121 [Micromodem](INFO): Nmea in: $SNTTA,0.044811,,,,181010.41*44

2021-08-13T18:10:11.331Z,1628878211.331 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.980000 m, bearing: 197.489975 deg, deltaT: 4.521514 s, approachRate: 0.159239 m/s, LOS rate: 0.838071 deg/s, posRepo size: 4
2021-08-13T18:10:13.442Z,1628878213.442 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:10:13.663Z,1628878213.663 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:10:13.663Z,1628878213.663 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:10:13.663Z,1628878213.663 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:10:13.676Z,1628878213.676 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:10:14.063Z,1628878214.063 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EAE,000,0054E,186,80,80,77,FF
2021-08-13T18:10:14.063Z,1628878214.063 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:10:14.063Z,1628878214.063 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:10:14.065Z,1628878214.065 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:10:14.493Z,1628878214.493 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:10:14.869Z,1628878214.869 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED5,000,00561,186,80,80,91,FF
2021-08-13T18:10:14.869Z,1628878214.869 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:10:15.319Z,1628878215.319 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181014.59*5F

2021-08-13T18:10:15.443Z,1628878215.443 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.119999 m, bearing: 195.292607 deg, deltaT: 4.199264 s, approachRate: 0.271476 m/s, LOS rate: -0.523274 deg/s, posRepo size: 4
2021-08-13T18:10:17.598Z,1628878217.598 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:10:17.836Z,1628878217.836 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:10:17.837Z,1628878217.837 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:10:17.837Z,1628878217.837 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:10:17.838Z,1628878217.838 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:10:18.233Z,1628878218.233 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ED5,000,00561,186,80,80,91,FF
2021-08-13T18:10:18.233Z,1628878218.233 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:10:18.233Z,1628878218.233 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:10:18.235Z,1628878218.235 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:10:18.644Z,1628878218.644 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:10:19.045Z,1628878219.045 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,051,000,0056A,184,80,80,5D,FF
2021-08-13T18:10:19.045Z,1628878219.045 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:10:19.497Z,1628878219.497 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181018.76*5E

2021-08-13T18:10:19.729Z,1628878219.729 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.660000 m, bearing: 176.080651 deg, deltaT: 4.204550 s, approachRate: 0.128433 m/s, LOS rate: -4.569325 deg/s, posRepo size: 4
2021-08-13T18:10:21.982Z,1628878221.982 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:10:22.372Z,1628878222.372 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:10:22.372Z,1628878222.372 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:10:22.372Z,1628878222.372 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:10:22.373Z,1628878222.373 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:10:22.774Z,1628878222.774 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
051,000,0056A,184,80,80,5D,FF
2021-08-13T18:10:22.774Z,1628878222.774 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:10:22.774Z,1628878222.774 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:10:22.776Z,1628878222.776 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:10:23.177Z,1628878223.177 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:10:23.573Z,1628878223.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F22,000,0057D,186,80,80,74,FF
2021-08-13T18:10:23.573Z,1628878223.573 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:10:24.038Z,1628878224.038 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181023.30*54

2021-08-13T18:10:24.061Z,1628878224.061 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.800003 m, bearing: 191.593363 deg, deltaT: 4.667115 s, approachRate: 0.244263 m/s, LOS rate: 3.323833 deg/s, posRepo size: 4
2021-08-13T18:10:26.555Z,1628878226.555 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:10:26.933Z,1628878226.933 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:10:26.933Z,1628878226.933 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:10:26.933Z,1628878226.933 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:10:26.934Z,1628878226.934 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:10:27.325Z,1628878227.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F22,000,0057D,186,80,80,74,FF
2021-08-13T18:10:27.326Z,1628878227.326 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:10:27.326Z,1628878227.326 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:10:27.327Z,1628878227.327 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:10:27.733Z,1628878227.733 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:10:28.566Z,1628878228.566 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181027.85*5E

2021-08-13T18:10:29.446Z,1628878229.446 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:10:30.965Z,1628878230.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,186,80,80,74,FF
2021-08-13T18:10:30.965Z,1628878230.965 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,186,80,80,74,FF
2021-08-13T18:10:30.965Z,1628878230.965 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T18:10:31.514Z,1628878231.514 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T18:10:32.371Z,1628878232.371 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:10:32.640Z,1628878232.640 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:10:32.640Z,1628878232.640 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:10:32.640Z,1628878232.640 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:10:32.641Z,1628878232.641 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:10:33.025Z,1628878233.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,186,80,80,74,FF
2021-08-13T18:10:33.026Z,1628878233.026 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:10:33.026Z,1628878233.026 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:10:33.027Z,1628878233.027 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:10:33.484Z,1628878233.484 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:10:33.837Z,1628878233.837 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED9,000,0059F,186,80,80,92,FF
2021-08-13T18:10:33.838Z,1628878233.838 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:10:34.273Z,1628878234.273 [Micromodem](INFO): Nmea in: $SNTTA,0.216416,,,,181033.55*4E

2021-08-13T18:10:34.323Z,1628878234.323 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 48.839996 m, bearing: 196.955745 deg, deltaT: 10.051678 s, approachRate: 0.202951 m/s, LOS rate: 0.533481 deg/s, posRepo size: 4
2021-08-13T18:10:36.412Z,1628878236.412 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:10:36.681Z,1628878236.681 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:10:36.681Z,1628878236.681 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:10:36.681Z,1628878236.681 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:10:36.682Z,1628878236.682 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:10:37.141Z,1628878237.141 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ED9,000,0059F,186,80,80,92,FF
2021-08-13T18:10:37.141Z,1628878237.141 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:10:37.141Z,1628878237.141 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:10:37.143Z,1628878237.143 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:10:37.541Z,1628878237.541 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:10:37.937Z,1628878237.937 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF0,000,005B2,186,80,80,48,FF
2021-08-13T18:10:37.938Z,1628878237.938 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:10:38.437Z,1628878238.437 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181037.66*52

2021-08-13T18:10:38.492Z,1628878238.492 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.980003 m, bearing: 196.737998 deg, deltaT: 4.166834 s, approachRate: 0.273591 m/s, LOS rate: -0.052257 deg/s, posRepo size: 4
2021-08-13T18:10:39.165Z,1628878239.165 [Micromodem](ERROR): Buffer fill timout failure.
2021-08-13T18:10:39.731Z,1628878239.731 [Micromodem](INFO): Outgoing frame #1, 64 bytes: B2AB16610C0001005D00000400830100000000000000151D80030C5669BF3148E2FA22188B6A3173E51AA1508F2C2560E38C4E31BE8E0EFE5E41AD29BB47E895
2021-08-13T18:10:39.732Z,1628878239.732 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 4CAB4C1EBBB97A1756A06107373D1D7AB27E5ACDB870D0D98F53B08612FBF911D6AE090130943E26CC3AC8DF8D94F6E2A89DF48D61302FD0645226A875AF15FB
2021-08-13T18:10:39.733Z,1628878239.733 [Micromodem](INFO): Outgoing frame #3, 64 bytes: EA22C45FEB6B4C7917EDA6FC9E19C72368AB871E793B2479FA8C785D065A13A4285F50FA6FCD7F096641484133041AF9D2E814BEFBA058E2197489AE03C3FC62
2021-08-13T18:10:39.733Z,1628878239.733 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,3*6B

2021-08-13T18:10:39.989Z,1628878239.989 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,3*69

2021-08-13T18:10:40.408Z,1628878240.408 [Micromodem](INFO): Nmea in: $CADRQ,181040,1,10,0,64,1*7A

2021-08-13T18:10:40.409Z,1628878240.409 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,B2AB16610C0001005D00000400830100000000000000151D80030C5669BF3148E2FA22188B6A3173E51AA1508F2C2560E38C4E31BE8E0EFE5E41AD29BB47E895*4A

2021-08-13T18:10:40.553Z,1628878240.553 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:10:40.797Z,1628878240.797 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:10:40.797Z,1628878240.797 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:10:40.797Z,1628878240.797 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:10:40.798Z,1628878240.798 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:10:40.807Z,1628878240.807 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-08-13T18:10:41.185Z,1628878241.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF0,000,005B2,186,80,80,48,FF
2021-08-13T18:10:41.185Z,1628878241.185 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:10:41.186Z,1628878241.186 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:10:41.187Z,1628878241.187 [Micromodem](INFO): Nmea in: $CADRQ,181040,1,10,0,64,2*79

2021-08-13T18:10:41.188Z,1628878241.188 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,4CAB4C1EBBB97A1756A06107373D1D7AB27E5ACDB870D0D98F53B08612FBF911D6AE090130943E26CC3AC8DF8D94F6E2A89DF48D61302FD0645226A875AF15FB*42

2021-08-13T18:10:41.582Z,1628878241.582 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-08-13T18:10:41.582Z,1628878241.582 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:10:41.995Z,1628878241.995 [Micromodem](INFO): Nmea in: $CADRQ,181041,1,10,0,64,3*79

2021-08-13T18:10:41.995Z,1628878241.995 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,181041,1,10,0,64,3*79

2021-08-13T18:10:42.397Z,1628878242.397 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E46,000,005B7,186,80,80,78,FF
2021-08-13T18:10:42.398Z,1628878242.398 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:10:42.430Z,1628878242.430 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:10:42.835Z,1628878242.835 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181042.11*50

2021-08-13T18:10:43.042Z,1628878243.042 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 50.279999 m, bearing: 206.760440 deg, deltaT: 4.487923 s, approachRate: 0.066845 m/s, LOS rate: 2.233203 deg/s, posRepo size: 4
2021-08-13T18:10:45.025Z,1628878245.025 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:10:45.214Z,1628878245.214 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:10:45.214Z,1628878245.214 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:10:45.214Z,1628878245.214 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:10:45.215Z,1628878245.215 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:10:45.619Z,1628878245.619 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E46,000,005B7,186,80,80,78,FF
2021-08-13T18:10:45.620Z,1628878245.620 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:10:45.620Z,1628878245.620 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:10:45.625Z,1628878245.625 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:10:46.036Z,1628878246.036 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:10:46.469Z,1628878246.469 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ECC,000,005C6,186,80,80,80,FF
2021-08-13T18:10:46.469Z,1628878246.469 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:10:46.874Z,1628878246.874 [Micromodem](INFO): Nmea in: $SNTTA,0.052752,,,,181046.15*49

2021-08-13T18:10:46.930Z,1628878246.930 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.180000 m, bearing: 201.273462 deg, deltaT: 4.028826 s, approachRate: 0.223391 m/s, LOS rate: -1.361930 deg/s, posRepo size: 4
2021-08-13T18:10:49.534Z,1628878249.534 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:10:49.763Z,1628878249.763 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:10:49.763Z,1628878249.763 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:10:49.763Z,1628878249.763 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:10:49.764Z,1628878249.764 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:10:50.157Z,1628878250.157 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ECC,000,005C6,186,80,80,80,FF
2021-08-13T18:10:50.157Z,1628878250.157 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:10:50.157Z,1628878250.157 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:10:50.159Z,1628878250.159 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:10:50.572Z,1628878250.572 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:10:50.973Z,1628878250.973 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED5,000,005D5,186,80,80,7B,FF
2021-08-13T18:10:50.973Z,1628878250.973 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:10:51.429Z,1628878251.429 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181050.68*5D

2021-08-13T18:10:51.666Z,1628878251.666 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.079994 m, bearing: 202.381224 deg, deltaT: 4.495194 s, approachRate: 0.200212 m/s, LOS rate: 0.246432 deg/s, posRepo size: 4
2021-08-13T18:10:53.510Z,1628878253.510 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-13T18:10:53.573Z,1628878253.573 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:10:53.853Z,1628878253.853 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:10:53.853Z,1628878253.853 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:10:53.853Z,1628878253.853 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:10:53.854Z,1628878253.854 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:10:54.257Z,1628878254.257 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ED5,000,005D5,186,80,80,7B,FF
2021-08-13T18:10:54.257Z,1628878254.257 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:10:54.257Z,1628878254.257 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:10:54.259Z,1628878254.259 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:10:54.678Z,1628878254.678 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:10:55.065Z,1628878255.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EC4,000,005E4,186,80,80,60,FF
2021-08-13T18:10:55.066Z,1628878255.066 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:10:55.505Z,1628878255.505 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181054.78*58

2021-08-13T18:10:55.601Z,1628878255.601 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.980000 m, bearing: 204.508827 deg, deltaT: 4.048375 s, approachRate: 0.222313 m/s, LOS rate: 0.525545 deg/s, posRepo size: 4
2021-08-13T18:10:57.617Z,1628878257.617 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:10:57.892Z,1628878257.892 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:10:57.893Z,1628878257.893 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:10:57.893Z,1628878257.893 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:10:57.894Z,1628878257.894 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:10:58.305Z,1628878258.305 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EC4,000,005E4,186,80,80,60,FF
2021-08-13T18:10:58.305Z,1628878258.305 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:10:58.305Z,1628878258.305 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:10:58.307Z,1628878258.307 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:10:58.720Z,1628878258.720 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:10:58.749Z,1628878258.749 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T18:10:59.113Z,1628878259.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E68,000,005F1,186,80,80,5A,FF
2021-08-13T18:10:59.114Z,1628878259.114 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:10:59.537Z,1628878259.537 [Micromodem](INFO): Nmea in: $SNTTA,0.484317,,,,181058.83*43

2021-08-13T18:10:59.625Z,1628878259.625 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.759995 m, bearing: 210.014329 deg, deltaT: 4.131839 s, approachRate: 0.188777 m/s, LOS rate: 1.332458 deg/s, posRepo size: 4
2021-08-13T18:11:01.985Z,1628878261.985 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:11:02.341Z,1628878262.341 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:11:02.341Z,1628878262.341 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:11:02.341Z,1628878262.341 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:11:02.342Z,1628878262.342 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:11:02.773Z,1628878262.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E68,000,005F1,186,80,80,5A,FF
2021-08-13T18:11:02.773Z,1628878262.773 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:11:02.773Z,1628878262.773 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:11:02.775Z,1628878262.775 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:11:03.172Z,1628878263.172 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:11:03.569Z,1628878263.569 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,33A,000,00600,189,80,80,7A,FF
2021-08-13T18:11:03.569Z,1628878263.569 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:11:03.573Z,1628878263.573 [Micromodem](INFO): Nmea in: $SNTTA,0.212120,0.212232,,,181103.30*57

2021-08-13T18:11:04.046Z,1628878264.046 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 54.660000 m, bearing: 149.463390 deg, deltaT: 4.475997 s, approachRate: 0.201074 m/s, LOS rate: -13.527922 deg/s, posRepo size: 4
2021-08-13T18:11:06.495Z,1628878266.495 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:11:06.833Z,1628878266.833 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:11:06.833Z,1628878266.833 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:11:06.833Z,1628878266.833 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:11:06.834Z,1628878266.834 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:11:07.229Z,1628878267.229 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
33A,000,00600,189,80,80,7A,FF
2021-08-13T18:11:07.229Z,1628878267.229 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:11:07.229Z,1628878267.229 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:11:07.231Z,1628878267.231 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:11:07.649Z,1628878267.649 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:11:08.037Z,1628878268.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,263,000,0060A,188,80,80,8B,FF
2021-08-13T18:11:08.038Z,1628878268.038 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:11:08.481Z,1628878268.481 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181107.75*52

2021-08-13T18:11:08.536Z,1628878268.536 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 55.259998 m, bearing: 161.983687 deg, deltaT: 4.388445 s, approachRate: 0.136722 m/s, LOS rate: 2.853014 deg/s, posRepo size: 4
2021-08-13T18:11:11.050Z,1628878271.050 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:11:11.265Z,1628878271.265 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:11:11.265Z,1628878271.265 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:11:11.266Z,1628878271.266 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:11:11.267Z,1628878271.267 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:11:11.677Z,1628878271.677 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
263,000,0060A,188,80,80,8B,FF
2021-08-13T18:11:11.677Z,1628878271.677 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:11:11.677Z,1628878271.677 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:11:11.679Z,1628878271.679 [Micromodem](INFO): Nmea in: $CAERR,181111,DATA_TIMEOUT,3*45

2021-08-13T18:11:11.680Z,1628878271.680 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:11:12.078Z,1628878272.078 [Micromodem](INFO): Nmea in: $CATXP,128*49

2021-08-13T18:11:12.078Z,1628878272.078 [Micromodem](ERROR): Response from modem unexpected: $CATXP,128*49

2021-08-13T18:11:13.727Z,1628878273.727 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T18:11:13.741Z,1628878273.741 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:11:14.510Z,1628878274.510 [Micromodem](INFO): Nmea in: $CATXF,128*5F

2021-08-13T18:11:14.510Z,1628878274.510 [Micromodem](ERROR): Response from modem unexpected: $CATXF,128*5F

2021-08-13T18:11:14.915Z,1628878274.915 [Micromodem](INFO): Nmea in: $CAXST,7,20210813,181111.767084,3,0,200,4000,14500,1,1,10,1,3,2,3,128,14500*6C

2021-08-13T18:11:14.916Z,1628878274.916 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210813,181111.767084,3,0,200,4000,14500,1,1,10,1,3,2,3,128,14500*6C

2021-08-13T18:11:16.693Z,1628878276.693 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:11:17.480Z,1628878277.480 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.213460
2021-08-13T18:11:19.237Z,1628878279.237 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:11:19.601Z,1628878279.601 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:11:19.601Z,1628878279.601 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:11:19.602Z,1628878279.602 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:11:19.603Z,1628878279.603 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:11:20.009Z,1628878280.009 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
263,000,0060A,188,80,80,8B,FF
2021-08-13T18:11:20.010Z,1628878280.010 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:11:20.010Z,1628878280.010 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:11:21.851Z,1628878281.851 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:11:22.843Z,1628878282.843 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:11:23.254Z,1628878283.254 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:11:23.657Z,1628878283.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,24E,000,00638,18A,80,80,7C,FF
2021-08-13T18:11:23.657Z,1628878283.657 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:11:23.846Z,1628878283.846 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T18:11:23.850Z,1628878283.850 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T18:11:24.113Z,1628878284.113 [Micromodem](INFO): Nmea in: $SNTTA,0.177479,,,,181123.37*47

2021-08-13T18:11:24.135Z,1628878284.135 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.020004 m, bearing: 166.775297 deg, deltaT: 15.813302 s, approachRate: 0.174537 m/s, LOS rate: 0.303011 deg/s, posRepo size: 4
2021-08-13T18:11:24.524Z,1628878284.524 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T18:11:26.569Z,1628878286.569 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:11:26.949Z,1628878286.949 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:11:26.949Z,1628878286.949 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:11:26.949Z,1628878286.949 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:11:26.950Z,1628878286.950 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:11:27.349Z,1628878287.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
24E,000,00638,18A,80,80,7C,FF
2021-08-13T18:11:27.349Z,1628878287.349 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:11:27.350Z,1628878287.350 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:11:27.354Z,1628878287.354 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:11:27.784Z,1628878287.784 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:11:28.177Z,1628878288.177 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1B9,000,00649,186,80,80,7B,FF
2021-08-13T18:11:28.178Z,1628878288.178 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:11:28.613Z,1628878288.613 [Micromodem](INFO): Nmea in: $SNTTA,0.038905,,,,181127.89*4A

2021-08-13T18:11:28.650Z,1628878288.650 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 59.040001 m, bearing: 175.000771 deg, deltaT: 4.302443 s, approachRate: 0.237074 m/s, LOS rate: 1.911815 deg/s, posRepo size: 4
2021-08-13T18:11:31.089Z,1628878291.089 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:11:31.465Z,1628878291.465 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:11:31.465Z,1628878291.465 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:11:31.465Z,1628878291.465 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:11:31.466Z,1628878291.466 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:11:31.821Z,1628878291.821 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1B9,000,00649,186,80,80,7B,FF
2021-08-13T18:11:31.821Z,1628878291.821 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:11:31.821Z,1628878291.821 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:11:31.823Z,1628878291.823 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:11:32.230Z,1628878292.230 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:11:33.058Z,1628878293.058 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181132.35*50

2021-08-13T18:11:33.494Z,1628878293.494 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T18:11:33.909Z,1628878293.909 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:11:35.481Z,1628878295.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
9,186,80,80,7B,FF
2021-08-13T18:11:35.481Z,1628878295.481 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
9,186,80,80,7B,FF
2021-08-13T18:11:35.481Z,1628878295.481 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T18:11:36.486Z,1628878296.486 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:11:36.681Z,1628878296.681 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:11:36.681Z,1628878296.681 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:11:36.682Z,1628878296.682 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:11:36.682Z,1628878296.682 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:11:37.083Z,1628878297.083 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
9,186,80,80,7B,FF
2021-08-13T18:11:37.084Z,1628878297.084 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:11:37.084Z,1628878297.084 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:11:37.086Z,1628878297.086 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:11:37.484Z,1628878297.484 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:11:37.886Z,1628878297.886 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,218,000,00664,187,80,80,68,FF
2021-08-13T18:11:37.886Z,1628878297.886 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:11:38.317Z,1628878298.317 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181137.61*54

2021-08-13T18:11:38.335Z,1628878298.335 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 60.660000 m, bearing: 171.869375 deg, deltaT: 9.717695 s, approachRate: 0.166706 m/s, LOS rate: -0.322236 deg/s, posRepo size: 4
2021-08-13T18:11:38.732Z,1628878298.732 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T18:11:40.926Z,1628878300.926 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:11:41.122Z,1628878301.122 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:11:41.122Z,1628878301.122 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:11:41.123Z,1628878301.123 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:11:41.124Z,1628878301.124 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:11:41.521Z,1628878301.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
218,000,00664,187,80,80,68,FF
2021-08-13T18:11:41.521Z,1628878301.521 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:11:41.521Z,1628878301.521 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:11:41.523Z,1628878301.523 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:11:41.661Z,1628878301.661 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-13T18:11:41.941Z,1628878301.941 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:11:42.333Z,1628878302.333 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,23B,000,00675,189,80,80,6C,FF
2021-08-13T18:11:42.334Z,1628878302.334 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:11:42.777Z,1628878302.777 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181142.05*54

2021-08-13T18:11:42.988Z,1628878302.988 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 61.680000 m, bearing: 170.304825 deg, deltaT: 4.508076 s, approachRate: 0.226261 m/s, LOS rate: -0.347055 deg/s, posRepo size: 4
2021-08-13T18:11:43.560Z,1628878303.560 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T18:11:44.765Z,1628878304.765 [Micromodem](ERROR): Buffer fill timout failure.
2021-08-13T18:11:45.305Z,1628878305.305 [Micromodem](INFO): Outgoing frame #1, 64 bytes: B2AB16610C0001005D00000400830100000000000000151D80030C5669BF3148E2FA22188B6A3173E51AA1508F2C2560E38C4E31BE8E0EFE5E41AD29BB47E895
2021-08-13T18:11:45.306Z,1628878305.306 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 4CAB4C1EBBB97A1756A06107373D1D7AB27E5ACDB870D0D98F53B08612FBF911D6AE090130943E26CC3AC8DF8D94F6E2A89DF48D61302FD0645226A875AF15FB
2021-08-13T18:11:45.306Z,1628878305.306 [Micromodem](INFO): Outgoing frame #3, 64 bytes: EA22C45FEB6B4C7917EDA6FC9E19C72368AB871E793B2479FA8C785D065A13A4285F50FA6FCD7F096641484133041AF9D2E814BEFBA058E2197489AE03C3FC62
2021-08-13T18:11:45.307Z,1628878305.307 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,3*6B

2021-08-13T18:11:45.449Z,1628878305.449 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:11:45.613Z,1628878305.613 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:11:45.613Z,1628878305.613 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:11:45.613Z,1628878305.613 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:11:45.614Z,1628878305.614 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:11:45.620Z,1628878305.620 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,3*69

2021-08-13T18:11:46.003Z,1628878306.003 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
23B,000,00675,189,80,80,6C,FF
2021-08-13T18:11:46.003Z,1628878306.003 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:11:46.003Z,1628878306.003 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:11:46.005Z,1628878306.005 [Micromodem](INFO): Nmea in: $CADRQ,181145,1,10,0,64,1*7E

2021-08-13T18:11:46.005Z,1628878306.005 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,B2AB16610C0001005D00000400830100000000000000151D80030C5669BF3148E2FA22188B6A3173E51AA1508F2C2560E38C4E31BE8E0EFE5E41AD29BB47E895*4A

2021-08-13T18:11:46.442Z,1628878306.442 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-08-13T18:11:46.443Z,1628878306.443 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:11:46.831Z,1628878306.831 [Micromodem](INFO): Nmea in: $CADRQ,181146,1,10,0,64,2*7E

2021-08-13T18:11:46.831Z,1628878306.831 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,181146,1,10,0,64,2*7E

2021-08-13T18:11:47.221Z,1628878307.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,199,000,0067D,186,80,80,87,FF
2021-08-13T18:11:47.221Z,1628878307.221 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:11:47.226Z,1628878307.226 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:11:47.651Z,1628878307.651 [Micromodem](INFO): Nmea in: $SNTTA,0.051363,,,,181146.96*46

2021-08-13T18:11:47.695Z,1628878307.695 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 62.160004 m, bearing: 178.922106 deg, deltaT: 4.863159 s, approachRate: 0.098702 m/s, LOS rate: 1.771951 deg/s, posRepo size: 4
2021-08-13T18:11:48.490Z,1628878308.490 [RDI_PathfinderUp](ERROR): only read 0 of 4 data items
2021-08-13T18:11:50.122Z,1628878310.122 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:11:50.453Z,1628878310.453 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:11:50.453Z,1628878310.453 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:11:50.453Z,1628878310.453 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:11:50.454Z,1628878310.454 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:11:50.857Z,1628878310.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
199,000,0067D,186,80,80,87,FF
2021-08-13T18:11:50.857Z,1628878310.857 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:11:50.857Z,1628878310.857 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:11:50.859Z,1628878310.859 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:11:51.261Z,1628878311.261 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:11:51.666Z,1628878311.666 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,22F,000,00692,188,80,80,60,FF
2021-08-13T18:11:51.666Z,1628878311.666 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:11:52.105Z,1628878312.105 [Micromodem](INFO): Nmea in: $SNTTA,0.057029,,,,181151.38*4F

2021-08-13T18:11:52.124Z,1628878312.124 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 63.420006 m, bearing: 171.875686 deg, deltaT: 4.460169 s, approachRate: 0.282501 m/s, LOS rate: -1.579855 deg/s, posRepo size: 4
2021-08-13T18:11:53.548Z,1628878313.548 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T18:11:54.577Z,1628878314.577 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:11:54.937Z,1628878314.937 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:11:54.937Z,1628878314.937 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:11:54.937Z,1628878314.937 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:11:54.938Z,1628878314.938 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:11:55.337Z,1628878315.337 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
22F,000,00692,188,80,80,60,FF
2021-08-13T18:11:55.337Z,1628878315.337 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:11:55.337Z,1628878315.337 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:11:55.339Z,1628878315.339 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:11:55.907Z,1628878315.907 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:11:56.302Z,1628878316.302 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1B9,000,00697,186,80,80,62,FF
2021-08-13T18:11:56.302Z,1628878316.302 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:11:56.722Z,1628878316.722 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181155.87*58

2021-08-13T18:11:56.791Z,1628878316.791 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 63.719997 m, bearing: 178.549286 deg, deltaT: 4.579061 s, approachRate: 0.065514 m/s, LOS rate: 1.457417 deg/s, posRepo size: 4
2021-08-13T18:11:59.162Z,1628878319.162 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:11:59.531Z,1628878319.531 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:11:59.531Z,1628878319.531 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:11:59.533Z,1628878319.533 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:11:59.534Z,1628878319.534 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:11:59.998Z,1628878319.998 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1B9,000,00697,186,80,80,62,FF
2021-08-13T18:11:59.998Z,1628878319.998 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:11:59.998Z,1628878319.998 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:11:59.000Z,1628878320.000 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:12:00.425Z,1628878320.425 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:12:00.797Z,1628878320.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,17F,000,006AC,186,80,80,54,FF
2021-08-13T18:12:00.798Z,1628878320.798 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:12:01.250Z,1628878321.250 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181200.52*53

2021-08-13T18:12:01.280Z,1628878321.280 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 64.980003 m, bearing: 181.535486 deg, deltaT: 4.545383 s, approachRate: 0.277206 m/s, LOS rate: 0.656974 deg/s, posRepo size: 4
2021-08-13T18:12:03.713Z,1628878323.713 [RDI_Pathfinder](ERROR): only read -1 of 4 data items
2021-08-13T18:12:03.719Z,1628878323.719 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T18:12:03.757Z,1628878323.757 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:12:04.109Z,1628878324.109 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:12:04.109Z,1628878324.109 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:12:04.109Z,1628878324.109 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:12:04.110Z,1628878324.110 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:12:04.521Z,1628878324.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
17F,000,006AC,186,80,80,54,FF
2021-08-13T18:12:04.521Z,1628878324.521 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:12:04.521Z,1628878324.521 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:12:04.523Z,1628878324.523 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:12:04.948Z,1628878324.948 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:12:05.321Z,1628878325.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1F9,000,006B8,187,80,80,7B,FF
2021-08-13T18:12:05.321Z,1628878325.321 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:12:05.745Z,1628878325.745 [Micromodem](INFO): Nmea in: $SNTTA,0.335724,0.335712,,,181205.05*51

2021-08-13T18:12:06.014Z,1628878326.014 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 65.700005 m, bearing: 175.194243 deg, deltaT: 4.578144 s, approachRate: 0.157269 m/s, LOS rate: -1.385112 deg/s, posRepo size: 4
2021-08-13T18:12:08.058Z,1628878328.058 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:12:08.333Z,1628878328.333 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:12:08.333Z,1628878328.333 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:12:08.333Z,1628878328.333 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:12:08.334Z,1628878328.334 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:12:08.725Z,1628878328.725 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1F9,000,006B8,187,80,80,7B,FF
2021-08-13T18:12:08.725Z,1628878328.725 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:12:08.725Z,1628878328.725 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:12:08.727Z,1628878328.727 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:12:09.137Z,1628878329.137 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:12:09.533Z,1628878329.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2AB,000,006C8,189,80,80,65,FF
2021-08-13T18:12:09.534Z,1628878329.534 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:12:09.537Z,1628878329.537 [Micromodem](INFO): Nmea in: $SNTTA,0.054487,0.234972,,,181209.25*59

2021-08-13T18:12:09.981Z,1628878329.981 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 66.660004 m, bearing: 165.975987 deg, deltaT: 4.174427 s, approachRate: 0.229971 m/s, LOS rate: -2.208268 deg/s, posRepo size: 4
2021-08-13T18:12:12.177Z,1628878332.177 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:12:12.373Z,1628878332.373 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:12:12.373Z,1628878332.373 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:12:12.373Z,1628878332.373 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:12:12.374Z,1628878332.374 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:12:12.777Z,1628878332.777 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2AB,000,006C8,189,80,80,65,FF
2021-08-13T18:12:12.777Z,1628878332.777 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:12:12.777Z,1628878332.777 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:12:12.779Z,1628878332.779 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:12:13.184Z,1628878333.184 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:12:13.585Z,1628878333.585 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,224,000,006CF,189,80,80,9B,FF
2021-08-13T18:12:13.585Z,1628878333.585 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:12:13.589Z,1628878333.589 [Micromodem](INFO): Nmea in: $SNTTA,0.248185,0.248422,,,181213.30*5D

2021-08-13T18:12:13.614Z,1628878333.614 [RDI_Pathfinder](ERROR): only read 1 of 4 data items
2021-08-13T18:12:13.640Z,1628878333.640 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T18:12:14.203Z,1628878334.203 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 67.080002 m, bearing: 172.415722 deg, deltaT: 4.055278 s, approachRate: 0.103568 m/s, LOS rate: 1.587988 deg/s, posRepo size: 4
2021-08-13T18:12:16.447Z,1628878336.447 [Micromodem](INFO): Nmea in: $CAERR,181216,DATA_TIMEOUT,2*40

2021-08-13T18:12:16.475Z,1628878336.475 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:12:16.829Z,1628878336.829 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:12:16.829Z,1628878336.829 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:12:16.829Z,1628878336.829 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:12:16.830Z,1628878336.830 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:12:16.835Z,1628878336.835 [Micromodem](INFO): Nmea in: $CATXP,64*70

2021-08-13T18:12:17.237Z,1628878337.237 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
224,000,006CF,189,80,80,9B,FF
2021-08-13T18:12:17.237Z,1628878337.237 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:12:17.237Z,1628878337.237 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:12:17.239Z,1628878337.239 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:12:18.073Z,1628878338.073 [Micromodem](INFO): Nmea in: $CATXF,64*66

2021-08-13T18:12:18.074Z,1628878338.074 [Micromodem](ERROR): Response from modem unexpected: $CATXF,64*66

2021-08-13T18:12:18.471Z,1628878338.471 [Micromodem](INFO): Nmea in: $CAXST,7,20210813,181216.573037,3,0,200,4000,14500,1,1,10,1,3,1,3,64,14500*5D

2021-08-13T18:12:18.472Z,1628878338.472 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210813,181216.573037,3,0,200,4000,14500,1,1,10,1,3,1,3,64,14500*5D

2021-08-13T18:12:18.651Z,1628878338.651 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-13T18:12:19.289Z,1628878339.289 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:12:21.816Z,1628878341.816 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:12:22.976Z,1628878342.976 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.145868
2021-08-13T18:12:23.443Z,1628878343.443 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T18:12:24.613Z,1628878344.613 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:12:24.977Z,1628878344.977 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:12:24.977Z,1628878344.977 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:12:24.978Z,1628878344.978 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:12:24.979Z,1628878344.979 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:12:25.482Z,1628878345.482 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
224,000,006CF,189,80,80,9B,FF
2021-08-13T18:12:25.482Z,1628878345.482 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:12:25.482Z,1628878345.482 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:12:27.254Z,1628878347.254 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:12:28.291Z,1628878348.291 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:12:28.691Z,1628878348.691 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:12:29.090Z,1628878349.090 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,263,000,00706,188,80,80,91,FF
2021-08-13T18:12:29.090Z,1628878349.090 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:12:29.553Z,1628878349.553 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181228.82*54

2021-08-13T18:12:29.618Z,1628878349.618 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 70.380005 m, bearing: 166.634008 deg, deltaT: 15.436613 s, approachRate: 0.213778 m/s, LOS rate: -0.374546 deg/s, posRepo size: 4
2021-08-13T18:12:31.717Z,1628878351.717 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:12:31.929Z,1628878351.929 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:12:31.929Z,1628878351.929 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:12:31.929Z,1628878351.929 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:12:31.930Z,1628878351.930 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:12:32.321Z,1628878352.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
263,000,00706,188,80,80,91,FF
2021-08-13T18:12:32.322Z,1628878352.322 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:12:32.322Z,1628878352.322 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:12:32.323Z,1628878352.323 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:12:32.752Z,1628878352.752 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:12:33.133Z,1628878353.133 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,21A,000,0070E,188,80,80,65,FF
2021-08-13T18:12:33.133Z,1628878353.133 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:12:33.550Z,1628878353.550 [Micromodem](INFO): Nmea in: $SNTTA,0.055188,0.438174,,,181232.85*54

2021-08-13T18:12:33.740Z,1628878353.740 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-13T18:12:33.753Z,1628878353.753 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 70.860008 m, bearing: 170.108279 deg, deltaT: 4.082925 s, approachRate: 0.117564 m/s, LOS rate: 0.850927 deg/s, posRepo size: 4
2021-08-13T18:12:35.999Z,1628878355.999 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:12:36.369Z,1628878356.369 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:12:36.369Z,1628878356.369 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:12:36.370Z,1628878356.370 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:12:36.371Z,1628878356.371 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:12:36.769Z,1628878356.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
21A,000,0070E,188,80,80,65,FF
2021-08-13T18:12:36.770Z,1628878356.770 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:12:36.770Z,1628878356.770 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:12:36.771Z,1628878356.771 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:12:37.173Z,1628878357.173 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:12:37.577Z,1628878357.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E5B,000,0071A,187,80,80,61,FF
2021-08-13T18:12:37.577Z,1628878357.577 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:12:37.581Z,1628878357.581 [Micromodem](INFO): Nmea in: $SNTTA,0.067175,0.254344,,,181237.29*59

2021-08-13T18:12:38.171Z,1628878358.171 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 71.580002 m, bearing: 217.945066 deg, deltaT: 4.488800 s, approachRate: 0.160398 m/s, LOS rate: 10.656921 deg/s, posRepo size: 4
2021-08-13T18:12:40.199Z,1628878360.199 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:12:40.418Z,1628878360.418 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:12:40.418Z,1628878360.418 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:12:40.418Z,1628878360.418 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:12:40.419Z,1628878360.419 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:12:40.805Z,1628878360.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E5B,000,0071A,187,80,80,61,FF
2021-08-13T18:12:40.805Z,1628878360.805 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:12:40.805Z,1628878360.805 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:12:40.807Z,1628878360.807 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:12:41.212Z,1628878361.212 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:12:41.622Z,1628878361.622 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,034,000,00727,184,80,80,5B,FF
2021-08-13T18:12:41.622Z,1628878361.622 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:12:41.625Z,1628878361.625 [Micromodem](INFO): Nmea in: $SNTTA,0.047668,0.194911,,,181241.33*5F

2021-08-13T18:12:42.064Z,1628878362.064 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 72.360001 m, bearing: 194.075003 deg, deltaT: 4.022216 s, approachRate: 0.193923 m/s, LOS rate: -5.934555 deg/s, posRepo size: 4
2021-08-13T18:12:44.654Z,1628878364.654 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:12:44.861Z,1628878364.861 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:12:44.861Z,1628878364.861 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:12:44.861Z,1628878364.861 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:12:44.862Z,1628878364.862 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:12:45.249Z,1628878365.249 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
034,000,00727,184,80,80,5B,FF
2021-08-13T18:12:45.249Z,1628878365.249 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:12:45.249Z,1628878365.249 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:12:45.251Z,1628878365.251 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:12:45.668Z,1628878365.668 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:12:45.735Z,1628878365.735 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-13T18:12:46.065Z,1628878366.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,299,000,00735,18A,80,80,60,FF
2021-08-13T18:12:46.065Z,1628878366.065 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:12:46.501Z,1628878366.501 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181245.78*5A

2021-08-13T18:12:46.693Z,1628878366.693 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 73.199997 m, bearing: 163.629831 deg, deltaT: 4.413186 s, approachRate: 0.190338 m/s, LOS rate: -6.898683 deg/s, posRepo size: 4
2021-08-13T18:12:48.941Z,1628878368.941 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:12:49.323Z,1628878369.323 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:12:49.323Z,1628878369.323 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:12:49.323Z,1628878369.323 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:12:49.324Z,1628878369.324 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:12:49.726Z,1628878369.726 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
299,000,00735,18A,80,80,60,FF
2021-08-13T18:12:49.726Z,1628878369.726 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:12:49.726Z,1628878369.726 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:12:49.728Z,1628878369.727 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:12:50.125Z,1628878370.125 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:12:50.534Z,1628878370.534 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2FE,000,00747,189,80,80,67,FF
2021-08-13T18:12:50.534Z,1628878370.534 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:12:50.537Z,1628878370.537 [Micromodem](ERROR): Buffer fill timout failure.
2021-08-13T18:12:50.969Z,1628878370.969 [Micromodem](INFO): Nmea in: $SNTTA,0.059556,,,,181250.25*42

2021-08-13T18:12:51.129Z,1628878371.129 [Micromodem](INFO): Outgoing frame #1, 64 bytes: B2AB16610C0001005D00000400830100000000000000151D80030C5669BF3148E2FA22188B6A3173E51AA1508F2C2560E38C4E31BE8E0EFE5E41AD29BB47E895
2021-08-13T18:12:51.130Z,1628878371.130 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 4CAB4C1EBBB97A1756A06107373D1D7AB27E5ACDB870D0D98F53B08612FBF911D6AE090130943E26CC3AC8DF8D94F6E2A89DF48D61302FD0645226A875AF15FB
2021-08-13T18:12:51.130Z,1628878371.130 [Micromodem](INFO): Outgoing frame #3, 64 bytes: EA22C45FEB6B4C7917EDA6FC9E19C72368AB871E793B2479FA8C785D065A13A4285F50FA6FCD7F096641484133041AF9D2E814BEFBA058E2197489AE03C3FC62
2021-08-13T18:12:51.130Z,1628878371.130 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,3*6B

2021-08-13T18:12:51.520Z,1628878371.520 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 74.279999 m, bearing: 158.171991 deg, deltaT: 4.492633 s, approachRate: 0.240394 m/s, LOS rate: -1.214842 deg/s, posRepo size: 4
2021-08-13T18:12:52.609Z,1628878372.609 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,3*69

2021-08-13T18:12:53.025Z,1628878373.025 [Micromodem](INFO): Nmea in: $CADRQ,181251,1,10,0,64,1*78

2021-08-13T18:12:53.025Z,1628878373.025 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,B2AB16610C0001005D00000400830100000000000000151D80030C5669BF3148E2FA22188B6A3173E51AA1508F2C2560E38C4E31BE8E0EFE5E41AD29BB47E895*4A

2021-08-13T18:12:53.153Z,1628878373.153 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:12:53.452Z,1628878373.452 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:12:53.452Z,1628878373.452 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:12:53.453Z,1628878373.453 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:12:53.454Z,1628878373.454 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:12:53.459Z,1628878373.459 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-08-13T18:12:53.667Z,1628878373.667 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-13T18:12:53.941Z,1628878373.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2FE,000,00747,189,80,80,67,FF
2021-08-13T18:12:53.941Z,1628878373.941 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:12:53.942Z,1628878373.942 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:12:53.943Z,1628878373.943 [Micromodem](INFO): Nmea in: $CADRQ,181253,1,10,0,64,2*79

2021-08-13T18:12:53.944Z,1628878373.944 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,4CAB4C1EBBB97A1756A06107373D1D7AB27E5ACDB870D0D98F53B08612FBF911D6AE090130943E26CC3AC8DF8D94F6E2A89DF48D61302FD0645226A875AF15FB*42

2021-08-13T18:12:54.336Z,1628878374.336 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-08-13T18:12:54.336Z,1628878374.336 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:12:54.739Z,1628878374.739 [Micromodem](INFO): Nmea in: $CADRQ,181254,1,10,0,64,3*7F

2021-08-13T18:12:54.739Z,1628878374.739 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,181254,1,10,0,64,3*7F

2021-08-13T18:12:55.137Z,1628878375.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,290,000,00753,189,80,80,89,FF
2021-08-13T18:12:55.138Z,1628878375.138 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:12:55.142Z,1628878375.142 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:12:55.581Z,1628878375.581 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181254.86*5B

2021-08-13T18:12:55.651Z,1628878375.651 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 75.000008 m, bearing: 164.028619 deg, deltaT: 4.583176 s, approachRate: 0.157098 m/s, LOS rate: 1.277854 deg/s, posRepo size: 4
2021-08-13T18:12:57.807Z,1628878377.807 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:12:57.969Z,1628878377.969 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:12:57.969Z,1628878377.969 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:12:57.969Z,1628878377.969 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:12:57.970Z,1628878377.970 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:12:58.389Z,1628878378.389 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
290,000,00753,189,80,80,89,FF
2021-08-13T18:12:58.389Z,1628878378.389 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:12:58.389Z,1628878378.389 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:12:58.413Z,1628878378.413 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:12:58.784Z,1628878378.784 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:12:59.181Z,1628878379.181 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2C6,000,00762,189,80,80,78,FF
2021-08-13T18:12:59.181Z,1628878379.181 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:12:59.599Z,1628878379.599 [Micromodem](INFO): Nmea in: $SNTTA,0.076944,,,,181258.94*42

2021-08-13T18:12:59.816Z,1628878379.816 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 75.900002 m, bearing: 161.274317 deg, deltaT: 4.045473 s, approachRate: 0.222469 m/s, LOS rate: -0.680835 deg/s, posRepo size: 4
2021-08-13T18:13:02.066Z,1628878382.066 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:13:02.445Z,1628878382.445 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:13:02.445Z,1628878382.445 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:13:02.445Z,1628878382.445 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:13:02.446Z,1628878382.446 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:13:02.833Z,1628878382.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2C6,000,00762,189,80,80,78,FF
2021-08-13T18:13:02.833Z,1628878382.833 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:13:02.833Z,1628878382.833 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:13:02.835Z,1628878382.835 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:13:03.241Z,1628878383.241 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:13:03.645Z,1628878383.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2AF,000,00770,18A,80,80,8C,FF
2021-08-13T18:13:03.645Z,1628878383.645 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:13:04.077Z,1628878384.077 [Micromodem](INFO): Nmea in: $SNTTA,,0.180921,,,181303.36*4E

2021-08-13T18:13:04.274Z,1628878384.274 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 76.739998 m, bearing: 162.764733 deg, deltaT: 4.497916 s, approachRate: 0.186752 m/s, LOS rate: 0.331357 deg/s, posRepo size: 4
2021-08-13T18:13:06.342Z,1628878386.342 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:13:06.548Z,1628878386.548 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:13:06.548Z,1628878386.548 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:13:06.549Z,1628878386.549 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:13:06.549Z,1628878386.549 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:13:06.959Z,1628878386.959 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2AF,000,00770,18A,80,80,8C,FF
2021-08-13T18:13:06.959Z,1628878386.959 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:13:06.960Z,1628878386.960 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:13:06.961Z,1628878386.961 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:13:07.357Z,1628878387.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:13:07.758Z,1628878387.758 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2EB,000,00779,189,80,80,80,FF
2021-08-13T18:13:07.758Z,1628878387.758 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:13:07.762Z,1628878387.762 [Micromodem](INFO): Nmea in: $SNTTA,0.075267,0.159211,,,181307.48*50

2021-08-13T18:13:08.203Z,1628878388.203 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 77.280006 m, bearing: 158.991258 deg, deltaT: 4.075422 s, approachRate: 0.132504 m/s, LOS rate: -0.925910 deg/s, posRepo size: 4
2021-08-13T18:13:10.807Z,1628878390.807 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:13:10.994Z,1628878390.994 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:13:10.994Z,1628878390.994 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:13:10.995Z,1628878390.995 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:13:10.995Z,1628878390.995 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:13:11.433Z,1628878391.433 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2EB,000,00779,189,80,80,80,FF
2021-08-13T18:13:11.433Z,1628878391.433 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:13:11.433Z,1628878391.433 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:13:11.435Z,1628878391.435 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:13:11.801Z,1628878391.801 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:13:12.201Z,1628878392.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2E6,000,00787,188,80,80,79,FF
2021-08-13T18:13:12.202Z,1628878392.202 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:13:12.619Z,1628878392.619 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181311.96*5A

2021-08-13T18:13:12.820Z,1628878392.820 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 78.119995 m, bearing: 158.517489 deg, deltaT: 4.455926 s, approachRate: 0.188510 m/s, LOS rate: -0.106323 deg/s, posRepo size: 4
2021-08-13T18:13:15.054Z,1628878395.054 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:13:15.481Z,1628878395.481 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:13:15.481Z,1628878395.481 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:13:15.481Z,1628878395.481 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:13:15.482Z,1628878395.482 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:13:15.865Z,1628878395.865 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2E6,000,00787,188,80,80,79,FF
2021-08-13T18:13:15.865Z,1628878395.865 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:13:15.865Z,1628878395.865 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:13:15.867Z,1628878395.867 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:13:16.267Z,1628878396.267 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:13:16.663Z,1628878396.663 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2AB,000,00795,18A,80,80,73,FF
2021-08-13T18:13:16.663Z,1628878396.663 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:13:17.109Z,1628878397.109 [Micromodem](INFO): Nmea in: $SNTTA,0.071239,,,,181316.39*48

2021-08-13T18:13:17.310Z,1628878397.310 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 78.959999 m, bearing: 161.561295 deg, deltaT: 4.446510 s, approachRate: 0.188913 m/s, LOS rate: 0.684538 deg/s, posRepo size: 4
2021-08-13T18:13:19.285Z,1628878399.285 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:13:19.491Z,1628878399.491 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:13:19.491Z,1628878399.491 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:13:19.491Z,1628878399.491 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:13:19.492Z,1628878399.492 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:13:19.896Z,1628878399.896 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2AB,000,00795,18A,80,80,73,FF
2021-08-13T18:13:19.897Z,1628878399.897 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:13:19.897Z,1628878399.897 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:13:19.899Z,1628878399.899 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:13:20.302Z,1628878400.302 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:13:20.703Z,1628878400.703 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2EF,000,007A1,188,80,80,79,FF
2021-08-13T18:13:20.703Z,1628878400.703 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:13:21.141Z,1628878401.141 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181320.42*51

2021-08-13T18:13:21.165Z,1628878401.165 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 79.680000 m, bearing: 157.912211 deg, deltaT: 4.048339 s, approachRate: 0.177851 m/s, LOS rate: -0.901378 deg/s, posRepo size: 4
2021-08-13T18:13:23.769Z,1628878403.769 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:13:23.941Z,1628878403.941 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:13:23.941Z,1628878403.941 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:13:23.941Z,1628878403.941 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:13:23.942Z,1628878403.942 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:13:24.339Z,1628878404.339 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2EF,000,007A1,188,80,80,79,FF
2021-08-13T18:13:24.339Z,1628878404.339 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:13:24.339Z,1628878404.339 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:13:24.341Z,1628878404.341 [Micromodem](INFO): Nmea in: $CAERR,181324,DATA_TIMEOUT,3*41

2021-08-13T18:13:24.342Z,1628878404.342 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:13:24.746Z,1628878404.746 [Micromodem](INFO): Nmea in: $CATXP,128*49

2021-08-13T18:13:24.746Z,1628878404.746 [Micromodem](ERROR): Response from modem unexpected: $CATXP,128*49

2021-08-13T18:13:26.430Z,1628878406.430 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:13:27.182Z,1628878407.182 [Micromodem](INFO): Nmea in: $CATXF,128*5F

2021-08-13T18:13:27.182Z,1628878407.182 [Micromodem](ERROR): Response from modem unexpected: $CATXF,128*5F

2021-08-13T18:13:27.573Z,1628878407.573 [Micromodem](INFO): Nmea in: $CAXST,7,20210813,181324.522646,3,0,200,4000,14500,1,1,10,1,3,2,3,128,14500*63

2021-08-13T18:13:27.573Z,1628878407.573 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210813,181324.522646,3,0,200,4000,14500,1,1,10,1,3,2,3,128,14500*63

2021-08-13T18:13:29.209Z,1628878409.209 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:13:30.008Z,1628878410.008 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.065784
2021-08-13T18:13:30.010Z,1628878410.010 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-08-13T18:13:30.418Z,1628878410.418 [Micromodem](INFO): Nmea in: $CAACK,10,1,2,1*78

2021-08-13T18:13:30.807Z,1628878410.807 [Micromodem](INFO): Nmea in: $CACST,6,0,20210813181329.323757,06,24803,43,0143,0150,37,02,02,00,02,1,010,001,0,4,1,0,150,15.3,4.39,10,-1.39,-01,-0.08,44,14500,4000*49

2021-08-13T18:13:30.808Z,1628878410.808 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210813181329.323757,06,24803,43,0143,0150,37,02,02,00,02,1,010,001,0,4,1,0,150,15.3,4.39,10,-1.39,-01,-0.08,44,14500,4000*49

2021-08-13T18:13:32.194Z,1628878412.194 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:13:32.444Z,1628878412.444 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:13:32.445Z,1628878412.445 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:13:32.445Z,1628878412.445 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:13:32.446Z,1628878412.446 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:13:32.827Z,1628878412.827 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2EF,000,007A1,188,80,80,79,FF
2021-08-13T18:13:32.827Z,1628878412.827 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:13:32.828Z,1628878412.828 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:13:34.863Z,1628878414.863 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:13:35.650Z,1628878415.650 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:13:36.068Z,1628878416.068 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:13:36.471Z,1628878416.471 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,326,000,007D4,189,80,80,62,FF
2021-08-13T18:13:36.471Z,1628878416.471 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:13:36.921Z,1628878416.921 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181336.17*56

2021-08-13T18:13:36.959Z,1628878416.959 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 82.739998 m, bearing: 155.057438 deg, deltaT: 15.932013 s, approachRate: 0.192066 m/s, LOS rate: -0.179185 deg/s, posRepo size: 4
2021-08-13T18:13:39.435Z,1628878419.435 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:13:39.753Z,1628878419.753 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:13:39.753Z,1628878419.753 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:13:39.753Z,1628878419.753 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:13:39.754Z,1628878419.754 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:13:40.149Z,1628878420.149 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
326,000,007D4,189,80,80,62,FF
2021-08-13T18:13:40.149Z,1628878420.149 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:13:40.150Z,1628878420.150 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:13:40.151Z,1628878420.151 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:13:40.556Z,1628878420.556 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:13:40.957Z,1628878420.957 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,316,000,007E3,189,80,80,71,FF
2021-08-13T18:13:40.957Z,1628878420.957 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:13:41.437Z,1628878421.437 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181340.68*5F

2021-08-13T18:13:41.491Z,1628878421.491 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 83.640007 m, bearing: 156.393068 deg, deltaT: 4.297989 s, approachRate: 0.209402 m/s, LOS rate: 0.310757 deg/s, posRepo size: 4
2021-08-13T18:13:43.522Z,1628878423.522 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:13:43.793Z,1628878423.793 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:13:43.793Z,1628878423.793 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:13:43.793Z,1628878423.793 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:13:43.794Z,1628878423.794 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:13:44.185Z,1628878424.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
316,000,007E3,189,80,80,71,FF
2021-08-13T18:13:44.185Z,1628878424.185 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:13:44.185Z,1628878424.185 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:13:44.187Z,1628878424.187 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:13:44.600Z,1628878424.600 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:13:44.997Z,1628878424.997 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2D4,000,007EE,189,80,80,63,FF
2021-08-13T18:13:44.997Z,1628878424.997 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:13:45.497Z,1628878425.497 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181344.71*53

2021-08-13T18:13:45.564Z,1628878425.564 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 84.300011 m, bearing: 159.988589 deg, deltaT: 4.208566 s, approachRate: 0.156824 m/s, LOS rate: 0.854334 deg/s, posRepo size: 4
2021-08-13T18:13:47.917Z,1628878427.917 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:13:48.265Z,1628878428.265 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:13:48.265Z,1628878428.265 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:13:48.265Z,1628878428.265 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:13:48.266Z,1628878428.266 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:13:48.669Z,1628878428.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2D4,000,007EE,189,80,80,63,FF
2021-08-13T18:13:48.669Z,1628878428.669 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:13:48.669Z,1628878428.669 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:13:48.671Z,1628878428.671 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:13:49.093Z,1628878429.093 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:13:49.489Z,1628878429.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2C1,000,007FD,189,80,80,85,FF
2021-08-13T18:13:49.489Z,1628878429.489 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:13:49.942Z,1628878429.942 [Micromodem](INFO): Nmea in: $SNTTA,0.301510,,,,181349.20*42

2021-08-13T18:13:49.958Z,1628878429.958 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 85.199997 m, bearing: 161.672162 deg, deltaT: 4.500364 s, approachRate: 0.199981 m/s, LOS rate: 0.374097 deg/s, posRepo size: 4
2021-08-13T18:13:52.422Z,1628878432.422 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:13:52.753Z,1628878432.753 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:13:52.753Z,1628878432.753 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:13:52.753Z,1628878432.753 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:13:52.754Z,1628878432.754 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:13:53.157Z,1628878433.157 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2C1,000,007FD,189,80,80,85,FF
2021-08-13T18:13:53.157Z,1628878433.157 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:13:53.157Z,1628878433.157 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:13:53.159Z,1628878433.159 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:13:53.573Z,1628878433.573 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:13:53.599Z,1628878433.599 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-13T18:13:53.965Z,1628878433.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2A2,000,0080A,189,80,80,7B,FF
2021-08-13T18:13:53.965Z,1628878433.965 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:13:54.439Z,1628878434.439 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 85.979996 m, bearing: 164.368216 deg, deltaT: 4.307624 s, approachRate: 0.181074 m/s, LOS rate: 0.625879 deg/s, posRepo size: 4
2021-08-13T18:13:56.414Z,1628878436.414 [Micromodem](ERROR): Buffer fill timout failure.
2021-08-13T18:13:56.943Z,1628878436.943 [Micromodem](INFO): Outgoing frame #1, 64 bytes: B2AB16610C0001005D00000400830100000000000000151D80030C5669BF3148E2FA22188B6A3173E51AA1508F2C2560E38C4E31BE8E0EFE5E41AD29BB47E895
2021-08-13T18:13:56.943Z,1628878436.943 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 4CAB4C1EBBB97A1756A06107373D1D7AB27E5ACDB870D0D98F53B08612FBF911D6AE090130943E26CC3AC8DF8D94F6E2A89DF48D61302FD0645226A875AF15FB
2021-08-13T18:13:56.944Z,1628878436.944 [Micromodem](INFO): Outgoing frame #3, 64 bytes: EA22C45FEB6B4C7917EDA6FC9E19C72368AB871E793B2479FA8C785D065A13A4285F50FA6FCD7F096641484133041AF9D2E814BEFBA058E2197489AE03C3FC62
2021-08-13T18:13:56.945Z,1628878436.945 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,3*6B

2021-08-13T18:13:57.017Z,1628878437.017 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:13:57.217Z,1628878437.217 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:13:57.217Z,1628878437.217 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:13:57.217Z,1628878437.217 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:13:57.218Z,1628878437.218 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:13:57.227Z,1628878437.227 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,3*69

2021-08-13T18:13:57.630Z,1628878437.630 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2A2,000,0080A,189,80,80,7B,FF
2021-08-13T18:13:57.630Z,1628878437.630 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:13:57.630Z,1628878437.630 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:13:57.631Z,1628878437.631 [Micromodem](INFO): Nmea in: $CADRQ,181357,1,10,0,64,1*7F

2021-08-13T18:13:57.632Z,1628878437.632 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,B2AB16610C0001005D00000400830100000000000000151D80030C5669BF3148E2FA22188B6A3173E51AA1508F2C2560E38C4E31BE8E0EFE5E41AD29BB47E895*4A

2021-08-13T18:13:57.738Z,1628878437.738 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-13T18:13:58.030Z,1628878438.030 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-08-13T18:13:58.031Z,1628878438.031 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:13:58.543Z,1628878438.543 [Micromodem](INFO): Nmea in: $CADRQ,181358,1,10,0,64,2*73

2021-08-13T18:13:58.543Z,1628878438.543 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,181358,1,10,0,64,2*73

2021-08-13T18:13:58.949Z,1628878438.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,267,000,0081D,189,80,80,8B,FF
2021-08-13T18:13:58.949Z,1628878438.949 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:13:58.954Z,1628878438.954 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:13:59.382Z,1628878439.382 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181358.56*5B

2021-08-13T18:13:59.482Z,1628878439.482 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 87.120003 m, bearing: 168.179447 deg, deltaT: 5.007917 s, approachRate: 0.227641 m/s, LOS rate: 0.761041 deg/s, posRepo size: 4
2021-08-13T18:14:01.586Z,1628878441.586 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-13T18:14:01.740Z,1628878441.740 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:14:01.980Z,1628878441.980 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:14:01.980Z,1628878441.980 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:14:01.980Z,1628878441.980 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:14:01.981Z,1628878441.981 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:14:02.406Z,1628878442.406 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
267,000,0081D,189,80,80,8B,FF
2021-08-13T18:14:02.406Z,1628878442.406 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:14:02.406Z,1628878442.406 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:14:02.408Z,1628878442.408 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:14:02.901Z,1628878442.901 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:14:03.273Z,1628878443.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,299,000,00828,189,80,80,7E,FF
2021-08-13T18:14:03.274Z,1628878443.274 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:14:03.701Z,1628878443.701 [Micromodem](INFO): Nmea in: $SNTTA,0.396235,0.396217,,,181402.93*5A

2021-08-13T18:14:03.739Z,1628878443.739 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-13T18:14:03.770Z,1628878443.770 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 87.780006 m, bearing: 166.413160 deg, deltaT: 4.299208 s, approachRate: 0.153517 m/s, LOS rate: -0.410840 deg/s, posRepo size: 4
2021-08-13T18:14:06.141Z,1628878446.141 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:14:06.505Z,1628878446.505 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:14:06.505Z,1628878446.505 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:14:06.505Z,1628878446.505 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:14:06.506Z,1628878446.506 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:14:06.921Z,1628878446.921 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
299,000,00828,189,80,80,7E,FF
2021-08-13T18:14:06.921Z,1628878446.921 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:14:06.921Z,1628878446.921 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:14:06.923Z,1628878446.923 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:14:07.316Z,1628878447.316 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:14:07.741Z,1628878447.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2B5,000,00838,189,80,80,80,FF
2021-08-13T18:14:07.742Z,1628878447.742 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:14:08.166Z,1628878448.166 [Micromodem](INFO): Nmea in: $SNTTA,0.071713,,,,181407.45*49

2021-08-13T18:14:08.186Z,1628878448.186 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 88.740005 m, bearing: 166.097551 deg, deltaT: 4.522973 s, approachRate: 0.212250 m/s, LOS rate: -0.069779 deg/s, posRepo size: 4
2021-08-13T18:14:10.607Z,1628878450.607 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:14:10.966Z,1628878450.966 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:14:10.967Z,1628878450.967 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:14:10.967Z,1628878450.967 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:14:10.968Z,1628878450.968 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:14:11.354Z,1628878451.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2B5,000,00838,189,80,80,80,FF
2021-08-13T18:14:11.354Z,1628878451.354 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:14:11.354Z,1628878451.354 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:14:11.356Z,1628878451.356 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:14:11.778Z,1628878451.778 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:14:12.167Z,1628878452.167 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,039,000,0084A,184,80,80,4A,FF
2021-08-13T18:14:12.167Z,1628878452.167 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:14:12.606Z,1628878452.606 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181411.89*53

2021-08-13T18:14:12.649Z,1628878452.649 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 89.820007 m, bearing: 199.073199 deg, deltaT: 4.394012 s, approachRate: 0.245789 m/s, LOS rate: 7.504679 deg/s, posRepo size: 4
2021-08-13T18:14:15.068Z,1628878455.068 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:14:15.453Z,1628878455.453 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:14:15.454Z,1628878455.454 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:14:15.454Z,1628878455.454 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:14:15.455Z,1628878455.455 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:14:15.830Z,1628878455.830 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
039,000,0084A,184,80,80,4A,FF
2021-08-13T18:14:15.830Z,1628878455.830 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:14:15.830Z,1628878455.830 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:14:15.845Z,1628878455.845 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:14:16.228Z,1628878456.228 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:14:16.645Z,1628878456.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,246,000,00853,189,80,80,72,FF
2021-08-13T18:14:16.645Z,1628878456.645 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:14:17.054Z,1628878457.054 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181416.37*51

2021-08-13T18:14:17.087Z,1628878457.087 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 90.360001 m, bearing: 173.697981 deg, deltaT: 4.503873 s, approachRate: 0.119895 m/s, LOS rate: -5.634088 deg/s, posRepo size: 4
2021-08-13T18:14:19.555Z,1628878459.555 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:14:19.881Z,1628878459.881 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:14:19.882Z,1628878459.882 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:14:19.882Z,1628878459.882 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:14:19.883Z,1628878459.883 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:14:20.290Z,1628878460.290 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
246,000,00853,189,80,80,72,FF
2021-08-13T18:14:20.290Z,1628878460.290 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:14:20.290Z,1628878460.290 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:14:20.292Z,1628878460.292 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:14:20.711Z,1628878460.711 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:14:21.093Z,1628878461.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,18D,000,00861,186,80,80,62,FF
2021-08-13T18:14:21.093Z,1628878461.093 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:14:21.545Z,1628878461.545 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181420.82*5A

2021-08-13T18:14:21.623Z,1628878461.623 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 91.200005 m, bearing: 183.391522 deg, deltaT: 4.432108 s, approachRate: 0.189527 m/s, LOS rate: 2.187117 deg/s, posRepo size: 4
2021-08-13T18:14:24.144Z,1628878464.144 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:14:24.330Z,1628878464.330 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:14:24.330Z,1628878464.330 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:14:24.330Z,1628878464.330 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:14:24.331Z,1628878464.331 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:14:24.738Z,1628878464.738 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
18D,000,00861,186,80,80,62,FF
2021-08-13T18:14:24.738Z,1628878464.738 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:14:24.738Z,1628878464.738 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:14:24.742Z,1628878464.742 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:14:25.144Z,1628878465.144 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:14:25.537Z,1628878465.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,28B,000,00872,189,80,80,62,FF
2021-08-13T18:14:25.538Z,1628878465.538 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:14:25.973Z,1628878465.973 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181425.27*50

2021-08-13T18:14:26.009Z,1628878466.009 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 92.220001 m, bearing: 170.784277 deg, deltaT: 4.468200 s, approachRate: 0.228279 m/s, LOS rate: -2.821549 deg/s, posRepo size: 4
2021-08-13T18:14:27.975Z,1628878467.975 [Micromodem](INFO): Nmea in: $CAERR,181428,DATA_TIMEOUT,2*4B

2021-08-13T18:14:28.366Z,1628878468.366 [Micromodem](INFO): Nmea in: $CATXP,64*70

2021-08-13T18:14:28.643Z,1628878468.643 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:14:28.874Z,1628878468.874 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:14:28.874Z,1628878468.874 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:14:28.874Z,1628878468.874 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:14:28.875Z,1628878468.875 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:14:29.277Z,1628878469.277 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
28B,000,00872,189,80,80,62,FF
2021-08-13T18:14:29.277Z,1628878469.277 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:14:29.277Z,1628878469.277 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:14:29.279Z,1628878469.279 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:14:29.445Z,1628878469.445 [CTD_Seabird](ERROR): Failed to parse device response: 5764.70
2021-08-13T18:14:29.694Z,1628878469.694 [Micromodem](INFO): Nmea in: $CATXF,64*66

2021-08-13T18:14:29.694Z,1628878469.694 [Micromodem](ERROR): Response from modem unexpected: $CATXF,64*66

2021-08-13T18:14:30.083Z,1628878470.082 [Micromodem](INFO): Nmea in: $CAXST,7,20210813,181428.200597,3,0,200,4000,14500,1,1,10,1,3,1,3,64,14500*5A

2021-08-13T18:14:30.083Z,1628878470.083 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210813,181428.200597,3,0,200,4000,14500,1,1,10,1,3,1,3,64,14500*5A

2021-08-13T18:14:31.434Z,1628878471.434 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:14:34.229Z,1628878474.229 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:14:35.012Z,1628878475.012 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.136907
2021-08-13T18:14:36.790Z,1628878476.790 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:14:37.049Z,1628878477.049 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:14:37.049Z,1628878477.049 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:14:37.049Z,1628878477.049 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:14:37.050Z,1628878477.050 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:14:37.481Z,1628878477.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
28B,000,00872,189,80,80,62,FF
2021-08-13T18:14:37.481Z,1628878477.481 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:14:37.481Z,1628878477.481 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:14:39.569Z,1628878479.569 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:14:40.289Z,1628878480.289 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:14:40.688Z,1628878480.688 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:14:41.101Z,1628878481.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,22C,000,00677,189,80,80,A8,FF
2021-08-13T18:14:41.101Z,1628878481.101 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:14:41.554Z,1628878481.554 [Micromodem](INFO): Nmea in: $SNTTA,0.062634,,,,181440.81*44

2021-08-13T18:14:41.621Z,1628878481.621 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 61.800007 m, bearing: 174.569335 deg, deltaT: 15.651848 s, approachRate: -1.943540 m/s, LOS rate: 0.241828 deg/s, posRepo size: 4
2021-08-13T18:14:43.938Z,1628878483.938 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:14:44.325Z,1628878484.325 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:14:44.325Z,1628878484.325 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:14:44.325Z,1628878484.325 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:14:44.326Z,1628878484.326 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:14:44.717Z,1628878484.717 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
22C,000,00677,189,80,80,A8,FF
2021-08-13T18:14:44.718Z,1628878484.718 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:14:44.718Z,1628878484.718 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:14:44.720Z,1628878484.720 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:14:45.133Z,1628878485.133 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:14:45.529Z,1628878485.529 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,272,000,008B5,188,80,80,A5,FF
2021-08-13T18:14:45.529Z,1628878485.529 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:14:45.970Z,1628878485.970 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181445.24*55

2021-08-13T18:14:45.985Z,1628878485.985 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 96.240005 m, bearing: 170.385161 deg, deltaT: 4.325926 s, approachRate: 7.961301 m/s, LOS rate: -0.967232 deg/s, posRepo size: 4
2021-08-13T18:14:48.551Z,1628878488.551 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:14:48.883Z,1628878488.883 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:14:48.884Z,1628878488.884 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:14:48.884Z,1628878488.884 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:14:48.885Z,1628878488.885 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:14:49.281Z,1628878489.281 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
272,000,008B5,188,80,80,A5,FF
2021-08-13T18:14:49.282Z,1628878489.282 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:14:49.282Z,1628878489.282 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:14:49.283Z,1628878489.283 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:14:49.680Z,1628878489.680 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:14:50.088Z,1628878490.088 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,28C,000,008BE,189,80,80,84,FF
2021-08-13T18:14:50.089Z,1628878490.089 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:14:50.521Z,1628878490.521 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181449.81*56

2021-08-13T18:14:50.575Z,1628878490.575 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 96.779999 m, bearing: 168.345940 deg, deltaT: 4.487891 s, approachRate: 0.120322 m/s, LOS rate: -0.454383 deg/s, posRepo size: 4
2021-08-13T18:14:52.948Z,1628878492.948 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:14:53.317Z,1628878493.317 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:14:53.317Z,1628878493.317 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:14:53.317Z,1628878493.317 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:14:53.318Z,1628878493.318 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:14:53.717Z,1628878493.717 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
28C,000,008BE,189,80,80,84,FF
2021-08-13T18:14:53.717Z,1628878493.717 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:14:53.718Z,1628878493.718 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:14:53.720Z,1628878493.720 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:14:54.126Z,1628878494.126 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:14:54.525Z,1628878494.525 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,290,000,008CE,189,80,80,80,FF
2021-08-13T18:14:54.525Z,1628878494.525 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:14:54.965Z,1628878494.965 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181454.25*54

2021-08-13T18:14:54.987Z,1628878494.987 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 97.739998 m, bearing: 166.560993 deg, deltaT: 4.495472 s, approachRate: 0.213548 m/s, LOS rate: -0.397054 deg/s, posRepo size: 4
2021-08-13T18:14:57.451Z,1628878497.451 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:14:57.761Z,1628878497.761 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:14:57.761Z,1628878497.761 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:14:57.761Z,1628878497.761 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:14:57.762Z,1628878497.762 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:14:58.161Z,1628878498.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
290,000,008CE,189,80,80,80,FF
2021-08-13T18:14:58.161Z,1628878498.161 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:14:58.161Z,1628878498.161 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:14:58.163Z,1628878498.163 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:14:58.601Z,1628878498.601 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:14:58.997Z,1628878498.997 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2C9,000,008DB,189,80,80,7B,FF
2021-08-13T18:14:58.997Z,1628878498.997 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:14:59.469Z,1628878499.469 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181458.69*50

2021-08-13T18:14:59.534Z,1628878499.534 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 98.520004 m, bearing: 162.968505 deg, deltaT: 4.413285 s, approachRate: 0.176741 m/s, LOS rate: -0.814017 deg/s, posRepo size: 4
2021-08-13T18:15:01.550Z,1628878501.550 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:15:01.825Z,1628878501.825 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:15:01.825Z,1628878501.825 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:15:01.825Z,1628878501.825 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:15:01.826Z,1628878501.826 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:15:02.229Z,1628878502.229 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2C9,000,008DB,189,80,80,7B,FF
2021-08-13T18:15:02.229Z,1628878502.229 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:15:02.229Z,1628878502.229 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:15:02.231Z,1628878502.231 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:15:02.641Z,1628878502.641 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:15:02.656Z,1628878502.656 [Micromodem](ERROR): Buffer fill timout failure.
2021-08-13T18:15:03.037Z,1628878503.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,302,000,008E8,18A,80,80,7E,FF
2021-08-13T18:15:03.038Z,1628878503.038 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:15:03.203Z,1628878503.203 [Micromodem](INFO): Outgoing frame #1, 64 bytes: B2AB16610C0001005D00000400830100000000000000151D80030C5669BF3148E2FA22188B6A3173E51AA1508F2C2560E38C4E31BE8E0EFE5E41AD29BB47E895
2021-08-13T18:15:03.203Z,1628878503.203 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 4CAB4C1EBBB97A1756A06107373D1D7AB27E5ACDB870D0D98F53B08612FBF911D6AE090130943E26CC3AC8DF8D94F6E2A89DF48D61302FD0645226A875AF15FB
2021-08-13T18:15:03.204Z,1628878503.204 [Micromodem](INFO): Outgoing frame #3, 64 bytes: EA22C45FEB6B4C7917EDA6FC9E19C72368AB871E793B2479FA8C785D065A13A4285F50FA6FCD7F096641484133041AF9D2E814BEFBA058E2197489AE03C3FC62
2021-08-13T18:15:03.204Z,1628878503.204 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,3*6B

2021-08-13T18:15:03.505Z,1628878503.505 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,3*69

2021-08-13T18:15:03.613Z,1628878503.613 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 99.300003 m, bearing: 159.822916 deg, deltaT: 4.258716 s, approachRate: 0.183154 m/s, LOS rate: -0.738624 deg/s, posRepo size: 4
2021-08-13T18:15:03.878Z,1628878503.878 [Micromodem](INFO): Nmea in: $CADRQ,181503,1,10,0,64,1*78

2021-08-13T18:15:03.879Z,1628878503.879 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,B2AB16610C0001005D00000400830100000000000000151D80030C5669BF3148E2FA22188B6A3173E51AA1508F2C2560E38C4E31BE8E0EFE5E41AD29BB47E895*4A

2021-08-13T18:15:04.282Z,1628878504.282 [Micromodem](INFO): Nmea in: $SNTTA,0.081318,,,,181502.76*4D

2021-08-13T18:15:04.282Z,1628878504.282 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,0.081318,,,,181502.76*4D

2021-08-13T18:15:05.497Z,1628878505.497 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-08-13T18:15:05.887Z,1628878505.887 [Micromodem](INFO): Nmea in: $CADRQ,181504,1,10,0,64,2*7C

2021-08-13T18:15:05.888Z,1628878505.888 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,4CAB4C1EBBB97A1756A06107373D1D7AB27E5ACDB870D0D98F53B08612FBF911D6AE090130943E26CC3AC8DF8D94F6E2A89DF48D61302FD0645226A875AF15FB*42

2021-08-13T18:15:06.004Z,1628878506.004 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:15:06.293Z,1628878506.293 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:15:06.293Z,1628878506.293 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:15:06.293Z,1628878506.293 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:15:06.294Z,1628878506.294 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:15:06.300Z,1628878506.300 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-08-13T18:15:06.701Z,1628878506.701 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
302,000,008E8,18A,80,80,7E,FF
2021-08-13T18:15:06.701Z,1628878506.701 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:15:06.701Z,1628878506.701 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:15:06.703Z,1628878506.703 [Micromodem](INFO): Nmea in: $CADRQ,181506,1,10,0,64,3*7F

2021-08-13T18:15:06.703Z,1628878506.703 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,EA22C45FEB6B4C7917EDA6FC9E19C72368AB871E793B2479FA8C785D065A13A4285F50FA6FCD7F096641484133041AF9D2E814BEFBA058E2197489AE03C3FC62*38

2021-08-13T18:15:07.106Z,1628878507.106 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-08-13T18:15:07.106Z,1628878507.106 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:15:07.491Z,1628878507.491 [Micromodem](INFO): Nmea in: $CATXP,192*48

2021-08-13T18:15:07.491Z,1628878507.491 [Micromodem](ERROR): Response from modem unexpected: $CATXP,192*48

2021-08-13T18:15:08.772Z,1628878508.772 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:15:11.153Z,1628878511.153 [Micromodem](INFO): Nmea in: $CATXF,192*5E

2021-08-13T18:15:11.154Z,1628878511.154 [Micromodem](ERROR): Response from modem unexpected: $CATXF,192*5E

2021-08-13T18:15:11.539Z,1628878511.539 [Micromodem](INFO): Nmea in: $CAXST,7,20210813,181507.272752,3,0,200,4000,14500,1,1,10,1,3,3,3,192,14500*62

2021-08-13T18:15:11.540Z,1628878511.540 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210813,181507.272752,3,0,200,4000,14500,1,1,10,1,3,3,3,192,14500*62

2021-08-13T18:15:11.610Z,1628878511.610 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:15:12.364Z,1628878512.364 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.069862
2021-08-13T18:15:14.538Z,1628878514.538 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:15:14.809Z,1628878514.809 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:15:14.809Z,1628878514.809 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:15:14.809Z,1628878514.809 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:15:14.810Z,1628878514.810 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:15:14.817Z,1628878514.817 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-08-13T18:15:15.221Z,1628878515.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
302,000,008E8,18A,80,80,7E,FF
2021-08-13T18:15:15.222Z,1628878515.222 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:15:15.222Z,1628878515.222 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:15:15.223Z,1628878515.223 [Micromodem](INFO): Nmea in: $CAACK,10,1,2,1*78

2021-08-13T18:15:15.614Z,1628878515.614 [Micromodem](INFO): Nmea in: $CAACK,10,1,3,1*79

2021-08-13T18:15:15.615Z,1628878515.615 [Micromodem](INFO): Sent 184 bytes from file Logs/20210813T172818/Courier0012.lzma.parts
2021-08-13T18:15:15.615Z,1628878515.615 [Micromodem](INFO): Packets left to send: 1
2021-08-13T18:15:16.078Z,1628878516.078 [Micromodem](INFO): Nmea in: $CACST,6,0,20210813181513.998463,06,31566,44,0202,0150,29,01,01,00,01,1,010,001,0,4,1,0,150,14.4,5.24,14,-2.24,-01,0.04,42,14500,4000*68

2021-08-13T18:15:16.078Z,1628878516.078 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210813181513.998463,06,31566,44,0202,0150,29,01,01,00,01,1,010,001,0,4,1,0,150,14.4,5.24,14,-2.24,-01,0.04,42,14500,4000*68

2021-08-13T18:15:16.244Z,1628878516.244 [Micromodem](INFO): Outgoing frame #1, 64 bytes: B2AB16610C000000BA14FEEA0F5C5F7AE6E2B52E17CE93348FD1222BDC60B964CBF19A53D9352F3ECD0AA37FBCCED844216513BEABFB65E9143AAFBF88379E2F
2021-08-13T18:15:16.244Z,1628878516.244 [Micromodem](INFO): Outgoing frame #2, 4 bytes: C4DE1C80
2021-08-13T18:15:17.443Z,1628878517.443 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:15:18.174Z,1628878518.174 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:15:18.612Z,1628878518.612 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:15:18.624Z,1628878518.624 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,2*6A

2021-08-13T18:15:18.973Z,1628878518.973 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,346,000,0091C,189,80,80,68,FF
2021-08-13T18:15:18.974Z,1628878518.974 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:15:18.976Z,1628878518.976 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,2*68

2021-08-13T18:15:19.449Z,1628878519.449 [Micromodem](INFO): Nmea in: $CADRQ,181519,1,10,0,64,1*73

2021-08-13T18:15:19.450Z,1628878519.450 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,B2AB16610C000000BA14FEEA0F5C5F7AE6E2B52E17CE93348FD1222BDC60B964CBF19A53D9352F3ECD0AA37FBCCED844216513BEABFB65E9143AAFBF88379E2F*3D

2021-08-13T18:15:19.609Z,1628878519.609 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 102.420006 m, bearing: 155.000051 deg, deltaT: 15.718388 s, approachRate: 0.198494 m/s, LOS rate: -0.306829 deg/s, posRepo size: 4
2021-08-13T18:15:19.789Z,1628878519.789 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181518.70*5D

2021-08-13T18:15:19.789Z,1628878519.789 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,,,,,181518.70*5D

2021-08-13T18:15:21.021Z,1628878521.021 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-08-13T18:15:21.453Z,1628878521.453 [Micromodem](INFO): Nmea in: $CADRQ,181519,1,10,0,64,2*70

2021-08-13T18:15:21.453Z,1628878521.453 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,C4DE1C80*45

2021-08-13T18:15:21.550Z,1628878521.550 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:15:21.805Z,1628878521.805 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:15:21.805Z,1628878521.805 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:15:21.805Z,1628878521.805 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:15:21.806Z,1628878521.806 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:15:21.812Z,1628878521.812 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,4*7F

2021-08-13T18:15:22.225Z,1628878522.225 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
346,000,0091C,189,80,80,68,FF
2021-08-13T18:15:22.225Z,1628878522.225 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:15:22.225Z,1628878522.225 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:15:22.227Z,1628878522.227 [Micromodem](INFO): Nmea in: $CATXP,68*7C

2021-08-13T18:15:22.227Z,1628878522.227 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:15:24.257Z,1628878524.257 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:15:24.638Z,1628878524.638 [Micromodem](INFO): Nmea in: $CATXF,68*6A

2021-08-13T18:15:24.638Z,1628878524.638 [Micromodem](ERROR): Response from modem unexpected: $CATXF,68*6A

2021-08-13T18:15:25.039Z,1628878525.039 [Micromodem](INFO): Nmea in: $CAXST,7,20210813,181521.948399,3,0,200,4000,14500,1,1,10,1,2,2,3,68,14500*53

2021-08-13T18:15:25.039Z,1628878525.039 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210813,181521.948399,3,0,200,4000,14500,1,1,10,1,2,2,3,68,14500*53

2021-08-13T18:15:26.966Z,1628878526.966 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:15:27.581Z,1628878527.581 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-08-13T18:15:27.980Z,1628878527.980 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.173868
2021-08-13T18:15:27.982Z,1628878527.982 [Micromodem](INFO): Nmea in: $CAACK,10,1,2,1*78

2021-08-13T18:15:27.982Z,1628878527.982 [Micromodem](INFO): Sent 60 bytes from file Logs/20210813T172818/Courier0012.lzma.parts
2021-08-13T18:15:27.982Z,1628878527.982 [Micromodem](INFO): Packets left to send: 0
2021-08-13T18:15:28.393Z,1628878528.393 [Micromodem](INFO): Nmea in: $CACST,6,0,20210813181526.726118,06,23169,43,0158,0150,82,02,02,00,02,1,010,001,0,4,1,0,150,2.6,3.65,07,-0.65,-01,0.17,59,14500,4000*56

2021-08-13T18:15:28.394Z,1628878528.394 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210813181526.726118,06,23169,43,0158,0150,82,02,02,00,02,1,010,001,0,4,1,0,150,2.6,3.65,07,-0.65,-01,0.17,59,14500,4000*56

2021-08-13T18:15:28.641Z,1628878528.641 [lineCaptureDepth:MicromodemComms] Stopped
2021-08-13T18:15:28.641Z,1628878528.641 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-08-13T18:15:28.641Z,1628878528.641 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-08-13T18:15:28.641Z,1628878528.641 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-13T18:15:28.641Z,1628878528.641 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-08-13T18:15:29.486Z,1628878529.486 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:15:29.790Z,1628878529.790 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:15:29.790Z,1628878529.790 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:15:29.790Z,1628878529.790 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:15:29.791Z,1628878529.791 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:15:30.193Z,1628878530.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
346,000,0091C,189,80,80,68,FF
2021-08-13T18:15:30.193Z,1628878530.193 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:15:30.193Z,1628878530.193 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:15:32.241Z,1628878532.241 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:15:33.478Z,1628878533.478 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:15:33.894Z,1628878533.894 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:15:34.278Z,1628878534.278 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,329,000,00950,189,80,80,55,FF
2021-08-13T18:15:34.278Z,1628878534.278 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:15:34.722Z,1628878534.722 [Micromodem](INFO): Nmea in: $SNTTA,0.089489,,,,181534.00*4E

2021-08-13T18:15:34.771Z,1628878534.771 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 105.540009 m, bearing: 157.150522 deg, deltaT: 15.303750 s, approachRate: 0.203872 m/s, LOS rate: 0.140519 deg/s, posRepo size: 4
2021-08-13T18:15:37.162Z,1628878537.162 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:15:37.509Z,1628878537.509 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:15:37.510Z,1628878537.510 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:15:37.510Z,1628878537.510 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:15:37.511Z,1628878537.511 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:15:37.915Z,1628878537.915 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
329,000,00950,189,80,80,55,FF
2021-08-13T18:15:37.935Z,1628878537.935 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:15:37.936Z,1628878537.936 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:15:37.939Z,1628878537.939 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:15:38.317Z,1628878538.317 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:15:38.725Z,1628878538.725 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,33C,000,00960,189,80,80,6C,FF
2021-08-13T18:15:38.726Z,1628878538.726 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:15:39.153Z,1628878539.153 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181538.46*5A

2021-08-13T18:15:39.175Z,1628878539.175 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 106.500000 m, bearing: 156.453884 deg, deltaT: 4.533368 s, approachRate: 0.211761 m/s, LOS rate: -0.153669 deg/s, posRepo size: 4
2021-08-13T18:15:41.616Z,1628878541.616 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:15:41.961Z,1628878541.961 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:15:41.961Z,1628878541.961 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:15:41.961Z,1628878541.961 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:15:41.962Z,1628878541.962 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:15:42.361Z,1628878542.361 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
33C,000,00960,189,80,80,6C,FF
2021-08-13T18:15:42.361Z,1628878542.361 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:15:42.361Z,1628878542.361 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:15:42.363Z,1628878542.363 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:15:42.765Z,1628878542.765 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:15:43.161Z,1628878543.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,32D,000,0096C,189,80,80,5C,FF
2021-08-13T18:15:43.162Z,1628878543.162 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:15:43.601Z,1628878543.601 [Micromodem](INFO): Nmea in: $SNTTA,0.074093,0.457393,,,181542.88*53

2021-08-13T18:15:43.695Z,1628878543.695 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 107.220001 m, bearing: 157.534106 deg, deltaT: 4.355703 s, approachRate: 0.165301 m/s, LOS rate: 0.248002 deg/s, posRepo size: 4
2021-08-13T18:15:46.011Z,1628878546.011 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:15:46.418Z,1628878546.418 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:15:46.419Z,1628878546.419 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:15:46.424Z,1628878546.424 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:15:46.425Z,1628878546.425 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:15:46.809Z,1628878546.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
32D,000,0096C,189,80,80,5C,FF
2021-08-13T18:15:46.809Z,1628878546.809 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:15:46.809Z,1628878546.809 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:15:46.811Z,1628878546.811 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:15:47.210Z,1628878547.210 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:15:47.607Z,1628878547.607 [Micromodem](INFO): Nmea in: $SNTTA,0.191715,0.191884,,,181547.34*50

2021-08-13T18:15:48.850Z,1628878548.850 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:15:50.472Z,1628878550.472 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,189,80,80,5C,FF
2021-08-13T18:15:50.473Z,1628878550.473 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,189,80,80,5C,FF
2021-08-13T18:15:50.473Z,1628878550.473 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T18:15:51.707Z,1628878551.707 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:15:52.049Z,1628878552.049 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:15:52.050Z,1628878552.050 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:15:52.051Z,1628878552.051 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:15:52.052Z,1628878552.052 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:15:52.465Z,1628878552.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,189,80,80,5C,FF
2021-08-13T18:15:52.465Z,1628878552.465 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:15:52.465Z,1628878552.465 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:15:52.467Z,1628878552.467 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:15:52.883Z,1628878552.883 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:15:53.265Z,1628878553.265 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,323,000,00993,189,80,80,5C,FF
2021-08-13T18:15:53.265Z,1628878553.265 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:15:53.697Z,1628878553.697 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181552.99*54

2021-08-13T18:15:53.779Z,1628878553.779 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 109.560005 m, bearing: 158.917178 deg, deltaT: 10.118987 s, approachRate: 0.231249 m/s, LOS rate: 0.136681 deg/s, posRepo size: 4
2021-08-13T18:15:56.142Z,1628878556.142 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:15:56.505Z,1628878556.505 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:15:56.505Z,1628878556.505 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:15:56.505Z,1628878556.505 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:15:56.506Z,1628878556.506 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:15:56.909Z,1628878556.909 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
323,000,00993,189,80,80,5C,FF
2021-08-13T18:15:56.909Z,1628878556.909 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:15:56.910Z,1628878556.910 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:15:56.911Z,1628878556.911 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:15:57.308Z,1628878557.308 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:15:57.709Z,1628878557.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,347,000,0099E,189,80,80,5C,FF
2021-08-13T18:15:57.709Z,1628878557.709 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:15:57.713Z,1628878557.713 [Micromodem](INFO): Nmea in: $SNTTA,0.075368,0.182993,,,181557.43*51

2021-08-13T18:15:58.140Z,1628878558.140 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 110.220001 m, bearing: 158.112445 deg, deltaT: 4.501813 s, approachRate: 0.146607 m/s, LOS rate: -0.178758 deg/s, posRepo size: 4
2021-08-13T18:15:59.745Z,1628878559.745 [NAL9602](INFO): Not Powering down - fast GPS
2021-08-13T18:16:00.592Z,1628878560.592 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:16:00.945Z,1628878560.945 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:16:00.945Z,1628878560.945 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:16:00.945Z,1628878560.945 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:16:00.946Z,1628878560.946 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:16:01.417Z,1628878561.417 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
347,000,0099E,189,80,80,5C,FF
2021-08-13T18:16:01.417Z,1628878561.417 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:16:01.418Z,1628878561.418 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:16:01.430Z,1628878561.430 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:16:01.985Z,1628878561.985 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:16:02.381Z,1628878562.381 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2FF,000,009B0,189,80,80,6C,FF
2021-08-13T18:16:02.383Z,1628878562.383 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:16:02.793Z,1628878562.793 [Micromodem](INFO): Nmea in: $SNTTA,0.104729,,,,181601.95*4A

2021-08-13T18:16:02.821Z,1628878562.821 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 111.300003 m, bearing: 162.205491 deg, deltaT: 4.651719 s, approachRate: 0.232173 m/s, LOS rate: 0.879900 deg/s, posRepo size: 4
2021-08-13T18:16:05.215Z,1628878565.215 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:16:05.606Z,1628878565.606 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:16:05.606Z,1628878565.606 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:16:05.606Z,1628878565.606 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:16:05.607Z,1628878565.607 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:16:06.009Z,1628878566.009 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2FF,000,009B0,189,80,80,6C,FF
2021-08-13T18:16:06.009Z,1628878566.009 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:16:06.009Z,1628878566.009 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:16:06.011Z,1628878566.011 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:16:06.432Z,1628878566.432 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:16:06.845Z,1628878566.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2FE,000,009BD,188,80,80,69,FF
2021-08-13T18:16:06.845Z,1628878566.845 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:16:07.277Z,1628878567.277 [Micromodem](INFO): Nmea in: $SNTTA,0.083152,,,,181606.54*44

2021-08-13T18:16:07.307Z,1628878567.307 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 112.080002 m, bearing: 162.032031 deg, deltaT: 4.441617 s, approachRate: 0.175611 m/s, LOS rate: -0.039053 deg/s, posRepo size: 4
2021-08-13T18:16:09.758Z,1628878569.758 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:16:10.092Z,1628878570.092 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:16:10.092Z,1628878570.092 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:16:10.092Z,1628878570.092 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:16:10.093Z,1628878570.093 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:16:10.482Z,1628878570.482 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2FE,000,009BD,188,80,80,69,FF
2021-08-13T18:16:10.482Z,1628878570.482 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:16:10.482Z,1628878570.482 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:16:10.485Z,1628878570.485 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:16:10.897Z,1628878570.897 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:16:11.303Z,1628878571.303 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2F4,000,009D0,189,80,80,6A,FF
2021-08-13T18:16:11.303Z,1628878571.303 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:16:11.745Z,1628878571.745 [Micromodem](INFO): Nmea in: $SNTTA,0.077254,,,,181611.01*4C

2021-08-13T18:16:11.806Z,1628878571.806 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 113.220001 m, bearing: 163.023420 deg, deltaT: 4.434713 s, approachRate: 0.257063 m/s, LOS rate: 0.223552 deg/s, posRepo size: 4
2021-08-13T18:16:14.143Z,1628878574.143 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:16:14.525Z,1628878574.525 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:16:14.525Z,1628878574.525 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:16:14.525Z,1628878574.525 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:16:14.526Z,1628878574.526 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:16:14.933Z,1628878574.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2F4,000,009D0,189,80,80,6A,FF
2021-08-13T18:16:14.933Z,1628878574.933 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:16:14.933Z,1628878574.933 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:16:14.935Z,1628878574.935 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:16:15.332Z,1628878575.332 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:16:15.737Z,1628878575.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,269,000,009DC,188,80,80,7F,FF
2021-08-13T18:16:15.738Z,1628878575.738 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:16:16.174Z,1628878576.174 [Micromodem](INFO): Nmea in: $SNTTA,0.077889,,,,181615.46*41

2021-08-13T18:16:16.225Z,1628878576.225 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 113.940002 m, bearing: 170.873943 deg, deltaT: 4.497747 s, approachRate: 0.160080 m/s, LOS rate: 1.745435 deg/s, posRepo size: 4
2021-08-13T18:16:18.648Z,1628878578.648 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:16:18.969Z,1628878578.969 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:16:18.969Z,1628878578.969 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:16:18.969Z,1628878578.969 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:16:18.970Z,1628878578.970 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:16:19.373Z,1628878579.373 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
269,000,009DC,188,80,80,7F,FF
2021-08-13T18:16:19.374Z,1628878579.374 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:16:19.374Z,1628878579.374 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:16:19.381Z,1628878579.381 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:16:19.784Z,1628878579.784 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:16:19.812Z,1628878579.812 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-13T18:16:20.582Z,1628878580.582 [Micromodem](INFO): Nmea in: $SNTTA,0.085908,,,,181619.92*41

2021-08-13T18:16:21.486Z,1628878581.486 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:16:23.009Z,1628878583.009 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,188,80,80,7F,FF
2021-08-13T18:16:23.009Z,1628878583.009 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,188,80,80,7F,FF
2021-08-13T18:16:23.009Z,1628878583.009 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T18:16:24.240Z,1628878584.240 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:16:24.617Z,1628878584.617 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:16:24.617Z,1628878584.617 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:16:24.617Z,1628878584.617 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:16:24.618Z,1628878584.618 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:16:25.022Z,1628878585.022 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,188,80,80,7F,FF
2021-08-13T18:16:25.022Z,1628878585.022 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:16:25.022Z,1628878585.022 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:16:25.024Z,1628878585.024 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:16:25.469Z,1628878585.469 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:16:26.234Z,1628878586.234 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181625.58*5A

2021-08-13T18:16:27.070Z,1628878587.070 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:16:28.691Z,1628878588.691 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,188,80,80,7F,FF
2021-08-13T18:16:28.691Z,1628878588.691 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,188,80,80,7F,FF
2021-08-13T18:16:28.691Z,1628878588.691 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T18:16:29.925Z,1628878589.925 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:16:30.293Z,1628878590.293 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:16:30.293Z,1628878590.293 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:16:30.293Z,1628878590.293 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:16:30.294Z,1628878590.294 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:16:30.730Z,1628878590.730 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,188,80,80,7F,FF
2021-08-13T18:16:30.730Z,1628878590.730 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:16:30.730Z,1628878590.730 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:16:30.744Z,1628878590.744 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:16:31.115Z,1628878591.115 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:16:31.509Z,1628878591.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,224,000,00A14,189,80,80,6F,FF
2021-08-13T18:16:31.510Z,1628878591.510 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:16:31.945Z,1628878591.945 [Micromodem](INFO): Nmea in: $SNTTA,0.266344,,,,181631.27*48

2021-08-13T18:16:31.967Z,1628878591.967 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 117.300011 m, bearing: 174.942209 deg, deltaT: 15.782691 s, approachRate: 0.212892 m/s, LOS rate: 0.257768 deg/s, posRepo size: 4
2021-08-13T18:16:34.370Z,1628878594.370 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:16:34.737Z,1628878594.737 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:16:34.737Z,1628878594.737 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:16:34.737Z,1628878594.737 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:16:34.738Z,1628878594.738 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:16:35.145Z,1628878595.145 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
224,000,00A14,189,80,80,6F,FF
2021-08-13T18:16:35.146Z,1628878595.146 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:16:35.146Z,1628878595.146 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:16:35.147Z,1628878595.147 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:16:35.548Z,1628878595.548 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:16:35.957Z,1628878595.957 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2CC,000,00A22,189,80,80,35,FF
2021-08-13T18:16:35.957Z,1628878595.957 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:16:36.429Z,1628878596.429 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181635.67*57

2021-08-13T18:16:36.475Z,1628878596.475 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 118.139999 m, bearing: 166.139980 deg, deltaT: 4.362395 s, approachRate: 0.192552 m/s, LOS rate: -2.017751 deg/s, posRepo size: 4
2021-08-13T18:16:38.805Z,1628878598.805 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:16:39.181Z,1628878599.181 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:16:39.181Z,1628878599.181 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:16:39.181Z,1628878599.181 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:16:39.182Z,1628878599.182 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:16:39.589Z,1628878599.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2CC,000,00A22,189,80,80,35,FF
2021-08-13T18:16:39.589Z,1628878599.589 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:16:39.589Z,1628878599.589 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:16:39.591Z,1628878599.591 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:16:40.017Z,1628878600.017 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:16:40.424Z,1628878600.424 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,299,000,00A33,189,80,80,69,FF
2021-08-13T18:16:40.424Z,1628878600.424 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:16:40.834Z,1628878600.834 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181640.12*57

2021-08-13T18:16:40.852Z,1628878600.852 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 119.160011 m, bearing: 168.532268 deg, deltaT: 4.475613 s, approachRate: 0.227904 m/s, LOS rate: 0.534516 deg/s, posRepo size: 4
2021-08-13T18:16:43.238Z,1628878603.238 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:16:43.641Z,1628878603.641 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:16:43.641Z,1628878603.641 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:16:43.644Z,1628878603.644 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:16:43.646Z,1628878603.646 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:16:44.029Z,1628878604.029 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
299,000,00A33,189,80,80,69,FF
2021-08-13T18:16:44.029Z,1628878604.029 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:16:44.029Z,1628878604.029 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:16:44.031Z,1628878604.031 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:16:44.462Z,1628878604.462 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:16:44.846Z,1628878604.846 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2BE,000,00A3E,188,80,80,67,FF
2021-08-13T18:16:44.846Z,1628878604.846 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:16:45.281Z,1628878605.281 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181644.55*50

2021-08-13T18:16:45.303Z,1628878605.303 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 119.820000 m, bearing: 166.864609 deg, deltaT: 4.418660 s, approachRate: 0.149364 m/s, LOS rate: -0.377413 deg/s, posRepo size: 4
2021-08-13T18:16:47.745Z,1628878607.745 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:16:48.077Z,1628878608.077 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:16:48.077Z,1628878608.077 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:16:48.077Z,1628878608.077 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:16:48.078Z,1628878608.078 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:16:48.477Z,1628878608.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2BE,000,00A3E,188,80,80,67,FF
2021-08-13T18:16:48.477Z,1628878608.477 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:16:48.477Z,1628878608.477 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:16:48.479Z,1628878608.479 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:16:48.894Z,1628878608.894 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:16:49.289Z,1628878609.289 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2CD,000,00A4D,189,80,80,5D,FF
2021-08-13T18:16:49.289Z,1628878609.289 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:16:49.723Z,1628878609.723 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181649.00*5D

2021-08-13T18:16:49.793Z,1628878609.793 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 120.720001 m, bearing: 166.466190 deg, deltaT: 4.462040 s, approachRate: 0.201702 m/s, LOS rate: -0.089291 deg/s, posRepo size: 4
2021-08-13T18:16:52.143Z,1628878612.143 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:16:52.513Z,1628878612.513 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:16:52.513Z,1628878612.513 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:16:52.513Z,1628878612.513 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:16:52.514Z,1628878612.514 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:16:52.921Z,1628878612.921 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2CD,000,00A4D,189,80,80,5D,FF
2021-08-13T18:16:52.921Z,1628878612.921 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:16:52.921Z,1628878612.921 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:16:52.923Z,1628878612.923 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:16:53.325Z,1628878613.325 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:16:53.733Z,1628878613.733 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2BF,000,00A59,189,80,80,5A,FF
2021-08-13T18:16:53.734Z,1628878613.734 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:16:54.157Z,1628878614.157 [Micromodem](INFO): Nmea in: $SNTTA,0.099196,,,,181653.45*47

2021-08-13T18:16:54.199Z,1628878614.199 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 121.439995 m, bearing: 167.166735 deg, deltaT: 4.489168 s, approachRate: 0.160385 m/s, LOS rate: 0.156052 deg/s, posRepo size: 4
2021-08-13T18:16:56.598Z,1628878616.598 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:16:56.957Z,1628878616.957 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:16:56.957Z,1628878616.957 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:16:56.957Z,1628878616.957 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:16:56.958Z,1628878616.958 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:16:57.370Z,1628878617.370 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2BF,000,00A59,189,80,80,5A,FF
2021-08-13T18:16:57.371Z,1628878617.371 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:16:57.372Z,1628878617.372 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:16:57.390Z,1628878617.390 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:16:57.781Z,1628878617.781 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:16:58.189Z,1628878618.189 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2BE,000,00A6A,189,80,80,6C,FF
2021-08-13T18:16:58.189Z,1628878618.189 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:16:58.595Z,1628878618.595 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181657.92*59

2021-08-13T18:16:58.675Z,1628878618.675 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 122.460007 m, bearing: 166.971528 deg, deltaT: 4.384781 s, approachRate: 0.232625 m/s, LOS rate: -0.044519 deg/s, posRepo size: 4
2021-08-13T18:17:01.026Z,1628878621.026 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:17:01.442Z,1628878621.442 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:17:01.442Z,1628878621.442 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:17:01.443Z,1628878621.443 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:17:01.444Z,1628878621.444 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:17:01.813Z,1628878621.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2BE,000,00A6A,189,80,80,6C,FF
2021-08-13T18:17:01.813Z,1628878621.813 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:17:01.813Z,1628878621.813 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:17:01.815Z,1628878621.815 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:17:02.221Z,1628878622.221 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:17:02.629Z,1628878622.629 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2BC,000,00A7D,189,80,80,5C,FF
2021-08-13T18:17:02.630Z,1628878622.630 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:17:03.061Z,1628878623.061 [Micromodem](INFO): Nmea in: $SNTTA,0.253152,,,,181702.34*48

2021-08-13T18:17:03.079Z,1628878623.079 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 123.600006 m, bearing: 167.238466 deg, deltaT: 4.449976 s, approachRate: 0.256181 m/s, LOS rate: 0.059986 deg/s, posRepo size: 4
2021-08-13T18:17:05.524Z,1628878625.524 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:17:05.861Z,1628878625.861 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:17:05.861Z,1628878625.861 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:17:05.861Z,1628878625.861 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:17:05.862Z,1628878625.862 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:17:06.253Z,1628878626.253 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2BC,000,00A7D,189,80,80,5C,FF
2021-08-13T18:17:06.253Z,1628878626.253 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:17:06.253Z,1628878626.253 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:17:06.255Z,1628878626.255 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:17:06.668Z,1628878626.668 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:17:07.070Z,1628878627.070 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3DF,000,00A8B,189,80,80,2C,FF
2021-08-13T18:17:07.070Z,1628878627.070 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:17:07.505Z,1628878627.505 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181706.78*58

2021-08-13T18:17:07.572Z,1628878627.572 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 124.440002 m, bearing: 153.601460 deg, deltaT: 4.431050 s, approachRate: 0.189571 m/s, LOS rate: -3.077601 deg/s, posRepo size: 4
2021-08-13T18:17:09.919Z,1628878629.919 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:17:10.298Z,1628878630.298 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:17:10.298Z,1628878630.298 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:17:10.298Z,1628878630.298 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:17:10.299Z,1628878630.299 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:17:10.694Z,1628878630.694 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3DF,000,00A8B,189,80,80,2C,FF
2021-08-13T18:17:10.694Z,1628878630.694 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:17:10.694Z,1628878630.694 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:17:10.697Z,1628878630.697 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:17:11.100Z,1628878631.100 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:17:11.506Z,1628878631.506 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA9,000,00A9B,186,80,80,38,FF
2021-08-13T18:17:11.507Z,1628878631.507 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:17:11.540Z,1628878631.540 [Micromodem](INFO): Nmea in: $SNTTA,0.091077,0.247741,,,181711.22*5A

2021-08-13T18:17:11.947Z,1628878631.947 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 125.400002 m, bearing: 220.866871 deg, deltaT: 4.523388 s, approachRate: 0.212230 m/s, LOS rate: 14.870582 deg/s, posRepo size: 4
2021-08-13T18:17:14.369Z,1628878634.369 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:17:14.733Z,1628878634.733 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:17:14.733Z,1628878634.733 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:17:14.733Z,1628878634.733 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:17:14.734Z,1628878634.734 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:17:15.145Z,1628878635.145 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EA9,000,00A9B,186,80,80,38,FF
2021-08-13T18:17:15.146Z,1628878635.146 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:17:15.146Z,1628878635.146 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:17:15.147Z,1628878635.147 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:17:15.558Z,1628878635.558 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:17:15.955Z,1628878635.955 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2AB,000,00AA7,18A,80,80,53,FF
2021-08-13T18:17:15.955Z,1628878635.955 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:17:16.404Z,1628878636.404 [Micromodem](INFO): Nmea in: $SNTTA,0.158660,,,,181715.67*46

2021-08-13T18:17:16.455Z,1628878636.455 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 126.120003 m, bearing: 169.574268 deg, deltaT: 4.380677 s, approachRate: 0.164358 m/s, LOS rate: -11.708830 deg/s, posRepo size: 4
2021-08-13T18:17:18.806Z,1628878638.806 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:17:19.177Z,1628878639.177 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:17:19.177Z,1628878639.177 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:17:19.177Z,1628878639.177 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:17:19.178Z,1628878639.178 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:17:19.589Z,1628878639.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2AB,000,00AA7,18A,80,80,53,FF
2021-08-13T18:17:19.589Z,1628878639.589 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:17:19.589Z,1628878639.589 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:17:19.591Z,1628878639.591 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:17:20.000Z,1628878640.000 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:17:20.420Z,1628878640.420 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,09E,000,00ABD,186,80,80,3F,FF
2021-08-13T18:17:20.420Z,1628878640.420 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:17:20.841Z,1628878640.841 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181720.11*53

2021-08-13T18:17:20.865Z,1628878640.865 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 127.439995 m, bearing: 196.213522 deg, deltaT: 4.490766 s, approachRate: 0.293935 m/s, LOS rate: 5.932007 deg/s, posRepo size: 4
2021-08-13T18:17:23.300Z,1628878643.300 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:17:23.629Z,1628878643.629 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:17:23.629Z,1628878643.629 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:17:23.630Z,1628878643.630 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:17:23.630Z,1628878643.630 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:17:24.054Z,1628878644.054 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
09E,000,00ABD,186,80,80,3F,FF
2021-08-13T18:17:24.054Z,1628878644.054 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:17:24.054Z,1628878644.054 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:17:24.056Z,1628878644.056 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:17:24.453Z,1628878644.453 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:17:24.858Z,1628878644.858 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2E1,000,00AC7,189,80,80,4B,FF
2021-08-13T18:17:24.858Z,1628878644.858 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:17:25.309Z,1628878645.309 [Micromodem](INFO): Nmea in: $SNTTA,0.099536,,,,181724.58*44

2021-08-13T18:17:25.444Z,1628878645.444 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 128.039993 m, bearing: 167.843921 deg, deltaT: 4.439907 s, approachRate: 0.135138 m/s, LOS rate: -6.389683 deg/s, posRepo size: 4
2021-08-13T18:17:27.747Z,1628878647.747 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:17:28.081Z,1628878648.081 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:17:28.081Z,1628878648.081 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:17:28.081Z,1628878648.081 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:17:28.082Z,1628878648.082 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:17:28.485Z,1628878648.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2E1,000,00AC7,189,80,80,4B,FF
2021-08-13T18:17:28.485Z,1628878648.485 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:17:28.485Z,1628878648.485 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:17:28.487Z,1628878648.487 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:17:28.895Z,1628878648.895 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:17:29.309Z,1628878649.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,256,000,00AD9,189,80,80,4D,FF
2021-08-13T18:17:29.309Z,1628878649.309 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:17:29.725Z,1628878649.725 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181729.01*5B

2021-08-13T18:17:29.783Z,1628878649.783 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 129.119995 m, bearing: 175.329890 deg, deltaT: 4.432205 s, approachRate: 0.243671 m/s, LOS rate: 1.688994 deg/s, posRepo size: 4
2021-08-13T18:17:32.135Z,1628878652.135 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:17:32.526Z,1628878652.526 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:17:32.526Z,1628878652.526 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:17:32.526Z,1628878652.526 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:17:32.527Z,1628878652.527 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:17:32.942Z,1628878652.942 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
256,000,00AD9,189,80,80,4D,FF
2021-08-13T18:17:32.942Z,1628878652.942 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:17:32.942Z,1628878652.942 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:17:32.944Z,1628878652.944 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:17:33.337Z,1628878653.337 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:17:33.741Z,1628878653.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,22C,000,00AE9,189,80,80,48,FF
2021-08-13T18:17:33.741Z,1628878653.741 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:17:34.170Z,1628878654.170 [Micromodem](INFO): Nmea in: $SNTTA,0.092752,,,,181733.47*47

2021-08-13T18:17:34.191Z,1628878654.191 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 130.080002 m, bearing: 177.405940 deg, deltaT: 4.478734 s, approachRate: 0.214348 m/s, LOS rate: 0.463535 deg/s, posRepo size: 4
2021-08-13T18:17:36.594Z,1628878656.594 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:17:36.973Z,1628878656.973 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:17:36.973Z,1628878656.973 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:17:36.973Z,1628878656.973 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:17:36.974Z,1628878656.974 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:17:37.374Z,1628878657.374 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
22C,000,00AE9,189,80,80,48,FF
2021-08-13T18:17:37.375Z,1628878657.375 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:17:37.376Z,1628878657.376 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:17:37.400Z,1628878657.400 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:17:37.783Z,1628878657.783 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:17:38.181Z,1628878658.181 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,263,000,00AF5,189,80,80,48,FF
2021-08-13T18:17:38.182Z,1628878658.182 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:17:38.603Z,1628878658.603 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181737.93*5F

2021-08-13T18:17:38.640Z,1628878658.640 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 130.800003 m, bearing: 174.978846 deg, deltaT: 4.404776 s, approachRate: 0.163459 m/s, LOS rate: -0.551014 deg/s, posRepo size: 4
2021-08-13T18:17:41.022Z,1628878661.022 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:17:41.469Z,1628878661.469 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:17:41.469Z,1628878661.469 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:17:41.469Z,1628878661.469 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:17:41.470Z,1628878661.470 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:17:41.813Z,1628878661.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
263,000,00AF5,189,80,80,48,FF
2021-08-13T18:17:41.813Z,1628878661.813 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:17:41.813Z,1628878661.813 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:17:41.815Z,1628878661.815 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:17:42.220Z,1628878662.220 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:17:42.630Z,1628878662.630 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,236,000,00B07,189,80,80,6A,FF
2021-08-13T18:17:42.630Z,1628878662.630 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:17:43.061Z,1628878663.061 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181742.34*50

2021-08-13T18:17:43.083Z,1628878663.083 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 131.880005 m, bearing: 178.176645 deg, deltaT: 4.419264 s, approachRate: 0.244385 m/s, LOS rate: 0.723604 deg/s, posRepo size: 4
2021-08-13T18:17:45.553Z,1628878665.553 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:17:45.857Z,1628878665.857 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:17:45.857Z,1628878665.857 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:17:45.858Z,1628878665.858 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:17:45.858Z,1628878665.858 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:17:46.257Z,1628878666.257 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
236,000,00B07,189,80,80,6A,FF
2021-08-13T18:17:46.257Z,1628878666.257 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:17:46.257Z,1628878666.257 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:17:46.259Z,1628878666.259 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:17:46.670Z,1628878666.670 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:17:47.078Z,1628878667.078 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,214,000,00B15,187,80,80,84,FF
2021-08-13T18:17:47.078Z,1628878667.078 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:17:47.505Z,1628878667.505 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181746.78*5C

2021-08-13T18:17:47.567Z,1628878667.567 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 132.720001 m, bearing: 180.378493 deg, deltaT: 4.437498 s, approachRate: 0.189295 m/s, LOS rate: 0.496191 deg/s, posRepo size: 4
2021-08-13T18:17:49.928Z,1628878669.928 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:17:50.306Z,1628878670.306 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:17:50.306Z,1628878670.306 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:17:50.306Z,1628878670.306 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:17:50.307Z,1628878670.307 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:17:50.714Z,1628878670.714 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
214,000,00B15,187,80,80,84,FF
2021-08-13T18:17:50.714Z,1628878670.714 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:17:50.714Z,1628878670.714 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:17:50.735Z,1628878670.735 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:17:51.116Z,1628878671.116 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:17:51.529Z,1628878671.529 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1DE,000,00B20,187,80,80,86,FF
2021-08-13T18:17:51.530Z,1628878671.530 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:17:51.533Z,1628878671.533 [Micromodem](INFO): Nmea in: $SNTTA,0.268941,0.268822,,,181751.26*55

2021-08-13T18:17:51.956Z,1628878671.956 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 133.380005 m, bearing: 183.405660 deg, deltaT: 4.537087 s, approachRate: 0.145469 m/s, LOS rate: 0.667205 deg/s, posRepo size: 4
2021-08-13T18:17:54.411Z,1628878674.411 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:17:54.749Z,1628878674.749 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:17:54.750Z,1628878674.750 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:17:54.750Z,1628878674.750 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:17:54.751Z,1628878674.751 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:17:55.149Z,1628878675.149 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1DE,000,00B20,187,80,80,86,FF
2021-08-13T18:17:55.149Z,1628878675.149 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:17:55.149Z,1628878675.149 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:17:55.151Z,1628878675.151 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:17:55.557Z,1628878675.557 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:17:55.969Z,1628878675.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1E7,000,00B33,186,80,80,86,FF
2021-08-13T18:17:55.969Z,1628878675.969 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:17:56.406Z,1628878676.406 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181755.67*50

2021-08-13T18:17:56.457Z,1628878676.457 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 134.520004 m, bearing: 183.319477 deg, deltaT: 4.355217 s, approachRate: 0.261755 m/s, LOS rate: -0.019789 deg/s, posRepo size: 4
2021-08-13T18:17:58.834Z,1628878678.834 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:17:59.189Z,1628878679.189 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:17:59.189Z,1628878679.189 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:17:59.190Z,1628878679.190 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:17:59.191Z,1628878679.191 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:17:59.597Z,1628878679.597 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1E7,000,00B33,186,80,80,86,FF
2021-08-13T18:17:59.597Z,1628878679.597 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:17:59.597Z,1628878679.597 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:17:59.599Z,1628878679.599 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:18:00.005Z,1628878680.005 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:18:00.445Z,1628878680.445 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,200,000,00B44,187,80,80,8A,FF
2021-08-13T18:18:00.446Z,1628878680.446 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:18:00.841Z,1628878680.841 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181800.12*5D

2021-08-13T18:18:00.864Z,1628878680.864 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 135.540009 m, bearing: 182.314210 deg, deltaT: 4.514264 s, approachRate: 0.225951 m/s, LOS rate: -0.222687 deg/s, posRepo size: 4
2021-08-13T18:18:03.247Z,1628878683.247 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:18:03.641Z,1628878683.641 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:18:03.641Z,1628878683.641 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:18:03.641Z,1628878683.641 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:18:03.642Z,1628878683.642 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:18:04.033Z,1628878684.033 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
200,000,00B44,187,80,80,8A,FF
2021-08-13T18:18:04.033Z,1628878684.033 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:18:04.033Z,1628878684.033 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:18:04.035Z,1628878684.035 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:18:04.485Z,1628878684.485 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:18:04.849Z,1628878684.849 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1B9,000,00B53,186,80,80,8E,FF
2021-08-13T18:18:04.849Z,1628878684.849 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:18:05.281Z,1628878685.281 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181804.56*59

2021-08-13T18:18:05.315Z,1628878685.315 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 136.440002 m, bearing: 185.972500 deg, deltaT: 4.411542 s, approachRate: 0.204009 m/s, LOS rate: 0.829254 deg/s, posRepo size: 4
2021-08-13T18:18:05.395Z,1628878685.395 [CTD_Seabird](ERROR): Failed to parse device response: 2,4.75132,4762.41
2021-08-13T18:18:07.748Z,1628878687.748 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:18:08.077Z,1628878688.077 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:18:08.077Z,1628878688.077 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:18:08.077Z,1628878688.077 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:18:08.078Z,1628878688.078 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:18:08.490Z,1628878688.490 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1B9,000,00B53,186,80,80,8E,FF
2021-08-13T18:18:08.490Z,1628878688.490 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:18:08.490Z,1628878688.490 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:18:08.493Z,1628878688.493 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:18:08.899Z,1628878688.899 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:18:09.294Z,1628878689.294 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1D7,000,00B64,186,80,80,97,FF
2021-08-13T18:18:09.295Z,1628878689.295 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:18:09.722Z,1628878689.722 [Micromodem](INFO): Nmea in: $SNTTA,0.093715,,,,181809.02*42

2021-08-13T18:18:09.788Z,1628878689.788 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 137.460007 m, bearing: 184.458561 deg, deltaT: 4.474434 s, approachRate: 0.227963 m/s, LOS rate: -0.338353 deg/s, posRepo size: 4
2021-08-13T18:18:12.139Z,1628878692.139 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:18:12.517Z,1628878692.517 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:18:12.518Z,1628878692.518 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:18:12.518Z,1628878692.518 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:18:12.519Z,1628878692.519 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:18:12.925Z,1628878692.925 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1D7,000,00B64,186,80,80,97,FF
2021-08-13T18:18:12.925Z,1628878692.925 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:18:12.926Z,1628878692.926 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:18:12.927Z,1628878692.927 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:18:13.342Z,1628878693.342 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:18:13.765Z,1628878693.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1F2,000,00B75,187,80,80,8F,FF
2021-08-13T18:18:13.766Z,1628878693.766 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:18:14.177Z,1628878694.177 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181813.45*5D

2021-08-13T18:18:14.206Z,1628878694.206 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 138.480011 m, bearing: 182.783157 deg, deltaT: 4.452853 s, approachRate: 0.229068 m/s, LOS rate: -0.376254 deg/s, posRepo size: 4
2021-08-13T18:18:16.604Z,1628878696.604 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:18:16.961Z,1628878696.961 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:18:16.961Z,1628878696.961 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:18:16.961Z,1628878696.961 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:18:16.962Z,1628878696.962 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:18:17.386Z,1628878697.386 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1F2,000,00B75,187,80,80,8F,FF
2021-08-13T18:18:17.386Z,1628878697.386 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:18:17.387Z,1628878697.387 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:18:17.395Z,1628878697.395 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:18:17.776Z,1628878697.776 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:18:18.585Z,1628878698.585 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181817.92*53

2021-08-13T18:18:19.492Z,1628878699.492 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:18:21.001Z,1628878701.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
5,187,80,80,8F,FF
2021-08-13T18:18:21.001Z,1628878701.001 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
5,187,80,80,8F,FF
2021-08-13T18:18:21.001Z,1628878701.001 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T18:18:21.508Z,1628878701.508 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-13T18:18:22.238Z,1628878702.238 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:18:22.621Z,1628878702.621 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:18:22.621Z,1628878702.621 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:18:22.621Z,1628878702.621 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:18:22.622Z,1628878702.622 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:18:23.025Z,1628878703.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
5,187,80,80,8F,FF
2021-08-13T18:18:23.025Z,1628878703.025 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:18:23.025Z,1628878703.025 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:18:23.027Z,1628878703.027 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:18:23.477Z,1628878703.477 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:18:24.262Z,1628878704.262 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181823.55*5F

2021-08-13T18:18:25.082Z,1628878705.082 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:18:26.678Z,1628878706.678 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
5,187,80,80,8F,FF
2021-08-13T18:18:26.678Z,1628878706.678 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
5,187,80,80,8F,FF
2021-08-13T18:18:26.678Z,1628878706.678 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T18:18:27.911Z,1628878707.911 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:18:28.281Z,1628878708.281 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:18:28.281Z,1628878708.281 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:18:28.281Z,1628878708.281 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:18:28.282Z,1628878708.282 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:18:28.685Z,1628878708.685 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
5,187,80,80,8F,FF
2021-08-13T18:18:28.685Z,1628878708.685 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:18:28.686Z,1628878708.686 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:18:28.687Z,1628878708.687 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:18:29.092Z,1628878709.092 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:18:29.929Z,1628878709.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1DA,000,0114D,186,80,80,91,FF
2021-08-13T18:18:29.929Z,1628878709.929 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:18:29.932Z,1628878709.932 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181829.21*56

2021-08-13T18:18:30.340Z,1628878710.340 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 228.239990 m, bearing: 182.866854 deg, deltaT: 16.136014 s, approachRate: 5.562711 m/s, LOS rate: 0.005187 deg/s, posRepo size: 4
2021-08-13T18:18:32.752Z,1628878712.752 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:18:33.137Z,1628878713.137 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:18:33.137Z,1628878713.137 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:18:33.138Z,1628878713.138 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:18:33.139Z,1628878713.139 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:18:33.533Z,1628878713.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1DA,000,0114D,186,80,80,91,FF
2021-08-13T18:18:33.533Z,1628878713.533 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:18:33.534Z,1628878713.534 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:18:33.535Z,1628878713.535 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:18:33.956Z,1628878713.956 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:18:34.347Z,1628878714.347 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1FB,000,00BB8,187,80,80,94,FF
2021-08-13T18:18:34.349Z,1628878714.349 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:18:34.786Z,1628878714.786 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181834.06*5F

2021-08-13T18:18:34.815Z,1628878714.815 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 142.500000 m, bearing: 181.052291 deg, deltaT: 4.440526 s, approachRate: -19.308521 m/s, LOS rate: -0.408637 deg/s, posRepo size: 4
2021-08-13T18:18:37.211Z,1628878717.211 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:18:37.581Z,1628878717.581 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:18:37.581Z,1628878717.581 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:18:37.581Z,1628878717.581 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:18:37.582Z,1628878717.582 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:18:37.977Z,1628878717.977 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1FB,000,00BB8,187,80,80,94,FF
2021-08-13T18:18:37.977Z,1628878717.977 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:18:37.977Z,1628878717.977 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:18:37.979Z,1628878717.979 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:18:38.413Z,1628878718.413 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:18:39.214Z,1628878719.214 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181838.50*50

2021-08-13T18:18:40.014Z,1628878720.014 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:18:41.617Z,1628878721.617 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
8,187,80,80,94,FF
2021-08-13T18:18:41.617Z,1628878721.617 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
8,187,80,80,94,FF
2021-08-13T18:18:41.617Z,1628878721.617 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T18:18:42.857Z,1628878722.857 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:18:43.233Z,1628878723.233 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:18:43.233Z,1628878723.233 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:18:43.233Z,1628878723.233 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:18:43.234Z,1628878723.234 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:18:43.641Z,1628878723.641 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
8,187,80,80,94,FF
2021-08-13T18:18:43.641Z,1628878723.641 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:18:43.641Z,1628878723.641 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:18:43.643Z,1628878723.643 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:18:43.784Z,1628878723.784 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T18:18:44.040Z,1628878724.040 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:18:44.465Z,1628878724.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,220,000,00BE6,188,80,80,8C,FF
2021-08-13T18:18:44.466Z,1628878724.466 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:18:44.882Z,1628878724.882 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181844.17*58

2021-08-13T18:18:44.919Z,1628878724.919 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 145.260010 m, bearing: 180.103305 deg, deltaT: 10.101745 s, approachRate: 0.273221 m/s, LOS rate: -0.093943 deg/s, posRepo size: 4
2021-08-13T18:18:47.306Z,1628878727.306 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:18:47.681Z,1628878727.681 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:18:47.681Z,1628878727.681 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:18:47.681Z,1628878727.681 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:18:47.682Z,1628878727.682 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:18:48.077Z,1628878728.077 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
220,000,00BE6,188,80,80,8C,FF
2021-08-13T18:18:48.077Z,1628878728.077 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:18:48.078Z,1628878728.078 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:18:48.079Z,1628878728.079 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:18:48.494Z,1628878728.494 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:18:49.310Z,1628878729.310 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181848.60*54

2021-08-13T18:18:50.128Z,1628878730.128 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:18:51.713Z,1628878731.713 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,188,80,80,8C,FF
2021-08-13T18:18:51.713Z,1628878731.713 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,188,80,80,8C,FF
2021-08-13T18:18:51.713Z,1628878731.713 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T18:18:52.958Z,1628878732.958 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:18:53.337Z,1628878733.337 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:18:53.337Z,1628878733.337 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:18:53.338Z,1628878733.338 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:18:53.338Z,1628878733.338 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:18:53.744Z,1628878733.744 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,188,80,80,8C,FF
2021-08-13T18:18:53.744Z,1628878733.744 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:18:53.745Z,1628878733.745 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:18:53.746Z,1628878733.746 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:18:54.164Z,1628878734.164 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:18:54.986Z,1628878734.986 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181854.27*5A

2021-08-13T18:18:55.781Z,1628878735.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,200,000,03C86,186,80,80,7E,FF
2021-08-13T18:18:55.781Z,1628878735.781 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:18:56.211Z,1628878736.211 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 892.140015 m, bearing: 182.273761 deg, deltaT: 11.390301 s, approachRate: 65.571579 m/s, LOS rate: 0.190553 deg/s, posRepo size: 4
2021-08-13T18:18:58.656Z,1628878738.656 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:18:59.009Z,1628878739.009 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:18:59.009Z,1628878739.009 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:18:59.009Z,1628878739.009 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:18:59.010Z,1628878739.010 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:18:59.449Z,1628878739.449 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
200,000,03C86,186,80,80,7E,FF
2021-08-13T18:18:59.449Z,1628878739.449 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:18:59.449Z,1628878739.449 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:18:59.451Z,1628878739.451 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:18:59.869Z,1628878739.869 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:19:00.277Z,1628878740.277 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,20A,000,00C1C,187,80,80,74,FF
2021-08-13T18:19:00.277Z,1628878740.277 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:19:00.709Z,1628878740.709 [Micromodem](INFO): Nmea in: $SNTTA,0.105562,,,,181859.98*48

2021-08-13T18:19:00.763Z,1628878740.763 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 148.500000 m, bearing: 182.663410 deg, deltaT: 4.385770 s, approachRate: -169.557465 m/s, LOS rate: 0.088844 deg/s, posRepo size: 4
2021-08-13T18:19:01.530Z,1628878741.530 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-13T18:19:03.106Z,1628878743.106 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:19:03.489Z,1628878743.489 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:19:03.489Z,1628878743.489 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:19:03.489Z,1628878743.489 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:19:03.490Z,1628878743.490 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:19:03.902Z,1628878743.902 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
20A,000,00C1C,187,80,80,74,FF
2021-08-13T18:19:03.902Z,1628878743.902 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:19:03.902Z,1628878743.902 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:19:03.905Z,1628878743.905 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:19:04.300Z,1628878744.300 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:19:04.717Z,1628878744.717 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1BB,000,00C2C,186,80,80,87,FF
2021-08-13T18:19:04.718Z,1628878744.718 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:19:05.137Z,1628878745.137 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181904.43*5C

2021-08-13T18:19:05.180Z,1628878745.180 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 149.460007 m, bearing: 187.323826 deg, deltaT: 4.479459 s, approachRate: 0.214313 m/s, LOS rate: 1.040397 deg/s, posRepo size: 4
2021-08-13T18:19:07.570Z,1628878747.570 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2021-08-13T18:19:07.570Z,1628878747.570 [RDI_Pathfinder] Communications Fault, FailCount= 1
2021-08-13T18:19:07.570Z,1628878747.570 [RDI_Pathfinder](ERROR): Communications Fault
2021-08-13T18:19:07.597Z,1628878747.597 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:19:07.804Z,1628878747.804 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2021-08-13T18:19:07.941Z,1628878747.941 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:19:07.941Z,1628878747.941 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:19:07.941Z,1628878747.941 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:19:07.942Z,1628878747.942 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:19:08.024Z,1628878748.024 [RDI_Pathfinder](INFO): Powering down
2021-08-13T18:19:08.337Z,1628878748.337 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1BB,000,00C2C,186,80,80,87,FF
2021-08-13T18:19:08.337Z,1628878748.337 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:19:08.337Z,1628878748.337 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:19:08.339Z,1628878748.339 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:19:08.763Z,1628878748.763 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:19:08.910Z,1628878748.910 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2021-08-13T18:19:08.910Z,1628878748.910 [RDI_Pathfinder] No Fault, FailCount= 1
2021-08-13T18:19:09.146Z,1628878749.146 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,194,000,00C39,186,80,80,87,FF
2021-08-13T18:19:09.146Z,1628878749.146 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:19:09.589Z,1628878749.589 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181908.86*59

2021-08-13T18:19:09.626Z,1628878749.626 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 150.239990 m, bearing: 189.856282 deg, deltaT: 4.391894 s, approachRate: 0.177596 m/s, LOS rate: 0.576621 deg/s, posRepo size: 4
2021-08-13T18:19:12.018Z,1628878752.018 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:19:12.396Z,1628878752.396 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:19:12.397Z,1628878752.397 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:19:12.397Z,1628878752.397 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:19:12.398Z,1628878752.398 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:19:12.794Z,1628878752.794 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
194,000,00C39,186,80,80,87,FF
2021-08-13T18:19:12.795Z,1628878752.795 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:19:12.795Z,1628878752.795 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:19:12.797Z,1628878752.797 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:19:13.193Z,1628878753.193 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:19:13.595Z,1628878753.595 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,17D,000,00C4C,186,80,80,87,FF
2021-08-13T18:19:13.595Z,1628878753.595 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:19:14.025Z,1628878754.025 [Micromodem](INFO): Nmea in: $SNTTA,0.112571,,,,181913.32*43

2021-08-13T18:19:14.047Z,1628878754.047 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 151.380005 m, bearing: 191.692961 deg, deltaT: 4.490649 s, approachRate: 0.253864 m/s, LOS rate: 0.409001 deg/s, posRepo size: 4
2021-08-13T18:19:16.480Z,1628878756.480 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:19:16.822Z,1628878756.822 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:19:16.823Z,1628878756.823 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:19:16.823Z,1628878756.823 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:19:16.824Z,1628878756.824 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:19:17.233Z,1628878757.233 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
17D,000,00C4C,186,80,80,87,FF
2021-08-13T18:19:17.233Z,1628878757.233 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:19:17.233Z,1628878757.233 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:19:17.235Z,1628878757.235 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:19:17.643Z,1628878757.643 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:19:18.467Z,1628878758.467 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181917.76*58

2021-08-13T18:19:19.266Z,1628878759.266 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:19:20.865Z,1628878760.865 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,186,80,80,87,FF
2021-08-13T18:19:20.865Z,1628878760.865 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,186,80,80,87,FF
2021-08-13T18:19:20.865Z,1628878760.865 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T18:19:22.109Z,1628878762.109 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:19:22.477Z,1628878762.477 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:19:22.477Z,1628878762.477 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:19:22.477Z,1628878762.477 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:19:22.478Z,1628878762.478 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:19:22.882Z,1628878762.882 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,186,80,80,87,FF
2021-08-13T18:19:22.882Z,1628878762.882 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:19:22.882Z,1628878762.882 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:19:22.885Z,1628878762.885 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:19:23.304Z,1628878763.304 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:19:24.115Z,1628878764.115 [Micromodem](INFO): Nmea in: $SNTTA,0.067467,,,,181923.41*41

2021-08-13T18:19:24.493Z,1628878764.493 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,053,000,02B32,183,80,80,7E,FF
2021-08-13T18:19:24.494Z,1628878764.494 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:19:24.940Z,1628878764.940 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 625.979980 m, bearing: 208.131888 deg, deltaT: 10.865160 s, approachRate: 43.680901 m/s, LOS rate: 1.512994 deg/s, posRepo size: 4
2021-08-13T18:19:27.417Z,1628878767.417 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:19:27.737Z,1628878767.737 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:19:27.737Z,1628878767.737 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:19:27.737Z,1628878767.737 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:19:27.738Z,1628878767.738 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:19:28.133Z,1628878768.133 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
053,000,02B32,183,80,80,7E,FF
2021-08-13T18:19:28.133Z,1628878768.133 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:19:28.133Z,1628878768.133 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:19:28.135Z,1628878768.135 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:19:28.549Z,1628878768.549 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:19:29.398Z,1628878769.398 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181928.66*55

2021-08-13T18:19:30.178Z,1628878770.178 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:19:31.786Z,1628878771.786 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
2,183,80,80,7E,FF
2021-08-13T18:19:31.787Z,1628878771.787 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
2,183,80,80,7E,FF
2021-08-13T18:19:31.787Z,1628878771.787 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T18:19:33.002Z,1628878773.002 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:19:33.409Z,1628878773.409 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:19:33.409Z,1628878773.409 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:19:33.409Z,1628878773.409 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:19:33.410Z,1628878773.410 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:19:33.833Z,1628878773.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
2,183,80,80,7E,FF
2021-08-13T18:19:33.833Z,1628878773.833 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:19:33.833Z,1628878773.833 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:19:33.835Z,1628878773.835 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:19:34.204Z,1628878774.204 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:19:34.614Z,1628878774.614 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF6,0063,E4
2,183,80,80,7E,FF
2021-08-13T18:19:34.614Z,1628878774.614 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,FF6,0063,E4
2,183,80,80,7E,FF
2021-08-13T18:19:35.005Z,1628878775.005 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181934.36*5D

2021-08-13T18:19:35.838Z,1628878775.838 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:19:38.664Z,1628878778.664 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:19:39.464Z,1628878779.464 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.053983
2021-08-13T18:19:41.525Z,1628878781.525 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:19:41.868Z,1628878781.868 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:19:41.869Z,1628878781.869 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:19:41.869Z,1628878781.869 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:19:41.870Z,1628878781.870 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:19:42.273Z,1628878782.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF6,0063,E4
2,183,80,80,7E,FF
2021-08-13T18:19:42.273Z,1628878782.273 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:19:42.273Z,1628878782.273 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:19:42.275Z,1628878782.275 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:19:42.688Z,1628878782.688 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:19:43.086Z,1628878783.086 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F8E,000,00CA3,186,80,80,7E,FF
2021-08-13T18:19:43.086Z,1628878783.086 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:19:43.497Z,1628878783.497 [Micromodem](INFO): Nmea in: $SNTTA,0.107637,0.371171,,,181942.80*57

2021-08-13T18:19:43.563Z,1628878783.563 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 156.600006 m, bearing: 220.490514 deg, deltaT: 18.620032 s, approachRate: -25.208334 m/s, LOS rate: 0.663727 deg/s, posRepo size: 4
2021-08-13T18:19:45.950Z,1628878785.950 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:19:46.317Z,1628878786.317 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:19:46.317Z,1628878786.317 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:19:46.317Z,1628878786.317 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:19:46.318Z,1628878786.318 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:19:46.722Z,1628878786.722 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F8E,000,00CA3,186,80,80,7E,FF
2021-08-13T18:19:46.722Z,1628878786.722 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:19:46.722Z,1628878786.722 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:19:46.724Z,1628878786.724 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:19:47.133Z,1628878787.133 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:19:47.530Z,1628878787.530 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F70,000,00CB2,186,80,80,7E,FF
2021-08-13T18:19:47.530Z,1628878787.530 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:19:47.534Z,1628878787.534 [Micromodem](INFO): Nmea in: $SNTTA,0.186517,0.186755,,,181947.25*5F

2021-08-13T18:19:47.967Z,1628878787.967 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 157.500000 m, bearing: 222.695968 deg, deltaT: 4.490265 s, approachRate: 0.200432 m/s, LOS rate: 0.491164 deg/s, posRepo size: 4
2021-08-13T18:19:50.411Z,1628878790.411 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:19:50.757Z,1628878790.757 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:19:50.757Z,1628878790.757 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:19:50.757Z,1628878790.757 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:19:50.758Z,1628878790.758 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:19:51.165Z,1628878791.165 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F70,000,00CB2,186,80,80,7E,FF
2021-08-13T18:19:51.166Z,1628878791.166 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:19:51.166Z,1628878791.166 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:19:51.172Z,1628878791.172 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:19:51.577Z,1628878791.577 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:19:52.409Z,1628878792.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F02,000,00EC7,186,80,80,4E,FF
2021-08-13T18:19:52.409Z,1628878792.409 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:19:52.412Z,1628878792.412 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181951.70*5C

2021-08-13T18:19:52.823Z,1628878792.823 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 189.479980 m, bearing: 228.466495 deg, deltaT: 4.831323 s, approachRate: 6.619301 m/s, LOS rate: 1.194399 deg/s, posRepo size: 4
2021-08-13T18:19:55.277Z,1628878795.277 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:19:55.601Z,1628878795.601 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:19:55.601Z,1628878795.601 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:19:55.602Z,1628878795.602 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:19:55.602Z,1628878795.602 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:19:56.009Z,1628878796.009 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F02,000,00EC7,186,80,80,4E,FF
2021-08-13T18:19:56.010Z,1628878796.010 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:19:56.010Z,1628878796.010 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:19:56.012Z,1628878796.012 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:19:56.445Z,1628878796.445 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:19:57.266Z,1628878797.266 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181956.53*5A

2021-08-13T18:19:58.029Z,1628878798.029 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E3A,000,03D23,187,80,80,2C,FF
2021-08-13T18:19:58.029Z,1628878798.029 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:19:58.501Z,1628878798.501 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 901.559998 m, bearing: 239.451980 deg, deltaT: 5.583279 s, approachRate: 127.537964 m/s, LOS rate: 1.967569 deg/s, posRepo size: 4
2021-08-13T18:20:00.902Z,1628878800.902 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:20:01.301Z,1628878801.301 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:20:01.301Z,1628878801.301 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:20:01.301Z,1628878801.301 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:20:01.302Z,1628878801.302 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:20:01.673Z,1628878801.673 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E3A,000,03D23,187,80,80,2C,FF
2021-08-13T18:20:01.674Z,1628878801.674 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:20:01.674Z,1628878801.674 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:20:01.675Z,1628878801.675 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:20:02.073Z,1628878802.073 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:20:02.481Z,1628878802.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F47,000,00CE7,186,80,80,2C,FF
2021-08-13T18:20:02.482Z,1628878802.482 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:20:02.925Z,1628878802.925 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182002.20*55

2021-08-13T18:20:02.941Z,1628878802.941 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 160.679993 m, bearing: 225.777326 deg, deltaT: 4.498833 s, approachRate: -164.682709 m/s, LOS rate: -3.039600 deg/s, posRepo size: 4
2021-08-13T18:20:05.354Z,1628878805.354 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:20:05.713Z,1628878805.713 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:20:05.713Z,1628878805.713 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:20:05.713Z,1628878805.713 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:20:05.714Z,1628878805.714 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:20:06.109Z,1628878806.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F47,000,00CE7,186,80,80,2C,FF
2021-08-13T18:20:06.109Z,1628878806.109 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:20:06.109Z,1628878806.109 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:20:06.111Z,1628878806.111 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:20:06.533Z,1628878806.533 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:20:06.938Z,1628878806.938 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF5,000,00CF7,186,80,80,37,FF
2021-08-13T18:20:06.938Z,1628878806.938 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:20:07.369Z,1628878807.369 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182006.64*51

2021-08-13T18:20:07.447Z,1628878807.447 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 161.640015 m, bearing: 229.729233 deg, deltaT: 4.446955 s, approachRate: 0.215883 m/s, LOS rate: 0.888677 deg/s, posRepo size: 4
2021-08-13T18:20:09.785Z,1628878809.785 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:20:10.161Z,1628878810.161 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:20:10.162Z,1628878810.162 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:20:10.162Z,1628878810.162 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:20:10.163Z,1628878810.163 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:20:10.554Z,1628878810.554 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF5,000,00CF7,186,80,80,37,FF
2021-08-13T18:20:10.554Z,1628878810.554 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:20:10.554Z,1628878810.554 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:20:10.557Z,1628878810.557 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:20:10.973Z,1628878810.973 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:20:11.364Z,1628878811.364 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E9C,000,00D07,186,80,80,37,FF
2021-08-13T18:20:11.366Z,1628878811.366 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:20:11.398Z,1628878811.398 [Micromodem](INFO): Nmea in: $SNTTA,0.227419,0.227419,,,182011.08*5D

2021-08-13T18:20:11.815Z,1628878811.815 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 162.599991 m, bearing: 234.755651 deg, deltaT: 4.504946 s, approachRate: 0.213094 m/s, LOS rate: 1.115755 deg/s, posRepo size: 4
2021-08-13T18:20:14.218Z,1628878814.218 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:20:14.594Z,1628878814.594 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:20:14.595Z,1628878814.595 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:20:14.595Z,1628878814.595 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:20:14.596Z,1628878814.596 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:20:14.997Z,1628878814.997 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E9C,000,00D07,186,80,80,37,FF
2021-08-13T18:20:14.997Z,1628878814.997 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:20:14.997Z,1628878814.997 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:20:14.999Z,1628878814.999 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:20:15.431Z,1628878815.431 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:20:15.809Z,1628878815.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E46,000,00D19,186,80,80,37,FF
2021-08-13T18:20:15.810Z,1628878815.810 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:20:16.246Z,1628878816.246 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182015.52*56

2021-08-13T18:20:16.283Z,1628878816.283 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 163.680008 m, bearing: 239.569841 deg, deltaT: 4.359996 s, approachRate: 0.247711 m/s, LOS rate: 1.104173 deg/s, posRepo size: 4
2021-08-13T18:20:18.679Z,1628878818.679 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:20:19.041Z,1628878819.041 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:20:19.041Z,1628878819.041 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:20:19.041Z,1628878819.041 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:20:19.042Z,1628878819.042 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:20:19.449Z,1628878819.449 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E46,000,00D19,186,80,80,37,FF
2021-08-13T18:20:19.449Z,1628878819.449 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:20:19.449Z,1628878819.449 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:20:19.451Z,1628878819.451 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:20:19.849Z,1628878819.849 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:20:20.250Z,1628878820.250 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E9E,000,00D19,186,80,80,37,FF
2021-08-13T18:20:20.250Z,1628878820.250 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:20:20.685Z,1628878820.685 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182019.97*53

2021-08-13T18:20:20.780Z,1628878820.780 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 163.680008 m, bearing: 235.416922 deg, deltaT: 4.439085 s, approachRate: 0.000000 m/s, LOS rate: -0.935535 deg/s, posRepo size: 4
2021-08-13T18:20:23.095Z,1628878823.095 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:20:23.477Z,1628878823.477 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:20:23.477Z,1628878823.477 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:20:23.477Z,1628878823.477 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:20:23.478Z,1628878823.478 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:20:23.886Z,1628878823.886 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E9E,000,00D19,186,80,80,37,FF
2021-08-13T18:20:23.886Z,1628878823.886 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:20:23.886Z,1628878823.886 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:20:23.889Z,1628878823.889 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:20:24.292Z,1628878824.292 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:20:24.693Z,1628878824.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E8C,000,00D19,186,80,80,37,FF
2021-08-13T18:20:24.694Z,1628878824.694 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:20:25.142Z,1628878825.142 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182024.41*56

2021-08-13T18:20:25.163Z,1628878825.163 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 163.680008 m, bearing: 236.681628 deg, deltaT: 4.458527 s, approachRate: 0.000000 m/s, LOS rate: 0.283660 deg/s, posRepo size: 4
2021-08-13T18:20:27.582Z,1628878827.582 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:20:27.937Z,1628878827.937 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:20:27.937Z,1628878827.937 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:20:27.937Z,1628878827.937 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:20:27.938Z,1628878827.938 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:20:28.333Z,1628878828.333 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E8C,000,00D19,186,80,80,37,FF
2021-08-13T18:20:28.333Z,1628878828.333 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:20:28.334Z,1628878828.334 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:20:28.335Z,1628878828.335 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:20:28.737Z,1628878828.737 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:20:29.149Z,1628878829.149 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E4F,000,00D48,186,80,80,37,FF
2021-08-13T18:20:29.149Z,1628878829.149 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:20:29.581Z,1628878829.581 [Micromodem](INFO): Nmea in: $SNTTA,0.119418,,,,182028.86*4B

2021-08-13T18:20:29.644Z,1628878829.644 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 166.500015 m, bearing: 240.353510 deg, deltaT: 4.419902 s, approachRate: 0.638025 m/s, LOS rate: 0.830761 deg/s, posRepo size: 4
2021-08-13T18:20:32.015Z,1628878832.015 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:20:32.381Z,1628878832.381 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:20:32.381Z,1628878832.381 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:20:32.382Z,1628878832.382 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:20:32.383Z,1628878832.383 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:20:32.781Z,1628878832.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E4F,000,00D48,186,80,80,37,FF
2021-08-13T18:20:32.781Z,1628878832.781 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:20:32.781Z,1628878832.781 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:20:32.783Z,1628878832.783 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:20:33.180Z,1628878833.180 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:20:33.999Z,1628878833.999 [Micromodem](INFO): Nmea in: $SNTTA,0.285374,,,,182033.31*46

2021-08-13T18:20:34.793Z,1628878834.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E87,000,03D80,186,80,80,80,FF
2021-08-13T18:20:34.793Z,1628878834.793 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:20:35.271Z,1628878835.271 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 907.140076 m, bearing: 238.509468 deg, deltaT: 5.635920 s, approachRate: 131.414230 m/s, LOS rate: -0.327194 deg/s, posRepo size: 4
2021-08-13T18:20:37.664Z,1628878837.664 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:20:38.029Z,1628878838.029 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:20:38.029Z,1628878838.029 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:20:38.029Z,1628878838.029 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:20:38.030Z,1628878838.030 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:20:38.445Z,1628878838.445 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E87,000,03D80,186,80,80,80,FF
2021-08-13T18:20:38.445Z,1628878838.445 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:20:38.445Z,1628878838.445 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:20:38.447Z,1628878838.447 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:20:38.845Z,1628878838.845 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:20:39.285Z,1628878839.285 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F4A,000,00D6D,186,80,80,A0,FF
2021-08-13T18:20:39.285Z,1628878839.285 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:20:39.673Z,1628878839.673 [Micromodem](INFO): Nmea in: $SNTTA,0.114364,,,,182038.97*4B

2021-08-13T18:20:39.713Z,1628878839.713 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 168.720016 m, bearing: 229.358517 deg, deltaT: 4.542082 s, approachRate: -162.573029 m/s, LOS rate: -2.014704 deg/s, posRepo size: 4
2021-08-13T18:20:42.082Z,1628878842.082 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:20:42.477Z,1628878842.477 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:20:42.477Z,1628878842.477 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:20:42.477Z,1628878842.477 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:20:42.478Z,1628878842.478 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:20:42.878Z,1628878842.878 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F4A,000,00D6D,186,80,80,A0,FF
2021-08-13T18:20:42.878Z,1628878842.878 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:20:42.878Z,1628878842.878 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:20:42.881Z,1628878842.881 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:20:43.312Z,1628878843.312 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:20:43.689Z,1628878843.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F33,000,00D6D,186,80,80,A0,FF
2021-08-13T18:20:43.690Z,1628878843.690 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:20:44.123Z,1628878844.123 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 168.720016 m, bearing: 230.846051 deg, deltaT: 4.408232 s, approachRate: 0.000000 m/s, LOS rate: 0.337444 deg/s, posRepo size: 4
2021-08-13T18:20:46.560Z,1628878846.560 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:20:46.920Z,1628878846.920 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:20:46.920Z,1628878846.920 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:20:46.920Z,1628878846.920 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:20:46.921Z,1628878846.921 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:20:47.317Z,1628878847.317 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F33,000,00D6D,186,80,80,A0,FF
2021-08-13T18:20:47.318Z,1628878847.318 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:20:47.318Z,1628878847.318 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:20:47.319Z,1628878847.319 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:20:47.732Z,1628878847.732 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:20:48.553Z,1628878848.553 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182047.87*59

2021-08-13T18:20:49.449Z,1628878849.449 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:20:50.953Z,1628878850.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,186,80,80,A0,FF
2021-08-13T18:20:50.953Z,1628878850.953 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,186,80,80,A0,FF
2021-08-13T18:20:50.953Z,1628878850.953 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T18:20:52.179Z,1628878852.179 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:20:52.569Z,1628878852.569 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:20:52.569Z,1628878852.569 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:20:52.569Z,1628878852.569 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:20:52.570Z,1628878852.570 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:20:52.983Z,1628878852.983 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,186,80,80,A0,FF
2021-08-13T18:20:52.983Z,1628878852.983 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:20:52.983Z,1628878852.983 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:20:52.985Z,1628878852.985 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:20:53.412Z,1628878853.412 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:20:55.025Z,1628878855.025 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:20:56.609Z,1628878856.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,186,80,80,A0,FF
2021-08-13T18:20:56.609Z,1628878856.609 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,186,80,80,A0,FF
2021-08-13T18:20:56.610Z,1628878856.610 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T18:20:57.854Z,1628878857.854 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:20:58.233Z,1628878858.233 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:20:58.234Z,1628878858.234 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:20:58.234Z,1628878858.234 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:20:58.235Z,1628878858.235 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:20:58.648Z,1628878858.648 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,186,80,80,A0,FF
2021-08-13T18:20:58.649Z,1628878858.649 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:20:58.649Z,1628878858.649 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:20:58.650Z,1628878858.650 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:20:59.045Z,1628878859.045 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:20:59.457Z,1628878859.457 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F19,0003,E4
D,186,80,80,A0,FF
2021-08-13T18:20:59.458Z,1628878859.458 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,F19,0003,E4
D,186,80,80,A0,FF
2021-08-13T18:20:59.870Z,1628878859.870 [Micromodem](INFO): Nmea in: $SNTTA,0.130102,,,,182059.17*40

2021-08-13T18:21:00.712Z,1628878860.712 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:21:03.565Z,1628878863.565 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:21:04.324Z,1628878864.324 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.089271
2021-08-13T18:21:06.430Z,1628878866.430 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:21:06.518Z,1628878866.518 [CBIT](IMPORTANT): Beginning ground fault scan
2021-08-13T18:21:06.722Z,1628878866.722 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:21:06.723Z,1628878866.723 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:21:06.723Z,1628878866.723 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:21:06.724Z,1628878866.724 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:21:07.115Z,1628878867.115 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-13T18:21:07.121Z,1628878867.121 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F19,0003,E4
D,186,80,80,A0,FF
2021-08-13T18:21:07.121Z,1628878867.121 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:21:07.122Z,1628878867.122 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:21:07.123Z,1628878867.123 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:21:07.544Z,1628878867.544 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:21:08.118Z,1628878868.118 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-13T18:21:08.380Z,1628878868.380 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182107.64*51

2021-08-13T18:21:09.123Z,1628878869.123 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-13T18:21:09.247Z,1628878869.247 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:21:10.130Z,1628878870.130 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-13T18:21:10.782Z,1628878870.782 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,186,80,80,A0,FF
2021-08-13T18:21:10.782Z,1628878870.782 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,186,80,80,A0,FF
2021-08-13T18:21:10.782Z,1628878870.782 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T18:21:11.134Z,1628878871.134 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-13T18:21:11.986Z,1628878871.986 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:21:12.138Z,1628878872.138 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-13T18:21:12.393Z,1628878872.393 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:21:12.393Z,1628878872.393 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:21:12.394Z,1628878872.394 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:21:12.395Z,1628878872.395 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:21:12.777Z,1628878872.777 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,186,80,80,A0,FF
2021-08-13T18:21:12.777Z,1628878872.777 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:21:12.777Z,1628878872.777 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:21:12.779Z,1628878872.779 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:21:13.142Z,1628878873.142 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-13T18:21:13.226Z,1628878873.226 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:21:13.586Z,1628878873.586 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,029,0,63,E4
D,186,80,80,A0,FF
2021-08-13T18:21:13.586Z,1628878873.586 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,029,0,63,E4
D,186,80,80,A0,FF
2021-08-13T18:21:14.023Z,1628878874.023 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182113.30*55

2021-08-13T18:21:14.146Z,1628878874.146 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-13T18:21:14.826Z,1628878874.826 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:21:15.150Z,1628878875.150 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-13T18:21:16.154Z,1628878876.154 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-13T18:21:17.158Z,1628878877.158 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-13T18:21:17.416Z,1628878877.416 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:21:17.784Z,1628878877.784 [CBIT](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): -0.006007
CHAN A1 (24V): -0.023475
CHAN A2 (12V): -0.005640
CHAN A3 (5V): -0.001651
CHAN B0 (3.3V): 0.000767
CHAN B1 (3.15aV): 0.000534
CHAN B2 (3.15bV): 0.000372
CHAN B3 (GND): 0.002145
OPEN: 0.006491
Full Scale Calc: 4.765 mA, -1.589 mA
2021-08-13T18:21:18.484Z,1628878878.484 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.088679
2021-08-13T18:21:20.101Z,1628878880.101 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:21:20.477Z,1628878880.477 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:21:20.477Z,1628878880.477 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:21:20.477Z,1628878880.477 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:21:20.478Z,1628878880.478 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:21:20.886Z,1628878880.886 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
029,0,63,E4
D,186,80,80,A0,FF
2021-08-13T18:21:20.886Z,1628878880.886 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:21:20.887Z,1628878880.887 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:21:20.889Z,1628878880.889 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:21:21.312Z,1628878881.312 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:21:21.702Z,1628878881.702 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,067,0,63,E4
D,186,80,80,A0,FF
2021-08-13T18:21:21.702Z,1628878881.702 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,067,0,63,E4
D,186,80,80,A0,FF
2021-08-13T18:21:22.126Z,1628878882.126 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182121.41*52

2021-08-13T18:21:22.940Z,1628878882.940 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:21:25.774Z,1628878885.774 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:21:26.552Z,1628878886.552 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.073714
2021-08-13T18:21:28.597Z,1628878888.597 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:21:28.980Z,1628878888.980 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:21:28.981Z,1628878888.981 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:21:28.981Z,1628878888.981 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:21:28.982Z,1628878888.982 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:21:29.390Z,1628878889.390 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
067,0,63,E4
D,186,80,80,A0,FF
2021-08-13T18:21:29.391Z,1628878889.391 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:21:29.391Z,1628878889.391 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:21:29.406Z,1628878889.406 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:21:29.788Z,1628878889.788 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:21:30.583Z,1628878890.583 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,04B,000,00E2E,184,80,80,42,FF
2021-08-13T18:21:30.584Z,1628878890.584 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:21:30.590Z,1628878890.590 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182129.93*55

2021-08-13T18:21:31.016Z,1628878891.016 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 180.300003 m, bearing: 223.288200 deg, deltaT: 46.891963 s, approachRate: 0.246950 m/s, LOS rate: -0.161176 deg/s, posRepo size: 4
2021-08-13T18:21:33.511Z,1628878893.511 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:21:33.821Z,1628878893.821 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:21:33.821Z,1628878893.821 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:21:33.821Z,1628878893.821 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:21:33.822Z,1628878893.822 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:21:34.228Z,1628878894.228 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
04B,000,00E2E,184,80,80,42,FF
2021-08-13T18:21:34.228Z,1628878894.228 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:21:34.228Z,1628878894.228 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:21:34.230Z,1628878894.230 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:21:34.633Z,1628878894.633 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:21:35.033Z,1628878895.033 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,04B,000,00E2E,184,80,80,42,FF
2021-08-13T18:21:35.033Z,1628878895.033 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:21:35.469Z,1628878895.469 [Micromodem](INFO): Nmea in: $SNTTA,0.434542,0.434292,,,182134.75*5B

2021-08-13T18:21:35.528Z,1628878895.528 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 180.300003 m, bearing: 224.007009 deg, deltaT: 4.403158 s, approachRate: 0.000000 m/s, LOS rate: 0.163249 deg/s, posRepo size: 4
2021-08-13T18:21:37.881Z,1628878897.881 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:21:38.265Z,1628878898.265 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:21:38.265Z,1628878898.265 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:21:38.265Z,1628878898.265 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:21:38.265Z,1628878898.265 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:21:38.661Z,1628878898.661 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
04B,000,00E2E,184,80,80,42,FF
2021-08-13T18:21:38.661Z,1628878898.661 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:21:38.661Z,1628878898.661 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:21:38.663Z,1628878898.663 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:21:39.072Z,1628878899.072 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:21:39.478Z,1628878899.478 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,062,000,00E2E,184,80,80,42,FF
2021-08-13T18:21:39.478Z,1628878899.478 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:21:39.913Z,1628878899.913 [Micromodem](INFO): Nmea in: $SNTTA,0.134092,,,,182139.19*45

2021-08-13T18:21:39.935Z,1628878899.935 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 180.300003 m, bearing: 223.381938 deg, deltaT: 4.520222 s, approachRate: 0.000000 m/s, LOS rate: -0.138283 deg/s, posRepo size: 4
2021-08-13T18:21:42.334Z,1628878902.334 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:21:42.705Z,1628878902.705 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:21:42.705Z,1628878902.705 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:21:42.705Z,1628878902.705 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:21:42.706Z,1628878902.706 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:21:43.109Z,1628878903.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
062,000,00E2E,184,80,80,42,FF
2021-08-13T18:21:43.109Z,1628878903.109 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:21:43.109Z,1628878903.109 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:21:43.111Z,1628878903.111 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:21:43.517Z,1628878903.517 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:21:43.946Z,1628878903.946 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,05E,000,00E60,184,80,80,42,FF
2021-08-13T18:21:43.946Z,1628878903.946 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:21:44.368Z,1628878904.368 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182143.63*56

2021-08-13T18:21:44.423Z,1628878904.423 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 183.300003 m, bearing: 223.634587 deg, deltaT: 4.392389 s, approachRate: 0.683000 m/s, LOS rate: 0.057520 deg/s, posRepo size: 4
2021-08-13T18:21:46.781Z,1628878906.781 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:21:47.166Z,1628878907.166 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:21:47.167Z,1628878907.167 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:21:47.167Z,1628878907.167 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:21:47.189Z,1628878907.189 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:21:47.563Z,1628878907.563 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
05E,000,00E60,184,80,80,42,FF
2021-08-13T18:21:47.563Z,1628878907.563 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:21:47.563Z,1628878907.563 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:21:47.565Z,1628878907.565 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:21:47.965Z,1628878907.965 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:21:48.789Z,1628878908.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,067,000,00E6D,187,80,80,38,FF
2021-08-13T18:21:48.789Z,1628878908.789 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:21:48.792Z,1628878908.792 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182148.09*51

2021-08-13T18:21:49.262Z,1628878909.262 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 184.079987 m, bearing: 224.081513 deg, deltaT: 4.851454 s, approachRate: 0.160773 m/s, LOS rate: 0.092122 deg/s, posRepo size: 4
2021-08-13T18:21:51.656Z,1628878911.656 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:21:52.009Z,1628878912.009 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:21:52.009Z,1628878912.009 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:21:52.009Z,1628878912.009 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:21:52.010Z,1628878912.010 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:21:52.433Z,1628878912.433 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
067,000,00E6D,187,80,80,38,FF
2021-08-13T18:21:52.433Z,1628878912.433 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:21:52.433Z,1628878912.433 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:21:52.435Z,1628878912.435 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:21:52.826Z,1628878912.826 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:21:53.638Z,1628878913.638 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,050,000,00E80,184,80,80,44,FF
2021-08-13T18:21:53.638Z,1628878913.638 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:21:53.641Z,1628878913.641 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182152.96*5C

2021-08-13T18:21:54.064Z,1628878914.064 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 185.220001 m, bearing: 225.161790 deg, deltaT: 4.907926 s, approachRate: 0.232280 m/s, LOS rate: 0.220109 deg/s, posRepo size: 4
2021-08-13T18:21:56.509Z,1628878916.509 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:21:56.857Z,1628878916.857 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:21:56.857Z,1628878916.857 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:21:56.857Z,1628878916.857 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:21:56.858Z,1628878916.858 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:21:57.293Z,1628878917.293 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
050,000,00E80,184,80,80,44,FF
2021-08-13T18:21:57.293Z,1628878917.293 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:21:57.293Z,1628878917.293 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:21:57.295Z,1628878917.295 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:21:57.665Z,1628878917.665 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:21:58.471Z,1628878918.471 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE4,000,00E94,185,80,80,40,FF
2021-08-13T18:21:58.471Z,1628878918.471 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:21:58.479Z,1628878918.479 [Micromodem](INFO): Nmea in: $SNTTA,0.130669,,,,182157.82*49

2021-08-13T18:21:58.925Z,1628878918.925 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 186.419998 m, bearing: 230.608196 deg, deltaT: 4.819414 s, approachRate: 0.248992 m/s, LOS rate: 1.130097 deg/s, posRepo size: 4
2021-08-13T18:22:01.370Z,1628878921.370 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:22:01.697Z,1628878921.697 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:22:01.697Z,1628878921.697 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:22:01.697Z,1628878921.697 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:22:01.698Z,1628878921.698 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:22:02.113Z,1628878922.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE4,000,00E94,185,80,80,40,FF
2021-08-13T18:22:02.113Z,1628878922.113 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:22:02.113Z,1628878922.113 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:22:02.115Z,1628878922.115 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:22:02.508Z,1628878922.508 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:22:03.339Z,1628878923.339 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD8,000,00EA5,185,80,80,22,FF
2021-08-13T18:22:03.339Z,1628878923.339 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:22:03.342Z,1628878923.342 [Micromodem](INFO): Nmea in: $SNTTA,,0.489866,,,182202.64*44

2021-08-13T18:22:03.769Z,1628878923.769 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 187.440002 m, bearing: 230.973638 deg, deltaT: 4.926959 s, approachRate: 0.207025 m/s, LOS rate: 0.074172 deg/s, posRepo size: 4
2021-08-13T18:22:06.174Z,1628878926.174 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:22:06.553Z,1628878926.553 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:22:06.553Z,1628878926.553 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:22:06.553Z,1628878926.553 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:22:06.554Z,1628878926.554 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:22:06.966Z,1628878926.966 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD8,000,00EA5,185,80,80,22,FF
2021-08-13T18:22:06.966Z,1628878926.966 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:22:06.966Z,1628878926.966 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:22:06.968Z,1628878926.968 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:22:07.357Z,1628878927.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:22:08.177Z,1628878928.177 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE5,000,00EB6,184,80,80,24,FF
2021-08-13T18:22:08.178Z,1628878928.178 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:22:08.180Z,1628878928.180 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182207.49*5D

2021-08-13T18:22:08.619Z,1628878928.619 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 188.459991 m, bearing: 230.145519 deg, deltaT: 4.759180 s, approachRate: 0.214320 m/s, LOS rate: -0.174005 deg/s, posRepo size: 4
2021-08-13T18:22:11.028Z,1628878931.028 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:22:11.425Z,1628878931.425 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:22:11.425Z,1628878931.425 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:22:11.425Z,1628878931.425 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:22:11.426Z,1628878931.426 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:22:11.798Z,1628878931.798 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE5,000,00EB6,184,80,80,24,FF
2021-08-13T18:22:11.798Z,1628878931.798 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:22:11.798Z,1628878931.798 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:22:11.801Z,1628878931.801 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:22:12.204Z,1628878932.204 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:22:13.030Z,1628878933.030 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182212.32*55

2021-08-13T18:22:13.854Z,1628878933.854 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:22:15.465Z,1628878935.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,184,80,80,24,FF
2021-08-13T18:22:15.465Z,1628878935.465 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,184,80,80,24,FF
2021-08-13T18:22:15.465Z,1628878935.465 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T18:22:16.686Z,1628878936.686 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:22:17.057Z,1628878937.057 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:22:17.057Z,1628878937.057 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:22:17.057Z,1628878937.057 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:22:17.058Z,1628878937.058 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:22:17.469Z,1628878937.469 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,184,80,80,24,FF
2021-08-13T18:22:17.469Z,1628878937.469 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:22:17.469Z,1628878937.469 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:22:17.471Z,1628878937.471 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:22:17.865Z,1628878937.865 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:22:18.682Z,1628878938.682 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182217.99*51

2021-08-13T18:22:19.531Z,1628878939.531 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:22:21.089Z,1628878941.089 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,184,80,80,24,FF
2021-08-13T18:22:21.089Z,1628878941.089 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,184,80,80,24,FF
2021-08-13T18:22:21.090Z,1628878941.090 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T18:22:22.318Z,1628878942.318 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:22:22.713Z,1628878942.713 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:22:22.713Z,1628878942.713 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:22:22.713Z,1628878942.713 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:22:22.714Z,1628878942.714 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:22:23.113Z,1628878943.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,184,80,80,24,FF
2021-08-13T18:22:23.114Z,1628878943.114 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:22:23.114Z,1628878943.114 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:22:23.115Z,1628878943.115 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:22:23.529Z,1628878943.529 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:22:24.362Z,1628878944.362 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182223.64*54

2021-08-13T18:22:25.162Z,1628878945.162 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:22:26.769Z,1628878946.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,184,80,80,24,FF
2021-08-13T18:22:26.770Z,1628878946.770 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,184,80,80,24,FF
2021-08-13T18:22:26.770Z,1628878946.770 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T18:22:28.005Z,1628878948.005 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:22:28.384Z,1628878948.384 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:22:28.384Z,1628878948.384 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:22:28.385Z,1628878948.385 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:22:28.387Z,1628878948.387 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:22:28.789Z,1628878948.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,184,80,80,24,FF
2021-08-13T18:22:28.789Z,1628878948.789 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:22:28.789Z,1628878948.789 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:22:28.791Z,1628878948.791 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:22:29.223Z,1628878949.223 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:22:30.022Z,1628878950.022 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182229.31*5E

2021-08-13T18:22:30.822Z,1628878950.822 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:22:32.453Z,1628878952.453 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,184,80,80,24,FF
2021-08-13T18:22:32.453Z,1628878952.453 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,184,80,80,24,FF
2021-08-13T18:22:32.453Z,1628878952.453 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T18:22:33.669Z,1628878953.669 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:22:34.037Z,1628878954.037 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:22:34.037Z,1628878954.037 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:22:34.037Z,1628878954.037 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:22:34.038Z,1628878954.038 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:22:34.457Z,1628878954.457 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,184,80,80,24,FF
2021-08-13T18:22:34.457Z,1628878954.457 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:22:34.457Z,1628878954.457 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:22:34.459Z,1628878954.459 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:22:34.513Z,1628878954.513 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T18:22:34.848Z,1628878954.848 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:22:35.295Z,1628878955.295 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,262,0003,E4
6,184,80,80,24,FF
2021-08-13T18:22:35.295Z,1628878955.295 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,262,0003,E4
6,184,80,80,24,FF
2021-08-13T18:22:35.674Z,1628878955.674 [Micromodem](INFO): Nmea in: $SNTTA,0.318394,,,,182234.98*4B

2021-08-13T18:22:36.489Z,1628878956.489 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:22:39.343Z,1628878959.343 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:22:40.108Z,1628878960.108 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.069717
2021-08-13T18:22:42.139Z,1628878962.139 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:22:42.517Z,1628878962.517 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:22:42.517Z,1628878962.517 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:22:42.517Z,1628878962.517 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:22:42.518Z,1628878962.518 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:22:42.937Z,1628878962.937 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
262,0003,E4
6,184,80,80,24,FF
2021-08-13T18:22:42.937Z,1628878962.937 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:22:42.938Z,1628878962.938 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:22:42.939Z,1628878962.939 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:22:43.328Z,1628878963.328 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:22:44.150Z,1628878964.150 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182243.46*52

2021-08-13T18:22:44.976Z,1628878964.976 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:22:46.565Z,1628878966.565 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,184,80,80,24,FF
2021-08-13T18:22:46.565Z,1628878966.565 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,184,80,80,24,FF
2021-08-13T18:22:46.566Z,1628878966.566 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T18:22:47.794Z,1628878967.794 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:22:48.177Z,1628878968.177 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:22:48.177Z,1628878968.177 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:22:48.177Z,1628878968.177 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:22:48.178Z,1628878968.178 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:22:48.577Z,1628878968.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,184,80,80,24,FF
2021-08-13T18:22:48.577Z,1628878968.577 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:22:48.577Z,1628878968.577 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:22:48.579Z,1628878968.579 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:22:48.995Z,1628878968.995 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:22:49.813Z,1628878969.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F8E,000,00F4C,187,80,80,4E,FF
2021-08-13T18:22:49.814Z,1628878969.814 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:22:49.841Z,1628878969.841 [Micromodem](INFO): Nmea in: $SNTTA,0.151988,,,,182249.10*49

2021-08-13T18:22:50.223Z,1628878970.223 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 197.459976 m, bearing: 237.659629 deg, deltaT: 41.646395 s, approachRate: 0.216105 m/s, LOS rate: 0.180426 deg/s, posRepo size: 4
2021-08-13T18:22:52.662Z,1628878972.662 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:22:53.021Z,1628878973.021 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:22:53.021Z,1628878973.021 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:22:53.021Z,1628878973.021 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:22:53.022Z,1628878973.022 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:22:53.449Z,1628878973.449 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F8E,000,00F4C,187,80,80,4E,FF
2021-08-13T18:22:53.449Z,1628878973.449 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:22:53.450Z,1628878973.450 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:22:53.451Z,1628878973.451 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:22:53.887Z,1628878973.887 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:22:54.285Z,1628878974.285 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1A6,000,00F4C,187,80,80,4E,FF
2021-08-13T18:22:54.286Z,1628878974.286 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:22:54.709Z,1628878974.709 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182253.97*5F

2021-08-13T18:22:54.737Z,1628878974.737 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 197.459976 m, bearing: 211.503132 deg, deltaT: 4.429809 s, approachRate: 0.000000 m/s, LOS rate: -5.904655 deg/s, posRepo size: 4
2021-08-13T18:22:57.175Z,1628878977.175 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:22:57.544Z,1628878977.544 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:22:57.544Z,1628878977.544 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:22:57.545Z,1628878977.545 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:22:57.545Z,1628878977.545 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:22:57.953Z,1628878977.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1A6,000,00F4C,187,80,80,4E,FF
2021-08-13T18:22:57.953Z,1628878977.953 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:22:57.953Z,1628878977.953 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:22:57.955Z,1628878977.955 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:22:58.363Z,1628878978.363 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:22:59.204Z,1628878979.204 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F2C,000,00F6F,187,80,80,47,FF
2021-08-13T18:22:59.206Z,1628878979.206 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:22:59.228Z,1628878979.228 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182258.48*56

2021-08-13T18:22:59.610Z,1628878979.610 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 199.559998 m, bearing: 244.452634 deg, deltaT: 5.011361 s, approachRate: 0.419052 m/s, LOS rate: 6.574961 deg/s, posRepo size: 4
2021-08-13T18:23:02.002Z,1628878982.002 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:23:02.406Z,1628878982.406 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:23:02.406Z,1628878982.406 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:23:02.406Z,1628878982.406 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:23:02.407Z,1628878982.407 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:23:02.797Z,1628878982.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F2C,000,00F6F,187,80,80,47,FF
2021-08-13T18:23:02.798Z,1628878982.798 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:23:02.798Z,1628878982.798 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:23:02.799Z,1628878982.799 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:23:03.250Z,1628878983.250 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:23:04.021Z,1628878984.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1D2,000,00F74,186,80,80,63,FF
2021-08-13T18:23:04.021Z,1628878984.021 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:23:04.482Z,1628878984.482 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 199.860001 m, bearing: 211.584207 deg, deltaT: 4.746935 s, approachRate: 0.063199 m/s, LOS rate: -6.924137 deg/s, posRepo size: 4
2021-08-13T18:23:06.850Z,1628878986.850 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:23:07.271Z,1628878987.271 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:23:07.271Z,1628878987.271 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:23:07.271Z,1628878987.271 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:23:07.292Z,1628878987.292 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:23:07.645Z,1628878987.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1D2,000,00F74,186,80,80,63,FF
2021-08-13T18:23:07.645Z,1628878987.645 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:23:07.645Z,1628878987.645 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:23:07.647Z,1628878987.647 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:23:08.052Z,1628878988.052 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:23:08.878Z,1628878988.878 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F2C,000,00F97,187,80,80,52,FF
2021-08-13T18:23:08.878Z,1628878988.878 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:23:08.882Z,1628878988.882 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182308.17*58

2021-08-13T18:23:09.345Z,1628878989.345 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 201.959991 m, bearing: 246.244794 deg, deltaT: 4.901190 s, approachRate: 0.428466 m/s, LOS rate: 7.071872 deg/s, posRepo size: 4
2021-08-13T18:23:11.715Z,1628878991.715 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:23:12.093Z,1628878992.093 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:23:12.093Z,1628878992.093 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:23:12.093Z,1628878992.093 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:23:12.094Z,1628878992.094 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:23:12.485Z,1628878992.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F2C,000,00F97,187,80,80,52,FF
2021-08-13T18:23:12.485Z,1628878992.485 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:23:12.486Z,1628878992.486 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:23:12.487Z,1628878992.487 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:23:12.910Z,1628878992.910 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:23:13.299Z,1628878993.299 [Micromodem](INFO): Nmea in: $SNTTA,0.262476,0.262463,,,182313.01*51

2021-08-13T18:23:13.725Z,1628878993.725 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EBC,000,00FA6,186,80,80,32,FF
2021-08-13T18:23:13.725Z,1628878993.725 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:23:14.143Z,1628878994.143 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 202.859985 m, bearing: 252.105779 deg, deltaT: 4.810278 s, approachRate: 0.187098 m/s, LOS rate: 1.218430 deg/s, posRepo size: 4
2021-08-13T18:23:16.567Z,1628878996.567 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:23:16.954Z,1628878996.954 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:23:16.955Z,1628878996.955 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:23:16.955Z,1628878996.955 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:23:16.956Z,1628878996.956 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:23:17.345Z,1628878997.345 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EBC,000,00FA6,186,80,80,32,FF
2021-08-13T18:23:17.345Z,1628878997.345 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:23:17.345Z,1628878997.345 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:23:17.347Z,1628878997.347 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:23:17.771Z,1628878997.771 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:23:18.593Z,1628878998.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F36,000,00FB6,187,80,80,48,FF
2021-08-13T18:23:18.593Z,1628878998.593 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:23:18.597Z,1628878998.597 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182317.87*5F

2021-08-13T18:23:18.998Z,1628878998.998 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 203.819992 m, bearing: 246.083656 deg, deltaT: 4.888334 s, approachRate: 0.196387 m/s, LOS rate: -1.231938 deg/s, posRepo size: 4
2021-08-13T18:23:18.999Z,1628878998.999 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 203.82 m. Resuming terminal guidance.
2021-08-13T18:23:18.999Z,1628878998.999 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-13T18:23:19.451Z,1628878999.451 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-08-13T18:23:19.451Z,1628878999.451 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-13T18:23:19.451Z,1628878999.451 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-08-13T18:23:19.451Z,1628878999.451 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-08-13T18:23:19.472Z,1628878999.472 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2021-08-13T18:23:19.472Z,1628878999.472 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-08-13T18:23:19.472Z,1628878999.472 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-08-13T18:23:20.606Z,1628879000.606 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-13T18:23:21.469Z,1628879001.469 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:23:21.811Z,1628879001.811 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:23:21.812Z,1628879001.812 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:23:21.812Z,1628879001.812 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:23:21.813Z,1628879001.813 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:23:22.261Z,1628879002.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F36,000,00FB6,187,80,80,48,FF
2021-08-13T18:23:22.261Z,1628879002.261 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:23:22.261Z,1628879002.261 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:23:22.263Z,1628879002.263 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:23:22.685Z,1628879002.685 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:23:23.514Z,1628879003.514 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F80,000,00FCC,187,80,80,2F,FF
2021-08-13T18:23:23.514Z,1628879003.514 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:23:23.518Z,1628879003.518 [Micromodem](INFO): Nmea in: $SNTTA,0.415963,0.416100,,,182322.79*56

2021-08-13T18:23:23.935Z,1628879003.935 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 205.139999 m, bearing: 243.378956 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-13T18:23:23.935Z,1628879003.935 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 243.378956deg and heading rate command to 0 deg/s.
2021-08-13T18:23:26.437Z,1628879006.437 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:23:26.753Z,1628879006.753 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:23:26.753Z,1628879006.753 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:23:26.753Z,1628879006.753 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:23:26.754Z,1628879006.754 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:23:27.113Z,1628879007.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F80,000,00FCC,187,80,80,2F,FF
2021-08-13T18:23:27.113Z,1628879007.113 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:23:27.113Z,1628879007.113 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:23:27.115Z,1628879007.115 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:23:27.548Z,1628879007.548 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:23:27.945Z,1628879007.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F28,000,00637,187,80,80,2F,FF
2021-08-13T18:23:27.945Z,1628879007.945 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:23:28.405Z,1628879008.405 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182327.64*51

2021-08-13T18:23:28.451Z,1628879008.451 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 57.959999 m, bearing: 251.079748 deg, deltaT: 4.394950 s, approachRate: -33.488434 m/s, LOS rate: 1.752191 deg/s, posRepo size: 2
2021-08-13T18:23:28.453Z,1628879008.453 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 57.959999 m,
      bearing: 251.079748 deg,
      approachRate: -33.488434 m/s,
      LOS rate: 1.752191 deg/s,
      cmd update: 5.256573 deg/s,
      cmd heading: 243.378956 deg,
      new cmd heading: 243.378956 deg.

2021-08-13T18:23:30.831Z,1628879010.831 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:23:31.161Z,1628879011.161 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:23:31.161Z,1628879011.161 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:23:31.161Z,1628879011.161 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:23:31.162Z,1628879011.162 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:23:31.570Z,1628879011.570 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F28,000,00637,187,80,80,2F,FF
2021-08-13T18:23:31.571Z,1628879011.571 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:23:31.571Z,1628879011.571 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:23:31.573Z,1628879011.573 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:23:32.035Z,1628879012.035 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:23:32.458Z,1628879012.458 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E9B,000,0100F,185,80,80,2F,FF
2021-08-13T18:23:32.459Z,1628879012.459 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:23:32.849Z,1628879012.849 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182332.10*56

2021-08-13T18:23:32.893Z,1628879012.893 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 209.160004 m, bearing: 266.694872 deg, deltaT: 4.501992 s, approachRate: 33.585136 m/s, LOS rate: 3.468492 deg/s, posRepo size: 3
2021-08-13T18:23:32.896Z,1628879012.896 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 209.160004 m,
      bearing: 266.694872 deg,
      approachRate: 33.585136 m/s,
      LOS rate: 3.468492 deg/s,
      cmd update: 10.405476 deg/s,
      cmd heading: 267.043970 deg,
      new cmd heading: 269.161313 deg.

2021-08-13T18:23:35.336Z,1628879015.336 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:23:35.682Z,1628879015.682 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:23:35.682Z,1628879015.682 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:23:35.682Z,1628879015.682 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:23:35.683Z,1628879015.683 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:23:36.062Z,1628879016.062 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E9B,000,0100F,185,80,80,2F,FF
2021-08-13T18:23:36.062Z,1628879016.062 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:23:36.062Z,1628879016.062 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:23:36.064Z,1628879016.064 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:23:36.492Z,1628879016.492 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:23:37.316Z,1628879017.316 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182336.59*5F

2021-08-13T18:23:38.091Z,1628879018.091 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E96,000,03F97,187,80,80,78,FF
2021-08-13T18:23:38.091Z,1628879018.091 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:23:38.527Z,1628879018.527 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 939.240051 m, bearing: 284.122728 deg, deltaT: 5.630410 s, approachRate: 129.667297 m/s, LOS rate: 3.095309 deg/s, posRepo size: 4
2021-08-13T18:23:38.530Z,1628879018.530 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 939.240051 m,
      bearing: 284.122728 deg,
      approachRate: 129.667297 m/s,
      LOS rate: 3.095309 deg/s,
      cmd update: 9.285926 deg/s,
      cmd heading: 325.628571 deg,
      new cmd heading: 329.881612 deg.

2021-08-13T18:23:40.932Z,1628879020.932 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:23:41.332Z,1628879021.332 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:23:41.332Z,1628879021.332 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:23:41.333Z,1628879021.333 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:23:41.334Z,1628879021.334 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:23:41.722Z,1628879021.722 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E96,000,03F97,187,80,80,78,FF
2021-08-13T18:23:41.722Z,1628879021.722 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:23:41.722Z,1628879021.722 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:23:41.723Z,1628879021.723 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:23:42.133Z,1628879022.133 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:23:42.962Z,1628879022.962 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DB9,000,01078,189,80,80,9F,FF
2021-08-13T18:23:42.963Z,1628879022.963 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:23:42.967Z,1628879022.967 [Micromodem](INFO): Nmea in: $SNTTA,0.146276,,,,182342.25*49

2021-08-13T18:23:43.439Z,1628879023.439 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 215.459991 m, bearing: 316.806167 deg, deltaT: 4.903551 s, approachRate: -147.603241 m/s, LOS rate: 6.665259 deg/s, posRepo size: 4
2021-08-13T18:23:43.441Z,1628879023.441 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 215.459991 m,
      bearing: 316.806167 deg,
      approachRate: -147.603241 m/s,
      LOS rate: 6.665259 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 11.125697 deg,
      new cmd heading: 15.030679 deg.

2021-08-13T18:23:45.799Z,1628879025.799 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:23:46.165Z,1628879026.165 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:23:46.165Z,1628879026.165 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:23:46.165Z,1628879026.165 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:23:46.166Z,1628879026.166 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:23:46.577Z,1628879026.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DB9,000,01078,189,80,80,9F,FF
2021-08-13T18:23:46.577Z,1628879026.577 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:23:46.577Z,1628879026.577 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:23:46.579Z,1628879026.579 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:23:46.981Z,1628879026.981 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:23:47.381Z,1628879027.381 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DF4,000,0052D,186,80,80,AB,FF
2021-08-13T18:23:47.382Z,1628879027.382 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:23:47.850Z,1628879027.850 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182347.10*54

2021-08-13T18:23:47.893Z,1628879027.893 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.000000 m, bearing: 335.289233 deg, deltaT: 4.482937 s, approachRate: -38.693382 m/s, LOS rate: 4.122981 deg/s, posRepo size: 4
2021-08-13T18:23:47.897Z,1628879027.897 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 42.000000 m,
      bearing: 335.289233 deg,
      approachRate: -38.693382 m/s,
      LOS rate: 4.122981 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 64.871071 deg,
      new cmd heading: 69.611251 deg.

2021-08-13T18:23:50.239Z,1628879030.239 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:23:50.609Z,1628879030.609 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:23:50.609Z,1628879030.609 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:23:50.609Z,1628879030.609 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:23:50.610Z,1628879030.610 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:23:51.017Z,1628879031.017 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DF4,000,0052D,186,80,80,AB,FF
2021-08-13T18:23:51.017Z,1628879031.017 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:23:51.017Z,1628879031.017 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:23:51.019Z,1628879031.019 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:23:51.449Z,1628879031.449 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:23:52.261Z,1628879032.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,01099,18A,80,80,8F,FF
2021-08-13T18:23:52.261Z,1628879032.261 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:23:52.285Z,1628879032.285 [Micromodem](INFO): Nmea in: $SNTTA,0.147052,,,,182351.54*48

2021-08-13T18:23:52.683Z,1628879032.683 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 217.440002 m, bearing: 36.655515 deg, deltaT: 4.827436 s, approachRate: 36.342274 m/s, LOS rate: 12.711984 deg/s, posRepo size: 4
2021-08-13T18:23:52.685Z,1628879032.685 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.711984 deg/s. Setting heading cmd to target bearing of 36.655515deg and heading rate command to 0 deg/s.
2021-08-13T18:23:55.079Z,1628879035.079 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:23:55.467Z,1628879035.467 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:23:55.468Z,1628879035.468 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:23:55.469Z,1628879035.469 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:23:55.471Z,1628879035.471 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:23:55.886Z,1628879035.886 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,01099,18A,80,80,8F,FF
2021-08-13T18:23:55.886Z,1628879035.886 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:23:55.886Z,1628879035.886 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:23:55.889Z,1628879035.889 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:23:56.271Z,1628879036.271 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:23:57.096Z,1628879037.096 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C28,000,01092,189,80,80,B5,FF
2021-08-13T18:23:57.100Z,1628879037.100 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:23:57.103Z,1628879037.103 [Micromodem](INFO): Nmea in: $SNTTA,0.152159,,,,182356.41*45

2021-08-13T18:23:57.550Z,1628879037.550 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 217.019989 m, bearing: 44.122394 deg, deltaT: 4.802913 s, approachRate: -0.087450 m/s, LOS rate: 1.554656 deg/s, posRepo size: 4
2021-08-13T18:23:57.570Z,1628879037.570 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 217.019989 m,
      bearing: 44.122394 deg,
      approachRate: -0.087450 m/s,
      LOS rate: 1.554656 deg/s,
      cmd update: 4.663969 deg/s,
      cmd heading: 36.655515 deg,
      new cmd heading: 36.655515 deg.

2021-08-13T18:23:59.942Z,1628879039.942 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:24:00.313Z,1628879040.313 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:24:00.313Z,1628879040.313 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:24:00.313Z,1628879040.313 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:24:00.314Z,1628879040.314 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:24:00.717Z,1628879040.717 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C28,000,01092,189,80,80,B5,FF
2021-08-13T18:24:00.718Z,1628879040.718 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:24:00.718Z,1628879040.718 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:24:00.719Z,1628879040.719 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:24:01.120Z,1628879041.120 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:24:01.961Z,1628879041.961 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,19C,000,0107B,185,80,80,94,FF
2021-08-13T18:24:01.961Z,1628879041.961 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:24:01.984Z,1628879041.984 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182401.24*56

2021-08-13T18:24:02.399Z,1628879042.399 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 215.639999 m, bearing: 0.062014 deg, deltaT: 4.880417 s, approachRate: -0.282761 m/s, LOS rate: -9.027995 deg/s, posRepo size: 4
2021-08-13T18:24:02.405Z,1628879042.405 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 215.639999 m,
      bearing: 0.062014 deg,
      approachRate: -0.282761 m/s,
      LOS rate: -9.027995 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 59.418272 deg,
      new cmd heading: 61.224119 deg.

2021-08-13T18:24:04.801Z,1628879044.801 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:24:05.157Z,1628879045.157 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:24:05.157Z,1628879045.157 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:24:05.157Z,1628879045.157 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:24:05.158Z,1628879045.158 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:24:05.570Z,1628879045.570 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
19C,000,0107B,185,80,80,94,FF
2021-08-13T18:24:05.571Z,1628879045.571 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:24:05.571Z,1628879045.571 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:24:05.577Z,1628879045.577 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:24:05.965Z,1628879045.965 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:24:06.791Z,1628879046.791 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF8,000,0105E,187,80,80,9E,FF
2021-08-13T18:24:06.791Z,1628879046.791 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:24:06.794Z,1628879046.794 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182406.10*56

2021-08-13T18:24:07.263Z,1628879047.263 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 213.899994 m, bearing: 53.746847 deg, deltaT: 4.794189 s, approachRate: -0.362941 m/s, LOS rate: 11.197896 deg/s, posRepo size: 4
2021-08-13T18:24:07.281Z,1628879047.281 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 213.899994 m,
      bearing: 53.746847 deg,
      approachRate: -0.362941 m/s,
      LOS rate: 11.197896 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 1.843807 deg,
      new cmd heading: 356.409271 deg.

2021-08-13T18:24:09.656Z,1628879049.656 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:24:09.997Z,1628879049.997 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:24:09.997Z,1628879049.997 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:24:09.997Z,1628879049.997 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:24:09.998Z,1628879049.998 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:24:10.433Z,1628879050.433 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF8,000,0105E,187,80,80,9E,FF
2021-08-13T18:24:10.433Z,1628879050.433 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:24:10.433Z,1628879050.433 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:24:10.435Z,1628879050.435 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:24:10.816Z,1628879050.816 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:24:11.637Z,1628879051.637 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F0C,000,0103D,186,80,80,90,FF
2021-08-13T18:24:11.638Z,1628879051.638 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:24:11.641Z,1628879051.641 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182410.96*5F

2021-08-13T18:24:12.056Z,1628879052.056 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 211.919998 m, bearing: 52.995233 deg, deltaT: 4.877964 s, approachRate: -0.405906 m/s, LOS rate: -0.154084 deg/s, posRepo size: 4
2021-08-13T18:24:12.058Z,1628879052.058 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 211.919998 m,
      bearing: 52.995233 deg,
      approachRate: -0.405906 m/s,
      LOS rate: -0.154084 deg/s,
      cmd update: -0.462251 deg/s,
      cmd heading: 60.134036 deg,
      new cmd heading: 64.794560 deg.

2021-08-13T18:24:14.480Z,1628879054.480 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:24:14.849Z,1628879054.849 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:24:14.849Z,1628879054.849 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:24:14.849Z,1628879054.849 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:24:14.850Z,1628879054.850 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:24:15.288Z,1628879055.288 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F0C,000,0103D,186,80,80,90,FF
2021-08-13T18:24:15.289Z,1628879055.289 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:24:15.289Z,1628879055.289 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:24:15.290Z,1628879055.290 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:24:15.665Z,1628879055.665 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:24:16.468Z,1628879056.468 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DD2,000,01015,189,80,80,9D,FF
2021-08-13T18:24:16.468Z,1628879056.468 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:24:16.476Z,1628879056.476 [Micromodem](INFO): Nmea in: $SNTTA,0.141859,,,,182415.81*42

2021-08-13T18:24:16.929Z,1628879056.929 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 209.520004 m, bearing: 58.726274 deg, deltaT: 4.864475 s, approachRate: -0.493372 m/s, LOS rate: 1.178142 deg/s, posRepo size: 4
2021-08-13T18:24:16.931Z,1628879056.931 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 209.520004 m,
      bearing: 58.726274 deg,
      approachRate: -0.493372 m/s,
      LOS rate: 1.178142 deg/s,
      cmd update: 3.534425 deg/s,
      cmd heading: 57.880099 deg,
      new cmd heading: 57.711409 deg.

2021-08-13T18:24:19.361Z,1628879059.361 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:24:19.697Z,1628879059.697 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:24:19.697Z,1628879059.697 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:24:19.697Z,1628879059.697 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:24:19.698Z,1628879059.698 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:24:20.101Z,1628879060.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DD2,000,01015,189,80,80,9D,FF
2021-08-13T18:24:20.101Z,1628879060.101 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:24:20.101Z,1628879060.101 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:24:20.103Z,1628879060.103 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:24:20.526Z,1628879060.526 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:24:21.333Z,1628879061.333 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC3,000,00FF0,184,80,80,AF,FF
2021-08-13T18:24:21.333Z,1628879061.333 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:24:21.336Z,1628879061.336 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182420.63*56

2021-08-13T18:24:21.745Z,1628879061.745 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 207.300003 m, bearing: 51.787857 deg, deltaT: 4.933618 s, approachRate: -0.449974 m/s, LOS rate: -1.406355 deg/s, posRepo size: 4
2021-08-13T18:24:21.747Z,1628879061.747 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 207.300003 m,
      bearing: 51.787857 deg,
      approachRate: -0.449974 m/s,
      LOS rate: -1.406355 deg/s,
      cmd update: -4.219064 deg/s,
      cmd heading: 75.307879 deg,
      new cmd heading: 76.266489 deg.

2021-08-13T18:24:24.163Z,1628879064.163 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:24:24.557Z,1628879064.557 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:24:24.557Z,1628879064.557 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:24:24.558Z,1628879064.558 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:24:24.559Z,1628879064.559 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:24:24.953Z,1628879064.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC3,000,00FF0,184,80,80,AF,FF
2021-08-13T18:24:24.953Z,1628879064.953 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:24:24.953Z,1628879064.953 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:24:24.955Z,1628879064.955 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:24:25.376Z,1628879065.376 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:24:26.189Z,1628879066.189 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1AB,000,00FCB,186,80,80,B5,FF
2021-08-13T18:24:26.189Z,1628879066.189 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:24:26.192Z,1628879066.192 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182425.48*5A

2021-08-13T18:24:26.615Z,1628879066.615 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 205.079987 m, bearing: 45.966630 deg, deltaT: 4.721151 s, approachRate: -0.470228 m/s, LOS rate: -1.233010 deg/s, posRepo size: 4
2021-08-13T18:24:26.618Z,1628879066.618 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 205.079987 m,
      bearing: 45.966630 deg,
      approachRate: -0.470228 m/s,
      LOS rate: -1.233010 deg/s,
      cmd update: -3.699030 deg/s,
      cmd heading: 55.338470 deg,
      new cmd heading: 53.617058 deg.

2021-08-13T18:24:29.065Z,1628879069.065 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:24:29.393Z,1628879069.393 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:24:29.393Z,1628879069.393 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:24:29.393Z,1628879069.393 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:24:29.394Z,1628879069.394 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:24:29.801Z,1628879069.801 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1AB,000,00FCB,186,80,80,B5,FF
2021-08-13T18:24:29.801Z,1628879069.801 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:24:29.802Z,1628879069.802 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:24:29.803Z,1628879069.803 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:24:30.205Z,1628879070.205 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:24:31.053Z,1628879071.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1F2,000,00FA8,186,80,80,BB,FF
2021-08-13T18:24:31.053Z,1628879071.053 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:24:31.056Z,1628879071.056 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182430.33*52

2021-08-13T18:24:31.505Z,1628879071.505 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 202.979996 m, bearing: 44.416256 deg, deltaT: 4.868122 s, approachRate: -0.431376 m/s, LOS rate: -0.318475 deg/s, posRepo size: 4
2021-08-13T18:24:31.507Z,1628879071.507 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 202.979996 m,
      bearing: 44.416256 deg,
      approachRate: -0.431376 m/s,
      LOS rate: -0.318475 deg/s,
      cmd update: -0.955424 deg/s,
      cmd heading: 37.330980 deg,
      new cmd heading: 35.744311 deg.

2021-08-13T18:24:33.924Z,1628879073.924 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:24:34.269Z,1628879074.269 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:24:34.269Z,1628879074.269 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:24:34.269Z,1628879074.269 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:24:34.270Z,1628879074.270 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:24:34.677Z,1628879074.677 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1F2,000,00FA8,186,80,80,BB,FF
2021-08-13T18:24:34.678Z,1628879074.678 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:24:34.678Z,1628879074.678 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:24:34.679Z,1628879074.679 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:24:35.081Z,1628879075.081 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:24:35.487Z,1628879075.487 [Micromodem](INFO): Nmea in: $SNTTA,0.207804,0.208304,,,182435.20*51

2021-08-13T18:24:35.882Z,1628879075.882 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF9,000,00F83,183,80,80,A5,FF
2021-08-13T18:24:35.882Z,1628879075.882 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:24:36.325Z,1628879076.325 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 200.759995 m, bearing: 52.090438 deg, deltaT: 4.861519 s, approachRate: -0.456648 m/s, LOS rate: 1.578556 deg/s, posRepo size: 4
2021-08-13T18:24:36.327Z,1628879076.327 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 200.759995 m,
      bearing: 52.090438 deg,
      approachRate: -0.456648 m/s,
      LOS rate: 1.578556 deg/s,
      cmd update: 4.735669 deg/s,
      cmd heading: 32.713351 deg,
      new cmd heading: 32.316186 deg.

2021-08-13T18:24:38.753Z,1628879078.753 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:24:39.113Z,1628879079.113 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:24:39.113Z,1628879079.113 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:24:39.113Z,1628879079.113 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:24:39.114Z,1628879079.114 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:24:39.517Z,1628879079.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF9,000,00F83,183,80,80,A5,FF
2021-08-13T18:24:39.517Z,1628879079.517 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:24:39.517Z,1628879079.517 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:24:39.519Z,1628879079.519 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:24:39.933Z,1628879079.933 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:24:40.749Z,1628879080.749 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F0C,000,00F6B,186,80,80,5C,FF
2021-08-13T18:24:40.749Z,1628879080.749 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:24:40.752Z,1628879080.752 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182440.04*51

2021-08-13T18:24:41.177Z,1628879081.177 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 199.319977 m, bearing: 52.998078 deg, deltaT: 4.875266 s, approachRate: -0.295372 m/s, LOS rate: 0.186172 deg/s, posRepo size: 4
2021-08-13T18:24:41.179Z,1628879081.179 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 199.319977 m,
      bearing: 52.998078 deg,
      approachRate: -0.295372 m/s,
      LOS rate: 0.186172 deg/s,
      cmd update: 0.558517 deg/s,
      cmd heading: 55.934671 deg,
      new cmd heading: 57.659108 deg.

2021-08-13T18:24:43.635Z,1628879083.635 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:24:43.961Z,1628879083.961 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:24:43.961Z,1628879083.961 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:24:43.961Z,1628879083.961 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:24:43.962Z,1628879083.962 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:24:44.371Z,1628879084.371 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F0C,000,00F6B,186,80,80,5C,FF
2021-08-13T18:24:44.371Z,1628879084.371 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:24:44.372Z,1628879084.372 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:24:44.378Z,1628879084.378 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:24:44.773Z,1628879084.773 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:24:45.621Z,1628879085.621 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,027,000,00F45,185,80,80,9E,FF
2021-08-13T18:24:45.621Z,1628879085.621 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:24:45.625Z,1628879085.625 [Micromodem](INFO): Nmea in: $SNTTA,0.136302,,,,182444.90*43

2021-08-13T18:24:46.017Z,1628879086.017 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 197.039993 m, bearing: 52.674607 deg, deltaT: 4.893810 s, approachRate: -0.465891 m/s, LOS rate: -0.066098 deg/s, posRepo size: 4
2021-08-13T18:24:46.019Z,1628879086.019 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 197.039993 m,
      bearing: 52.674607 deg,
      approachRate: -0.465891 m/s,
      LOS rate: -0.066098 deg/s,
      cmd update: -0.198294 deg/s,
      cmd heading: 58.665695 deg,
      new cmd heading: 58.841328 deg.

2021-08-13T18:24:48.478Z,1628879088.478 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:24:48.821Z,1628879088.821 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:24:48.821Z,1628879088.821 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:24:48.821Z,1628879088.821 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:24:48.822Z,1628879088.822 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:24:49.241Z,1628879089.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
027,000,00F45,185,80,80,9E,FF
2021-08-13T18:24:49.242Z,1628879089.242 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:24:49.242Z,1628879089.242 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:24:49.250Z,1628879089.250 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:24:49.645Z,1628879089.645 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:24:50.465Z,1628879090.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,14D,000,00F17,186,80,80,51,FF
2021-08-13T18:24:50.466Z,1628879090.466 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:24:50.469Z,1628879090.469 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182449.77*5C

2021-08-13T18:24:50.880Z,1628879090.880 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 194.279999 m, bearing: 46.643133 deg, deltaT: 4.812613 s, approachRate: -0.573492 m/s, LOS rate: -1.253264 deg/s, posRepo size: 4
2021-08-13T18:24:50.883Z,1628879090.883 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 194.279999 m,
      bearing: 46.643133 deg,
      approachRate: -0.573492 m/s,
      LOS rate: -1.253264 deg/s,
      cmd update: -3.759792 deg/s,
      cmd heading: 57.710542 deg,
      new cmd heading: 57.639167 deg.

2021-08-13T18:24:53.334Z,1628879093.334 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:24:53.684Z,1628879093.684 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:24:53.684Z,1628879093.684 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:24:53.684Z,1628879093.684 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:24:53.685Z,1628879093.685 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:24:54.069Z,1628879094.069 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
14D,000,00F17,186,80,80,51,FF
2021-08-13T18:24:54.069Z,1628879094.069 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:24:54.070Z,1628879094.070 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:24:54.071Z,1628879094.071 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:24:54.489Z,1628879094.489 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:24:55.322Z,1628879095.322 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A8,000,00EF7,186,80,80,75,FF
2021-08-13T18:24:55.323Z,1628879095.323 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:24:55.326Z,1628879095.326 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182454.59*5C

2021-08-13T18:24:55.751Z,1628879095.751 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 192.359985 m, bearing: 50.106148 deg, deltaT: 4.905014 s, approachRate: -0.391439 m/s, LOS rate: 0.706015 deg/s, posRepo size: 4
2021-08-13T18:24:55.753Z,1628879095.753 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 192.359985 m,
      bearing: 50.106148 deg,
      approachRate: -0.391439 m/s,
      LOS rate: 0.706015 deg/s,
      cmd update: 2.118046 deg/s,
      cmd heading: 39.284661 deg,
      new cmd heading: 38.038820 deg.

2021-08-13T18:24:58.135Z,1628879098.135 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:24:58.519Z,1628879098.519 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:24:58.519Z,1628879098.519 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:24:58.519Z,1628879098.519 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:24:58.520Z,1628879098.520 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:24:58.925Z,1628879098.925 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0A8,000,00EF7,186,80,80,75,FF
2021-08-13T18:24:58.926Z,1628879098.926 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:24:58.926Z,1628879098.926 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:24:58.927Z,1628879098.927 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:24:59.331Z,1628879099.331 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:25:00.174Z,1628879100.174 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F7D,000,00ED4,186,80,80,8C,FF
2021-08-13T18:25:00.175Z,1628879100.175 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:25:00.181Z,1628879100.181 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182459.45*5C

2021-08-13T18:25:00.601Z,1628879100.601 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 190.259995 m, bearing: 52.902445 deg, deltaT: 4.778663 s, approachRate: -0.439452 m/s, LOS rate: 0.585163 deg/s, posRepo size: 4
2021-08-13T18:25:00.603Z,1628879100.603 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 190.259995 m,
      bearing: 52.902445 deg,
      approachRate: -0.439452 m/s,
      LOS rate: 0.585163 deg/s,
      cmd update: 1.755489 deg/s,
      cmd heading: 49.414721 deg,
      new cmd heading: 50.258804 deg.

2021-08-13T18:25:03.009Z,1628879103.009 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:25:03.369Z,1628879103.369 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:25:03.369Z,1628879103.369 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:25:03.369Z,1628879103.369 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:25:03.371Z,1628879103.371 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:25:03.773Z,1628879103.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F7D,000,00ED4,186,80,80,8C,FF
2021-08-13T18:25:03.773Z,1628879103.773 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:25:03.773Z,1628879103.773 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:25:03.775Z,1628879103.775 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:25:04.194Z,1628879104.194 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:25:05.006Z,1628879105.006 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,042,000,00EA8,184,80,80,A6,FF
2021-08-13T18:25:05.006Z,1628879105.006 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:25:05.011Z,1628879105.011 [Micromodem](INFO): Nmea in: $SNTTA,0.127656,,,,182504.30*48

2021-08-13T18:25:05.469Z,1628879105.469 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 187.619980 m, bearing: 49.771793 deg, deltaT: 4.891182 s, approachRate: -0.539750 m/s, LOS rate: -0.640060 deg/s, posRepo size: 4
2021-08-13T18:25:05.471Z,1628879105.471 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 187.619980 m,
      bearing: 49.771793 deg,
      approachRate: -0.539750 m/s,
      LOS rate: -0.640060 deg/s,
      cmd update: -1.920181 deg/s,
      cmd heading: 57.985609 deg,
      new cmd heading: 58.659371 deg.

2021-08-13T18:25:07.842Z,1628879107.842 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:25:08.209Z,1628879108.209 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:25:08.210Z,1628879108.210 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:25:08.210Z,1628879108.210 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:25:08.211Z,1628879108.211 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:25:08.613Z,1628879108.613 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
042,000,00EA8,184,80,80,A6,FF
2021-08-13T18:25:08.613Z,1628879108.613 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:25:08.613Z,1628879108.613 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:25:08.615Z,1628879108.615 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:25:09.062Z,1628879109.062 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:25:09.462Z,1628879109.462 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,113,000,00E83,186,80,80,A6,FF
2021-08-13T18:25:09.462Z,1628879109.462 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:25:09.467Z,1628879109.467 [Micromodem](INFO): Nmea in: $SNTTA,0.239703,0.238022,,,182509.14*59

2021-08-13T18:25:09.860Z,1628879109.860 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 185.399994 m, bearing: 47.006769 deg, deltaT: 4.468872 s, approachRate: -0.496767 m/s, LOS rate: -0.618730 deg/s, posRepo size: 4
2021-08-13T18:25:09.862Z,1628879109.862 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 185.399994 m,
      bearing: 47.006769 deg,
      approachRate: -0.496767 m/s,
      LOS rate: -0.618730 deg/s,
      cmd update: -1.856190 deg/s,
      cmd heading: 49.395453 deg,
      new cmd heading: 48.816714 deg.

2021-08-13T18:25:11.505Z,1628879111.505 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T18:25:12.267Z,1628879112.267 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:25:12.661Z,1628879112.661 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:25:12.661Z,1628879112.661 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:25:12.661Z,1628879112.661 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:25:12.662Z,1628879112.662 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:25:13.063Z,1628879113.063 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
113,000,00E83,186,80,80,A6,FF
2021-08-13T18:25:13.063Z,1628879113.063 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:25:13.063Z,1628879113.063 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:25:13.065Z,1628879113.065 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:25:13.465Z,1628879113.465 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:25:13.874Z,1628879113.874 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,013,000,00E83,186,80,80,A6,FF
2021-08-13T18:25:13.874Z,1628879113.874 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:25:14.313Z,1628879114.313 [Micromodem](INFO): Nmea in: $SNTTA,0.124165,,,,182513.59*45

2021-08-13T18:25:14.356Z,1628879114.356 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 185.399994 m, bearing: 53.463377 deg, deltaT: 4.339834 s, approachRate: 0.000000 m/s, LOS rate: 1.487755 deg/s, posRepo size: 4
2021-08-13T18:25:14.361Z,1628879114.361 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 185.399994 m,
      bearing: 53.463377 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 1.487755 deg/s,
      cmd update: 4.463264 deg/s,
      cmd heading: 41.337260 deg,
      new cmd heading: 40.495257 deg.

2021-08-13T18:25:16.730Z,1628879116.730 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:25:17.097Z,1628879117.097 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:25:17.097Z,1628879117.097 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:25:17.097Z,1628879117.097 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:25:17.098Z,1628879117.098 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:25:17.513Z,1628879117.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
013,000,00E83,186,80,80,A6,FF
2021-08-13T18:25:17.513Z,1628879117.513 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:25:17.513Z,1628879117.513 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:25:17.515Z,1628879117.515 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:25:17.919Z,1628879117.919 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:25:18.326Z,1628879118.326 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC0,000,00E83,186,80,80,A6,FF
2021-08-13T18:25:18.326Z,1628879118.326 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:25:18.746Z,1628879118.746 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182518.04*5D

2021-08-13T18:25:18.773Z,1628879118.773 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 185.399994 m, bearing: 51.454335 deg, deltaT: 4.448615 s, approachRate: 0.000000 m/s, LOS rate: -0.451611 deg/s, posRepo size: 4
2021-08-13T18:25:18.775Z,1628879118.775 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 185.399994 m,
      bearing: 51.454335 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.451611 deg/s,
      cmd update: -1.354832 deg/s,
      cmd heading: 61.190983 deg,
      new cmd heading: 63.086165 deg.

2021-08-13T18:25:21.158Z,1628879121.158 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:25:21.541Z,1628879121.541 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:25:21.541Z,1628879121.541 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:25:21.541Z,1628879121.541 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:25:21.542Z,1628879121.542 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:25:21.953Z,1628879121.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC0,000,00E83,186,80,80,A6,FF
2021-08-13T18:25:21.953Z,1628879121.953 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:25:21.953Z,1628879121.953 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:25:21.955Z,1628879121.955 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:25:22.361Z,1628879122.361 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:25:23.227Z,1628879123.227 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182522.48*5C

2021-08-13T18:25:23.999Z,1628879123.999 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:25:25.581Z,1628879125.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
3,186,80,80,A6,FF
2021-08-13T18:25:25.581Z,1628879125.581 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
3,186,80,80,A6,FF
2021-08-13T18:25:25.581Z,1628879125.581 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T18:25:26.822Z,1628879126.822 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:25:27.244Z,1628879127.244 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:25:27.245Z,1628879127.245 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:25:27.245Z,1628879127.245 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:25:27.247Z,1628879127.247 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:25:27.613Z,1628879127.613 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
3,186,80,80,A6,FF
2021-08-13T18:25:27.613Z,1628879127.613 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:25:27.613Z,1628879127.613 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:25:27.615Z,1628879127.615 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:25:28.008Z,1628879128.008 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:25:28.434Z,1628879128.434 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0BA,000,00DE3,186,80,80,A6,FF
2021-08-13T18:25:28.435Z,1628879128.435 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:25:28.853Z,1628879128.853 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182528.14*5F

2021-08-13T18:25:28.883Z,1628879128.883 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 175.799988 m, bearing: 48.227286 deg, deltaT: 10.118219 s, approachRate: -0.948784 m/s, LOS rate: -0.318935 deg/s, posRepo size: 4
2021-08-13T18:25:28.887Z,1628879128.887 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 175.799988 m,
      bearing: 48.227286 deg,
      approachRate: -0.948784 m/s,
      LOS rate: -0.318935 deg/s,
      cmd update: -0.956804 deg/s,
      cmd heading: 47.478811 deg,
      new cmd heading: 46.918065 deg.

2021-08-13T18:25:31.349Z,1628879131.349 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:25:31.653Z,1628879131.653 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:25:31.653Z,1628879131.653 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:25:31.653Z,1628879131.653 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:25:31.654Z,1628879131.654 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:25:32.053Z,1628879132.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0BA,000,00DE3,186,80,80,A6,FF
2021-08-13T18:25:32.053Z,1628879132.053 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:25:32.054Z,1628879132.054 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:25:32.056Z,1628879132.056 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:25:32.464Z,1628879132.464 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:25:32.862Z,1628879132.862 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,034,000,00DE3,186,80,80,A6,FF
2021-08-13T18:25:32.862Z,1628879132.862 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:25:33.315Z,1628879133.315 [Micromodem](INFO): Nmea in: $SNTTA,0.478931,0.478712,,,182532.58*53

2021-08-13T18:25:33.350Z,1628879133.350 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 175.799988 m, bearing: 49.390655 deg, deltaT: 4.445868 s, approachRate: 0.000000 m/s, LOS rate: 0.261674 deg/s, posRepo size: 4
2021-08-13T18:25:33.386Z,1628879133.386 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 175.799988 m,
      bearing: 49.390655 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.261674 deg/s,
      cmd update: 0.785023 deg/s,
      cmd heading: 43.252731 deg,
      new cmd heading: 42.807879 deg.

2021-08-13T18:25:35.715Z,1628879135.715 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:25:36.085Z,1628879136.085 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:25:36.085Z,1628879136.085 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:25:36.085Z,1628879136.085 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:25:36.086Z,1628879136.086 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:25:36.489Z,1628879136.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
034,000,00DE3,186,80,80,A6,FF
2021-08-13T18:25:36.489Z,1628879136.489 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:25:36.489Z,1628879136.489 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:25:36.491Z,1628879136.491 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:25:36.907Z,1628879136.907 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:25:37.314Z,1628879137.314 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,004,000,00D9B,183,80,80,A6,FF
2021-08-13T18:25:37.314Z,1628879137.314 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:25:37.737Z,1628879137.737 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182537.01*55

2021-08-13T18:25:37.791Z,1628879137.791 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 171.480011 m, bearing: 48.228171 deg, deltaT: 4.513615 s, approachRate: -0.957099 m/s, LOS rate: -0.257551 deg/s, posRepo size: 4
2021-08-13T18:25:37.797Z,1628879137.797 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 171.480011 m,
      bearing: 48.228171 deg,
      approachRate: -0.957099 m/s,
      LOS rate: -0.257551 deg/s,
      cmd update: -0.772652 deg/s,
      cmd heading: 46.812608 deg,
      new cmd heading: 47.103660 deg.

2021-08-13T18:25:40.143Z,1628879140.143 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:25:40.529Z,1628879140.529 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:25:40.529Z,1628879140.529 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:25:40.529Z,1628879140.529 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:25:40.530Z,1628879140.530 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:25:40.949Z,1628879140.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
004,000,00D9B,183,80,80,A6,FF
2021-08-13T18:25:40.949Z,1628879140.949 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:25:40.950Z,1628879140.950 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:25:40.951Z,1628879140.951 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:25:41.457Z,1628879141.457 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:25:41.758Z,1628879141.758 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,01D,000,00D9B,183,80,80,A6,FF
2021-08-13T18:25:41.758Z,1628879141.758 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:25:42.178Z,1628879142.178 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182541.48*59

2021-08-13T18:25:42.200Z,1628879142.200 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 171.480011 m, bearing: 48.538627 deg, deltaT: 4.352848 s, approachRate: 0.000000 m/s, LOS rate: 0.071323 deg/s, posRepo size: 4
2021-08-13T18:25:42.202Z,1628879142.202 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 171.480011 m,
      bearing: 48.538627 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.071323 deg/s,
      cmd update: 0.213968 deg/s,
      cmd heading: 43.444407 deg,
      new cmd heading: 43.119873 deg.

2021-08-13T18:25:44.602Z,1628879144.602 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:25:44.997Z,1628879144.997 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:25:44.997Z,1628879144.997 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:25:44.997Z,1628879144.997 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:25:44.998Z,1628879144.998 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:25:45.381Z,1628879145.381 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
01D,000,00D9B,183,80,80,A6,FF
2021-08-13T18:25:45.382Z,1628879145.382 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:25:45.382Z,1628879145.382 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:25:45.388Z,1628879145.388 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:25:45.804Z,1628879145.804 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:25:46.190Z,1628879146.190 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF7,000,00D9B,183,80,80,A6,FF
2021-08-13T18:25:46.190Z,1628879146.190 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:25:46.621Z,1628879146.621 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182545.92*5A

2021-08-13T18:25:46.680Z,1628879146.680 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 171.480011 m, bearing: 48.993155 deg, deltaT: 4.458342 s, approachRate: 0.000000 m/s, LOS rate: 0.101950 deg/s, posRepo size: 4
2021-08-13T18:25:46.682Z,1628879146.682 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 171.480011 m,
      bearing: 48.993155 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.101950 deg/s,
      cmd update: 0.305850 deg/s,
      cmd heading: 44.397827 deg,
      new cmd heading: 44.492009 deg.

2021-08-13T18:25:49.080Z,1628879149.080 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:25:49.449Z,1628879149.449 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:25:49.449Z,1628879149.449 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:25:49.449Z,1628879149.449 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:25:49.450Z,1628879149.450 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:25:49.834Z,1628879149.834 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF7,000,00D9B,183,80,80,A6,FF
2021-08-13T18:25:49.834Z,1628879149.834 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:25:49.835Z,1628879149.835 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:25:49.837Z,1628879149.837 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:25:50.229Z,1628879150.229 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:25:50.642Z,1628879150.642 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FEE,000,00D2B,183,80,80,A6,FF
2021-08-13T18:25:50.643Z,1628879150.643 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:25:51.065Z,1628879151.065 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182550.36*50

2021-08-13T18:25:51.100Z,1628879151.100 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 164.759995 m, bearing: 48.896638 deg, deltaT: 4.476058 s, approachRate: -1.501325 m/s, LOS rate: -0.021563 deg/s, posRepo size: 4
2021-08-13T18:25:51.102Z,1628879151.102 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 164.759995 m,
      bearing: 48.896638 deg,
      approachRate: -1.501325 m/s,
      LOS rate: -0.021563 deg/s,
      cmd update: -0.064689 deg/s,
      cmd heading: 45.766828 deg,
      new cmd heading: 45.885703 deg.

2021-08-13T18:25:53.528Z,1628879153.528 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:25:53.862Z,1628879153.862 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:25:53.862Z,1628879153.862 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:25:53.862Z,1628879153.862 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:25:53.863Z,1628879153.863 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:25:54.265Z,1628879154.265 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FEE,000,00D2B,183,80,80,A6,FF
2021-08-13T18:25:54.265Z,1628879154.265 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:25:54.265Z,1628879154.265 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:25:54.267Z,1628879154.267 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:25:54.686Z,1628879154.686 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:25:55.073Z,1628879155.073 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF8,000,00D07,183,80,80,A6,FF
2021-08-13T18:25:55.074Z,1628879155.074 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:25:55.518Z,1628879155.518 [Micromodem](INFO): Nmea in: $SNTTA,0.120239,,,,182554.79*4A

2021-08-13T18:25:55.609Z,1628879155.609 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 162.599991 m, bearing: 48.843735 deg, deltaT: 4.403917 s, approachRate: -0.490473 m/s, LOS rate: -0.012013 deg/s, posRepo size: 4
2021-08-13T18:25:55.611Z,1628879155.611 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 162.599991 m,
      bearing: 48.843735 deg,
      approachRate: -0.490473 m/s,
      LOS rate: -0.012013 deg/s,
      cmd update: -0.036038 deg/s,
      cmd heading: 45.481946 deg,
      new cmd heading: 45.450027 deg.

2021-08-13T18:25:57.941Z,1628879157.941 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:25:58.305Z,1628879158.305 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:25:58.305Z,1628879158.305 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:25:58.305Z,1628879158.305 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:25:58.306Z,1628879158.306 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:25:58.709Z,1628879158.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF8,000,00D07,183,80,80,A6,FF
2021-08-13T18:25:58.709Z,1628879158.709 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:25:58.709Z,1628879158.709 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:25:58.711Z,1628879158.711 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:25:59.137Z,1628879159.137 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:25:59.528Z,1628879159.528 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FFB,000,00CE4,183,80,80,A6,FF
2021-08-13T18:25:59.529Z,1628879159.529 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:25:59.957Z,1628879159.957 [Micromodem](INFO): Nmea in: $SNTTA,0.115467,,,,182559.24*44

2021-08-13T18:25:59.979Z,1628879159.979 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 160.500000 m, bearing: 49.090731 deg, deltaT: 4.519037 s, approachRate: -0.464699 m/s, LOS rate: 0.054657 deg/s, posRepo size: 4
2021-08-13T18:25:59.982Z,1628879159.982 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 160.500000 m,
      bearing: 49.090731 deg,
      approachRate: -0.464699 m/s,
      LOS rate: 0.054657 deg/s,
      cmd update: 0.163971 deg/s,
      cmd heading: 45.319080 deg,
      new cmd heading: 45.306652 deg.

2021-08-13T18:26:02.430Z,1628879162.430 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:26:02.749Z,1628879162.749 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:26:02.749Z,1628879162.749 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:26:02.749Z,1628879162.749 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:26:02.750Z,1628879162.750 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:26:03.161Z,1628879163.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FFB,000,00CE4,183,80,80,A6,FF
2021-08-13T18:26:03.161Z,1628879163.161 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:26:03.161Z,1628879163.161 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:26:03.163Z,1628879163.163 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:26:03.561Z,1628879163.561 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:26:03.968Z,1628879163.968 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,001,000,00CC0,182,80,80,A6,FF
2021-08-13T18:26:03.969Z,1628879163.969 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:26:04.425Z,1628879164.425 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182603.69*5F

2021-08-13T18:26:04.483Z,1628879164.483 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 158.339996 m, bearing: 48.981677 deg, deltaT: 4.354973 s, approachRate: -0.495986 m/s, LOS rate: -0.025041 deg/s, posRepo size: 4
2021-08-13T18:26:04.486Z,1628879164.486 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 158.339996 m,
      bearing: 48.981677 deg,
      approachRate: -0.495986 m/s,
      LOS rate: -0.025041 deg/s,
      cmd update: -0.075124 deg/s,
      cmd heading: 46.033802 deg,
      new cmd heading: 46.113732 deg.

2021-08-13T18:26:06.807Z,1628879166.807 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:26:07.200Z,1628879167.200 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:26:07.200Z,1628879167.200 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:26:07.201Z,1628879167.201 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:26:07.202Z,1628879167.202 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:26:07.602Z,1628879167.602 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
001,000,00CC0,182,80,80,A6,FF
2021-08-13T18:26:07.602Z,1628879167.602 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:26:07.602Z,1628879167.602 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:26:07.604Z,1628879167.604 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:26:08.005Z,1628879168.005 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:26:08.453Z,1628879168.453 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,003,000,00C9C,183,80,80,B6,FF
2021-08-13T18:26:08.453Z,1628879168.453 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:26:08.841Z,1628879168.841 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182608.13*59

2021-08-13T18:26:08.877Z,1628879168.877 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 156.180008 m, bearing: 49.170283 deg, deltaT: 4.487692 s, approachRate: -0.481314 m/s, LOS rate: 0.042027 deg/s, posRepo size: 4
2021-08-13T18:26:08.880Z,1628879168.880 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 156.180008 m,
      bearing: 49.170283 deg,
      approachRate: -0.481314 m/s,
      LOS rate: 0.042027 deg/s,
      cmd update: 0.126082 deg/s,
      cmd heading: 45.696696 deg,
      new cmd heading: 45.667025 deg.

2021-08-13T18:26:11.345Z,1628879171.345 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:26:11.653Z,1628879171.653 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:26:11.653Z,1628879171.653 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:26:11.653Z,1628879171.653 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:26:11.654Z,1628879171.654 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:26:12.065Z,1628879172.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
003,000,00C9C,183,80,80,B6,FF
2021-08-13T18:26:12.065Z,1628879172.065 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:26:12.066Z,1628879172.066 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:26:12.067Z,1628879172.067 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:26:12.465Z,1628879172.465 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:26:12.866Z,1628879172.866 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,00B,000,00C7C,183,80,80,B6,FF
2021-08-13T18:26:12.866Z,1628879172.866 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:26:13.322Z,1628879173.322 [Micromodem](INFO): Nmea in: $SNTTA,0.102564,,,,182612.59*46

2021-08-13T18:26:13.405Z,1628879173.405 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 154.259995 m, bearing: 49.130866 deg, deltaT: 4.439549 s, approachRate: -0.432479 m/s, LOS rate: -0.008879 deg/s, posRepo size: 4
2021-08-13T18:26:13.413Z,1628879173.413 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 154.259995 m,
      bearing: 49.130866 deg,
      approachRate: -0.432479 m/s,
      LOS rate: -0.008879 deg/s,
      cmd update: -0.026636 deg/s,
      cmd heading: 46.252677 deg,
      new cmd heading: 46.312266 deg.

2021-08-13T18:26:15.746Z,1628879175.746 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:26:16.097Z,1628879176.097 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:26:16.097Z,1628879176.097 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:26:16.097Z,1628879176.097 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:26:16.098Z,1628879176.098 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:26:16.513Z,1628879176.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
00B,000,00C7C,183,80,80,B6,FF
2021-08-13T18:26:16.513Z,1628879176.513 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:26:16.513Z,1628879176.513 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:26:16.515Z,1628879176.515 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:26:16.911Z,1628879176.911 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:26:17.337Z,1628879177.337 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,006,000,00C59,183,80,80,AE,FF
2021-08-13T18:26:17.337Z,1628879177.337 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:26:17.361Z,1628879177.361 [Micromodem](INFO): Nmea in: $SNTTA,0.290503,0.290428,,,182617.04*59

2021-08-13T18:26:17.748Z,1628879177.748 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 152.160004 m, bearing: 49.785403 deg, deltaT: 4.590445 s, approachRate: -0.457470 m/s, LOS rate: 0.142587 deg/s, posRepo size: 4
2021-08-13T18:26:17.750Z,1628879177.750 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 152.160004 m,
      bearing: 49.785403 deg,
      approachRate: -0.457470 m/s,
      LOS rate: 0.142587 deg/s,
      cmd update: 0.427761 deg/s,
      cmd heading: 46.130032 deg,
      new cmd heading: 46.123299 deg.

2021-08-13T18:26:20.159Z,1628879180.159 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:26:20.553Z,1628879180.553 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:26:20.553Z,1628879180.553 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:26:20.553Z,1628879180.553 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:26:20.554Z,1628879180.554 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:26:20.953Z,1628879180.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
006,000,00C59,183,80,80,AE,FF
2021-08-13T18:26:20.953Z,1628879180.953 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:26:20.954Z,1628879180.954 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:26:20.955Z,1628879180.955 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:26:21.405Z,1628879181.405 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:26:21.781Z,1628879181.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,013,000,00C39,183,80,80,B8,FF
2021-08-13T18:26:21.781Z,1628879181.781 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:26:22.217Z,1628879182.217 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 150.239990 m, bearing: 48.941840 deg, deltaT: 4.367464 s, approachRate: -0.439617 m/s, LOS rate: -0.193147 deg/s, posRepo size: 4
2021-08-13T18:26:22.219Z,1628879182.219 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 150.239990 m,
      bearing: 48.941840 deg,
      approachRate: -0.439617 m/s,
      LOS rate: -0.193147 deg/s,
      cmd update: -0.579441 deg/s,
      cmd heading: 48.003923 deg,
      new cmd heading: 48.149910 deg.

2021-08-13T18:26:24.641Z,1628879184.641 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:26:25.005Z,1628879185.005 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:26:25.005Z,1628879185.005 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:26:25.005Z,1628879185.005 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:26:25.006Z,1628879185.006 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:26:25.441Z,1628879185.441 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
013,000,00C39,183,80,80,B8,FF
2021-08-13T18:26:25.441Z,1628879185.441 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:26:25.441Z,1628879185.441 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:26:25.443Z,1628879185.443 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:26:25.824Z,1628879185.824 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:26:26.218Z,1628879186.218 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,01E,000,00C39,183,80,80,B8,FF
2021-08-13T18:26:26.218Z,1628879186.218 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:26:26.639Z,1628879186.639 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182625.97*5A

2021-08-13T18:26:26.678Z,1628879186.678 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 150.239990 m, bearing: 49.181224 deg, deltaT: 4.388469 s, approachRate: 0.000000 m/s, LOS rate: 0.054549 deg/s, posRepo size: 4
2021-08-13T18:26:26.680Z,1628879186.680 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 150.239990 m,
      bearing: 49.181224 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.054549 deg/s,
      cmd update: 0.163646 deg/s,
      cmd heading: 45.459313 deg,
      new cmd heading: 45.221222 deg.

2021-08-13T18:26:29.074Z,1628879189.074 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:26:29.458Z,1628879189.458 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:26:29.458Z,1628879189.458 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:26:29.458Z,1628879189.458 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:26:29.459Z,1628879189.459 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:26:29.853Z,1628879189.853 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
01E,000,00C39,183,80,80,B8,FF
2021-08-13T18:26:29.853Z,1628879189.853 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:26:29.853Z,1628879189.853 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:26:29.855Z,1628879189.855 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:26:30.261Z,1628879190.261 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:26:30.665Z,1628879190.665 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,002,000,00BF2,182,80,80,A9,FF
2021-08-13T18:26:30.665Z,1628879190.665 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:26:31.109Z,1628879191.109 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182630.38*5B

2021-08-13T18:26:31.125Z,1628879191.125 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 145.979996 m, bearing: 49.149392 deg, deltaT: 4.507368 s, approachRate: -0.945118 m/s, LOS rate: -0.007062 deg/s, posRepo size: 4
2021-08-13T18:26:31.127Z,1628879191.127 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 145.979996 m,
      bearing: 49.149392 deg,
      approachRate: -0.945118 m/s,
      LOS rate: -0.007062 deg/s,
      cmd update: -0.021187 deg/s,
      cmd heading: 46.196863 deg,
      new cmd heading: 46.254265 deg.

2021-08-13T18:26:33.574Z,1628879193.574 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:26:33.894Z,1628879193.894 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:26:33.894Z,1628879193.894 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:26:33.894Z,1628879193.894 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:26:33.895Z,1628879193.895 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:26:34.297Z,1628879194.297 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
002,000,00BF2,182,80,80,A9,FF
2021-08-13T18:26:34.297Z,1628879194.297 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:26:34.297Z,1628879194.297 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:26:34.299Z,1628879194.299 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:26:34.704Z,1628879194.704 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:26:35.109Z,1628879195.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,006,000,00BCD,183,80,80,B8,FF
2021-08-13T18:26:35.109Z,1628879195.109 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:26:35.554Z,1628879195.554 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182634.82*5E

2021-08-13T18:26:35.625Z,1628879195.625 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 143.759995 m, bearing: 49.329020 deg, deltaT: 4.379800 s, approachRate: -0.506873 m/s, LOS rate: 0.041013 deg/s, posRepo size: 4
2021-08-13T18:26:35.627Z,1628879195.627 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 143.759995 m,
      bearing: 49.329020 deg,
      approachRate: -0.506873 m/s,
      LOS rate: 0.041013 deg/s,
      cmd update: 0.123038 deg/s,
      cmd heading: 46.104147 deg,
      new cmd heading: 46.094196 deg.

2021-08-13T18:26:37.967Z,1628879197.967 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:26:38.337Z,1628879198.337 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:26:38.337Z,1628879198.337 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:26:38.337Z,1628879198.337 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:26:38.338Z,1628879198.338 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:26:38.745Z,1628879198.745 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
006,000,00BCD,183,80,80,B8,FF
2021-08-13T18:26:38.745Z,1628879198.745 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:26:38.745Z,1628879198.745 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:26:38.747Z,1628879198.747 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:26:39.233Z,1628879199.233 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:26:39.568Z,1628879199.568 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,003,000,00BAE,182,80,80,B0,FF
2021-08-13T18:26:39.569Z,1628879199.569 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:26:39.989Z,1628879199.989 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182639.27*5C

2021-08-13T18:26:40.011Z,1628879200.011 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 141.899994 m, bearing: 50.195029 deg, deltaT: 4.458174 s, approachRate: -0.417211 m/s, LOS rate: 0.194252 deg/s, posRepo size: 4
2021-08-13T18:26:40.014Z,1628879200.014 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 141.899994 m,
      bearing: 50.195029 deg,
      approachRate: -0.417211 m/s,
      LOS rate: 0.194252 deg/s,
      cmd update: 0.582756 deg/s,
      cmd heading: 46.651175 deg,
      new cmd heading: 46.702257 deg.

2021-08-13T18:26:42.436Z,1628879202.436 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:26:42.785Z,1628879202.785 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:26:42.785Z,1628879202.785 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:26:42.785Z,1628879202.785 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:26:42.786Z,1628879202.786 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:26:43.189Z,1628879203.189 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
003,000,00BAE,182,80,80,B0,FF
2021-08-13T18:26:43.190Z,1628879203.190 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:26:43.190Z,1628879203.190 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:26:43.196Z,1628879203.196 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:26:43.615Z,1628879203.615 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:26:44.013Z,1628879204.013 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,015,000,00B88,183,80,80,AD,FF
2021-08-13T18:26:44.013Z,1628879204.013 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:26:44.461Z,1628879204.461 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182643.72*51

2021-08-13T18:26:44.491Z,1628879204.491 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 139.619995 m, bearing: 49.955864 deg, deltaT: 4.445670 s, approachRate: -0.512858 m/s, LOS rate: -0.053797 deg/s, posRepo size: 4
2021-08-13T18:26:44.519Z,1628879204.519 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 139.619995 m,
      bearing: 49.955864 deg,
      approachRate: -0.512858 m/s,
      LOS rate: -0.053797 deg/s,
      cmd update: -0.161392 deg/s,
      cmd heading: 49.249133 deg,
      new cmd heading: 49.503860 deg.

2021-08-13T18:26:46.871Z,1628879206.871 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:26:47.269Z,1628879207.269 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:26:47.269Z,1628879207.269 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:26:47.270Z,1628879207.270 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:26:47.271Z,1628879207.271 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:26:47.653Z,1628879207.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
015,000,00B88,183,80,80,AD,FF
2021-08-13T18:26:47.653Z,1628879207.653 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:26:47.653Z,1628879207.653 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:26:47.655Z,1628879207.655 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:26:48.050Z,1628879208.050 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:26:48.470Z,1628879208.470 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,037,000,00B63,185,80,80,BC,FF
2021-08-13T18:26:48.470Z,1628879208.470 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:26:48.869Z,1628879208.869 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182648.18*56

2021-08-13T18:26:48.913Z,1628879208.913 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 137.399994 m, bearing: 49.878764 deg, deltaT: 4.438915 s, approachRate: -0.500122 m/s, LOS rate: -0.017369 deg/s, posRepo size: 4
2021-08-13T18:26:48.915Z,1628879208.915 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 137.399994 m,
      bearing: 49.878764 deg,
      approachRate: -0.500122 m/s,
      LOS rate: -0.017369 deg/s,
      cmd update: -0.052107 deg/s,
      cmd heading: 48.532165 deg,
      new cmd heading: 48.464998 deg.

2021-08-13T18:26:51.419Z,1628879211.419 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:26:51.685Z,1628879211.685 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:26:51.685Z,1628879211.685 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:26:51.685Z,1628879211.685 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:26:51.686Z,1628879211.686 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:26:52.077Z,1628879212.077 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
037,000,00B63,185,80,80,BC,FF
2021-08-13T18:26:52.077Z,1628879212.077 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:26:52.077Z,1628879212.077 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:26:52.079Z,1628879212.079 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:26:52.499Z,1628879212.499 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:26:52.894Z,1628879212.894 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,02F,000,00B3F,184,80,80,BC,FF
2021-08-13T18:26:52.895Z,1628879212.895 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:26:53.337Z,1628879213.337 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182652.60*52

2021-08-13T18:26:53.445Z,1628879213.445 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 135.240005 m, bearing: 50.169556 deg, deltaT: 4.443324 s, approachRate: -0.486120 m/s, LOS rate: 0.065445 deg/s, posRepo size: 4
2021-08-13T18:26:53.447Z,1628879213.447 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 135.240005 m,
      bearing: 50.169556 deg,
      approachRate: -0.486120 m/s,
      LOS rate: 0.065445 deg/s,
      cmd update: 0.196334 deg/s,
      cmd heading: 48.300628 deg,
      new cmd heading: 48.274344 deg.

2021-08-13T18:26:55.761Z,1628879215.761 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:26:56.117Z,1628879216.117 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:26:56.117Z,1628879216.117 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:26:56.117Z,1628879216.117 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:26:56.118Z,1628879216.118 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:26:56.530Z,1628879216.530 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
02F,000,00B3F,184,80,80,BC,FF
2021-08-13T18:26:56.530Z,1628879216.530 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:26:56.531Z,1628879216.531 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:26:56.533Z,1628879216.533 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:26:56.941Z,1628879216.941 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:26:57.338Z,1628879217.338 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,035,000,00B19,184,80,80,B4,FF
2021-08-13T18:26:57.338Z,1628879217.338 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:26:57.765Z,1628879217.765 [Micromodem](INFO): Nmea in: $SNTTA,0.090745,,,,182657.06*46

2021-08-13T18:26:57.795Z,1628879217.795 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 132.960007 m, bearing: 50.313410 deg, deltaT: 4.513642 s, approachRate: -0.505135 m/s, LOS rate: 0.031871 deg/s, posRepo size: 4
2021-08-13T18:26:57.797Z,1628879217.797 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 132.960007 m,
      bearing: 50.313410 deg,
      approachRate: -0.505135 m/s,
      LOS rate: 0.031871 deg/s,
      cmd update: 0.095613 deg/s,
      cmd heading: 49.186852 deg,
      new cmd heading: 49.253790 deg.

2021-08-13T18:27:00.192Z,1628879220.192 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:27:00.565Z,1628879220.565 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:27:00.566Z,1628879220.566 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:27:00.566Z,1628879220.566 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:27:00.567Z,1628879220.567 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:27:00.961Z,1628879220.961 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
035,000,00B19,184,80,80,B4,FF
2021-08-13T18:27:00.961Z,1628879220.961 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:27:00.961Z,1628879220.961 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:27:00.963Z,1628879220.963 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:27:01.405Z,1628879221.405 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:27:01.774Z,1628879221.774 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,04E,000,00AF6,184,80,80,BC,FF
2021-08-13T18:27:01.774Z,1628879221.774 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:27:02.210Z,1628879222.210 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182701.49*5E

2021-08-13T18:27:02.256Z,1628879222.256 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 130.860001 m, bearing: 49.803110 deg, deltaT: 4.365374 s, approachRate: -0.481060 m/s, LOS rate: -0.116897 deg/s, posRepo size: 4
2021-08-13T18:27:02.258Z,1628879222.258 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 130.860001 m,
      bearing: 49.803110 deg,
      approachRate: -0.481060 m/s,
      LOS rate: -0.116897 deg/s,
      cmd update: -0.350692 deg/s,
      cmd heading: 49.601956 deg,
      new cmd heading: 49.645571 deg.

2021-08-13T18:27:04.680Z,1628879224.680 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:27:05.013Z,1628879225.013 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:27:05.014Z,1628879225.014 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:27:05.014Z,1628879225.014 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:27:05.015Z,1628879225.015 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:27:05.450Z,1628879225.450 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
04E,000,00AF6,184,80,80,BC,FF
2021-08-13T18:27:05.451Z,1628879225.451 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:27:05.451Z,1628879225.451 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:27:05.453Z,1628879225.453 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:27:05.825Z,1628879225.825 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:27:06.222Z,1628879226.222 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,06D,000,00ACB,186,80,80,BC,FF
2021-08-13T18:27:06.222Z,1628879226.222 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:27:06.659Z,1628879226.659 [Micromodem](INFO): Nmea in: $SNTTA,0.091134,,,,182705.98*46

2021-08-13T18:27:06.707Z,1628879226.707 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 128.279999 m, bearing: 49.058903 deg, deltaT: 4.476435 s, approachRate: -0.576352 m/s, LOS rate: -0.166250 deg/s, posRepo size: 4
2021-08-13T18:27:06.709Z,1628879226.709 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 128.279999 m,
      bearing: 49.058903 deg,
      approachRate: -0.576352 m/s,
      LOS rate: -0.166250 deg/s,
      cmd update: -0.498750 deg/s,
      cmd heading: 48.025081 deg,
      new cmd heading: 47.879517 deg.

2021-08-13T18:27:09.078Z,1628879229.078 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:27:09.453Z,1628879229.453 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:27:09.453Z,1628879229.453 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:27:09.453Z,1628879229.453 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:27:09.454Z,1628879229.454 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:27:09.861Z,1628879229.861 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
06D,000,00ACB,186,80,80,BC,FF
2021-08-13T18:27:09.861Z,1628879229.861 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:27:09.861Z,1628879229.861 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:27:09.863Z,1628879229.863 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:27:10.265Z,1628879230.265 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:27:10.669Z,1628879230.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,03F,000,00AA7,185,80,80,BC,FF
2021-08-13T18:27:10.669Z,1628879230.669 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:27:11.117Z,1628879231.117 [Micromodem](INFO): Nmea in: $SNTTA,0.090926,,,,182710.39*43

2021-08-13T18:27:11.142Z,1628879231.142 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 126.120003 m, bearing: 49.759701 deg, deltaT: 4.441720 s, approachRate: -0.486297 m/s, LOS rate: 0.157776 deg/s, posRepo size: 4
2021-08-13T18:27:11.146Z,1628879231.146 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 126.120003 m,
      bearing: 49.759701 deg,
      approachRate: -0.486297 m/s,
      LOS rate: 0.157776 deg/s,
      cmd update: 0.473329 deg/s,
      cmd heading: 45.809775 deg,
      new cmd heading: 45.606259 deg.

2021-08-13T18:27:13.579Z,1628879233.579 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:27:13.910Z,1628879233.910 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:27:13.910Z,1628879233.910 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:27:13.910Z,1628879233.910 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:27:13.911Z,1628879233.911 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:27:14.301Z,1628879234.301 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
03F,000,00AA7,185,80,80,BC,FF
2021-08-13T18:27:14.301Z,1628879234.301 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:27:14.301Z,1628879234.301 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:27:14.303Z,1628879234.303 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:27:14.728Z,1628879234.728 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:27:15.113Z,1628879235.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,029,000,00A82,184,80,80,B0,FF
2021-08-13T18:27:15.114Z,1628879235.114 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:27:15.557Z,1628879235.557 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182714.82*5D

2021-08-13T18:27:15.637Z,1628879235.637 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 123.900009 m, bearing: 49.265871 deg, deltaT: 4.416484 s, approachRate: -0.502661 m/s, LOS rate: -0.111815 deg/s, posRepo size: 4
2021-08-13T18:27:15.639Z,1628879235.639 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 123.900009 m,
      bearing: 49.265871 deg,
      approachRate: -0.502661 m/s,
      LOS rate: -0.111815 deg/s,
      cmd update: -0.335445 deg/s,
      cmd heading: 47.900237 deg,
      new cmd heading: 48.127033 deg.

2021-08-13T18:27:17.970Z,1628879237.970 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:27:18.341Z,1628879238.341 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:27:18.341Z,1628879238.341 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:27:18.341Z,1628879238.341 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:27:18.342Z,1628879238.342 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:27:18.749Z,1628879238.749 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
029,000,00A82,184,80,80,B0,FF
2021-08-13T18:27:18.749Z,1628879238.749 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:27:18.750Z,1628879238.750 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:27:18.751Z,1628879238.751 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:27:19.174Z,1628879239.174 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:27:19.565Z,1628879239.565 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,03C,000,00A5C,184,80,80,C6,FF
2021-08-13T18:27:19.565Z,1628879239.565 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:27:19.998Z,1628879239.998 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182719.27*5F

2021-08-13T18:27:20.020Z,1628879240.020 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 121.620010 m, bearing: 48.620087 deg, deltaT: 4.502024 s, approachRate: -0.506439 m/s, LOS rate: -0.143443 deg/s, posRepo size: 4
2021-08-13T18:27:20.022Z,1628879240.022 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 121.620010 m,
      bearing: 48.620087 deg,
      approachRate: -0.506439 m/s,
      LOS rate: -0.143443 deg/s,
      cmd update: -0.430329 deg/s,
      cmd heading: 46.388714 deg,
      new cmd heading: 46.266872 deg.

2021-08-13T18:27:22.442Z,1628879242.442 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:27:22.789Z,1628879242.789 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:27:22.789Z,1628879242.789 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:27:22.789Z,1628879242.789 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:27:22.790Z,1628879242.790 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:27:23.205Z,1628879243.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
03C,000,00A5C,184,80,80,C6,FF
2021-08-13T18:27:23.205Z,1628879243.205 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:27:23.206Z,1628879243.206 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:27:23.216Z,1628879243.216 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:27:23.614Z,1628879243.614 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:27:24.001Z,1628879244.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,02D,000,00A34,185,80,80,AC,FF
2021-08-13T18:27:24.001Z,1628879244.001 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:27:24.449Z,1628879244.449 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182723.74*50

2021-08-13T18:27:24.475Z,1628879244.475 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 119.220001 m, bearing: 49.290484 deg, deltaT: 4.390488 s, approachRate: -0.546638 m/s, LOS rate: 0.152693 deg/s, posRepo size: 4
2021-08-13T18:27:24.477Z,1628879244.477 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 119.220001 m,
      bearing: 49.290484 deg,
      approachRate: -0.546638 m/s,
      LOS rate: 0.152693 deg/s,
      cmd update: 0.458079 deg/s,
      cmd heading: 44.511720 deg,
      new cmd heading: 44.315055 deg.

2021-08-13T18:27:26.847Z,1628879246.847 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:27:27.277Z,1628879247.277 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:27:27.277Z,1628879247.277 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:27:27.277Z,1628879247.277 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:27:27.278Z,1628879247.278 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:27:27.641Z,1628879247.641 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
02D,000,00A34,185,80,80,AC,FF
2021-08-13T18:27:27.641Z,1628879247.641 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:27:27.641Z,1628879247.641 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:27:27.643Z,1628879247.643 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:27:28.049Z,1628879248.049 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:27:28.461Z,1628879248.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FFE,000,00A12,182,80,80,6F,FF
2021-08-13T18:27:28.461Z,1628879248.461 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:27:28.894Z,1628879248.894 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182728.17*5E

2021-08-13T18:27:28.918Z,1628879248.918 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 117.180000 m, bearing: 50.541115 deg, deltaT: 4.440707 s, approachRate: -0.459387 m/s, LOS rate: 0.281629 deg/s, posRepo size: 4
2021-08-13T18:27:28.940Z,1628879248.940 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 117.180000 m,
      bearing: 50.541115 deg,
      approachRate: -0.459387 m/s,
      LOS rate: 0.281629 deg/s,
      cmd update: 0.844887 deg/s,
      cmd heading: 46.559072 deg,
      new cmd heading: 46.756208 deg.

2021-08-13T18:27:31.325Z,1628879251.325 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:27:31.677Z,1628879251.677 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:27:31.677Z,1628879251.677 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:27:31.677Z,1628879251.677 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:27:31.678Z,1628879251.678 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:27:32.083Z,1628879252.083 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FFE,000,00A12,182,80,80,6F,FF
2021-08-13T18:27:32.083Z,1628879252.083 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:27:32.083Z,1628879252.083 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:27:32.085Z,1628879252.085 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:27:32.492Z,1628879252.492 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:27:32.898Z,1628879252.898 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,010,000,009F1,183,80,80,7E,FF
2021-08-13T18:27:32.898Z,1628879252.898 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:27:33.333Z,1628879253.333 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182732.61*54

2021-08-13T18:27:33.427Z,1628879253.427 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 115.200005 m, bearing: 50.337743 deg, deltaT: 4.448150 s, approachRate: -0.445128 m/s, LOS rate: -0.045721 deg/s, posRepo size: 4
2021-08-13T18:27:33.433Z,1628879253.433 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 115.200005 m,
      bearing: 50.337743 deg,
      approachRate: -0.445128 m/s,
      LOS rate: -0.045721 deg/s,
      cmd update: -0.137162 deg/s,
      cmd heading: 50.317259 deg,
      new cmd heading: 50.731955 deg.

2021-08-13T18:27:35.756Z,1628879255.756 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:27:36.117Z,1628879256.117 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:27:36.117Z,1628879256.117 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:27:36.117Z,1628879256.117 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:27:36.118Z,1628879256.118 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:27:36.537Z,1628879256.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
010,000,009F1,183,80,80,7E,FF
2021-08-13T18:27:36.537Z,1628879256.537 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:27:36.538Z,1628879256.538 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:27:36.539Z,1628879256.539 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:27:36.941Z,1628879256.941 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:27:37.364Z,1628879257.364 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,063,000,009F1,183,80,80,7E,FF
2021-08-13T18:27:37.366Z,1628879257.366 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:27:37.378Z,1628879257.378 [Micromodem](INFO): Nmea in: $SNTTA,0.075110,0.230657,,,182737.16*56

2021-08-13T18:27:37.782Z,1628879257.782 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 115.200005 m, bearing: 49.586425 deg, deltaT: 4.540417 s, approachRate: 0.000000 m/s, LOS rate: -0.165473 deg/s, posRepo size: 4
2021-08-13T18:27:37.784Z,1628879257.784 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 115.200005 m,
      bearing: 49.586425 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.165473 deg/s,
      cmd update: -0.496420 deg/s,
      cmd heading: 49.694500 deg,
      new cmd heading: 49.652550 deg.

2021-08-13T18:27:40.195Z,1628879260.195 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:27:40.569Z,1628879260.569 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:27:40.570Z,1628879260.570 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:27:40.570Z,1628879260.570 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:27:40.571Z,1628879260.571 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:27:40.965Z,1628879260.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
063,000,009F1,183,80,80,7E,FF
2021-08-13T18:27:40.965Z,1628879260.965 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:27:40.965Z,1628879260.965 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:27:40.967Z,1628879260.967 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:27:41.406Z,1628879261.406 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:27:41.777Z,1628879261.777 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,05D,000,009AA,186,80,80,A8,FF
2021-08-13T18:27:41.778Z,1628879261.778 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:27:42.209Z,1628879262.209 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182741.49*5A

2021-08-13T18:27:42.243Z,1628879262.243 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 110.939995 m, bearing: 49.567813 deg, deltaT: 4.344056 s, approachRate: -0.980653 m/s, LOS rate: -0.004285 deg/s, posRepo size: 4
2021-08-13T18:27:42.245Z,1628879262.245 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 110.939995 m,
      bearing: 49.567813 deg,
      approachRate: -0.980653 m/s,
      LOS rate: -0.004285 deg/s,
      cmd update: -0.012854 deg/s,
      cmd heading: 47.547983 deg,
      new cmd heading: 47.328114 deg.

2021-08-13T18:27:44.644Z,1628879264.644 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:27:45.005Z,1628879265.005 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:27:45.005Z,1628879265.005 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:27:45.005Z,1628879265.005 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:27:45.006Z,1628879265.006 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:27:45.448Z,1628879265.448 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
05D,000,009AA,186,80,80,A8,FF
2021-08-13T18:27:45.448Z,1628879265.448 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:27:45.449Z,1628879265.449 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:27:45.450Z,1628879265.450 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:27:45.903Z,1628879265.903 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:27:46.299Z,1628879266.299 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,031,000,00985,185,80,80,C1,FF
2021-08-13T18:27:46.299Z,1628879266.299 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:27:46.717Z,1628879266.717 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182745.97*5D

2021-08-13T18:27:46.749Z,1628879266.749 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 108.720001 m, bearing: 50.064733 deg, deltaT: 4.495778 s, approachRate: -0.493795 m/s, LOS rate: 0.110530 deg/s, posRepo size: 4
2021-08-13T18:27:46.751Z,1628879266.751 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 108.720001 m,
      bearing: 50.064733 deg,
      approachRate: -0.493795 m/s,
      LOS rate: 0.110530 deg/s,
      cmd update: 0.331591 deg/s,
      cmd heading: 47.489937 deg,
      new cmd heading: 47.484380 deg.

2021-08-13T18:27:49.211Z,1628879269.211 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:27:49.533Z,1628879269.533 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:27:49.533Z,1628879269.533 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:27:49.533Z,1628879269.533 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:27:49.534Z,1628879269.534 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:27:49.949Z,1628879269.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
031,000,00985,185,80,80,C1,FF
2021-08-13T18:27:49.949Z,1628879269.949 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:27:49.949Z,1628879269.949 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:27:49.951Z,1628879269.951 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:27:50.341Z,1628879270.341 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:27:50.741Z,1628879270.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,025,000,00961,184,80,80,AC,FF
2021-08-13T18:27:50.742Z,1628879270.742 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:27:51.173Z,1628879271.173 [Micromodem](INFO): Nmea in: $SNTTA,0.095903,,,,182750.47*4C

2021-08-13T18:27:51.256Z,1628879271.256 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 106.560005 m, bearing: 49.876302 deg, deltaT: 4.452097 s, approachRate: -0.485164 m/s, LOS rate: -0.042324 deg/s, posRepo size: 4
2021-08-13T18:27:51.258Z,1628879271.258 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 106.560005 m,
      bearing: 49.876302 deg,
      approachRate: -0.485164 m/s,
      LOS rate: -0.042324 deg/s,
      cmd update: -0.126972 deg/s,
      cmd heading: 48.966216 deg,
      new cmd heading: 49.126638 deg.

2021-08-13T18:27:53.657Z,1628879273.657 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:27:53.969Z,1628879273.969 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:27:53.969Z,1628879273.969 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:27:53.969Z,1628879273.969 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:27:53.970Z,1628879273.970 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:27:54.376Z,1628879274.376 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
025,000,00961,184,80,80,AC,FF
2021-08-13T18:27:54.377Z,1628879274.377 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:27:54.377Z,1628879274.377 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:27:54.384Z,1628879274.384 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:27:54.793Z,1628879274.793 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:27:55.190Z,1628879275.190 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,049,000,00940,184,80,80,85,FF
2021-08-13T18:27:55.191Z,1628879275.191 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:27:55.601Z,1628879275.601 [Micromodem](INFO): Nmea in: $SNTTA,0.094016,0.353882,,,182754.91*56

2021-08-13T18:27:55.669Z,1628879275.669 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 104.580002 m, bearing: 48.094108 deg, deltaT: 4.543557 s, approachRate: -0.435783 m/s, LOS rate: -0.392247 deg/s, posRepo size: 4
2021-08-13T18:27:55.671Z,1628879275.671 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 104.580002 m,
      bearing: 48.094108 deg,
      approachRate: -0.435783 m/s,
      LOS rate: -0.392247 deg/s,
      cmd update: -1.176740 deg/s,
      cmd heading: 48.391705 deg,
      new cmd heading: 48.344017 deg.

2021-08-13T18:27:58.030Z,1628879278.030 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:27:58.453Z,1628879278.453 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:27:58.453Z,1628879278.453 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:27:58.453Z,1628879278.453 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:27:58.454Z,1628879278.454 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:27:58.829Z,1628879278.829 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
049,000,00940,184,80,80,85,FF
2021-08-13T18:27:58.829Z,1628879278.829 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:27:58.830Z,1628879278.830 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:27:58.831Z,1628879278.831 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:27:59.296Z,1628879279.296 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:27:59.324Z,1628879279.324 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-13T18:28:00.046Z,1628879280.046 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182759.35*58

2021-08-13T18:28:00.863Z,1628879280.863 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:28:02.465Z,1628879282.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
0,184,80,80,85,FF
2021-08-13T18:28:02.465Z,1628879282.465 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
0,184,80,80,85,FF
2021-08-13T18:28:02.465Z,1628879282.465 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T18:28:03.702Z,1628879283.702 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:28:04.069Z,1628879284.069 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:28:04.069Z,1628879284.069 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:28:04.069Z,1628879284.069 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:28:04.070Z,1628879284.070 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:28:04.473Z,1628879284.473 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
0,184,80,80,85,FF
2021-08-13T18:28:04.473Z,1628879284.473 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:28:04.473Z,1628879284.473 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:28:04.475Z,1628879284.475 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:28:04.882Z,1628879284.882 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:28:05.301Z,1628879285.301 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F85,000,008F3,187,80,80,96,FF
2021-08-13T18:28:05.302Z,1628879285.302 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:28:05.717Z,1628879285.717 [Micromodem](INFO): Nmea in: $SNTTA,0.081468,,,,182805.00*45

2021-08-13T18:28:05.767Z,1628879285.767 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 99.960007 m, bearing: 51.245058 deg, deltaT: 10.052380 s, approachRate: -0.459592 m/s, LOS rate: 0.313453 deg/s, posRepo size: 4
2021-08-13T18:28:05.781Z,1628879285.781 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 99.960007 m,
      bearing: 51.245058 deg,
      approachRate: -0.459592 m/s,
      LOS rate: 0.313453 deg/s,
      cmd update: 0.940360 deg/s,
      cmd heading: 36.540486 deg,
      new cmd heading: 36.066147 deg.

2021-08-13T18:28:08.139Z,1628879288.139 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:28:08.517Z,1628879288.517 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:28:08.517Z,1628879288.517 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:28:08.517Z,1628879288.517 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:28:08.518Z,1628879288.518 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:28:08.942Z,1628879288.942 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F85,000,008F3,187,80,80,96,FF
2021-08-13T18:28:08.942Z,1628879288.942 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:28:08.942Z,1628879288.942 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:28:08.944Z,1628879288.944 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:28:09.332Z,1628879289.332 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:28:09.373Z,1628879289.373 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-13T18:28:09.733Z,1628879289.733 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F47,000,008D0,186,80,80,B3,FF
2021-08-13T18:28:09.733Z,1628879289.733 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:28:10.153Z,1628879290.153 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182809.47*57

2021-08-13T18:28:10.172Z,1628879290.172 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 97.860008 m, bearing: 51.018942 deg, deltaT: 4.396070 s, approachRate: -0.477699 m/s, LOS rate: -0.051436 deg/s, posRepo size: 4
2021-08-13T18:28:10.174Z,1628879290.174 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 97.860008 m,
      bearing: 51.018942 deg,
      approachRate: -0.477699 m/s,
      LOS rate: -0.051436 deg/s,
      cmd update: -0.154308 deg/s,
      cmd heading: 40.674114 deg,
      new cmd heading: 41.061315 deg.

2021-08-13T18:28:12.589Z,1628879292.589 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:28:12.984Z,1628879292.984 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:28:12.985Z,1628879292.985 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:28:12.985Z,1628879292.985 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:28:12.986Z,1628879292.986 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:28:13.361Z,1628879293.361 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F47,000,008D0,186,80,80,B3,FF
2021-08-13T18:28:13.361Z,1628879293.361 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:28:13.362Z,1628879293.362 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:28:13.363Z,1628879293.363 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:28:13.790Z,1628879293.790 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:28:14.178Z,1628879294.178 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F5D,000,008B1,187,80,80,B3,FF
2021-08-13T18:28:14.180Z,1628879294.180 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:28:14.618Z,1628879294.618 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182813.89*5E

2021-08-13T18:28:14.647Z,1628879294.647 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 96.000008 m, bearing: 51.348648 deg, deltaT: 4.479290 s, approachRate: -0.415245 m/s, LOS rate: 0.073607 deg/s, posRepo size: 4
2021-08-13T18:28:14.650Z,1628879294.650 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 96.000008 m,
      bearing: 51.348648 deg,
      approachRate: -0.415245 m/s,
      LOS rate: 0.073607 deg/s,
      cmd update: 0.220821 deg/s,
      cmd heading: 39.983501 deg,
      new cmd heading: 39.919915 deg.

2021-08-13T18:28:17.032Z,1628879297.032 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:28:17.413Z,1628879297.413 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:28:17.413Z,1628879297.413 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:28:17.413Z,1628879297.413 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:28:17.414Z,1628879297.414 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:28:17.814Z,1628879297.814 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F5D,000,008B1,187,80,80,B3,FF
2021-08-13T18:28:17.814Z,1628879297.814 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:28:17.815Z,1628879297.815 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:28:17.818Z,1628879297.818 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:28:18.213Z,1628879298.213 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:28:18.617Z,1628879298.617 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F5A,000,00890,186,80,80,C3,FF
2021-08-13T18:28:18.618Z,1628879298.618 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:28:19.053Z,1628879299.053 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182818.34*53

2021-08-13T18:28:19.088Z,1628879299.088 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 94.019997 m, bearing: 51.486099 deg, deltaT: 4.443989 s, approachRate: -0.445548 m/s, LOS rate: 0.030930 deg/s, posRepo size: 4
2021-08-13T18:28:19.090Z,1628879299.090 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 94.019997 m,
      bearing: 51.486099 deg,
      approachRate: -0.445548 m/s,
      LOS rate: 0.030930 deg/s,
      cmd update: 0.092789 deg/s,
      cmd heading: 40.965613 deg,
      new cmd heading: 41.055096 deg.

2021-08-13T18:28:19.475Z,1628879299.475 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T18:28:21.511Z,1628879301.511 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:28:21.853Z,1628879301.853 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:28:21.853Z,1628879301.853 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:28:21.853Z,1628879301.853 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:28:21.854Z,1628879301.854 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:28:22.253Z,1628879302.253 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F5A,000,00890,186,80,80,C3,FF
2021-08-13T18:28:22.254Z,1628879302.254 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:28:22.254Z,1628879302.254 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:28:22.255Z,1628879302.255 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:28:22.664Z,1628879302.664 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:28:23.062Z,1628879303.062 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F65,000,0086E,187,80,80,B0,FF
2021-08-13T18:28:23.062Z,1628879303.062 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:28:23.475Z,1628879303.475 [Micromodem](INFO): Nmea in: $SNTTA,0.418687,0.418931,,,182822.78*50

2021-08-13T18:28:23.563Z,1628879303.563 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 91.979996 m, bearing: 51.269408 deg, deltaT: 4.395616 s, approachRate: -0.464099 m/s, LOS rate: -0.049297 deg/s, posRepo size: 4
2021-08-13T18:28:23.565Z,1628879303.565 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 91.979996 m,
      bearing: 51.269408 deg,
      approachRate: -0.464099 m/s,
      LOS rate: -0.049297 deg/s,
      cmd update: -0.147891 deg/s,
      cmd heading: 41.373506 deg,
      new cmd heading: 41.418448 deg.

2021-08-13T18:28:25.934Z,1628879305.934 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:28:26.293Z,1628879306.293 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:28:26.293Z,1628879306.293 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:28:26.294Z,1628879306.294 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:28:26.294Z,1628879306.294 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:28:26.709Z,1628879306.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F65,000,0086E,187,80,80,B0,FF
2021-08-13T18:28:26.709Z,1628879306.709 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:28:26.710Z,1628879306.710 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:28:26.711Z,1628879306.711 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:28:27.105Z,1628879307.105 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:28:27.501Z,1628879307.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F6E,000,0084F,186,80,80,CC,FF
2021-08-13T18:28:27.501Z,1628879307.501 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:28:27.505Z,1628879307.505 [Micromodem](INFO): Nmea in: $SNTTA,0.097190,0.150336,,,182827.24*5A

2021-08-13T18:28:27.957Z,1628879307.957 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 90.119995 m, bearing: 51.020202 deg, deltaT: 4.559495 s, approachRate: -0.407940 m/s, LOS rate: -0.054657 deg/s, posRepo size: 4
2021-08-13T18:28:27.959Z,1628879307.959 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 90.119995 m,
      bearing: 51.020202 deg,
      approachRate: -0.407940 m/s,
      LOS rate: -0.054657 deg/s,
      cmd update: -0.163970 deg/s,
      cmd heading: 40.699764 deg,
      new cmd heading: 40.652141 deg.

2021-08-13T18:28:29.557Z,1628879309.557 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-13T18:28:30.367Z,1628879310.367 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:28:30.733Z,1628879310.733 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:28:30.733Z,1628879310.733 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:28:30.733Z,1628879310.733 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:28:30.734Z,1628879310.734 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:28:31.144Z,1628879311.144 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F6E,000,0084F,186,80,80,CC,FF
2021-08-13T18:28:31.144Z,1628879311.144 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:28:31.144Z,1628879311.144 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:28:31.146Z,1628879311.146 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:28:31.553Z,1628879311.553 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:28:31.949Z,1628879311.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F7D,000,0082D,187,80,80,B4,FF
2021-08-13T18:28:31.949Z,1628879311.949 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:28:32.404Z,1628879312.404 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182831.67*5E

2021-08-13T18:28:32.466Z,1628879312.466 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 88.080002 m, bearing: 50.040083 deg, deltaT: 4.327565 s, approachRate: -0.471395 m/s, LOS rate: -0.226483 deg/s, posRepo size: 4
2021-08-13T18:28:32.480Z,1628879312.480 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 88.080002 m,
      bearing: 50.040083 deg,
      approachRate: -0.471395 m/s,
      LOS rate: -0.226483 deg/s,
      cmd update: -0.679448 deg/s,
      cmd heading: 39.989527 deg,
      new cmd heading: 39.910434 deg.

2021-08-13T18:28:34.798Z,1628879314.798 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:28:35.183Z,1628879315.183 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:28:35.183Z,1628879315.183 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:28:35.183Z,1628879315.183 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:28:35.185Z,1628879315.185 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:28:35.594Z,1628879315.594 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F7D,000,0082D,187,80,80,B4,FF
2021-08-13T18:28:35.594Z,1628879315.594 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:28:35.594Z,1628879315.594 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:28:35.596Z,1628879315.596 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:28:35.988Z,1628879315.988 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:28:36.413Z,1628879316.413 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F53,000,0080B,186,80,80,B7,FF
2021-08-13T18:28:36.414Z,1628879316.414 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:28:36.821Z,1628879316.821 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182836.12*5B

2021-08-13T18:28:36.844Z,1628879316.844 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 86.040001 m, bearing: 51.323834 deg, deltaT: 4.494216 s, approachRate: -0.453917 m/s, LOS rate: 0.285645 deg/s, posRepo size: 4
2021-08-13T18:28:36.846Z,1628879316.846 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 86.040001 m,
      bearing: 51.323834 deg,
      approachRate: -0.453917 m/s,
      LOS rate: 0.285645 deg/s,
      cmd update: 0.856936 deg/s,
      cmd heading: 36.938745 deg,
      new cmd heading: 36.675416 deg.

2021-08-13T18:28:39.285Z,1628879319.285 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-13T18:28:39.302Z,1628879319.302 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:28:39.625Z,1628879319.625 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:28:39.625Z,1628879319.625 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:28:39.625Z,1628879319.625 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:28:39.626Z,1628879319.626 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:28:40.030Z,1628879320.030 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F53,000,0080B,186,80,80,B7,FF
2021-08-13T18:28:40.030Z,1628879320.030 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:28:40.030Z,1628879320.030 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:28:40.031Z,1628879320.031 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:28:40.456Z,1628879320.456 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:28:40.838Z,1628879320.838 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F3A,000,007EB,186,80,80,AF,FF
2021-08-13T18:28:40.838Z,1628879320.838 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:28:41.293Z,1628879321.293 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182840.57*5B

2021-08-13T18:28:41.341Z,1628879321.341 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 84.119995 m, bearing: 51.535789 deg, deltaT: 4.399165 s, approachRate: -0.436448 m/s, LOS rate: 0.048181 deg/s, posRepo size: 4
2021-08-13T18:28:41.343Z,1628879321.343 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 84.119995 m,
      bearing: 51.535789 deg,
      approachRate: -0.436448 m/s,
      LOS rate: 0.048181 deg/s,
      cmd update: 0.144542 deg/s,
      cmd heading: 40.712067 deg,
      new cmd heading: 41.124279 deg.

2021-08-13T18:28:43.698Z,1628879323.698 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:28:44.065Z,1628879324.065 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:28:44.065Z,1628879324.065 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:28:44.065Z,1628879324.065 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:28:44.066Z,1628879324.066 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:28:44.469Z,1628879324.469 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F3A,000,007EB,186,80,80,AF,FF
2021-08-13T18:28:44.469Z,1628879324.469 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:28:44.469Z,1628879324.469 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:28:44.471Z,1628879324.471 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:28:44.879Z,1628879324.879 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:28:45.289Z,1628879325.289 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F58,000,007CB,187,80,80,A9,FF
2021-08-13T18:28:45.289Z,1628879325.289 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:28:45.713Z,1628879325.713 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182845.00*5C

2021-08-13T18:28:45.739Z,1628879325.739 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 82.200005 m, bearing: 51.583624 deg, deltaT: 4.491567 s, approachRate: -0.427466 m/s, LOS rate: 0.010650 deg/s, posRepo size: 4
2021-08-13T18:28:45.741Z,1628879325.741 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 82.200005 m,
      bearing: 51.583624 deg,
      approachRate: -0.427466 m/s,
      LOS rate: 0.010650 deg/s,
      cmd update: 0.031950 deg/s,
      cmd heading: 41.357723 deg,
      new cmd heading: 41.417395 deg.

2021-08-13T18:28:48.142Z,1628879328.142 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:28:48.509Z,1628879328.509 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:28:48.509Z,1628879328.509 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:28:48.509Z,1628879328.509 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:28:48.510Z,1628879328.510 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:28:48.925Z,1628879328.925 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F58,000,007CB,187,80,80,A9,FF
2021-08-13T18:28:48.925Z,1628879328.925 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:28:48.925Z,1628879328.925 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:28:48.927Z,1628879328.927 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:28:49.330Z,1628879329.330 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:28:49.361Z,1628879329.361 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-13T18:28:49.721Z,1628879329.721 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F54,000,007AD,186,80,80,89,FF
2021-08-13T18:28:49.721Z,1628879329.721 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:28:50.173Z,1628879330.173 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182849.45*51

2021-08-13T18:28:50.195Z,1628879330.195 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 80.399994 m, bearing: 52.442298 deg, deltaT: 4.425055 s, approachRate: -0.406777 m/s, LOS rate: 0.194048 deg/s, posRepo size: 4
2021-08-13T18:28:50.198Z,1628879330.198 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 80.399994 m,
      bearing: 52.442298 deg,
      approachRate: -0.406777 m/s,
      LOS rate: 0.194048 deg/s,
      cmd update: 0.582145 deg/s,
      cmd heading: 41.499764 deg,
      new cmd heading: 41.513288 deg.

2021-08-13T18:28:52.597Z,1628879332.597 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:28:52.953Z,1628879332.953 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:28:52.953Z,1628879332.953 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:28:52.953Z,1628879332.953 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:28:52.954Z,1628879332.954 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:28:53.373Z,1628879333.373 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F54,000,007AD,186,80,80,89,FF
2021-08-13T18:28:53.373Z,1628879333.373 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:28:53.374Z,1628879333.374 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:28:53.379Z,1628879333.379 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:28:53.764Z,1628879333.764 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:28:54.165Z,1628879334.165 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F73,000,0078A,186,80,80,94,FF
2021-08-13T18:28:54.165Z,1628879334.165 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:28:54.597Z,1628879334.597 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182853.90*52

2021-08-13T18:28:54.646Z,1628879334.646 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 78.300003 m, bearing: 51.501658 deg, deltaT: 4.482129 s, approachRate: -0.468525 m/s, LOS rate: -0.209865 deg/s, posRepo size: 4
2021-08-13T18:28:54.653Z,1628879334.653 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 78.300003 m,
      bearing: 51.501658 deg,
      approachRate: -0.468525 m/s,
      LOS rate: -0.209865 deg/s,
      cmd update: -0.629594 deg/s,
      cmd heading: 44.109032 deg,
      new cmd heading: 44.337324 deg.

2021-08-13T18:28:57.019Z,1628879337.019 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:28:57.420Z,1628879337.420 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:28:57.421Z,1628879337.421 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:28:57.421Z,1628879337.421 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:28:57.422Z,1628879337.422 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:28:57.805Z,1628879337.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F73,000,0078A,186,80,80,94,FF
2021-08-13T18:28:57.805Z,1628879337.805 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:28:57.805Z,1628879337.805 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:28:57.807Z,1628879337.807 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:28:58.209Z,1628879338.209 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:28:58.617Z,1628879338.617 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F7D,000,00769,187,80,80,A7,FF
2021-08-13T18:28:58.617Z,1628879338.617 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:28:59.054Z,1628879339.054 [Micromodem](INFO): Nmea in: $SNTTA,0.066168,,,,182858.33*41

2021-08-13T18:28:59.075Z,1628879339.075 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 76.320000 m, bearing: 51.789571 deg, deltaT: 4.407203 s, approachRate: -0.449265 m/s, LOS rate: 0.065328 deg/s, posRepo size: 4
2021-08-13T18:28:59.078Z,1628879339.078 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 76.320000 m,
      bearing: 51.789571 deg,
      approachRate: -0.449265 m/s,
      LOS rate: 0.065328 deg/s,
      cmd update: 0.195983 deg/s,
      cmd heading: 41.332005 deg,
      new cmd heading: 41.073546 deg.

2021-08-13T18:28:59.484Z,1628879339.484 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-13T18:29:01.520Z,1628879341.520 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:29:01.857Z,1628879341.857 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:29:01.857Z,1628879341.857 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:29:01.857Z,1628879341.857 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:29:01.858Z,1628879341.858 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:29:02.249Z,1628879342.249 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F7D,000,00769,187,80,80,A7,FF
2021-08-13T18:29:02.249Z,1628879342.249 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:29:02.249Z,1628879342.249 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:29:02.251Z,1628879342.251 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:29:02.748Z,1628879342.748 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:29:03.141Z,1628879343.141 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F7A,000,00747,187,80,80,C1,FF
2021-08-13T18:29:03.141Z,1628879343.141 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:29:03.553Z,1628879343.553 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182902.77*5E

2021-08-13T18:29:03.640Z,1628879343.640 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 74.279999 m, bearing: 51.072555 deg, deltaT: 4.540846 s, approachRate: -0.449256 m/s, LOS rate: -0.157904 deg/s, posRepo size: 4
2021-08-13T18:29:03.642Z,1628879343.642 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 74.279999 m,
      bearing: 51.072555 deg,
      approachRate: -0.449256 m/s,
      LOS rate: -0.157904 deg/s,
      cmd update: -0.473711 deg/s,
      cmd heading: 42.216700 deg,
      new cmd heading: 42.304605 deg.

2021-08-13T18:29:05.998Z,1628879345.998 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:29:06.368Z,1628879346.368 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:29:06.368Z,1628879346.368 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:29:06.369Z,1628879346.369 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:29:06.370Z,1628879346.370 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:29:06.769Z,1628879346.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F7A,000,00747,187,80,80,C1,FF
2021-08-13T18:29:06.769Z,1628879346.769 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:29:06.769Z,1628879346.769 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:29:06.771Z,1628879346.771 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:29:07.199Z,1628879347.199 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:29:07.577Z,1628879347.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F62,000,00727,186,80,80,A2,FF
2021-08-13T18:29:07.577Z,1628879347.577 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:29:08.022Z,1628879348.022 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182907.29*50

2021-08-13T18:29:08.044Z,1628879348.044 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 72.360001 m, bearing: 51.667772 deg, deltaT: 4.475609 s, approachRate: -0.428991 m/s, LOS rate: 0.132991 deg/s, posRepo size: 4
2021-08-13T18:29:08.046Z,1628879348.046 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 72.360001 m,
      bearing: 51.667772 deg,
      approachRate: -0.428991 m/s,
      LOS rate: 0.132991 deg/s,
      cmd update: 0.398974 deg/s,
      cmd heading: 40.083718 deg,
      new cmd heading: 39.912137 deg.

2021-08-13T18:29:10.466Z,1628879350.466 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:29:10.813Z,1628879350.813 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:29:10.813Z,1628879350.813 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:29:10.813Z,1628879350.813 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:29:10.814Z,1628879350.814 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:29:11.238Z,1628879351.238 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F62,000,00727,186,80,80,A2,FF
2021-08-13T18:29:11.238Z,1628879351.238 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:29:11.239Z,1628879351.239 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:29:11.251Z,1628879351.251 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:29:11.693Z,1628879351.693 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:29:12.101Z,1628879352.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F43,000,006FB,187,80,80,9F,FF
2021-08-13T18:29:12.101Z,1628879352.101 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:29:12.519Z,1628879352.519 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182911.77*5C

2021-08-13T18:29:12.547Z,1628879352.547 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 69.720001 m, bearing: 52.356900 deg, deltaT: 4.436756 s, approachRate: -0.595029 m/s, LOS rate: 0.155323 deg/s, posRepo size: 4
2021-08-13T18:29:12.549Z,1628879352.549 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 69.720001 m,
      bearing: 52.356900 deg,
      approachRate: -0.595029 m/s,
      LOS rate: 0.155323 deg/s,
      cmd update: 0.465968 deg/s,
      cmd heading: 41.853822 deg,
      new cmd heading: 42.024722 deg.

2021-08-13T18:29:14.950Z,1628879354.950 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:29:15.317Z,1628879355.317 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:29:15.317Z,1628879355.317 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:29:15.318Z,1628879355.318 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:29:15.319Z,1628879355.319 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:29:15.726Z,1628879355.726 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F43,000,006FB,187,80,80,9F,FF
2021-08-13T18:29:15.726Z,1628879355.726 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:29:15.726Z,1628879355.726 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:29:15.728Z,1628879355.728 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:29:16.139Z,1628879356.139 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:29:16.534Z,1628879356.534 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F53,000,006D9,186,80,80,AF,FF
2021-08-13T18:29:16.534Z,1628879356.534 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:29:16.973Z,1628879356.973 [Micromodem](INFO): Nmea in: $SNTTA,0.068546,,,,182916.25*4B

2021-08-13T18:29:16.993Z,1628879356.993 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 67.680000 m, bearing: 53.071270 deg, deltaT: 4.491651 s, approachRate: -0.454176 m/s, LOS rate: 0.159044 deg/s, posRepo size: 4
2021-08-13T18:29:16.995Z,1628879356.995 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 67.680000 m,
      bearing: 53.071270 deg,
      approachRate: -0.454176 m/s,
      LOS rate: 0.159044 deg/s,
      cmd update: 0.477132 deg/s,
      cmd heading: 43.944815 deg,
      new cmd heading: 44.125415 deg.

2021-08-13T18:29:19.421Z,1628879359.421 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-13T18:29:19.448Z,1628879359.448 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:29:19.765Z,1628879359.765 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:29:19.766Z,1628879359.766 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:29:19.766Z,1628879359.766 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:29:19.767Z,1628879359.767 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:29:20.174Z,1628879360.174 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F53,000,006D9,186,80,80,AF,FF
2021-08-13T18:29:20.174Z,1628879360.174 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:29:20.174Z,1628879360.174 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:29:20.176Z,1628879360.176 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:29:20.584Z,1628879360.584 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:29:20.977Z,1628879360.977 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F7B,000,006B0,187,80,80,C3,FF
2021-08-13T18:29:20.978Z,1628879360.978 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:29:21.417Z,1628879361.417 [Micromodem](INFO): Nmea in: $SNTTA,0.078787,0.417772,,,182920.70*5E

2021-08-13T18:29:21.486Z,1628879361.486 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 65.220001 m, bearing: 53.618143 deg, deltaT: 4.441002 s, approachRate: -0.553929 m/s, LOS rate: 0.123142 deg/s, posRepo size: 4
2021-08-13T18:29:21.492Z,1628879361.492 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 65.220001 m,
      bearing: 53.618143 deg,
      approachRate: -0.553929 m/s,
      LOS rate: 0.123142 deg/s,
      cmd update: 0.369425 deg/s,
      cmd heading: 46.061793 deg,
      new cmd heading: 46.273082 deg.

2021-08-13T18:29:23.836Z,1628879363.836 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:29:24.229Z,1628879364.229 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:29:24.229Z,1628879364.229 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:29:24.230Z,1628879364.230 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:29:24.230Z,1628879364.230 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:29:24.621Z,1628879364.621 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F7B,000,006B0,187,80,80,C3,FF
2021-08-13T18:29:24.621Z,1628879364.621 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:29:24.621Z,1628879364.621 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:29:24.623Z,1628879364.623 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:29:25.029Z,1628879365.029 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:29:25.457Z,1628879365.457 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F88,000,00692,186,80,80,A2,FF
2021-08-13T18:29:25.457Z,1628879365.457 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:29:25.857Z,1628879365.857 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182925.15*5F

2021-08-13T18:29:25.918Z,1628879365.918 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 63.420006 m, bearing: 54.957809 deg, deltaT: 4.492519 s, approachRate: -0.400665 m/s, LOS rate: 0.298199 deg/s, posRepo size: 4
2021-08-13T18:29:25.924Z,1628879365.924 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 63.420006 m,
      bearing: 54.957809 deg,
      approachRate: -0.400665 m/s,
      LOS rate: 0.298199 deg/s,
      cmd update: 0.894598 deg/s,
      cmd heading: 47.724521 deg,
      new cmd heading: 47.862792 deg.

2021-08-13T18:29:28.304Z,1628879368.304 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:29:28.665Z,1628879368.665 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:29:28.665Z,1628879368.665 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:29:28.665Z,1628879368.665 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:29:28.666Z,1628879368.666 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:29:29.057Z,1628879369.057 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F88,000,00692,186,80,80,A2,FF
2021-08-13T18:29:29.057Z,1628879369.057 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:29:29.057Z,1628879369.057 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:29:29.059Z,1628879369.059 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:29:29.489Z,1628879369.489 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:29:29.873Z,1628879369.873 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB1,000,0066C,184,80,80,9B,FF
2021-08-13T18:29:29.874Z,1628879369.874 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:29:30.337Z,1628879370.337 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182929.58*5A

2021-08-13T18:29:30.412Z,1628879370.412 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 61.140003 m, bearing: 54.713056 deg, deltaT: 4.393045 s, approachRate: -0.519003 m/s, LOS rate: -0.055714 deg/s, posRepo size: 4
2021-08-13T18:29:30.414Z,1628879370.414 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 61.140003 m,
      bearing: 54.713056 deg,
      approachRate: -0.519003 m/s,
      LOS rate: -0.055714 deg/s,
      cmd update: -0.167141 deg/s,
      cmd heading: 51.647265 deg,
      new cmd heading: 52.076053 deg.

2021-08-13T18:29:32.753Z,1628879372.753 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:29:33.093Z,1628879373.093 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:29:33.093Z,1628879373.093 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:29:33.093Z,1628879373.093 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:29:33.094Z,1628879373.094 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:29:33.538Z,1628879373.538 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB1,000,0066C,184,80,80,9B,FF
2021-08-13T18:29:33.538Z,1628879373.538 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:29:33.539Z,1628879373.539 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:29:33.540Z,1628879373.540 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:29:33.925Z,1628879373.925 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:29:34.365Z,1628879374.365 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FEF,000,00645,183,80,80,B7,FF
2021-08-13T18:29:34.366Z,1628879374.366 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:29:34.748Z,1628879374.748 [Micromodem](INFO): Nmea in: $SNTTA,0.050367,,,,182934.06*44

2021-08-13T18:29:34.774Z,1628879374.774 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.799999 m, bearing: 54.220869 deg, deltaT: 4.499371 s, approachRate: -0.520074 m/s, LOS rate: -0.109390 deg/s, posRepo size: 4
2021-08-13T18:29:34.776Z,1628879374.776 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 58.799999 m,
      bearing: 54.220869 deg,
      approachRate: -0.520074 m/s,
      LOS rate: -0.109390 deg/s,
      cmd update: -0.328170 deg/s,
      cmd heading: 50.893954 deg,
      new cmd heading: 50.837406 deg.

2021-08-13T18:29:37.178Z,1628879377.178 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:29:37.567Z,1628879377.567 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:29:37.567Z,1628879377.567 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:29:37.567Z,1628879377.567 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:29:37.568Z,1628879377.568 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:29:37.961Z,1628879377.961 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FEF,000,00645,183,80,80,B7,FF
2021-08-13T18:29:37.961Z,1628879377.961 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:29:37.961Z,1628879377.961 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:29:37.963Z,1628879377.963 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:29:38.405Z,1628879378.405 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:29:38.757Z,1628879378.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,006,000,0061D,183,80,80,9E,FF
2021-08-13T18:29:38.757Z,1628879378.757 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:29:39.221Z,1628879379.221 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182938.49*5A

2021-08-13T18:29:39.357Z,1628879379.357 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 56.400005 m, bearing: 53.822509 deg, deltaT: 4.338706 s, approachRate: -0.553159 m/s, LOS rate: -0.091816 deg/s, posRepo size: 4
2021-08-13T18:29:39.368Z,1628879379.368 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 56.400005 m,
      bearing: 53.822509 deg,
      approachRate: -0.553159 m/s,
      LOS rate: -0.091816 deg/s,
      cmd update: -0.275447 deg/s,
      cmd heading: 49.470101 deg,
      new cmd heading: 49.279357 deg.

2021-08-13T18:29:41.657Z,1628879381.657 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:29:41.989Z,1628879381.989 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:29:41.989Z,1628879381.989 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:29:41.989Z,1628879381.989 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:29:41.990Z,1628879381.990 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:29:42.415Z,1628879382.415 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
006,000,0061D,183,80,80,9E,FF
2021-08-13T18:29:42.415Z,1628879382.415 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:29:42.415Z,1628879382.415 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:29:42.423Z,1628879382.423 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:29:42.805Z,1628879382.805 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:29:43.235Z,1628879383.235 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD0,000,005F9,185,80,80,89,FF
2021-08-13T18:29:43.246Z,1628879383.246 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:29:43.631Z,1628879383.631 [Micromodem](INFO): Nmea in: $SNTTA,0.335766,0.335791,,,182942.95*5E

2021-08-13T18:29:43.657Z,1628879383.657 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 54.239998 m, bearing: 54.765099 deg, deltaT: 4.638771 s, approachRate: -0.465642 m/s, LOS rate: 0.203198 deg/s, posRepo size: 4
2021-08-13T18:29:43.659Z,1628879383.659 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 54.239998 m,
      bearing: 54.765099 deg,
      approachRate: -0.465642 m/s,
      LOS rate: 0.203198 deg/s,
      cmd update: 0.609595 deg/s,
      cmd heading: 48.193331 deg,
      new cmd heading: 48.125308 deg.

2021-08-13T18:29:46.059Z,1628879386.059 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:29:46.457Z,1628879386.457 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:29:46.457Z,1628879386.457 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:29:46.457Z,1628879386.457 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:29:46.458Z,1628879386.458 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:29:46.837Z,1628879386.837 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD0,000,005F9,185,80,80,89,FF
2021-08-13T18:29:46.837Z,1628879386.837 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:29:46.837Z,1628879386.837 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:29:46.839Z,1628879386.839 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:29:47.290Z,1628879387.290 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:29:47.645Z,1628879387.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC6,000,005D1,184,80,80,B4,FF
2021-08-13T18:29:47.646Z,1628879387.646 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:29:48.093Z,1628879388.093 [Micromodem](INFO): Nmea in: $SNTTA,0.176087,,,,182947.36*4B

2021-08-13T18:29:48.119Z,1628879388.119 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.840004 m, bearing: 55.201490 deg, deltaT: 4.291994 s, approachRate: -0.559179 m/s, LOS rate: 0.101676 deg/s, posRepo size: 4
2021-08-13T18:29:48.122Z,1628879388.122 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 51.840004 m,
      bearing: 55.201490 deg,
      approachRate: -0.559179 m/s,
      LOS rate: 0.101676 deg/s,
      cmd update: 0.305027 deg/s,
      cmd heading: 50.806866 deg,
      new cmd heading: 51.064344 deg.

2021-08-13T18:29:50.529Z,1628879390.529 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:29:50.882Z,1628879390.882 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:29:50.882Z,1628879390.882 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:29:50.882Z,1628879390.882 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:29:50.883Z,1628879390.883 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:29:51.392Z,1628879391.392 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC6,000,005D1,184,80,80,B4,FF
2021-08-13T18:29:51.393Z,1628879391.393 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:29:51.394Z,1628879391.394 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:29:51.400Z,1628879391.400 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:29:51.764Z,1628879391.764 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:29:52.181Z,1628879392.181 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF4,000,005B0,183,80,80,74,FF
2021-08-13T18:29:52.181Z,1628879392.181 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:29:52.595Z,1628879392.595 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182951.93*52

2021-08-13T18:29:52.657Z,1628879392.657 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.859997 m, bearing: 54.724562 deg, deltaT: 4.492383 s, approachRate: -0.440748 m/s, LOS rate: -0.106164 deg/s, posRepo size: 4
2021-08-13T18:29:52.659Z,1628879392.659 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 49.859997 m,
      bearing: 54.724562 deg,
      approachRate: -0.440748 m/s,
      LOS rate: -0.106164 deg/s,
      cmd update: -0.318491 deg/s,
      cmd heading: 52.179814 deg,
      new cmd heading: 52.319942 deg.

2021-08-13T18:29:55.006Z,1628879395.006 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:29:55.449Z,1628879395.449 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:29:55.449Z,1628879395.449 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:29:55.449Z,1628879395.449 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:29:55.450Z,1628879395.450 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:29:55.810Z,1628879395.810 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF4,000,005B0,183,80,80,74,FF
2021-08-13T18:29:55.810Z,1628879395.810 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:29:55.810Z,1628879395.810 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:29:55.811Z,1628879395.811 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:29:56.244Z,1628879396.244 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:29:56.629Z,1628879396.629 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FFE,000,0058C,182,80,80,90,FF
2021-08-13T18:29:56.630Z,1628879396.630 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:29:57.061Z,1628879397.061 [Micromodem](INFO): Nmea in: $SNTTA,0.065788,,,,182956.34*42

2021-08-13T18:29:57.096Z,1628879397.096 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.700005 m, bearing: 54.960183 deg, deltaT: 4.496588 s, approachRate: -0.480363 m/s, LOS rate: 0.052400 deg/s, posRepo size: 4
2021-08-13T18:29:57.098Z,1628879397.098 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 47.700005 m,
      bearing: 54.960183 deg,
      approachRate: -0.480363 m/s,
      LOS rate: 0.052400 deg/s,
      cmd update: 0.157200 deg/s,
      cmd heading: 50.748965 deg,
      new cmd heading: 50.619961 deg.

2021-08-13T18:29:59.543Z,1628879399.543 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:29:59.850Z,1628879399.850 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:29:59.850Z,1628879399.850 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:29:59.850Z,1628879399.850 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:29:59.851Z,1628879399.851 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:30:00.262Z,1628879400.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FFE,000,0058C,182,80,80,90,FF
2021-08-13T18:30:00.262Z,1628879400.262 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:30:00.262Z,1628879400.262 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:30:00.269Z,1628879400.269 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:30:00.663Z,1628879400.663 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:30:01.058Z,1628879401.058 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF9,000,00567,183,80,80,94,FF
2021-08-13T18:30:01.058Z,1628879401.058 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:30:01.502Z,1628879401.502 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183000.79*5A

2021-08-13T18:30:01.573Z,1628879401.573 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.479996 m, bearing: 54.382680 deg, deltaT: 4.431167 s, approachRate: -0.500999 m/s, LOS rate: -0.130327 deg/s, posRepo size: 4
2021-08-13T18:30:01.575Z,1628879401.575 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 45.479996 m,
      bearing: 54.382680 deg,
      approachRate: -0.500999 m/s,
      LOS rate: -0.130327 deg/s,
      cmd update: -0.390982 deg/s,
      cmd heading: 51.444608 deg,
      new cmd heading: 51.515824 deg.

2021-08-13T18:30:03.933Z,1628879403.933 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:30:04.299Z,1628879404.299 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:30:04.301Z,1628879404.301 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:30:04.301Z,1628879404.301 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:30:04.302Z,1628879404.302 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:30:04.698Z,1628879404.698 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF9,000,00567,183,80,80,94,FF
2021-08-13T18:30:04.698Z,1628879404.698 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:30:04.698Z,1628879404.698 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:30:04.700Z,1628879404.700 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:30:05.105Z,1628879405.105 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:30:05.501Z,1628879405.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF6,000,00544,183,80,80,B9,FF
2021-08-13T18:30:05.501Z,1628879405.501 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:30:05.950Z,1628879405.950 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183005.22*51

2021-08-13T18:30:05.000Z,1628879406.000 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.380001 m, bearing: 53.865706 deg, deltaT: 4.467034 s, approachRate: -0.470109 m/s, LOS rate: -0.115731 deg/s, posRepo size: 4
2021-08-13T18:30:06.002Z,1628879406.002 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 43.380001 m,
      bearing: 53.865706 deg,
      approachRate: -0.470109 m/s,
      LOS rate: -0.115731 deg/s,
      cmd update: -0.347193 deg/s,
      cmd heading: 49.697614 deg,
      new cmd heading: 49.535117 deg.

2021-08-13T18:30:08.363Z,1628879408.363 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:30:08.733Z,1628879408.733 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:30:08.733Z,1628879408.733 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:30:08.733Z,1628879408.733 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:30:08.734Z,1628879408.734 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:30:09.142Z,1628879409.142 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF6,000,00544,183,80,80,B9,FF
2021-08-13T18:30:09.142Z,1628879409.142 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:30:09.142Z,1628879409.142 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:30:09.144Z,1628879409.144 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:30:09.544Z,1628879409.544 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:30:09.949Z,1628879409.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD8,000,00520,185,80,80,A8,FF
2021-08-13T18:30:09.950Z,1628879409.950 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:30:10.419Z,1628879410.419 [Micromodem](INFO): Nmea in: $SNTTA,0.046815,,,,183009.67*4C

2021-08-13T18:30:10.475Z,1628879410.475 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 41.220001 m, bearing: 54.517914 deg, deltaT: 4.373446 s, approachRate: -0.493890 m/s, LOS rate: 0.149129 deg/s, posRepo size: 4
2021-08-13T18:30:10.481Z,1628879410.481 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 41.220001 m,
      bearing: 54.517914 deg,
      approachRate: -0.493890 m/s,
      LOS rate: 0.149129 deg/s,
      cmd update: 0.447387 deg/s,
      cmd heading: 48.176133 deg,
      new cmd heading: 47.999558 deg.

2021-08-13T18:30:12.809Z,1628879412.809 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:30:13.177Z,1628879413.177 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:30:13.177Z,1628879413.177 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:30:13.177Z,1628879413.177 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:30:13.178Z,1628879413.178 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:30:13.585Z,1628879413.585 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD8,000,00520,185,80,80,A8,FF
2021-08-13T18:30:13.585Z,1628879413.585 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:30:13.586Z,1628879413.586 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:30:13.587Z,1628879413.587 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:30:13.992Z,1628879413.992 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:30:14.417Z,1628879414.417 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE9,000,004FF,183,80,80,8E,FF
2021-08-13T18:30:14.417Z,1628879414.417 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:30:14.838Z,1628879414.838 [Micromodem](INFO): Nmea in: $SNTTA,0.059858,,,,183014.11*46

2021-08-13T18:30:14.860Z,1628879414.860 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.240002 m, bearing: 52.745709 deg, deltaT: 4.483002 s, approachRate: -0.441668 m/s, LOS rate: -0.395317 deg/s, posRepo size: 4
2021-08-13T18:30:14.860Z,1628879414.860 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 39.24 m.
2021-08-13T18:30:14.862Z,1628879414.862 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 39.240002 m,
      bearing: 52.745709 deg,
      approachRate: -0.441668 m/s,
      LOS rate: -0.395317 deg/s,
      cmd update: -1.185950 deg/s,
      cmd heading: 50.181679 deg,
      new cmd heading: 50.365347 deg.

2021-08-13T18:30:15.266Z,1628879415.266 [PowerOnly](INFO): Powering up loadControl
2021-08-13T18:30:15.319Z,1628879415.319 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-13T18:30:15.319Z,1628879415.319 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T18:30:15.320Z,1628879415.320 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-13T18:30:15.320Z,1628879415.320 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-13T18:30:15.320Z,1628879415.320 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-13T18:30:15.321Z,1628879415.321 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-13T18:30:15.663Z,1628879415.663 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-13T18:30:15.663Z,1628879415.663 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T18:30:15.663Z,1628879415.663 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-13T18:30:15.663Z,1628879415.663 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T18:30:17.312Z,1628879417.312 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:30:17.625Z,1628879417.625 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:30:17.625Z,1628879417.625 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:30:17.625Z,1628879417.625 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:30:17.626Z,1628879417.626 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:30:18.025Z,1628879418.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE9,000,004FF,183,80,80,8E,FF
2021-08-13T18:30:18.025Z,1628879418.025 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:30:18.025Z,1628879418.025 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:30:18.027Z,1628879418.027 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:30:18.461Z,1628879418.461 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:30:18.837Z,1628879418.837 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,011,000,004D7,183,80,80,7F,FF
2021-08-13T18:30:18.837Z,1628879418.837 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:30:18.893Z,1628879418.893 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T18:30:19.297Z,1628879419.297 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183018.55*5D

2021-08-13T18:30:19.416Z,1628879419.416 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.840000 m, bearing: 48.268377 deg, deltaT: 4.441290 s, approachRate: -0.540384 m/s, LOS rate: -1.008115 deg/s, posRepo size: 4
2021-08-13T18:30:19.417Z,1628879419.417 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 36.84 m.
2021-08-13T18:30:19.419Z,1628879419.419 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 36.840000 m,
      bearing: 48.268377 deg,
      approachRate: -0.540384 m/s,
      LOS rate: -1.008115 deg/s,
      cmd update: -3.024346 deg/s,
      cmd heading: 44.926933 deg,
      new cmd heading: 44.304408 deg.

2021-08-13T18:30:21.451Z,1628879421.451 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:30:21.669Z,1628879421.669 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:30:21.669Z,1628879421.669 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:30:21.669Z,1628879421.669 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:30:21.670Z,1628879421.670 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:30:22.065Z,1628879422.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
011,000,004D7,183,80,80,7F,FF
2021-08-13T18:30:22.065Z,1628879422.065 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:30:22.065Z,1628879422.065 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:30:22.067Z,1628879422.067 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:30:22.490Z,1628879422.490 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:30:22.878Z,1628879422.878 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FBB,000,004B9,184,80,80,80,FF
2021-08-13T18:30:22.878Z,1628879422.878 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:30:22.936Z,1628879422.936 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T18:30:23.325Z,1628879423.325 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183022.59*58

2021-08-13T18:30:23.423Z,1628879423.423 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.040001 m, bearing: 51.340575 deg, deltaT: 4.042879 s, approachRate: -0.445227 m/s, LOS rate: 0.759904 deg/s, posRepo size: 4
2021-08-13T18:30:23.428Z,1628879423.428 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 35.04 m.
2021-08-13T18:30:23.430Z,1628879423.430 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 35.040001 m,
      bearing: 51.340575 deg,
      approachRate: -0.445227 m/s,
      LOS rate: 0.759904 deg/s,
      cmd update: 2.279711 deg/s,
      cmd heading: 32.694095 deg,
      new cmd heading: 31.185899 deg.

2021-08-13T18:30:25.741Z,1628879425.741 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:30:26.117Z,1628879426.117 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:30:26.117Z,1628879426.117 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:30:26.117Z,1628879426.117 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:30:26.118Z,1628879426.118 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:30:26.511Z,1628879426.511 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FBB,000,004B9,184,80,80,80,FF
2021-08-13T18:30:26.511Z,1628879426.511 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:30:26.511Z,1628879426.511 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:30:26.513Z,1628879426.513 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:30:26.933Z,1628879426.933 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:30:27.329Z,1628879427.329 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EBC,000,0049C,186,80,80,B2,FF
2021-08-13T18:30:27.329Z,1628879427.329 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:30:27.459Z,1628879427.459 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T18:30:27.762Z,1628879427.762 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183027.04*55

2021-08-13T18:30:27.778Z,1628879427.778 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 33.300003 m, bearing: 55.014916 deg, deltaT: 4.522427 s, approachRate: -0.384749 m/s, LOS rate: 0.812471 deg/s, posRepo size: 4
2021-08-13T18:30:27.778Z,1628879427.778 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 33.30 m.
2021-08-13T18:30:27.781Z,1628879427.781 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 33.300003 m,
      bearing: 55.014916 deg,
      approachRate: -0.384749 m/s,
      LOS rate: 0.812471 deg/s,
      cmd update: 2.437413 deg/s,
      cmd heading: 42.986379 deg,
      new cmd heading: 43.757560 deg.

2021-08-13T18:30:28.216Z,1628879428.216 [DDM](ERROR): Could not parse whisker state
2021-08-13T18:30:30.175Z,1628879430.175 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:30:30.561Z,1628879430.561 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:30:30.561Z,1628879430.561 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:30:30.561Z,1628879430.561 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:30:30.562Z,1628879430.562 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:30:30.957Z,1628879430.957 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EBC,000,0049C,186,80,80,B2,FF
2021-08-13T18:30:30.957Z,1628879430.957 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:30:30.957Z,1628879430.957 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:30:30.959Z,1628879430.959 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:30:31.390Z,1628879431.390 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:30:32.208Z,1628879432.208 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183031.48*5A

2021-08-13T18:30:33.012Z,1628879433.012 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:30:34.596Z,1628879434.596 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,186,80,80,B2,FF
2021-08-13T18:30:34.596Z,1628879434.596 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,186,80,80,B2,FF
2021-08-13T18:30:34.596Z,1628879434.596 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T18:30:35.831Z,1628879435.831 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:30:36.214Z,1628879436.214 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:30:36.214Z,1628879436.214 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:30:36.214Z,1628879436.214 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:30:36.215Z,1628879436.215 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:30:36.625Z,1628879436.625 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,186,80,80,B2,FF
2021-08-13T18:30:36.625Z,1628879436.625 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:30:36.625Z,1628879436.625 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:30:36.627Z,1628879436.627 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:30:37.020Z,1628879437.020 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:30:37.457Z,1628879437.457 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A7,000,00458,186,80,80,8D,FF
2021-08-13T18:30:37.457Z,1628879437.457 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:30:37.559Z,1628879437.559 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T18:30:37.874Z,1628879437.874 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183037.15*54

2021-08-13T18:30:37.925Z,1628879437.925 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.219999 m, bearing: 45.530427 deg, deltaT: 10.100201 s, approachRate: -0.403953 m/s, LOS rate: -0.939040 deg/s, posRepo size: 4
2021-08-13T18:30:37.925Z,1628879437.925 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 29.22 m.
2021-08-13T18:30:37.928Z,1628879437.928 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 29.219999 m,
      bearing: 45.530427 deg,
      approachRate: -0.403953 m/s,
      LOS rate: -0.939040 deg/s,
      cmd update: -2.817119 deg/s,
      cmd heading: 67.633557 deg,
      new cmd heading: 68.543397 deg.

2021-08-13T18:30:40.278Z,1628879440.278 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:30:40.653Z,1628879440.653 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:30:40.653Z,1628879440.653 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:30:40.653Z,1628879440.653 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:30:40.654Z,1628879440.654 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:30:41.065Z,1628879441.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0A7,000,00458,186,80,80,8D,FF
2021-08-13T18:30:41.065Z,1628879441.065 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:30:41.065Z,1628879441.065 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:30:41.067Z,1628879441.067 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:30:41.468Z,1628879441.468 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:30:41.874Z,1628879441.874 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1EA,000,0043C,187,80,80,3D,FF
2021-08-13T18:30:41.874Z,1628879441.874 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:30:41.937Z,1628879441.937 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T18:30:42.314Z,1628879442.314 [Micromodem](INFO): Nmea in: $SNTTA,0.049397,,,,183041.59*43

2021-08-13T18:30:42.335Z,1628879442.335 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.539997 m, bearing: 44.927417 deg, deltaT: 4.378733 s, approachRate: -0.383673 m/s, LOS rate: -0.137713 deg/s, posRepo size: 4
2021-08-13T18:30:42.336Z,1628879442.336 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 27.54 m.
2021-08-13T18:30:42.337Z,1628879442.337 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 27.54 m.
2021-08-13T18:30:42.337Z,1628879442.337 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-13T18:30:42.339Z,1628879442.339 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 27.539997 m,
      bearing: 44.927417 deg,
      approachRate: -0.383673 m/s,
      LOS rate: -0.137713 deg/s,
      cmd update: -0.413140 deg/s,
      cmd heading: 55.297268 deg,
      new cmd heading: 54.156475 deg.

2021-08-13T18:30:44.745Z,1628879444.745 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:30:45.105Z,1628879445.105 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:30:45.105Z,1628879445.105 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:30:45.105Z,1628879445.105 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:30:45.106Z,1628879445.106 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:30:45.505Z,1628879445.505 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1EA,000,0043C,187,80,80,3D,FF
2021-08-13T18:30:45.505Z,1628879445.505 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:30:45.505Z,1628879445.505 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:30:45.507Z,1628879445.507 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:30:45.928Z,1628879445.928 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:30:46.321Z,1628879446.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0AA,000,00424,186,80,80,47,FF
2021-08-13T18:30:46.322Z,1628879446.322 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:30:46.342Z,1628879446.342 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T18:30:46.753Z,1628879446.753 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183046.03*55

2021-08-13T18:30:46.807Z,1628879446.807 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.099998 m, bearing: 56.114010 deg, deltaT: 4.404501 s, approachRate: -0.326938 m/s, LOS rate: 2.539809 deg/s, posRepo size: 4
2021-08-13T18:30:46.810Z,1628879446.810 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 26.099998 m,
      bearing: 56.114010 deg,
      approachRate: -0.326938 m/s,
      LOS rate: 2.539809 deg/s,
      cmd update: 7.619429 deg/s,
      cmd heading: 53.476000 deg,
      new cmd heading: 53.282376 deg.

2021-08-13T18:30:49.194Z,1628879449.194 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:30:49.549Z,1628879449.549 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:30:49.549Z,1628879449.549 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:30:49.549Z,1628879449.549 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:30:49.550Z,1628879449.550 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:30:49.953Z,1628879449.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0AA,000,00424,186,80,80,47,FF
2021-08-13T18:30:49.953Z,1628879449.953 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:30:49.954Z,1628879449.954 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:30:49.955Z,1628879449.955 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:30:50.359Z,1628879450.359 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:30:50.763Z,1628879450.763 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,023,000,003FF,184,80,80,9C,FF
2021-08-13T18:30:50.763Z,1628879450.763 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:30:50.793Z,1628879450.793 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T18:30:51.221Z,1628879451.221 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183050.48*5D

2021-08-13T18:30:51.291Z,1628879451.291 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.880001 m, bearing: 46.125951 deg, deltaT: 4.451302 s, approachRate: -0.498730 m/s, LOS rate: -2.243851 deg/s, posRepo size: 4
2021-08-13T18:30:51.293Z,1628879451.293 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 23.880001 m,
      bearing: 46.125951 deg,
      approachRate: -0.498730 m/s,
      LOS rate: -2.243851 deg/s,
      cmd update: -6.731554 deg/s,
      cmd heading: 87.393354 deg,
      new cmd heading: 91.206672 deg.

2021-08-13T18:30:53.661Z,1628879453.661 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:30:53.995Z,1628879453.995 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:30:53.995Z,1628879453.995 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:30:53.995Z,1628879453.995 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:30:53.996Z,1628879453.996 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:30:54.421Z,1628879454.421 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
023,000,003FF,184,80,80,9C,FF
2021-08-13T18:30:54.421Z,1628879454.421 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:30:54.421Z,1628879454.421 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:30:54.423Z,1628879454.423 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:30:54.807Z,1628879454.807 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:30:55.209Z,1628879455.209 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,168,000,003E1,186,80,80,4C,FF
2021-08-13T18:30:55.210Z,1628879455.210 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:30:55.320Z,1628879455.320 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T18:30:55.645Z,1628879455.645 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183054.95*59

2021-08-13T18:30:55.684Z,1628879455.684 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.079998 m, bearing: 40.600393 deg, deltaT: 4.526679 s, approachRate: -0.397643 m/s, LOS rate: -1.220665 deg/s, posRepo size: 4
2021-08-13T18:30:55.686Z,1628879455.686 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 22.079998 m,
      bearing: 40.600393 deg,
      approachRate: -0.397643 m/s,
      LOS rate: -1.220665 deg/s,
      cmd update: -3.661995 deg/s,
      cmd heading: 56.977105 deg,
      new cmd heading: 54.533719 deg.

2021-08-13T18:30:58.070Z,1628879458.070 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:30:58.461Z,1628879458.461 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:30:58.461Z,1628879458.461 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:30:58.461Z,1628879458.461 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:30:58.462Z,1628879458.462 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:30:58.842Z,1628879458.842 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
168,000,003E1,186,80,80,4C,FF
2021-08-13T18:30:58.843Z,1628879458.843 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:30:58.843Z,1628879458.843 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:30:58.845Z,1628879458.845 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:30:59.296Z,1628879459.296 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:30:59.645Z,1628879459.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,263,000,003D7,188,80,80,A1,FF
2021-08-13T18:30:59.645Z,1628879459.645 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:30:59.713Z,1628879459.713 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T18:31:00.090Z,1628879460.090 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183059.37*5C

2021-08-13T18:31:00.112Z,1628879460.112 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.480000 m, bearing: 38.134760 deg, deltaT: 4.392969 s, approachRate: -0.136582 m/s, LOS rate: -0.561268 deg/s, posRepo size: 4
2021-08-13T18:31:00.114Z,1628879460.114 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 21.480000 m,
      bearing: 38.134760 deg,
      approachRate: -0.136582 m/s,
      LOS rate: -0.561268 deg/s,
      cmd update: -1.683804 deg/s,
      cmd heading: 40.888716 deg,
      new cmd heading: 39.388866 deg.

2021-08-13T18:31:02.520Z,1628879462.520 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:31:02.878Z,1628879462.878 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:31:02.878Z,1628879462.878 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:31:02.878Z,1628879462.878 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:31:02.879Z,1628879462.879 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:31:03.293Z,1628879463.293 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
263,000,003D7,188,80,80,A1,FF
2021-08-13T18:31:03.293Z,1628879463.293 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:31:03.294Z,1628879463.294 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:31:03.295Z,1628879463.295 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:31:03.633Z,1628879463.633 [CTD_Seabird](ERROR): Failed to parse device response: 6.47.01
2021-08-13T18:31:03.692Z,1628879463.692 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:31:04.094Z,1628879464.094 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,12B,000,003AE,186,80,80,AD,FF
2021-08-13T18:31:04.094Z,1628879464.094 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:31:04.118Z,1628879464.118 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T18:31:04.534Z,1628879464.534 [Micromodem](INFO): Nmea in: $SNTTA,0.032088,,,,183103.82*43

2021-08-13T18:31:04.617Z,1628879464.617 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.020000 m, bearing: 39.988370 deg, deltaT: 4.405503 s, approachRate: -0.558392 m/s, LOS rate: 0.420749 deg/s, posRepo size: 4
2021-08-13T18:31:04.619Z,1628879464.619 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.020000 m,
      bearing: 39.988370 deg,
      approachRate: -0.558392 m/s,
      LOS rate: 0.420749 deg/s,
      cmd update: 1.262247 deg/s,
      cmd heading: 33.457502 deg,
      new cmd heading: 32.621047 deg.

2021-08-13T18:31:06.972Z,1628879466.972 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:31:07.321Z,1628879467.321 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:31:07.321Z,1628879467.321 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:31:07.321Z,1628879467.321 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:31:07.322Z,1628879467.322 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:31:07.737Z,1628879467.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
12B,000,003AE,186,80,80,AD,FF
2021-08-13T18:31:07.737Z,1628879467.737 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:31:07.738Z,1628879467.738 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:31:07.739Z,1628879467.739 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:31:08.133Z,1628879468.133 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:31:08.537Z,1628879468.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF7,000,00390,183,80,80,A8,FF
2021-08-13T18:31:08.537Z,1628879468.537 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:31:08.601Z,1628879468.601 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T18:31:08.973Z,1628879468.973 [Micromodem](INFO): Nmea in: $SNTTA,0.030813,,,,183108.26*4E

2021-08-13T18:31:09.006Z,1628879469.006 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.219997 m, bearing: 38.999714 deg, deltaT: 4.482188 s, approachRate: -0.401590 m/s, LOS rate: -0.220574 deg/s, posRepo size: 4
2021-08-13T18:31:09.008Z,1628879469.008 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.219997 m,
      bearing: 38.999714 deg,
      approachRate: -0.401590 m/s,
      LOS rate: -0.220574 deg/s,
      cmd update: -0.661723 deg/s,
      cmd heading: 39.109883 deg,
      new cmd heading: 39.630076 deg.

2021-08-13T18:31:11.462Z,1628879471.462 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:31:11.761Z,1628879471.761 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:31:11.761Z,1628879471.761 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:31:11.761Z,1628879471.761 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:31:11.762Z,1628879471.762 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:31:12.169Z,1628879472.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF7,000,00390,183,80,80,A8,FF
2021-08-13T18:31:12.170Z,1628879472.170 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:31:12.170Z,1628879472.170 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:31:12.171Z,1628879472.171 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:31:12.580Z,1628879472.580 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:31:12.982Z,1628879472.982 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE4,000,00373,184,80,80,9F,FF
2021-08-13T18:31:12.982Z,1628879472.982 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:31:13.007Z,1628879473.007 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T18:31:13.434Z,1628879473.434 [Micromodem](INFO): Nmea in: $SNTTA,0.035542,,,,183112.70*4A

2021-08-13T18:31:13.506Z,1628879473.506 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.479998 m, bearing: 34.692423 deg, deltaT: 4.405902 s, approachRate: -0.394925 m/s, LOS rate: -0.977619 deg/s, posRepo size: 4
2021-08-13T18:31:13.514Z,1628879473.514 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.479998 m,
      bearing: 34.692423 deg,
      approachRate: -0.394925 m/s,
      LOS rate: -0.977619 deg/s,
      cmd update: -2.932855 deg/s,
      cmd heading: 36.191632 deg,
      new cmd heading: 35.859873 deg.

2021-08-13T18:31:15.827Z,1628879475.827 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:31:16.209Z,1628879476.209 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:31:16.209Z,1628879476.209 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:31:16.209Z,1628879476.209 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:31:16.210Z,1628879476.210 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:31:16.625Z,1628879476.625 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE4,000,00373,184,80,80,9F,FF
2021-08-13T18:31:16.625Z,1628879476.625 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:31:16.626Z,1628879476.626 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:31:16.627Z,1628879476.627 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:31:17.024Z,1628879477.024 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:31:17.453Z,1628879477.453 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FDD,000,00355,185,80,80,9B,FF
2021-08-13T18:31:17.453Z,1628879477.453 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:31:17.548Z,1628879477.548 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T18:31:17.857Z,1628879477.857 [Micromodem](INFO): Nmea in: $SNTTA,0.043321,,,,183117.15*4E

2021-08-13T18:31:17.913Z,1628879477.913 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.680001 m, bearing: 36.728987 deg, deltaT: 4.541672 s, approachRate: -0.396329 m/s, LOS rate: 0.448417 deg/s, posRepo size: 4
2021-08-13T18:31:17.915Z,1628879477.915 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.680001 m,
      bearing: 36.728987 deg,
      approachRate: -0.396329 m/s,
      LOS rate: 0.448417 deg/s,
      cmd update: 1.345252 deg/s,
      cmd heading: 22.884369 deg,
      new cmd heading: 21.807366 deg.

2021-08-13T18:31:20.275Z,1628879480.275 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:31:20.657Z,1628879480.657 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:31:20.657Z,1628879480.657 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:31:20.657Z,1628879480.657 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:31:20.658Z,1628879480.658 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:31:21.057Z,1628879481.057 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FDD,000,00355,185,80,80,9B,FF
2021-08-13T18:31:21.057Z,1628879481.057 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:31:21.057Z,1628879481.057 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:31:21.059Z,1628879481.059 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:31:21.469Z,1628879481.469 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:31:21.865Z,1628879481.865 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E33,000,00339,187,80,80,AB,FF
2021-08-13T18:31:21.866Z,1628879481.866 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:31:21.921Z,1628879481.921 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T18:31:22.305Z,1628879482.305 [Micromodem](INFO): Nmea in: $SNTTA,0.055737,,,,183121.58*46

2021-08-13T18:31:22.337Z,1628879482.337 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.999999 m, bearing: 44.923507 deg, deltaT: 4.372552 s, approachRate: -0.384216 m/s, LOS rate: 1.874082 deg/s, posRepo size: 4
2021-08-13T18:31:22.339Z,1628879482.339 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.999999 m,
      bearing: 44.923507 deg,
      approachRate: -0.384216 m/s,
      LOS rate: 1.874082 deg/s,
      cmd update: 5.622245 deg/s,
      cmd heading: 28.731595 deg,
      new cmd heading: 29.336501 deg.

2021-08-13T18:31:24.753Z,1628879484.753 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:31:25.101Z,1628879485.101 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:31:25.101Z,1628879485.101 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:31:25.101Z,1628879485.101 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:31:25.102Z,1628879485.102 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:31:25.509Z,1628879485.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E33,000,00339,187,80,80,AB,FF
2021-08-13T18:31:25.509Z,1628879485.509 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:31:25.509Z,1628879485.509 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:31:25.511Z,1628879485.511 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:31:25.913Z,1628879485.913 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:31:26.309Z,1628879486.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EC9,000,00323,187,80,80,A4,FF
2021-08-13T18:31:26.309Z,1628879486.309 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:31:26.329Z,1628879486.329 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T18:31:26.761Z,1628879486.761 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183126.04*55

2021-08-13T18:31:26.809Z,1628879486.809 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.680000 m, bearing: 42.966336 deg, deltaT: 4.408736 s, approachRate: -0.299405 m/s, LOS rate: -0.443930 deg/s, posRepo size: 4
2021-08-13T18:31:26.811Z,1628879486.811 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.680000 m,
      bearing: 42.966336 deg,
      approachRate: -0.299405 m/s,
      LOS rate: -0.443930 deg/s,
      cmd update: -1.331790 deg/s,
      cmd heading: 53.689200 deg,
      new cmd heading: 56.403980 deg.

2021-08-13T18:31:29.155Z,1628879489.155 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:31:29.541Z,1628879489.541 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:31:29.541Z,1628879489.541 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:31:29.541Z,1628879489.541 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:31:29.542Z,1628879489.542 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:31:29.953Z,1628879489.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EC9,000,00323,187,80,80,A4,FF
2021-08-13T18:31:29.954Z,1628879489.954 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:31:29.954Z,1628879489.954 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:31:29.955Z,1628879489.955 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:31:30.355Z,1628879490.355 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:31:30.762Z,1628879490.762 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FAC,000,0030A,184,80,80,A0,FF
2021-08-13T18:31:30.762Z,1628879490.762 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:31:30.812Z,1628879490.812 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T18:31:31.221Z,1628879491.221 [Micromodem](INFO): Nmea in: $SNTTA,0.035683,,,,183130.48*4F

2021-08-13T18:31:31.276Z,1628879491.276 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.180000 m, bearing: 47.057729 deg, deltaT: 4.482923 s, approachRate: -0.334603 m/s, LOS rate: 0.912662 deg/s, posRepo size: 4
2021-08-13T18:31:31.279Z,1628879491.279 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.180000 m,
      bearing: 47.057729 deg,
      approachRate: -0.334603 m/s,
      LOS rate: 0.912662 deg/s,
      cmd update: 2.737985 deg/s,
      cmd heading: 47.745909 deg,
      new cmd heading: 47.124404 deg.

2021-08-13T18:31:33.665Z,1628879493.665 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:31:33.993Z,1628879493.993 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:31:33.993Z,1628879493.993 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:31:33.993Z,1628879493.993 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:31:33.994Z,1628879493.994 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:31:34.457Z,1628879494.457 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FAC,000,0030A,184,80,80,A0,FF
2021-08-13T18:31:34.457Z,1628879494.457 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:31:34.457Z,1628879494.457 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:31:34.459Z,1628879494.459 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:31:34.809Z,1628879494.809 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:31:35.242Z,1628879495.242 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE2,000,002EE,185,80,80,B8,FF
2021-08-13T18:31:35.243Z,1628879495.243 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:31:35.305Z,1628879495.305 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T18:31:35.673Z,1628879495.673 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.499999 m, bearing: 55.826746 deg, deltaT: 4.492851 s, approachRate: -0.373928 m/s, LOS rate: 1.951771 deg/s, posRepo size: 4
2021-08-13T18:31:35.675Z,1628879495.675 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.499999 m,
      bearing: 55.826746 deg,
      approachRate: -0.373928 m/s,
      LOS rate: 1.951771 deg/s,
      cmd update: 5.855314 deg/s,
      cmd heading: 60.102788 deg,
      new cmd heading: 61.117149 deg.

2021-08-13T18:31:36.029Z,1628879496.029 [Micromodem](INFO): Nmea in: $SNTTA,0.004780,,,,183134.98*46

2021-08-13T18:31:38.045Z,1628879498.045 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:31:38.457Z,1628879498.457 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:31:38.457Z,1628879498.457 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:31:38.457Z,1628879498.457 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:31:38.458Z,1628879498.458 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:31:38.857Z,1628879498.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE2,000,002EE,185,80,80,B8,FF
2021-08-13T18:31:38.857Z,1628879498.857 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:31:38.857Z,1628879498.857 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:31:38.858Z,1628879498.858 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:31:39.288Z,1628879499.288 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:31:39.657Z,1628879499.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,053,000,002D9,184,80,80,AB,FF
2021-08-13T18:31:39.658Z,1628879499.658 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:31:39.688Z,1628879499.688 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T18:31:40.081Z,1628879500.081 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183139.38*54

2021-08-13T18:31:40.103Z,1628879500.103 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 6.240000 m, bearing: 57.486943 deg, deltaT: 4.382848 s, approachRate: -0.287484 m/s, LOS rate: 0.378794 deg/s, posRepo size: 4
2021-08-13T18:31:40.134Z,1628879500.134 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.240000 m,
      bearing: 57.486943 deg,
      approachRate: -0.287484 m/s,
      LOS rate: 0.378794 deg/s,
      cmd update: 1.136382 deg/s,
      cmd heading: 85.764450 deg,
      new cmd heading: 88.215168 deg.

2021-08-13T18:31:42.515Z,1628879502.515 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:31:42.901Z,1628879502.901 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:31:42.901Z,1628879502.901 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:31:42.901Z,1628879502.901 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:31:42.903Z,1628879502.903 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:31:43.293Z,1628879503.293 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
053,000,002D9,184,80,80,AB,FF
2021-08-13T18:31:43.293Z,1628879503.293 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:31:43.293Z,1628879503.293 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:31:43.295Z,1628879503.295 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:31:43.696Z,1628879503.696 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:31:44.101Z,1628879504.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,147,000,002C3,186,80,80,95,FF
2021-08-13T18:31:44.102Z,1628879504.102 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:31:44.131Z,1628879504.131 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T18:31:44.537Z,1628879504.537 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183143.82*58

2021-08-13T18:31:44.589Z,1628879504.589 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-08-13T18:31:44.589Z,1628879504.589 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-08-13T18:31:44.590Z,1628879504.590 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-08-13T18:31:44.590Z,1628879504.590 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-13T18:31:44.590Z,1628879504.590 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-08-13T18:31:44.591Z,1628879504.591 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.919998 m 
2021-08-13T18:31:44.591Z,1628879504.591 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-08-13T18:31:44.591Z,1628879504.591 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-08-13T18:31:44.591Z,1628879504.591 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-08-13T18:31:44.598Z,1628879504.598 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.919998 m, bearing: 61.610458 deg, deltaT: 4.442563 s, approachRate: -0.297126 m/s, LOS rate: 0.928184 deg/s, posRepo size: 4
2021-08-13T18:31:44.606Z,1628879504.606 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.919998 m,
      bearing: 61.610458 deg,
      approachRate: -0.297126 m/s,
      LOS rate: 0.928184 deg/s,
      cmd update: 2.784551 deg/s,
      cmd heading: 90.812958 deg,
      new cmd heading: 91.347251 deg.

2021-08-13T18:31:44.949Z,1628879504.949 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210813T183144: (41.552319, -70.708603)
2021-08-13T18:31:44.949Z,1628879504.949 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-08-13T18:31:44.949Z,1628879504.949 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-08-13T18:31:44.950Z,1628879504.950 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-13T18:31:44.950Z,1628879504.950 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-08-13T18:31:44.950Z,1628879504.950 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-13T18:31:44.950Z,1628879504.950 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-08-13T18:31:44.950Z,1628879504.950 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-08-13T18:31:44.950Z,1628879504.950 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-08-13T18:31:45.394Z,1628879505.394 [UniversalFixResidualReporter](INFO): Fix residual: 6.6 %DT, over the last 516.3 m. Residual distance 34.3 m at bearing 136.5 degrees. Fix at (41.5527, -70.7070) with 0.0 m made good.
2021-08-13T18:31:46.959Z,1628879506.959 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:31:47.340Z,1628879507.340 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:31:47.340Z,1628879507.340 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:31:47.341Z,1628879507.341 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:31:47.342Z,1628879507.342 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:31:47.757Z,1628879507.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
147,000,002C3,186,80,80,95,FF
2021-08-13T18:31:47.757Z,1628879507.757 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:31:47.757Z,1628879507.757 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:31:47.759Z,1628879507.759 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:31:48.145Z,1628879508.145 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:31:48.561Z,1628879508.561 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,192,000,002C5,185,80,80,AE,FF
2021-08-13T18:31:48.561Z,1628879508.561 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:31:48.612Z,1628879508.612 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T18:31:48.981Z,1628879508.981 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183148.28*53

2021-08-13T18:31:49.004Z,1628879509.004 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.039999 m, bearing: 73.730109 deg, deltaT: 4.481300 s, approachRate: 0.026778 m/s, LOS rate: 2.704495 deg/s, posRepo size: 4
2021-08-13T18:31:49.006Z,1628879509.006 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.039999 m,
      bearing: 73.730109 deg,
      approachRate: 0.026778 m/s,
      LOS rate: 2.704495 deg/s,
      cmd update: 8.113484 deg/s,
      cmd heading: 103.235208 deg,
      new cmd heading: 104.390510 deg.

2021-08-13T18:31:49.454Z,1628879509.454 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T18:31:49.766Z,1628879509.766 [PowerOnly](INFO): Powering down loadControl
2021-08-13T18:31:51.454Z,1628879511.454 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:31:51.782Z,1628879511.782 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:31:51.782Z,1628879511.782 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:31:51.783Z,1628879511.783 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:31:51.783Z,1628879511.783 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:31:52.173Z,1628879512.173 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
192,000,002C5,185,80,80,AE,FF
2021-08-13T18:31:52.174Z,1628879512.174 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:31:52.174Z,1628879512.174 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:31:52.175Z,1628879512.175 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:31:52.602Z,1628879512.602 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:31:52.985Z,1628879512.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1B3,000,002DA,186,80,80,97,FF
2021-08-13T18:31:52.985Z,1628879512.985 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:31:53.032Z,1628879513.032 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T18:31:53.441Z,1628879513.441 [Micromodem](INFO): Nmea in: $SNTTA,0.055042,,,,183152.70*4D

2021-08-13T18:31:53.515Z,1628879513.515 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 6.300001 m, bearing: 87.956601 deg, deltaT: 4.420233 s, approachRate: 0.285053 m/s, LOS rate: 3.218494 deg/s, posRepo size: 4
2021-08-13T18:31:53.521Z,1628879513.521 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.300001 m,
      bearing: 87.956601 deg,
      approachRate: 0.285053 m/s,
      LOS rate: 3.218494 deg/s,
      cmd update: 9.655481 deg/s,
      cmd heading: 139.239619 deg,
      new cmd heading: 143.202739 deg.

2021-08-13T18:31:54.626Z,1628879514.626 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T18:31:55.858Z,1628879515.858 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:31:56.217Z,1628879516.217 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:31:56.217Z,1628879516.217 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:31:56.217Z,1628879516.217 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:31:56.218Z,1628879516.218 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:31:56.622Z,1628879516.622 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1B3,000,002DA,186,80,80,97,FF
2021-08-13T18:31:56.622Z,1628879516.622 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:31:56.622Z,1628879516.622 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:31:56.625Z,1628879516.625 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:31:57.035Z,1628879517.035 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:31:57.462Z,1628879517.462 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF3,000,00310,183,80,80,5D,FF
2021-08-13T18:31:57.463Z,1628879517.463 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:31:57.542Z,1628879517.542 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T18:31:57.876Z,1628879517.876 [Micromodem](INFO): Nmea in: $SNTTA,0.138557,,,,183157.15*40

2021-08-13T18:31:57.907Z,1628879517.907 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.540000 m, bearing: 126.961742 deg, deltaT: 4.509611 s, approachRate: 0.718465 m/s, LOS rate: 8.649336 deg/s, posRepo size: 4
2021-08-13T18:31:57.910Z,1628879517.910 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.540000 m,
      bearing: 126.961742 deg,
      approachRate: 0.718465 m/s,
      LOS rate: 8.649336 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 182.810584 deg,
      new cmd heading: 186.355159 deg.

2021-08-13T18:32:00.281Z,1628879520.281 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:32:00.666Z,1628879520.666 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:32:00.666Z,1628879520.666 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:32:00.666Z,1628879520.666 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:32:00.667Z,1628879520.667 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:32:01.065Z,1628879521.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF3,000,00310,183,80,80,5D,FF
2021-08-13T18:32:01.065Z,1628879521.065 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:32:01.065Z,1628879521.065 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:32:01.067Z,1628879521.067 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:32:01.483Z,1628879521.483 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:32:01.882Z,1628879521.882 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F3F,000,00332,186,80,80,80,FF
2021-08-13T18:32:01.883Z,1628879521.883 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:32:01.938Z,1628879521.938 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T18:32:02.310Z,1628879522.310 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183201.59*5B

2021-08-13T18:32:02.366Z,1628879522.366 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.579999 m, bearing: 153.548554 deg, deltaT: 4.396344 s, approachRate: 0.464022 m/s, LOS rate: 6.047482 deg/s, posRepo size: 4
2021-08-13T18:32:02.393Z,1628879522.393 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.579999 m,
      bearing: 153.548554 deg,
      approachRate: 0.464022 m/s,
      LOS rate: 6.047482 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 235.517790 deg,
      new cmd heading: 240.672738 deg.

2021-08-13T18:32:04.708Z,1628879524.708 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T18:32:04.755Z,1628879524.755 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:32:05.101Z,1628879525.101 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:32:05.101Z,1628879525.101 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:32:05.101Z,1628879525.101 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:32:05.102Z,1628879525.102 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:32:05.505Z,1628879525.505 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F3F,000,00332,186,80,80,80,FF
2021-08-13T18:32:05.505Z,1628879525.505 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:32:05.505Z,1628879525.505 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:32:05.507Z,1628879525.507 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:32:05.938Z,1628879525.938 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:32:06.321Z,1628879526.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CD7,000,0034E,189,80,80,89,FF
2021-08-13T18:32:06.321Z,1628879526.321 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:32:06.341Z,1628879526.341 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T18:32:06.761Z,1628879526.761 [Micromodem](INFO): Nmea in: $SNTTA,0.034838,,,,183206.03*49

2021-08-13T18:32:06.798Z,1628879526.798 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.260000 m, bearing: 202.291830 deg, deltaT: 4.403636 s, approachRate: 0.381503 m/s, LOS rate: 11.068871 deg/s, posRepo size: 4
2021-08-13T18:32:06.798Z,1628879526.798 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 13.26 m. Rolling out.
2021-08-13T18:32:06.799Z,1628879526.799 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-08-13T18:32:07.160Z,1628879527.160 [ElevatorOffsetCalculator](INFO): Removing expired estimator for commanded vars: speed 1.00 m/s, pitch 20.00 deg, mass-position 2.95 mm.
2021-08-13T18:32:07.177Z,1628879527.177 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2021-08-13T18:32:07.177Z,1628879527.177 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-13T18:32:07.178Z,1628879527.178 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2021-08-13T18:32:07.178Z,1628879527.178 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2021-08-13T18:32:07.178Z,1628879527.178 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2021-08-13T18:32:07.178Z,1628879527.178 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2021-08-13T18:32:07.178Z,1628879527.178 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-08-13T18:32:09.159Z,1628879529.159 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:32:09.554Z,1628879529.554 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:32:09.554Z,1628879529.554 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:32:09.554Z,1628879529.554 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:32:09.555Z,1628879529.555 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:32:10.025Z,1628879530.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CD7,000,0034E,189,80,80,89,FF
2021-08-13T18:32:10.025Z,1628879530.025 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:32:10.025Z,1628879530.025 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:32:10.027Z,1628879530.027 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:32:10.477Z,1628879530.477 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:32:10.501Z,1628879530.501 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T18:32:11.285Z,1628879531.285 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E7A,000,0134D,186,80,80,54,FF
2021-08-13T18:32:11.285Z,1628879531.285 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:32:11.288Z,1628879531.288 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183210.55*57

2021-08-13T18:32:11.386Z,1628879531.386 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T18:32:11.691Z,1628879531.691 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 258.959991 m, bearing: 199.693749 deg, deltaT: 5.045021 s, approachRate: 48.701481 m/s, LOS rate: -0.514979 deg/s, posRepo size: 4
2021-08-13T18:32:12.096Z,1628879532.096 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-13T18:32:12.096Z,1628879532.096 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T18:32:12.097Z,1628879532.097 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-13T18:32:12.097Z,1628879532.097 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-13T18:32:12.097Z,1628879532.097 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-13T18:32:12.097Z,1628879532.097 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-13T18:32:12.496Z,1628879532.496 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-13T18:32:12.497Z,1628879532.497 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T18:32:12.497Z,1628879532.497 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-13T18:32:12.497Z,1628879532.497 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T18:32:14.118Z,1628879534.118 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:32:14.476Z,1628879534.476 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:32:14.476Z,1628879534.476 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:32:14.476Z,1628879534.476 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:32:14.477Z,1628879534.477 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:32:14.878Z,1628879534.878 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E7A,000,0134D,186,80,80,54,FF
2021-08-13T18:32:14.878Z,1628879534.878 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:32:14.878Z,1628879534.878 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:32:14.881Z,1628879534.881 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:32:15.311Z,1628879535.311 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:32:15.697Z,1628879535.697 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E7D,000,0039D,186,80,80,71,FF
2021-08-13T18:32:15.697Z,1628879535.697 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:32:16.150Z,1628879536.150 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183215.40*56

2021-08-13T18:32:16.171Z,1628879536.171 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.000000 m, bearing: 212.262950 deg, deltaT: 4.395440 s, approachRate: -54.820450 m/s, LOS rate: 2.859600 deg/s, posRepo size: 4
2021-08-13T18:32:16.561Z,1628879536.561 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-13T18:32:16.561Z,1628879536.561 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T18:32:16.562Z,1628879536.562 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-13T18:32:16.562Z,1628879536.562 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-13T18:32:16.562Z,1628879536.562 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-13T18:32:16.562Z,1628879536.562 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-13T18:32:16.987Z,1628879536.987 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-13T18:32:16.987Z,1628879536.987 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T18:32:16.987Z,1628879536.987 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-13T18:32:16.987Z,1628879536.987 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T18:32:18.595Z,1628879538.595 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:32:18.937Z,1628879538.937 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:32:18.937Z,1628879538.937 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:32:18.937Z,1628879538.937 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:32:18.938Z,1628879538.938 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:32:19.342Z,1628879539.342 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E7D,000,0039D,186,80,80,71,FF
2021-08-13T18:32:19.343Z,1628879539.343 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:32:19.343Z,1628879539.343 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:32:19.349Z,1628879539.349 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:32:19.741Z,1628879539.741 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:32:20.141Z,1628879540.141 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E44,000,003AC,186,80,80,66,FF
2021-08-13T18:32:20.142Z,1628879540.142 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:32:20.190Z,1628879540.190 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T18:32:20.573Z,1628879540.573 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183219.87*51

2021-08-13T18:32:20.617Z,1628879540.617 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.899998 m, bearing: 223.643821 deg, deltaT: 4.408187 s, approachRate: 0.204165 m/s, LOS rate: 2.581758 deg/s, posRepo size: 4
2021-08-13T18:32:23.003Z,1628879543.003 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:32:23.371Z,1628879543.371 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:32:23.372Z,1628879543.372 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:32:23.373Z,1628879543.373 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:32:23.374Z,1628879543.374 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:32:23.769Z,1628879543.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E44,000,003AC,186,80,80,66,FF
2021-08-13T18:32:23.769Z,1628879543.769 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:32:23.770Z,1628879543.770 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:32:23.771Z,1628879543.771 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:32:24.181Z,1628879544.181 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:32:24.581Z,1628879544.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED4,000,003BD,186,80,80,8D,FF
2021-08-13T18:32:24.581Z,1628879544.581 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:32:24.593Z,1628879544.593 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-13T18:32:24.633Z,1628879544.633 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T18:32:25.034Z,1628879545.034 [Micromodem](INFO): Nmea in: $SNTTA,0.041052,,,,183224.29*47

2021-08-13T18:32:25.062Z,1628879545.062 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.919998 m, bearing: 220.771918 deg, deltaT: 4.442400 s, approachRate: 0.229606 m/s, LOS rate: -0.646476 deg/s, posRepo size: 4
2021-08-13T18:32:27.534Z,1628879547.534 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:32:27.813Z,1628879547.813 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:32:27.813Z,1628879547.813 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:32:27.813Z,1628879547.813 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:32:27.814Z,1628879547.814 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:32:28.222Z,1628879548.222 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ED4,000,003BD,186,80,80,8D,FF
2021-08-13T18:32:28.222Z,1628879548.222 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:32:28.222Z,1628879548.222 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:32:28.224Z,1628879548.224 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:32:28.621Z,1628879548.621 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:32:29.030Z,1628879549.030 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E6D,000,003CF,186,80,80,95,FF
2021-08-13T18:32:29.030Z,1628879549.030 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:32:29.077Z,1628879549.077 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T18:32:29.501Z,1628879549.501 [Micromodem](INFO): Nmea in: $SNTTA,0.042788,,,,183228.80*4B

2021-08-13T18:32:29.564Z,1628879549.564 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.000000 m, bearing: 228.541900 deg, deltaT: 4.444136 s, approachRate: 0.243017 m/s, LOS rate: 1.748367 deg/s, posRepo size: 4
2021-08-13T18:32:31.870Z,1628879551.870 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:32:32.257Z,1628879552.257 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:32:32.257Z,1628879552.257 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:32:32.257Z,1628879552.257 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:32:32.258Z,1628879552.258 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:32:32.665Z,1628879552.665 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E6D,000,003CF,186,80,80,95,FF
2021-08-13T18:32:32.665Z,1628879552.665 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:32:32.665Z,1628879552.665 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:32:32.667Z,1628879552.667 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:32:33.077Z,1628879553.077 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:32:33.473Z,1628879553.473 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E82,000,003E2,186,80,80,8E,FF
2021-08-13T18:32:33.474Z,1628879553.474 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:32:33.546Z,1628879553.546 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T18:32:33.918Z,1628879553.918 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183233.19*5E

2021-08-13T18:32:33.940Z,1628879553.940 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.140001 m, bearing: 230.823320 deg, deltaT: 4.469296 s, approachRate: 0.255074 m/s, LOS rate: 0.510465 deg/s, posRepo size: 4
2021-08-13T18:32:36.314Z,1628879556.314 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:32:36.701Z,1628879556.701 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:32:36.701Z,1628879556.701 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:32:36.701Z,1628879556.701 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:32:36.702Z,1628879556.702 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:32:37.113Z,1628879557.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E82,000,003E2,186,80,80,8E,FF
2021-08-13T18:32:37.113Z,1628879557.113 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:32:37.113Z,1628879557.113 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:32:37.115Z,1628879557.115 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:32:37.530Z,1628879557.530 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:32:37.937Z,1628879557.937 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E9C,000,003F3,186,80,80,92,FF
2021-08-13T18:32:37.937Z,1628879557.937 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:32:37.980Z,1628879557.980 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T18:32:38.369Z,1628879558.369 [Micromodem](INFO): Nmea in: $SNTTA,0.046167,,,,183237.64*4C

2021-08-13T18:32:38.432Z,1628879558.432 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.160000 m, bearing: 232.383581 deg, deltaT: 4.433735 s, approachRate: 0.230054 m/s, LOS rate: 0.351907 deg/s, posRepo size: 4
2021-08-13T18:32:40.794Z,1628879560.794 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:32:41.157Z,1628879561.157 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:32:41.157Z,1628879561.157 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:32:41.157Z,1628879561.157 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:32:41.158Z,1628879561.158 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:32:41.557Z,1628879561.557 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E9C,000,003F3,186,80,80,92,FF
2021-08-13T18:32:41.557Z,1628879561.557 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:32:41.557Z,1628879561.557 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:32:41.559Z,1628879561.559 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:32:41.968Z,1628879561.968 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:32:42.373Z,1628879562.373 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E99,000,00404,186,80,80,99,FF
2021-08-13T18:32:42.374Z,1628879562.374 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:32:42.434Z,1628879562.434 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T18:32:42.813Z,1628879562.813 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183242.08*58

2021-08-13T18:32:42.844Z,1628879562.844 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.180000 m, bearing: 234.775404 deg, deltaT: 4.453748 s, approachRate: 0.229021 m/s, LOS rate: 0.537036 deg/s, posRepo size: 4
2021-08-13T18:32:45.263Z,1628879565.263 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:32:45.605Z,1628879565.605 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:32:45.605Z,1628879565.605 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:32:45.605Z,1628879565.605 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:32:45.606Z,1628879565.606 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:32:46.001Z,1628879566.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E99,000,00404,186,80,80,99,FF
2021-08-13T18:32:46.001Z,1628879566.001 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:32:46.001Z,1628879566.001 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:32:46.003Z,1628879566.003 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:32:46.441Z,1628879566.441 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:32:46.814Z,1628879566.814 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA4,000,00415,186,80,80,72,FF
2021-08-13T18:32:46.814Z,1628879566.814 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:32:46.867Z,1628879566.867 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T18:32:47.266Z,1628879567.266 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183246.53*52

2021-08-13T18:32:47.301Z,1628879567.301 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.199999 m, bearing: 235.754170 deg, deltaT: 4.432826 s, approachRate: 0.230101 m/s, LOS rate: 0.220800 deg/s, posRepo size: 4
2021-08-13T18:32:49.689Z,1628879569.689 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:32:50.045Z,1628879570.045 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:32:50.045Z,1628879570.045 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:32:50.045Z,1628879570.045 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:32:50.046Z,1628879570.046 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:32:50.465Z,1628879570.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EA4,000,00415,186,80,80,72,FF
2021-08-13T18:32:50.465Z,1628879570.465 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:32:50.465Z,1628879570.465 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:32:50.467Z,1628879570.467 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:32:50.857Z,1628879570.857 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:32:51.674Z,1628879571.674 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183250.99*53

2021-08-13T18:32:52.504Z,1628879572.504 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:32:54.081Z,1628879574.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
5,186,80,80,72,FF
2021-08-13T18:32:54.081Z,1628879574.081 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
5,186,80,80,72,FF
2021-08-13T18:32:54.082Z,1628879574.082 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T18:32:55.333Z,1628879575.333 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:32:55.697Z,1628879575.697 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:32:55.697Z,1628879575.697 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:32:55.697Z,1628879575.697 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:32:55.698Z,1628879575.698 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:32:56.101Z,1628879576.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
5,186,80,80,72,FF
2021-08-13T18:32:56.101Z,1628879576.101 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:32:56.101Z,1628879576.101 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:32:56.103Z,1628879576.103 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:32:56.508Z,1628879576.508 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:32:56.910Z,1628879576.910 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EFC,000,0043E,186,80,80,76,FF
2021-08-13T18:32:56.911Z,1628879576.911 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:32:56.930Z,1628879576.930 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T18:32:57.337Z,1628879577.337 [Micromodem](INFO): Nmea in: $SNTTA,0.036414,0.454043,,,183256.62*57

2021-08-13T18:32:57.438Z,1628879577.438 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.659998 m, bearing: 233.399886 deg, deltaT: 10.063397 s, approachRate: 0.244450 m/s, LOS rate: -0.233945 deg/s, posRepo size: 4
2021-08-13T18:32:59.482Z,1628879579.482 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:32:59.765Z,1628879579.765 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:32:59.765Z,1628879579.765 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:32:59.765Z,1628879579.765 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:32:59.766Z,1628879579.766 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:33:00.173Z,1628879580.173 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EFC,000,0043E,186,80,80,76,FF
2021-08-13T18:33:00.173Z,1628879580.173 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:33:00.173Z,1628879580.173 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:33:00.175Z,1628879580.175 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:33:00.568Z,1628879580.568 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:33:00.974Z,1628879580.974 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EEB,000,00450,186,80,80,82,FF
2021-08-13T18:33:00.974Z,1628879580.974 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:33:00.993Z,1628879580.993 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T18:33:01.421Z,1628879581.421 [Micromodem](INFO): Nmea in: $SNTTA,0.030612,,,,183300.70*48

2021-08-13T18:33:01.498Z,1628879581.498 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.740002 m, bearing: 235.091013 deg, deltaT: 4.063064 s, approachRate: 0.265810 m/s, LOS rate: 0.416220 deg/s, posRepo size: 4
2021-08-13T18:33:03.818Z,1628879583.818 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:33:04.213Z,1628879584.213 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:33:04.213Z,1628879584.213 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:33:04.213Z,1628879584.213 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:33:04.214Z,1628879584.214 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:33:04.613Z,1628879584.613 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EEB,000,00450,186,80,80,82,FF
2021-08-13T18:33:04.613Z,1628879584.613 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:33:04.614Z,1628879584.614 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:33:04.615Z,1628879584.615 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:33:05.016Z,1628879585.016 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:33:05.456Z,1628879585.456 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F2C,000,0045E,186,80,80,88,FF
2021-08-13T18:33:05.457Z,1628879585.457 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:33:05.460Z,1628879585.460 [Micromodem](INFO): Nmea in: $SNTTA,0.238346,0.238402,,,183305.14*50

2021-08-13T18:33:05.538Z,1628879585.538 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T18:33:05.855Z,1628879585.855 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.580002 m, bearing: 233.010483 deg, deltaT: 4.544545 s, approachRate: 0.184837 m/s, LOS rate: -0.457808 deg/s, posRepo size: 4
2021-08-13T18:33:08.258Z,1628879588.258 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:33:08.645Z,1628879588.645 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:33:08.645Z,1628879588.645 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:33:08.645Z,1628879588.645 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:33:08.646Z,1628879588.646 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:33:09.053Z,1628879589.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F2C,000,0045E,186,80,80,88,FF
2021-08-13T18:33:09.054Z,1628879589.054 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:33:09.054Z,1628879589.054 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:33:09.055Z,1628879589.055 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:33:09.477Z,1628879589.477 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:33:09.865Z,1628879589.865 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F0C,000,00471,186,80,80,8E,FF
2021-08-13T18:33:09.865Z,1628879589.865 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:33:09.928Z,1628879589.928 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T18:33:10.306Z,1628879590.306 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183309.58*53

2021-08-13T18:33:10.327Z,1628879590.327 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.720001 m, bearing: 236.050627 deg, deltaT: 4.390664 s, approachRate: 0.259642 m/s, LOS rate: 0.692411 deg/s, posRepo size: 4
2021-08-13T18:33:12.727Z,1628879592.727 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:33:13.105Z,1628879593.105 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:33:13.105Z,1628879593.105 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:33:13.105Z,1628879593.105 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:33:13.106Z,1628879593.106 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:33:13.501Z,1628879593.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F0C,000,00471,186,80,80,8E,FF
2021-08-13T18:33:13.501Z,1628879593.501 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:33:13.501Z,1628879593.501 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:33:13.503Z,1628879593.503 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:33:13.907Z,1628879593.907 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:33:14.305Z,1628879594.305 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F09,000,00480,186,80,80,83,FF
2021-08-13T18:33:14.305Z,1628879594.305 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:33:14.324Z,1628879594.324 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T18:33:14.757Z,1628879594.757 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183314.03*51

2021-08-13T18:33:14.783Z,1628879594.783 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.620001 m, bearing: 237.123595 deg, deltaT: 4.396012 s, approachRate: 0.204731 m/s, LOS rate: 0.244078 deg/s, posRepo size: 4
2021-08-13T18:33:17.244Z,1628879597.244 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:33:17.533Z,1628879597.533 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:33:17.533Z,1628879597.533 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:33:17.533Z,1628879597.533 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:33:17.534Z,1628879597.534 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:33:17.949Z,1628879597.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F09,000,00480,186,80,80,83,FF
2021-08-13T18:33:17.949Z,1628879597.949 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:33:17.949Z,1628879597.949 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:33:17.951Z,1628879597.951 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:33:18.348Z,1628879598.348 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:33:18.765Z,1628879598.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE6,000,00491,186,80,80,8E,FF
2021-08-13T18:33:18.765Z,1628879598.765 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:33:18.827Z,1628879598.827 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T18:33:19.188Z,1628879599.188 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183318.47*5D

2021-08-13T18:33:19.266Z,1628879599.266 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.639999 m, bearing: 239.405015 deg, deltaT: 4.502429 s, approachRate: 0.226544 m/s, LOS rate: 0.506709 deg/s, posRepo size: 4
2021-08-13T18:33:21.629Z,1628879601.629 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:33:21.986Z,1628879601.986 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:33:21.986Z,1628879601.986 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:33:21.986Z,1628879601.986 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:33:21.987Z,1628879601.987 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:33:22.401Z,1628879602.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE6,000,00491,186,80,80,8E,FF
2021-08-13T18:33:22.401Z,1628879602.401 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:33:22.402Z,1628879602.402 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:33:22.407Z,1628879602.407 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:33:22.803Z,1628879602.803 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:33:23.209Z,1628879603.209 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EBA,000,004A4,186,80,80,76,FF
2021-08-13T18:33:23.210Z,1628879603.210 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:33:23.316Z,1628879603.316 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T18:33:23.622Z,1628879603.622 [Micromodem](INFO): Nmea in: $SNTTA,0.041496,0.341395,,,183322.93*5A

2021-08-13T18:33:23.698Z,1628879603.698 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 33.779999 m, bearing: 243.291584 deg, deltaT: 4.489935 s, approachRate: 0.253901 m/s, LOS rate: 0.865618 deg/s, posRepo size: 4
2021-08-13T18:33:26.058Z,1628879606.058 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:33:26.461Z,1628879606.461 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:33:26.461Z,1628879606.461 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:33:26.461Z,1628879606.461 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:33:26.462Z,1628879606.462 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:33:26.826Z,1628879606.826 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EBA,000,004A4,186,80,80,76,FF
2021-08-13T18:33:26.826Z,1628879606.826 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:33:26.827Z,1628879606.827 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:33:26.829Z,1628879606.829 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:33:27.293Z,1628879607.293 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:33:27.686Z,1628879607.686 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF2,000,004B4,186,80,80,85,FF
2021-08-13T18:33:27.686Z,1628879607.686 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:33:27.737Z,1628879607.737 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T18:33:28.089Z,1628879608.089 [Micromodem](INFO): Nmea in: $SNTTA,0.041029,,,,183327.35*44

2021-08-13T18:33:28.136Z,1628879608.136 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.740002 m, bearing: 241.412872 deg, deltaT: 4.420051 s, approachRate: 0.217193 m/s, LOS rate: -0.425043 deg/s, posRepo size: 4
2021-08-13T18:33:30.549Z,1628879610.549 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:33:30.911Z,1628879610.911 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:33:30.911Z,1628879610.911 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:33:30.911Z,1628879610.911 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:33:30.912Z,1628879610.912 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:33:31.305Z,1628879611.305 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF2,000,004B4,186,80,80,85,FF
2021-08-13T18:33:31.305Z,1628879611.305 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:33:31.305Z,1628879611.305 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:33:31.307Z,1628879611.307 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:33:31.715Z,1628879611.715 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:33:32.113Z,1628879612.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF7,000,004C4,186,80,80,94,FF
2021-08-13T18:33:32.114Z,1628879612.114 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:33:32.203Z,1628879612.203 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T18:33:32.562Z,1628879612.562 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183331.83*5E

2021-08-13T18:33:32.592Z,1628879612.592 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.699997 m, bearing: 242.142637 deg, deltaT: 4.466638 s, approachRate: 0.214926 m/s, LOS rate: 0.163381 deg/s, posRepo size: 4
2021-08-13T18:33:34.985Z,1628879614.985 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:33:35.345Z,1628879615.345 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:33:35.345Z,1628879615.345 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:33:35.345Z,1628879615.345 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:33:35.346Z,1628879615.346 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:33:35.753Z,1628879615.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF7,000,004C4,186,80,80,94,FF
2021-08-13T18:33:35.753Z,1628879615.753 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:33:35.753Z,1628879615.753 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:33:35.755Z,1628879615.755 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:33:36.165Z,1628879616.165 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:33:36.572Z,1628879616.572 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F3A,000,004D4,187,80,80,80,FF
2021-08-13T18:33:36.573Z,1628879616.573 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:33:36.618Z,1628879616.618 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T18:33:37.005Z,1628879617.005 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183336.28*58

2021-08-13T18:33:37.027Z,1628879617.027 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.660000 m, bearing: 239.835836 deg, deltaT: 4.414726 s, approachRate: 0.217455 m/s, LOS rate: -0.522524 deg/s, posRepo size: 4
2021-08-13T18:33:39.497Z,1628879619.497 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:33:39.789Z,1628879619.789 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:33:39.789Z,1628879619.789 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:33:39.789Z,1628879619.789 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:33:39.790Z,1628879619.790 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:33:40.197Z,1628879620.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F3A,000,004D4,187,80,80,80,FF
2021-08-13T18:33:40.197Z,1628879620.197 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:33:40.197Z,1628879620.197 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:33:40.199Z,1628879620.199 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:33:40.609Z,1628879620.609 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:33:41.009Z,1628879621.009 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF2,000,004E5,186,80,80,9E,FF
2021-08-13T18:33:41.009Z,1628879621.009 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:33:41.028Z,1628879621.028 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T18:33:41.454Z,1628879621.454 [Micromodem](INFO): Nmea in: $SNTTA,0.446021,,,,183340.72*4D

2021-08-13T18:33:41.551Z,1628879621.551 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.680000 m, bearing: 244.158854 deg, deltaT: 4.410355 s, approachRate: 0.231274 m/s, LOS rate: 0.980197 deg/s, posRepo size: 4
2021-08-13T18:33:43.867Z,1628879623.867 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:33:44.233Z,1628879624.233 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:33:44.233Z,1628879624.233 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:33:44.233Z,1628879624.233 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:33:44.234Z,1628879624.234 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:33:44.633Z,1628879624.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF2,000,004E5,186,80,80,9E,FF
2021-08-13T18:33:44.633Z,1628879624.633 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:33:44.634Z,1628879624.634 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:33:44.635Z,1628879624.635 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:33:45.048Z,1628879625.048 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:33:45.465Z,1628879625.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F1F,000,004F8,187,80,80,98,FF
2021-08-13T18:33:45.465Z,1628879625.465 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:33:45.586Z,1628879625.586 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T18:33:45.917Z,1628879625.917 [Micromodem](INFO): Nmea in: $SNTTA,0.037812,,,,183345.16*40

2021-08-13T18:33:45.955Z,1628879625.955 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.820000 m, bearing: 242.904012 deg, deltaT: 4.557609 s, approachRate: 0.250131 m/s, LOS rate: -0.275329 deg/s, posRepo size: 4
2021-08-13T18:33:48.399Z,1628879628.399 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:33:48.737Z,1628879628.737 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:33:48.737Z,1628879628.737 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:33:48.737Z,1628879628.737 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:33:48.738Z,1628879628.738 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:33:49.139Z,1628879629.139 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F1F,000,004F8,187,80,80,98,FF
2021-08-13T18:33:49.139Z,1628879629.139 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:33:49.139Z,1628879629.139 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:33:49.141Z,1628879629.141 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:33:49.545Z,1628879629.545 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:33:49.949Z,1628879629.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F0D,000,00508,186,80,80,73,FF
2021-08-13T18:33:49.949Z,1628879629.949 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:33:49.994Z,1628879629.994 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T18:33:50.402Z,1628879630.402 [Micromodem](INFO): Nmea in: $SNTTA,0.045265,,,,183349.66*44

2021-08-13T18:33:50.462Z,1628879630.462 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.780003 m, bearing: 244.474764 deg, deltaT: 4.407776 s, approachRate: 0.217798 m/s, LOS rate: 0.356359 deg/s, posRepo size: 4
2021-08-13T18:33:52.786Z,1628879632.786 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:33:53.170Z,1628879633.170 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:33:53.171Z,1628879633.171 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:33:53.171Z,1628879633.171 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:33:53.172Z,1628879633.172 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:33:53.582Z,1628879633.582 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F0D,000,00508,186,80,80,73,FF
2021-08-13T18:33:53.582Z,1628879633.582 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:33:53.582Z,1628879633.582 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:33:53.584Z,1628879633.584 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:33:53.985Z,1628879633.985 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:33:54.818Z,1628879634.818 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183354.11*56

2021-08-13T18:33:55.293Z,1628879635.293 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:33:55.601Z,1628879635.601 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F1C,000,037E3,186,80,80,8F,FF
2021-08-13T18:33:55.601Z,1628879635.601 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:33:55.651Z,1628879635.651 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T18:33:56.032Z,1628879636.032 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 820.920044 m, bearing: 244.996536 deg, deltaT: 5.657346 s, approachRate: 138.075348 m/s, LOS rate: 0.092229 deg/s, posRepo size: 4
2021-08-13T18:33:56.489Z,1628879636.489 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-13T18:33:56.489Z,1628879636.489 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T18:33:56.490Z,1628879636.490 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-13T18:33:56.490Z,1628879636.490 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-13T18:33:56.490Z,1628879636.490 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-13T18:33:56.490Z,1628879636.490 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-13T18:33:56.845Z,1628879636.845 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-13T18:33:56.846Z,1628879636.846 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T18:33:56.846Z,1628879636.846 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-13T18:33:56.846Z,1628879636.846 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T18:33:58.482Z,1628879638.482 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:33:58.829Z,1628879638.829 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:33:58.829Z,1628879638.829 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:33:58.829Z,1628879638.829 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:33:58.830Z,1628879638.830 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:33:59.277Z,1628879639.277 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F1C,000,037E3,186,80,80,8F,FF
2021-08-13T18:33:59.277Z,1628879639.277 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:33:59.277Z,1628879639.277 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:33:59.278Z,1628879639.278 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:33:59.677Z,1628879639.677 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:34:00.087Z,1628879640.087 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F1F,000,00531,187,80,80,4C,FF
2021-08-13T18:34:00.087Z,1628879640.087 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:34:00.517Z,1628879640.517 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183359.80*53

2021-08-13T18:34:00.562Z,1628879640.562 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.240002 m, bearing: 244.822257 deg, deltaT: 4.456698 s, approachRate: -174.721298 m/s, LOS rate: -0.039105 deg/s, posRepo size: 4
2021-08-13T18:34:02.931Z,1628879642.931 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:34:03.313Z,1628879643.313 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:34:03.313Z,1628879643.313 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:34:03.313Z,1628879643.313 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:34:03.314Z,1628879643.314 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:34:03.717Z,1628879643.717 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F1F,000,00531,187,80,80,4C,FF
2021-08-13T18:34:03.717Z,1628879643.717 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:34:03.717Z,1628879643.717 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:34:03.719Z,1628879643.719 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:34:04.125Z,1628879644.125 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:34:04.549Z,1628879644.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE6,000,00544,186,80,80,8E,FF
2021-08-13T18:34:04.550Z,1628879644.550 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:34:04.965Z,1628879644.965 [Micromodem](INFO): Nmea in: $SNTTA,0.056095,,,,183404.24*43

2021-08-13T18:34:04.999Z,1628879644.999 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.380001 m, bearing: 248.094355 deg, deltaT: 4.513760 s, approachRate: 0.252561 m/s, LOS rate: 0.724916 deg/s, posRepo size: 4
2021-08-13T18:34:07.457Z,1628879647.457 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:34:07.761Z,1628879647.761 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:34:07.761Z,1628879647.761 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:34:07.761Z,1628879647.761 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:34:07.762Z,1628879647.762 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:34:08.166Z,1628879648.166 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE6,000,00544,186,80,80,8E,FF
2021-08-13T18:34:08.166Z,1628879648.166 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:34:08.166Z,1628879648.166 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:34:08.167Z,1628879648.167 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:34:08.568Z,1628879648.568 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:34:08.973Z,1628879648.973 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F14,000,00553,186,80,80,48,FF
2021-08-13T18:34:08.974Z,1628879648.974 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:34:09.441Z,1628879649.441 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183408.69*57

2021-08-13T18:34:09.548Z,1628879649.548 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 44.279999 m, bearing: 245.829792 deg, deltaT: 4.372069 s, approachRate: 0.205852 m/s, LOS rate: -0.517961 deg/s, posRepo size: 4
2021-08-13T18:34:11.830Z,1628879651.830 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:34:12.201Z,1628879652.201 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:34:12.201Z,1628879652.201 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:34:12.201Z,1628879652.201 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:34:12.202Z,1628879652.202 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:34:12.601Z,1628879652.601 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F14,000,00553,186,80,80,48,FF
2021-08-13T18:34:12.601Z,1628879652.601 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:34:12.602Z,1628879652.602 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:34:12.603Z,1628879652.603 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:34:13.009Z,1628879653.009 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:34:13.453Z,1628879653.453 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F0A,000,00564,186,80,80,83,FF
2021-08-13T18:34:13.454Z,1628879653.454 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:34:13.849Z,1628879653.849 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183413.13*50

2021-08-13T18:34:13.889Z,1628879653.889 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.299999 m, bearing: 246.442460 deg, deltaT: 4.544244 s, approachRate: 0.224460 m/s, LOS rate: 0.134823 deg/s, posRepo size: 4
2021-08-13T18:34:16.282Z,1628879656.282 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:34:16.649Z,1628879656.649 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:34:16.649Z,1628879656.649 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:34:16.649Z,1628879656.649 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:34:16.650Z,1628879656.650 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:34:17.049Z,1628879657.049 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F0A,000,00564,186,80,80,83,FF
2021-08-13T18:34:17.049Z,1628879657.049 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:34:17.049Z,1628879657.049 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:34:17.051Z,1628879657.051 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:34:17.461Z,1628879657.461 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:34:17.861Z,1628879657.861 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F12,000,00574,187,80,80,94,FF
2021-08-13T18:34:17.861Z,1628879657.861 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:34:18.293Z,1628879658.293 [Micromodem](INFO): Nmea in: $SNTTA,0.039178,,,,183417.57*4E

2021-08-13T18:34:18.328Z,1628879658.328 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.259998 m, bearing: 246.529367 deg, deltaT: 4.376397 s, approachRate: 0.219358 m/s, LOS rate: 0.019858 deg/s, posRepo size: 4
2021-08-13T18:34:20.729Z,1628879660.729 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:34:21.089Z,1628879661.089 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:34:21.089Z,1628879661.089 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:34:21.089Z,1628879661.089 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:34:21.090Z,1628879661.090 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:34:21.498Z,1628879661.498 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F12,000,00574,187,80,80,94,FF
2021-08-13T18:34:21.498Z,1628879661.498 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:34:21.498Z,1628879661.498 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:34:21.500Z,1628879661.500 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:34:21.989Z,1628879661.989 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:34:22.413Z,1628879662.413 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E70,000,0058D,185,80,80,76,FF
2021-08-13T18:34:22.414Z,1628879662.414 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:34:22.797Z,1628879662.797 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183422.02*52

2021-08-13T18:34:22.834Z,1628879662.834 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.759995 m, bearing: 254.872361 deg, deltaT: 4.553739 s, approachRate: 0.329399 m/s, LOS rate: 1.832119 deg/s, posRepo size: 4
2021-08-13T18:34:25.289Z,1628879665.289 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:34:25.613Z,1628879665.613 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:34:25.613Z,1628879665.613 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:34:25.613Z,1628879665.613 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:34:25.614Z,1628879665.614 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:34:26.025Z,1628879666.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E70,000,0058D,185,80,80,76,FF
2021-08-13T18:34:26.025Z,1628879666.025 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:34:26.025Z,1628879666.025 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:34:26.027Z,1628879666.027 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:34:26.453Z,1628879666.453 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:34:26.825Z,1628879666.825 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EC6,000,0059C,187,80,80,83,FF
2021-08-13T18:34:26.826Z,1628879666.826 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:34:27.285Z,1628879667.285 [Micromodem](INFO): Nmea in: $SNTTA,0.039455,,,,183426.55*44

2021-08-13T18:34:27.337Z,1628879667.337 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 48.660000 m, bearing: 250.005769 deg, deltaT: 4.450244 s, approachRate: 0.202237 m/s, LOS rate: -1.093556 deg/s, posRepo size: 4
2021-08-13T18:34:27.469Z,1628879667.469 [CTD_Seabird](ERROR): Failed to parse device response: 0,4.74953,4812.40
2021-08-13T18:34:29.717Z,1628879669.717 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:34:30.057Z,1628879670.057 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:34:30.057Z,1628879670.057 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:34:30.057Z,1628879670.057 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:34:30.058Z,1628879670.058 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:34:30.461Z,1628879670.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EC6,000,0059C,187,80,80,83,FF
2021-08-13T18:34:30.461Z,1628879670.461 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:34:30.461Z,1628879670.461 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:34:30.463Z,1628879670.463 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:34:30.869Z,1628879670.869 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:34:31.299Z,1628879671.299 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F2D,000,005A9,186,80,80,8B,FF
2021-08-13T18:34:31.300Z,1628879671.300 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:34:31.307Z,1628879671.307 [Micromodem](INFO): Nmea in: $SNTTA,0.046412,0.313903,,,183430.98*5C

2021-08-13T18:34:31.720Z,1628879671.720 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.439995 m, bearing: 244.689560 deg, deltaT: 4.532186 s, approachRate: 0.172101 m/s, LOS rate: -1.172990 deg/s, posRepo size: 4
2021-08-13T18:34:34.114Z,1628879674.114 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:34:34.528Z,1628879674.528 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:34:34.528Z,1628879674.528 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:34:34.528Z,1628879674.528 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:34:34.529Z,1628879674.529 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:34:34.910Z,1628879674.910 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F2D,000,005A9,186,80,80,8B,FF
2021-08-13T18:34:34.910Z,1628879674.910 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:34:34.910Z,1628879674.910 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:34:34.912Z,1628879674.912 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:34:35.317Z,1628879675.317 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:34:35.719Z,1628879675.719 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F1F,000,005BD,187,80,80,90,FF
2021-08-13T18:34:35.720Z,1628879675.720 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:34:36.149Z,1628879676.149 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183435.44*56

2021-08-13T18:34:36.175Z,1628879676.175 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 50.639996 m, bearing: 245.657534 deg, deltaT: 4.287822 s, approachRate: 0.279863 m/s, LOS rate: 0.225750 deg/s, posRepo size: 4
2021-08-13T18:34:38.583Z,1628879678.583 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:34:38.949Z,1628879678.949 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:34:38.949Z,1628879678.949 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:34:38.949Z,1628879678.949 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:34:38.950Z,1628879678.950 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:34:39.362Z,1628879679.362 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F1F,000,005BD,187,80,80,90,FF
2021-08-13T18:34:39.362Z,1628879679.362 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:34:39.362Z,1628879679.362 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:34:39.364Z,1628879679.364 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:34:39.764Z,1628879679.764 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:34:40.153Z,1628879680.153 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ECF,000,005CE,186,80,80,6C,FF
2021-08-13T18:34:40.154Z,1628879680.154 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:34:40.593Z,1628879680.593 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183439.89*5B

2021-08-13T18:34:40.643Z,1628879680.643 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.660004 m, bearing: 249.664533 deg, deltaT: 4.490689 s, approachRate: 0.227138 m/s, LOS rate: 0.892290 deg/s, posRepo size: 4
2021-08-13T18:34:43.002Z,1628879683.002 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:34:43.403Z,1628879683.403 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:34:43.404Z,1628879683.404 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:34:43.404Z,1628879683.404 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:34:43.406Z,1628879683.406 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:34:43.789Z,1628879683.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ECF,000,005CE,186,80,80,6C,FF
2021-08-13T18:34:43.789Z,1628879683.789 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:34:43.789Z,1628879683.789 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:34:43.791Z,1628879683.791 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:34:44.201Z,1628879684.201 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:34:44.601Z,1628879684.601 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E78,000,005DD,186,80,80,6F,FF
2021-08-13T18:34:44.601Z,1628879684.601 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:34:45.041Z,1628879685.041 [Micromodem](INFO): Nmea in: $SNTTA,0.048221,,,,183444.32*42

2021-08-13T18:34:45.060Z,1628879685.060 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.559998 m, bearing: 253.166617 deg, deltaT: 4.423365 s, approachRate: 0.203464 m/s, LOS rate: 0.791724 deg/s, posRepo size: 4
2021-08-13T18:34:47.504Z,1628879687.504 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:34:47.829Z,1628879687.829 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:34:47.829Z,1628879687.829 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:34:47.829Z,1628879687.829 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:34:47.830Z,1628879687.830 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:34:48.233Z,1628879688.233 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E78,000,005DD,186,80,80,6F,FF
2021-08-13T18:34:48.233Z,1628879688.233 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:34:48.233Z,1628879688.233 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:34:48.235Z,1628879688.235 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:34:48.641Z,1628879688.641 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:34:49.045Z,1628879689.045 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F22,000,005E9,186,80,80,69,FF
2021-08-13T18:34:49.046Z,1628879689.046 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:34:49.461Z,1628879689.461 [Micromodem](INFO): Nmea in: $SNTTA,0.427354,0.427354,,,183448.76*5D

2021-08-13T18:34:49.581Z,1628879689.581 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.280003 m, bearing: 244.133419 deg, deltaT: 4.416946 s, approachRate: 0.163010 m/s, LOS rate: -2.045123 deg/s, posRepo size: 4
2021-08-13T18:34:51.898Z,1628879691.898 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:34:52.286Z,1628879692.286 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:34:52.286Z,1628879692.286 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:34:52.286Z,1628879692.286 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:34:52.287Z,1628879692.287 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:34:52.677Z,1628879692.677 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F22,000,005E9,186,80,80,69,FF
2021-08-13T18:34:52.677Z,1628879692.677 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:34:52.678Z,1628879692.678 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:34:52.682Z,1628879692.682 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:34:53.100Z,1628879693.100 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:34:53.494Z,1628879693.494 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F0F,000,005F7,187,80,80,29,FF
2021-08-13T18:34:53.495Z,1628879693.495 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:34:53.498Z,1628879693.498 [Micromodem](INFO): Nmea in: $SNTTA,0.043669,0.163453,,,183453.21*5D

2021-08-13T18:34:53.928Z,1628879693.928 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 54.120003 m, bearing: 245.594861 deg, deltaT: 4.504070 s, approachRate: 0.186498 m/s, LOS rate: 0.324471 deg/s, posRepo size: 4
2021-08-13T18:34:56.358Z,1628879696.358 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:34:56.725Z,1628879696.725 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:34:56.725Z,1628879696.725 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:34:56.725Z,1628879696.725 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:34:56.726Z,1628879696.726 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:34:57.141Z,1628879697.141 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F0F,000,005F7,187,80,80,29,FF
2021-08-13T18:34:57.141Z,1628879697.141 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:34:57.141Z,1628879697.141 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:34:57.143Z,1628879697.143 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:34:57.533Z,1628879697.533 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:34:57.949Z,1628879697.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA9,000,00608,186,80,80,7D,FF
2021-08-13T18:34:57.949Z,1628879697.949 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:34:58.371Z,1628879698.371 [Micromodem](INFO): Nmea in: $SNTTA,0.069158,,,,183457.67*4E

2021-08-13T18:34:58.430Z,1628879698.430 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 55.140003 m, bearing: 250.324794 deg, deltaT: 4.395013 s, approachRate: 0.232081 m/s, LOS rate: 1.076205 deg/s, posRepo size: 4
2021-08-13T18:35:00.783Z,1628879700.783 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:35:01.170Z,1628879701.170 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:35:01.170Z,1628879701.170 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:35:01.170Z,1628879701.170 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:35:01.171Z,1628879701.171 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:35:01.569Z,1628879701.569 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EA9,000,00608,186,80,80,7D,FF
2021-08-13T18:35:01.569Z,1628879701.569 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:35:01.570Z,1628879701.570 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:35:01.571Z,1628879701.571 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:35:01.995Z,1628879701.995 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:35:02.384Z,1628879702.384 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E96,000,0061B,186,80,80,75,FF
2021-08-13T18:35:02.385Z,1628879702.385 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:35:02.822Z,1628879702.822 [Micromodem](INFO): Nmea in: $SNTTA,0.049090,,,,183502.09*40

2021-08-13T18:35:02.843Z,1628879702.843 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 56.279999 m, bearing: 251.691405 deg, deltaT: 4.488845 s, approachRate: 0.253962 m/s, LOS rate: 0.304446 deg/s, posRepo size: 4
2021-08-13T18:35:05.286Z,1628879705.286 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:35:05.605Z,1628879705.605 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:35:05.605Z,1628879705.605 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:35:05.605Z,1628879705.605 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:35:05.606Z,1628879705.606 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:35:06.018Z,1628879706.018 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E96,000,0061B,186,80,80,75,FF
2021-08-13T18:35:06.018Z,1628879706.018 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:35:06.018Z,1628879706.018 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:35:06.021Z,1628879706.021 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:35:06.444Z,1628879706.444 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:35:06.817Z,1628879706.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF0,000,0062A,186,80,80,94,FF
2021-08-13T18:35:06.819Z,1628879706.819 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:35:07.281Z,1628879707.281 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183506.55*57

2021-08-13T18:35:07.327Z,1628879707.327 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 57.180004 m, bearing: 245.849080 deg, deltaT: 4.438438 s, approachRate: 0.202775 m/s, LOS rate: -1.316302 deg/s, posRepo size: 4
2021-08-13T18:35:09.690Z,1628879709.690 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:35:10.061Z,1628879710.061 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:35:10.061Z,1628879710.061 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:35:10.062Z,1628879710.062 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:35:10.063Z,1628879710.063 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:35:10.461Z,1628879710.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF0,000,0062A,186,80,80,94,FF
2021-08-13T18:35:10.461Z,1628879710.461 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:35:10.461Z,1628879710.461 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:35:10.463Z,1628879710.463 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:35:10.874Z,1628879710.874 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:35:11.285Z,1628879711.285 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E66,000,00639,186,80,80,60,FF
2021-08-13T18:35:11.286Z,1628879711.286 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:35:11.726Z,1628879711.726 [Micromodem](INFO): Nmea in: $SNTTA,0.387224,,,,183510.99*46

2021-08-13T18:35:11.762Z,1628879711.762 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.080006 m, bearing: 252.686509 deg, deltaT: 4.448628 s, approachRate: 0.202310 m/s, LOS rate: 1.536975 deg/s, posRepo size: 4
2021-08-13T18:35:14.118Z,1628879714.118 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:35:14.489Z,1628879714.489 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:35:14.489Z,1628879714.489 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:35:14.489Z,1628879714.489 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:35:14.490Z,1628879714.490 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:35:14.902Z,1628879714.902 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E66,000,00639,186,80,80,60,FF
2021-08-13T18:35:14.903Z,1628879714.903 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:35:14.903Z,1628879714.903 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:35:14.906Z,1628879714.906 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:35:15.305Z,1628879715.305 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:35:15.713Z,1628879715.713 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F88,000,00654,187,80,80,67,FF
2021-08-13T18:35:15.713Z,1628879715.713 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:35:16.145Z,1628879716.145 [Micromodem](INFO): Nmea in: $SNTTA,0.056981,,,,183515.43*4F

2021-08-13T18:35:16.180Z,1628879716.180 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 59.700005 m, bearing: 237.850874 deg, deltaT: 4.466176 s, approachRate: 0.362726 m/s, LOS rate: -3.321776 deg/s, posRepo size: 4
2021-08-13T18:35:18.576Z,1628879718.576 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:35:18.945Z,1628879718.945 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:35:18.945Z,1628879718.945 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:35:18.945Z,1628879718.945 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:35:18.946Z,1628879718.946 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:35:19.345Z,1628879719.345 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F88,000,00654,187,80,80,67,FF
2021-08-13T18:35:19.346Z,1628879719.346 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:35:19.346Z,1628879719.346 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:35:19.347Z,1628879719.347 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:35:19.797Z,1628879719.797 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:35:20.185Z,1628879720.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F05,000,0065F,187,80,80,8A,FF
2021-08-13T18:35:20.185Z,1628879720.185 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:35:20.616Z,1628879720.616 [Micromodem](INFO): Nmea in: $SNTTA,0.043679,,,,183519.87*47

2021-08-13T18:35:20.683Z,1628879720.683 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 60.360008 m, bearing: 243.473868 deg, deltaT: 4.425576 s, approachRate: 0.149134 m/s, LOS rate: 1.270568 deg/s, posRepo size: 4
2021-08-13T18:35:23.050Z,1628879723.050 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:35:23.449Z,1628879723.449 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:35:23.449Z,1628879723.449 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:35:23.449Z,1628879723.449 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:35:23.450Z,1628879723.450 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:35:23.825Z,1628879723.825 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F05,000,0065F,187,80,80,8A,FF
2021-08-13T18:35:23.825Z,1628879723.825 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:35:23.825Z,1628879723.825 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:35:23.827Z,1628879723.827 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:35:24.239Z,1628879724.239 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:35:24.629Z,1628879724.629 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF8,000,0066C,186,80,80,97,FF
2021-08-13T18:35:24.629Z,1628879724.629 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:35:25.074Z,1628879725.074 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183524.35*51

2021-08-13T18:35:25.095Z,1628879725.095 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 61.140003 m, bearing: 243.420074 deg, deltaT: 4.454603 s, approachRate: 0.175099 m/s, LOS rate: -0.012076 deg/s, posRepo size: 4
2021-08-13T18:35:27.518Z,1628879727.518 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:35:27.861Z,1628879727.861 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:35:27.861Z,1628879727.861 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:35:27.861Z,1628879727.861 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:35:27.862Z,1628879727.862 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:35:28.265Z,1628879728.265 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF8,000,0066C,186,80,80,97,FF
2021-08-13T18:35:28.265Z,1628879728.265 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:35:28.265Z,1628879728.265 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:35:28.267Z,1628879728.267 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:35:28.681Z,1628879728.681 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:35:29.077Z,1628879729.077 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F2C,000,0067F,186,80,80,7F,FF
2021-08-13T18:35:29.078Z,1628879729.078 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:35:29.501Z,1628879729.501 [Micromodem](INFO): Nmea in: $SNTTA,0.054314,0.412192,,,183528.79*5F

2021-08-13T18:35:29.627Z,1628879729.627 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 62.279999 m, bearing: 240.113169 deg, deltaT: 4.405318 s, approachRate: 0.258777 m/s, LOS rate: -0.750662 deg/s, posRepo size: 4
2021-08-13T18:35:31.925Z,1628879731.925 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:35:32.301Z,1628879732.301 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:35:32.301Z,1628879732.301 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:35:32.301Z,1628879732.301 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:35:32.302Z,1628879732.302 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:35:32.709Z,1628879732.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F2C,000,0067F,186,80,80,7F,FF
2021-08-13T18:35:32.709Z,1628879732.709 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:35:32.709Z,1628879732.709 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:35:32.711Z,1628879732.711 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:35:33.116Z,1628879733.116 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:35:33.950Z,1628879733.950 [Micromodem](INFO): Nmea in: $SNTTA,,0.148353,,,183533.23*46

2021-08-13T18:35:34.765Z,1628879734.765 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:35:36.416Z,1628879736.416 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
F,186,80,80,7F,FF
2021-08-13T18:35:36.416Z,1628879736.416 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
F,186,80,80,7F,FF
2021-08-13T18:35:36.416Z,1628879736.416 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T18:35:37.627Z,1628879737.627 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:35:37.965Z,1628879737.965 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:35:37.965Z,1628879737.965 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:35:37.966Z,1628879737.966 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:35:37.967Z,1628879737.967 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:35:38.365Z,1628879738.365 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
F,186,80,80,7F,FF
2021-08-13T18:35:38.365Z,1628879738.365 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:35:38.365Z,1628879738.365 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:35:38.368Z,1628879738.368 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:35:38.773Z,1628879738.773 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:35:39.599Z,1628879739.599 [Micromodem](INFO): Nmea in: $SNTTA,0.321407,0.320901,,,183538.89*51

2021-08-13T18:35:40.441Z,1628879740.441 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:35:42.001Z,1628879742.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
F,186,80,80,7F,FF
2021-08-13T18:35:42.001Z,1628879742.001 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
F,186,80,80,7F,FF
2021-08-13T18:35:42.001Z,1628879742.001 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T18:35:43.290Z,1628879743.290 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:35:43.613Z,1628879743.613 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:35:43.613Z,1628879743.613 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:35:43.613Z,1628879743.613 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:35:43.614Z,1628879743.614 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:35:44.029Z,1628879744.029 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
F,186,80,80,7F,FF
2021-08-13T18:35:44.029Z,1628879744.029 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:35:44.029Z,1628879744.029 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:35:44.031Z,1628879744.031 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:35:44.452Z,1628879744.452 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:35:45.282Z,1628879745.282 [Micromodem](INFO): Nmea in: $SNTTA,,0.488008,,,183544.56*40

2021-08-13T18:35:46.081Z,1628879746.081 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:35:47.665Z,1628879747.665 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
F,186,80,80,7F,FF
2021-08-13T18:35:47.666Z,1628879747.666 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
F,186,80,80,7F,FF
2021-08-13T18:35:47.666Z,1628879747.666 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T18:35:48.911Z,1628879748.911 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:35:49.293Z,1628879749.293 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:35:49.293Z,1628879749.293 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:35:49.293Z,1628879749.293 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:35:49.294Z,1628879749.294 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:35:49.677Z,1628879749.677 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
F,186,80,80,7F,FF
2021-08-13T18:35:49.677Z,1628879749.677 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:35:49.677Z,1628879749.677 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:35:49.679Z,1628879749.679 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:35:50.085Z,1628879750.085 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:35:50.922Z,1628879750.922 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183550.20*56

2021-08-13T18:35:51.740Z,1628879751.740 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:35:53.313Z,1628879753.313 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
F,186,80,80,7F,FF
2021-08-13T18:35:53.313Z,1628879753.313 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
F,186,80,80,7F,FF
2021-08-13T18:35:53.313Z,1628879753.313 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T18:35:54.561Z,1628879754.561 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:35:54.941Z,1628879754.941 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:35:54.941Z,1628879754.941 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:35:54.941Z,1628879754.941 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:35:54.942Z,1628879754.942 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:35:55.341Z,1628879755.341 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
F,186,80,80,7F,FF
2021-08-13T18:35:55.341Z,1628879755.341 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:35:55.341Z,1628879755.341 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:35:55.343Z,1628879755.343 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:35:55.748Z,1628879755.748 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:35:56.562Z,1628879756.562 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183555.87*5E

2021-08-13T18:35:57.458Z,1628879757.458 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:35:58.973Z,1628879758.973 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
F,186,80,80,7F,FF
2021-08-13T18:35:58.973Z,1628879758.973 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
F,186,80,80,7F,FF
2021-08-13T18:35:58.974Z,1628879758.974 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T18:36:00.214Z,1628879760.214 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:36:00.593Z,1628879760.593 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:36:00.593Z,1628879760.593 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:36:00.593Z,1628879760.593 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:36:00.594Z,1628879760.594 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:36:00.994Z,1628879760.994 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
F,186,80,80,7F,FF
2021-08-13T18:36:00.994Z,1628879760.994 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:36:00.994Z,1628879760.994 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:36:00.996Z,1628879760.996 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:36:01.409Z,1628879761.409 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:36:01.805Z,1628879761.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F7E,000,006F4,187,80,80,7B,FF
2021-08-13T18:36:01.806Z,1628879761.806 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:36:02.237Z,1628879762.237 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183601.52*54

2021-08-13T18:36:02.269Z,1628879762.269 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 69.300003 m, bearing: 232.223590 deg, deltaT: 32.728295 s, approachRate: 0.214493 m/s, LOS rate: -0.241063 deg/s, posRepo size: 4
2021-08-13T18:36:04.689Z,1628879764.689 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:36:05.041Z,1628879765.041 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:36:05.041Z,1628879765.041 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:36:05.041Z,1628879765.041 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:36:05.042Z,1628879765.042 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:36:05.449Z,1628879765.449 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F7E,000,006F4,187,80,80,7B,FF
2021-08-13T18:36:05.449Z,1628879765.449 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:36:05.449Z,1628879765.449 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:36:05.451Z,1628879765.451 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:36:05.844Z,1628879765.844 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:36:06.245Z,1628879766.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F81,000,0070B,186,80,80,2A,FF
2021-08-13T18:36:06.245Z,1628879766.246 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:36:06.673Z,1628879766.673 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183605.98*56

2021-08-13T18:36:06.714Z,1628879766.714 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 70.680008 m, bearing: 231.264523 deg, deltaT: 4.490703 s, approachRate: 0.307303 m/s, LOS rate: -0.213567 deg/s, posRepo size: 4
2021-08-13T18:36:09.110Z,1628879769.110 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:36:09.489Z,1628879769.489 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:36:09.489Z,1628879769.489 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:36:09.489Z,1628879769.489 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:36:09.490Z,1628879769.490 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:36:09.898Z,1628879769.898 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F81,000,0070B,186,80,80,2A,FF
2021-08-13T18:36:09.898Z,1628879769.898 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:36:09.899Z,1628879769.899 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:36:09.901Z,1628879769.901 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:36:10.301Z,1628879770.301 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:36:10.689Z,1628879770.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,001,000,00719,183,80,80,2C,FF
2021-08-13T18:36:10.689Z,1628879770.689 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:36:11.133Z,1628879771.133 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183610.42*55

2021-08-13T18:36:11.168Z,1628879771.168 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 71.519997 m, bearing: 224.064807 deg, deltaT: 4.403308 s, approachRate: 0.190763 m/s, LOS rate: -1.635070 deg/s, posRepo size: 4
2021-08-13T18:36:13.575Z,1628879773.575 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:36:13.933Z,1628879773.933 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:36:13.933Z,1628879773.933 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:36:13.933Z,1628879773.933 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:36:13.934Z,1628879773.934 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:36:14.337Z,1628879774.337 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
001,000,00719,183,80,80,2C,FF
2021-08-13T18:36:14.338Z,1628879774.338 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:36:14.338Z,1628879774.338 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:36:14.339Z,1628879774.339 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:36:14.740Z,1628879774.740 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:36:15.153Z,1628879775.153 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,098,000,0072A,187,80,80,3C,FF
2021-08-13T18:36:15.154Z,1628879775.154 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:36:15.557Z,1628879775.557 [Micromodem](INFO): Nmea in: $SNTTA,0.377077,0.377077,,,183614.86*59

2021-08-13T18:36:15.636Z,1628879775.636 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 72.540009 m, bearing: 215.499831 deg, deltaT: 4.474710 s, approachRate: 0.227950 m/s, LOS rate: -1.914085 deg/s, posRepo size: 4
2021-08-13T18:36:18.006Z,1628879778.006 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:36:18.404Z,1628879778.404 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:36:18.404Z,1628879778.404 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:36:18.404Z,1628879778.404 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:36:18.405Z,1628879778.405 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:36:18.781Z,1628879778.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
098,000,0072A,187,80,80,3C,FF
2021-08-13T18:36:18.781Z,1628879778.781 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:36:18.781Z,1628879778.781 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:36:18.783Z,1628879778.783 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:36:19.231Z,1628879779.231 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:36:19.585Z,1628879779.585 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0BC,000,0073B,186,80,80,52,FF
2021-08-13T18:36:19.585Z,1628879779.585 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:36:19.589Z,1628879779.589 [Micromodem](INFO): Nmea in: $SNTTA,0.152830,0.153580,,,183619.31*5F

2021-08-13T18:36:20.044Z,1628879780.044 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 73.560005 m, bearing: 213.189424 deg, deltaT: 4.476982 s, approachRate: 0.227831 m/s, LOS rate: -0.516064 deg/s, posRepo size: 4
2021-08-13T18:36:22.476Z,1628879782.476 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:36:22.817Z,1628879782.817 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:36:22.817Z,1628879782.817 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:36:22.817Z,1628879782.817 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:36:22.818Z,1628879782.818 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:36:23.273Z,1628879783.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0BC,000,0073B,186,80,80,52,FF
2021-08-13T18:36:23.273Z,1628879783.273 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:36:23.273Z,1628879783.273 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:36:23.275Z,1628879783.275 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:36:23.776Z,1628879783.776 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:36:24.175Z,1628879784.175 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1B0,000,00747,185,80,80,9C,FF
2021-08-13T18:36:24.190Z,1628879784.190 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:36:24.577Z,1628879784.577 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183623.80*5B

2021-08-13T18:36:24.647Z,1628879784.647 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 74.279999 m, bearing: 200.639607 deg, deltaT: 4.538372 s, approachRate: 0.158646 m/s, LOS rate: -2.765268 deg/s, posRepo size: 4
2021-08-13T18:36:27.026Z,1628879787.026 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:36:27.418Z,1628879787.418 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:36:27.418Z,1628879787.418 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:36:27.418Z,1628879787.418 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:36:27.419Z,1628879787.419 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:36:27.797Z,1628879787.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1B0,000,00747,185,80,80,9C,FF
2021-08-13T18:36:27.797Z,1628879787.797 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:36:27.797Z,1628879787.797 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:36:27.799Z,1628879787.799 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:36:28.212Z,1628879788.212 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:36:28.619Z,1628879788.619 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0F8,000,00757,186,80,80,6D,FF
2021-08-13T18:36:28.619Z,1628879788.619 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:36:29.065Z,1628879789.065 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183628.32*59

2021-08-13T18:36:29.096Z,1628879789.096 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 75.239998 m, bearing: 209.222232 deg, deltaT: 4.440254 s, approachRate: 0.216204 m/s, LOS rate: 1.932913 deg/s, posRepo size: 4
2021-08-13T18:36:31.514Z,1628879791.514 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:36:31.846Z,1628879791.846 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:36:31.847Z,1628879791.847 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:36:31.847Z,1628879791.847 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:36:31.848Z,1628879791.848 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:36:32.241Z,1628879792.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0F8,000,00757,186,80,80,6D,FF
2021-08-13T18:36:32.241Z,1628879792.241 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:36:32.242Z,1628879792.242 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:36:32.243Z,1628879792.243 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:36:32.645Z,1628879792.645 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:36:33.049Z,1628879793.049 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CE1,000,0076B,189,80,80,5E,FF
2021-08-13T18:36:33.050Z,1628879793.050 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:36:33.478Z,1628879793.478 [Micromodem](INFO): Nmea in: $SNTTA,0.055745,0.379743,,,183632.77*58

2021-08-13T18:36:33.543Z,1628879793.543 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 76.440010 m, bearing: 260.808069 deg, deltaT: 4.460984 s, approachRate: 0.269002 m/s, LOS rate: 11.563780 deg/s, posRepo size: 4
2021-08-13T18:36:35.909Z,1628879795.909 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:36:36.289Z,1628879796.289 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:36:36.289Z,1628879796.289 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:36:36.290Z,1628879796.290 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:36:36.291Z,1628879796.291 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:36:36.681Z,1628879796.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CE1,000,0076B,189,80,80,5E,FF
2021-08-13T18:36:36.681Z,1628879796.681 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:36:36.682Z,1628879796.682 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:36:36.683Z,1628879796.683 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:36:37.104Z,1628879797.104 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:36:37.497Z,1628879797.497 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CF9,000,00779,189,80,80,73,FF
2021-08-13T18:36:37.498Z,1628879797.498 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:36:37.937Z,1628879797.937 [Micromodem](INFO): Nmea in: $SNTTA,0.070715,,,,183637.21*4F

2021-08-13T18:36:37.959Z,1628879797.959 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 77.280006 m, bearing: 259.140929 deg, deltaT: 4.457493 s, approachRate: 0.188446 m/s, LOS rate: -0.374008 deg/s, posRepo size: 4
2021-08-13T18:36:40.362Z,1628879800.362 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:36:40.725Z,1628879800.725 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:36:40.725Z,1628879800.725 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:36:40.725Z,1628879800.725 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:36:40.726Z,1628879800.726 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:36:41.137Z,1628879801.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CF9,000,00779,189,80,80,73,FF
2021-08-13T18:36:41.137Z,1628879801.137 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:36:41.137Z,1628879801.137 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:36:41.139Z,1628879801.139 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:36:41.537Z,1628879801.537 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:36:41.945Z,1628879801.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D47,000,00788,189,80,80,8E,FF
2021-08-13T18:36:41.946Z,1628879801.946 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:36:42.390Z,1628879802.390 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183641.66*57

2021-08-13T18:36:42.437Z,1628879802.437 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 78.180000 m, bearing: 254.278217 deg, deltaT: 4.405849 s, approachRate: 0.204273 m/s, LOS rate: -1.103695 deg/s, posRepo size: 4
2021-08-13T18:36:44.786Z,1628879804.786 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:36:45.196Z,1628879805.196 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:36:45.196Z,1628879805.196 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:36:45.197Z,1628879805.197 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:36:45.198Z,1628879805.198 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:36:45.581Z,1628879805.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D47,000,00788,189,80,80,8E,FF
2021-08-13T18:36:45.581Z,1628879805.581 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:36:45.581Z,1628879805.581 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:36:45.583Z,1628879805.583 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:36:46.118Z,1628879806.118 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:36:46.513Z,1628879806.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D57,000,0079A,189,80,80,4F,FF
2021-08-13T18:36:46.513Z,1628879806.513 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:36:46.946Z,1628879806.946 [Micromodem](INFO): Nmea in: $SNTTA,0.065236,,,,183646.10*4B

2021-08-13T18:36:46.964Z,1628879806.964 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 79.260002 m, bearing: 253.206451 deg, deltaT: 4.613234 s, approachRate: 0.234109 m/s, LOS rate: -0.232324 deg/s, posRepo size: 4
2021-08-13T18:36:49.443Z,1628879809.443 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:36:49.753Z,1628879809.753 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:36:49.753Z,1628879809.753 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:36:49.753Z,1628879809.753 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:36:49.754Z,1628879809.754 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:36:50.161Z,1628879810.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D57,000,0079A,189,80,80,4F,FF
2021-08-13T18:36:50.161Z,1628879810.161 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:36:50.161Z,1628879810.161 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:36:50.163Z,1628879810.163 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:36:50.557Z,1628879810.557 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:36:50.953Z,1628879810.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E26,000,007A8,187,80,80,80,FF
2021-08-13T18:36:50.954Z,1628879810.954 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:36:51.409Z,1628879811.409 [Micromodem](INFO): Nmea in: $SNTTA,0.056085,,,,183650.69*48

2021-08-13T18:36:51.463Z,1628879811.463 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 80.100006 m, bearing: 242.370137 deg, deltaT: 4.391698 s, approachRate: 0.191271 m/s, LOS rate: -2.467454 deg/s, posRepo size: 4
2021-08-13T18:36:53.806Z,1628879813.806 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:36:54.201Z,1628879814.201 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:36:54.201Z,1628879814.201 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:36:54.201Z,1628879814.201 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:36:54.202Z,1628879814.202 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:36:54.602Z,1628879814.602 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E26,000,007A8,187,80,80,80,FF
2021-08-13T18:36:54.602Z,1628879814.602 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:36:54.602Z,1628879814.602 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:36:54.604Z,1628879814.604 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:36:55.009Z,1628879815.009 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:36:55.415Z,1628879815.415 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA3,000,007B8,185,80,80,7F,FF
2021-08-13T18:36:55.415Z,1628879815.415 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:36:55.418Z,1628879815.418 [Micromodem](INFO): Nmea in: $SNTTA,0.078369,0.200960,,,183655.13*5E

2021-08-13T18:36:55.844Z,1628879815.844 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 81.059998 m, bearing: 235.144398 deg, deltaT: 4.535144 s, approachRate: 0.211678 m/s, LOS rate: -1.593277 deg/s, posRepo size: 4
2021-08-13T18:36:58.278Z,1628879818.278 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:36:58.637Z,1628879818.637 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:36:58.637Z,1628879818.637 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:36:58.637Z,1628879818.637 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:36:58.638Z,1628879818.638 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:36:59.049Z,1628879819.049 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EA3,000,007B8,185,80,80,7F,FF
2021-08-13T18:36:59.049Z,1628879819.049 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:36:59.049Z,1628879819.049 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:36:59.051Z,1628879819.051 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:36:59.456Z,1628879819.456 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:36:59.857Z,1628879819.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EAE,000,007CC,186,80,80,9C,FF
2021-08-13T18:36:59.858Z,1628879819.858 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:37:00.277Z,1628879820.277 [Micromodem](INFO): Nmea in: $SNTTA,0.056695,,,,183659.57*4B

2021-08-13T18:37:00.316Z,1628879820.316 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 82.259995 m, bearing: 233.120804 deg, deltaT: 4.365818 s, approachRate: 0.274862 m/s, LOS rate: -0.463509 deg/s, posRepo size: 4
2021-08-13T18:37:02.713Z,1628879822.713 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:37:03.093Z,1628879823.093 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:37:03.093Z,1628879823.093 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:37:03.093Z,1628879823.093 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:37:03.094Z,1628879823.094 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:37:03.486Z,1628879823.486 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EAE,000,007CC,186,80,80,9C,FF
2021-08-13T18:37:03.486Z,1628879823.486 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:37:03.486Z,1628879823.486 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:37:03.487Z,1628879823.487 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:37:03.914Z,1628879823.914 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:37:04.289Z,1628879824.289 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E84,000,007DA,186,80,80,67,FF
2021-08-13T18:37:04.289Z,1628879824.289 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:37:04.750Z,1628879824.750 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183704.01*56

2021-08-13T18:37:04.775Z,1628879824.775 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 83.099998 m, bearing: 234.736226 deg, deltaT: 4.486227 s, approachRate: 0.187241 m/s, LOS rate: 0.360085 deg/s, posRepo size: 4
2021-08-13T18:37:07.202Z,1628879827.202 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:37:07.517Z,1628879827.517 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:37:07.517Z,1628879827.517 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:37:07.517Z,1628879827.517 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:37:07.518Z,1628879827.518 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:37:07.939Z,1628879827.939 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E84,000,007DA,186,80,80,67,FF
2021-08-13T18:37:07.939Z,1628879827.939 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:37:07.940Z,1628879827.940 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:37:07.942Z,1628879827.942 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:37:08.341Z,1628879828.341 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:37:08.738Z,1628879828.738 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA4,000,007E8,185,80,80,97,FF
2021-08-13T18:37:08.739Z,1628879828.739 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:37:09.170Z,1628879829.170 [Micromodem](INFO): Nmea in: $SNTTA,0.061288,,,,183708.47*43

2021-08-13T18:37:09.256Z,1628879829.256 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 83.940002 m, bearing: 232.797354 deg, deltaT: 4.433985 s, approachRate: 0.189447 m/s, LOS rate: -0.437275 deg/s, posRepo size: 4
2021-08-13T18:37:11.627Z,1628879831.627 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:37:11.976Z,1628879831.976 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:37:11.976Z,1628879831.976 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:37:11.977Z,1628879831.977 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:37:11.977Z,1628879831.977 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:37:12.387Z,1628879832.387 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EA4,000,007E8,185,80,80,97,FF
2021-08-13T18:37:12.388Z,1628879832.388 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:37:12.389Z,1628879832.389 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:37:12.397Z,1628879832.397 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:37:12.780Z,1628879832.780 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:37:13.179Z,1628879833.179 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F0F,000,007FA,186,80,80,A3,FF
2021-08-13T18:37:13.181Z,1628879833.181 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:37:13.619Z,1628879833.619 [Micromodem](INFO): Nmea in: $SNTTA,0.306516,,,,183712.92*42

2021-08-13T18:37:13.713Z,1628879833.713 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 85.020004 m, bearing: 226.957200 deg, deltaT: 4.473027 s, approachRate: 0.241448 m/s, LOS rate: -1.305638 deg/s, posRepo size: 4
2021-08-13T18:37:16.022Z,1628879836.022 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:37:16.448Z,1628879836.448 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:37:16.449Z,1628879836.449 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:37:16.449Z,1628879836.449 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:37:16.450Z,1628879836.450 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:37:16.819Z,1628879836.819 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F0F,000,007FA,186,80,80,A3,FF
2021-08-13T18:37:16.819Z,1628879836.819 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:37:16.819Z,1628879836.819 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:37:16.821Z,1628879836.821 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:37:17.264Z,1628879837.264 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:37:17.629Z,1628879837.629 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F17,000,00809,187,80,80,98,FF
2021-08-13T18:37:17.629Z,1628879837.629 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:37:18.061Z,1628879838.061 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183717.35*53

2021-08-13T18:37:18.090Z,1628879838.090 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 85.920006 m, bearing: 225.546329 deg, deltaT: 4.453588 s, approachRate: 0.202085 m/s, LOS rate: -0.316794 deg/s, posRepo size: 4
2021-08-13T18:37:20.517Z,1628879840.517 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:37:20.882Z,1628879840.882 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:37:20.882Z,1628879840.882 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:37:20.882Z,1628879840.882 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:37:20.883Z,1628879840.883 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:37:21.316Z,1628879841.316 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F17,000,00809,187,80,80,98,FF
2021-08-13T18:37:21.316Z,1628879841.316 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:37:21.317Z,1628879841.317 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:37:21.319Z,1628879841.319 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:37:21.725Z,1628879841.725 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:37:22.556Z,1628879842.556 [Micromodem](INFO): Nmea in: $SNTTA,0.060109,,,,183721.84*4C

2021-08-13T18:37:23.447Z,1628879843.447 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:37:24.953Z,1628879844.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
9,187,80,80,98,FF
2021-08-13T18:37:24.953Z,1628879844.953 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
9,187,80,80,98,FF
2021-08-13T18:37:24.953Z,1628879844.953 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T18:37:26.188Z,1628879846.188 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:37:26.565Z,1628879846.565 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:37:26.565Z,1628879846.565 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:37:26.565Z,1628879846.565 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:37:26.566Z,1628879846.566 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:37:26.975Z,1628879846.975 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
9,187,80,80,98,FF
2021-08-13T18:37:26.975Z,1628879846.975 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:37:26.975Z,1628879846.975 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:37:26.977Z,1628879846.977 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:37:27.387Z,1628879847.387 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:37:28.202Z,1628879848.202 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183727.50*53

2021-08-13T18:37:29.006Z,1628879849.006 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:37:30.605Z,1628879850.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
9,187,80,80,98,FF
2021-08-13T18:37:30.605Z,1628879850.605 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
9,187,80,80,98,FF
2021-08-13T18:37:30.605Z,1628879850.605 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T18:37:31.528Z,1628879851.528 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:37:31.826Z,1628879851.826 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:37:31.826Z,1628879851.826 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:37:31.826Z,1628879851.826 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:37:31.827Z,1628879851.827 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:37:32.221Z,1628879852.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
9,187,80,80,98,FF
2021-08-13T18:37:32.221Z,1628879852.221 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:37:32.221Z,1628879852.221 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:37:32.223Z,1628879852.223 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:37:32.629Z,1628879852.629 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:37:33.033Z,1628879853.033 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F48,000,0083F,186,80,80,88,FF
2021-08-13T18:37:33.033Z,1628879853.033 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:37:33.482Z,1628879853.482 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183732.75*50

2021-08-13T18:37:33.554Z,1628879853.554 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 89.160004 m, bearing: 222.469452 deg, deltaT: 15.326768 s, approachRate: 0.211395 m/s, LOS rate: -0.200752 deg/s, posRepo size: 4
2021-08-13T18:37:35.912Z,1628879855.912 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:37:36.261Z,1628879856.261 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:37:36.261Z,1628879856.261 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:37:36.261Z,1628879856.261 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:37:36.262Z,1628879856.262 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:37:36.670Z,1628879856.670 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F48,000,0083F,186,80,80,88,FF
2021-08-13T18:37:36.670Z,1628879856.670 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:37:36.670Z,1628879856.670 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:37:36.672Z,1628879856.672 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:37:37.072Z,1628879857.072 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:37:37.479Z,1628879857.479 [Micromodem](INFO): Nmea in: $SNTTA,0.208433,0.208477,,,183737.19*5F

2021-08-13T18:37:38.706Z,1628879858.706 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:37:40.305Z,1628879860.305 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
F,186,80,80,88,FF
2021-08-13T18:37:40.305Z,1628879860.305 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
F,186,80,80,88,FF
2021-08-13T18:37:40.305Z,1628879860.305 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T18:37:41.577Z,1628879861.577 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:37:41.925Z,1628879861.925 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:37:41.925Z,1628879861.925 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:37:41.925Z,1628879861.925 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:37:41.926Z,1628879861.926 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:37:42.321Z,1628879862.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
F,186,80,80,88,FF
2021-08-13T18:37:42.321Z,1628879862.321 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:37:42.321Z,1628879862.321 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:37:42.323Z,1628879862.323 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:37:42.732Z,1628879862.732 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:37:43.129Z,1628879863.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA3,000,00863,185,80,80,62,FF
2021-08-13T18:37:43.129Z,1628879863.129 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:37:43.561Z,1628879863.561 [Micromodem](INFO): Nmea in: $SNTTA,0.068215,,,,183742.85*4E

2021-08-13T18:37:43.626Z,1628879863.626 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 91.320000 m, bearing: 230.428835 deg, deltaT: 10.096214 s, approachRate: 0.213941 m/s, LOS rate: 0.788353 deg/s, posRepo size: 4
2021-08-13T18:37:45.977Z,1628879865.977 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:37:46.392Z,1628879866.392 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:37:46.392Z,1628879866.392 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:37:46.393Z,1628879866.393 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:37:46.394Z,1628879866.394 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:37:46.774Z,1628879866.774 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EA3,000,00863,185,80,80,62,FF
2021-08-13T18:37:46.774Z,1628879866.774 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:37:46.774Z,1628879866.774 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:37:46.776Z,1628879866.776 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:37:47.173Z,1628879867.173 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:37:47.570Z,1628879867.570 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF9,000,00875,186,80,80,8A,FF
2021-08-13T18:37:47.570Z,1628879867.570 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:37:47.573Z,1628879867.573 [Micromodem](INFO): Nmea in: $SNTTA,0.118526,0.118408,,,183747.30*5E

2021-08-13T18:37:48.020Z,1628879868.020 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 92.400002 m, bearing: 225.811573 deg, deltaT: 4.504723 s, approachRate: 0.239749 m/s, LOS rate: -1.024983 deg/s, posRepo size: 4
2021-08-13T18:37:50.458Z,1628879870.458 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:37:50.811Z,1628879870.811 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:37:50.811Z,1628879870.811 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:37:50.811Z,1628879870.811 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:37:50.812Z,1628879870.812 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:37:51.242Z,1628879871.242 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF9,000,00875,186,80,80,8A,FF
2021-08-13T18:37:51.242Z,1628879871.242 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:37:51.243Z,1628879871.243 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:37:51.249Z,1628879871.249 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:37:51.617Z,1628879871.617 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:37:52.025Z,1628879872.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F2D,000,00887,186,80,80,78,FF
2021-08-13T18:37:52.025Z,1628879872.025 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:37:52.493Z,1628879872.493 [Micromodem](INFO): Nmea in: $SNTTA,0.075440,,,,183751.77*4B

2021-08-13T18:37:52.519Z,1628879872.519 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 93.480003 m, bearing: 222.599936 deg, deltaT: 4.390639 s, approachRate: 0.245978 m/s, LOS rate: -0.731474 deg/s, posRepo size: 4
2021-08-13T18:37:54.886Z,1628879874.886 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:37:55.289Z,1628879875.289 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:37:55.289Z,1628879875.289 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:37:55.289Z,1628879875.289 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:37:55.290Z,1628879875.290 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:37:55.661Z,1628879875.661 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F2D,000,00887,186,80,80,78,FF
2021-08-13T18:37:55.662Z,1628879875.662 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:37:55.663Z,1628879875.663 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:37:55.665Z,1628879875.665 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:37:56.067Z,1628879876.067 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:37:56.465Z,1628879876.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F24,000,00895,186,80,80,8D,FF
2021-08-13T18:37:56.465Z,1628879876.465 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:37:56.894Z,1628879876.894 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183756.19*58

2021-08-13T18:37:56.929Z,1628879876.929 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 94.320000 m, bearing: 222.214508 deg, deltaT: 4.489878 s, approachRate: 0.187087 m/s, LOS rate: -0.085844 deg/s, posRepo size: 4
2021-08-13T18:37:59.343Z,1628879879.343 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:37:59.704Z,1628879879.704 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:37:59.705Z,1628879879.705 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:37:59.705Z,1628879879.705 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:37:59.706Z,1628879879.706 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:38:00.101Z,1628879880.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F24,000,00895,186,80,80,8D,FF
2021-08-13T18:38:00.101Z,1628879880.101 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:38:00.102Z,1628879880.102 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:38:00.103Z,1628879880.103 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:38:00.524Z,1628879880.524 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:38:00.906Z,1628879880.906 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F5D,000,008A4,186,80,80,7D,FF
2021-08-13T18:38:00.907Z,1628879880.907 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:38:01.374Z,1628879881.374 [Micromodem](INFO): Nmea in: $SNTTA,0.454308,0.453733,,,183800.63*52

2021-08-13T18:38:01.480Z,1628879881.480 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 95.220009 m, bearing: 218.628563 deg, deltaT: 4.392426 s, approachRate: 0.204900 m/s, LOS rate: -0.816393 deg/s, posRepo size: 4
2021-08-13T18:38:03.462Z,1628879883.462 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:38:03.733Z,1628879883.733 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:38:03.733Z,1628879883.733 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:38:03.733Z,1628879883.733 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:38:03.734Z,1628879883.734 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:38:03.757Z,1628879883.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F5D,000,008A4,186,80,80,7D,FF
2021-08-13T18:38:03.757Z,1628879883.757 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:38:03.757Z,1628879883.757 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:38:03.759Z,1628879883.759 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:38:04.150Z,1628879884.150 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:38:04.545Z,1628879884.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F7D,000,008B4,187,80,80,9D,FF
2021-08-13T18:38:04.545Z,1628879884.545 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:38:04.981Z,1628879884.981 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183804.28*52

2021-08-13T18:38:04.997Z,1628879884.997 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 96.180000 m, bearing: 217.468852 deg, deltaT: 3.675401 s, approachRate: 0.261194 m/s, LOS rate: -0.315533 deg/s, posRepo size: 4
2021-08-13T18:38:07.461Z,1628879887.461 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:38:07.773Z,1628879887.773 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:38:07.773Z,1628879887.773 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:38:07.773Z,1628879887.773 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:38:07.774Z,1628879887.774 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:38:08.185Z,1628879888.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F7D,000,008B4,187,80,80,9D,FF
2021-08-13T18:38:08.185Z,1628879888.185 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:38:08.185Z,1628879888.185 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:38:08.187Z,1628879888.187 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:38:08.585Z,1628879888.585 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:38:09.439Z,1628879889.439 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183808.71*52

2021-08-13T18:38:10.197Z,1628879890.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB4,000,03A09,184,80,80,94,FF
2021-08-13T18:38:10.197Z,1628879890.197 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:38:10.645Z,1628879890.645 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 853.920044 m, bearing: 214.210701 deg, deltaT: 5.614380 s, approachRate: 134.964157 m/s, LOS rate: -0.580322 deg/s, posRepo size: 4
2021-08-13T18:38:13.050Z,1628879893.050 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:38:13.457Z,1628879893.457 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:38:13.457Z,1628879893.457 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:38:13.457Z,1628879893.457 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:38:13.458Z,1628879893.458 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:38:13.845Z,1628879893.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB4,000,03A09,184,80,80,94,FF
2021-08-13T18:38:13.845Z,1628879893.845 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:38:13.846Z,1628879893.846 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:38:13.847Z,1628879893.847 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:38:14.244Z,1628879894.244 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:38:14.650Z,1628879894.650 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC6,000,008D5,184,80,80,9E,FF
2021-08-13T18:38:14.650Z,1628879894.650 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:38:15.077Z,1628879895.077 [Micromodem](INFO): Nmea in: $SNTTA,0.067585,,,,183814.37*4A

2021-08-13T18:38:15.099Z,1628879895.099 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 98.159996 m, bearing: 213.233752 deg, deltaT: 4.463781 s, approachRate: -169.309402 m/s, LOS rate: -0.218861 deg/s, posRepo size: 4
2021-08-13T18:38:17.536Z,1628879897.536 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:38:17.878Z,1628879897.878 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:38:17.878Z,1628879897.878 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:38:17.878Z,1628879897.878 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:38:17.879Z,1628879897.879 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:38:18.282Z,1628879898.282 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC6,000,008D5,184,80,80,9E,FF
2021-08-13T18:38:18.282Z,1628879898.282 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:38:18.282Z,1628879898.282 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:38:18.284Z,1628879898.284 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:38:18.691Z,1628879898.691 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:38:19.089Z,1628879899.089 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB1,000,008E5,185,80,80,94,FF
2021-08-13T18:38:19.089Z,1628879899.089 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:38:19.533Z,1628879899.533 [Micromodem](INFO): Nmea in: $SNTTA,0.403078,,,,183818.81*4A

2021-08-13T18:38:19.586Z,1628879899.586 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 99.120003 m, bearing: 213.684859 deg, deltaT: 4.428629 s, approachRate: 0.216773 m/s, LOS rate: 0.101861 deg/s, posRepo size: 4
2021-08-13T18:38:21.965Z,1628879901.965 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:38:22.318Z,1628879902.318 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:38:22.318Z,1628879902.318 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:38:22.318Z,1628879902.318 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:38:22.319Z,1628879902.319 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:38:22.734Z,1628879902.734 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB1,000,008E5,185,80,80,94,FF
2021-08-13T18:38:22.734Z,1628879902.734 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:38:22.734Z,1628879902.734 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:38:22.737Z,1628879902.737 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:38:23.129Z,1628879903.129 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:38:23.542Z,1628879903.542 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD0,000,008F5,184,80,80,8A,FF
2021-08-13T18:38:23.542Z,1628879903.542 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:38:23.548Z,1628879903.548 [Micromodem](INFO): Nmea in: $SNTTA,0.072220,0.176148,,,183823.26*51

2021-08-13T18:38:23.979Z,1628879903.979 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 100.080002 m, bearing: 211.648069 deg, deltaT: 4.552468 s, approachRate: 0.210874 m/s, LOS rate: -0.447403 deg/s, posRepo size: 4
2021-08-13T18:38:26.427Z,1628879906.427 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:38:26.761Z,1628879906.761 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:38:26.761Z,1628879906.761 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:38:26.761Z,1628879906.761 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:38:26.762Z,1628879906.762 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:38:27.173Z,1628879907.173 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD0,000,008F5,184,80,80,8A,FF
2021-08-13T18:38:27.173Z,1628879907.173 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:38:27.173Z,1628879907.173 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:38:27.175Z,1628879907.175 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:38:27.597Z,1628879907.597 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:38:28.415Z,1628879908.415 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183827.70*5E

2021-08-13T18:38:29.188Z,1628879909.188 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,01D,000,03A89,185,80,80,7D,FF
2021-08-13T18:38:29.190Z,1628879909.190 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:38:29.682Z,1628879909.682 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 861.600037 m, bearing: 207.615717 deg, deltaT: 5.620938 s, approachRate: 135.479172 m/s, LOS rate: -0.717381 deg/s, posRepo size: 4
2021-08-13T18:38:32.055Z,1628879912.055 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:38:32.456Z,1628879912.456 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:38:32.456Z,1628879912.456 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:38:32.457Z,1628879912.457 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:38:32.458Z,1628879912.458 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:38:32.825Z,1628879912.825 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
01D,000,03A89,185,80,80,7D,FF
2021-08-13T18:38:32.825Z,1628879912.825 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:38:32.825Z,1628879912.825 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:38:32.827Z,1628879912.827 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:38:33.283Z,1628879913.283 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:38:33.637Z,1628879913.637 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,01A,000,00918,182,80,80,80,FF
2021-08-13T18:38:33.637Z,1628879913.637 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:38:34.079Z,1628879914.079 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183833.35*5A

2021-08-13T18:38:34.110Z,1628879914.110 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 102.180008 m, bearing: 207.127085 deg, deltaT: 4.407561 s, approachRate: -172.299377 m/s, LOS rate: -0.110862 deg/s, posRepo size: 4
2021-08-13T18:38:36.601Z,1628879916.601 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:38:36.865Z,1628879916.865 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:38:36.865Z,1628879916.865 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:38:36.865Z,1628879916.865 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:38:36.866Z,1628879916.866 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:38:37.285Z,1628879917.285 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
01A,000,00918,182,80,80,80,FF
2021-08-13T18:38:37.285Z,1628879917.285 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:38:37.285Z,1628879917.285 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:38:37.287Z,1628879917.287 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:38:37.708Z,1628879917.708 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:38:38.105Z,1628879918.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,01D,000,0092B,185,80,80,6D,FF
2021-08-13T18:38:38.106Z,1628879918.106 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:38:38.537Z,1628879918.537 [Micromodem](INFO): Nmea in: $SNTTA,0.073226,,,,183837.81*4D

2021-08-13T18:38:38.583Z,1628879918.583 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 103.320000 m, bearing: 206.309880 deg, deltaT: 4.434658 s, approachRate: 0.257064 m/s, LOS rate: -0.184277 deg/s, posRepo size: 4
2021-08-13T18:38:40.958Z,1628879920.958 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:38:41.337Z,1628879921.337 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:38:41.337Z,1628879921.337 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:38:41.337Z,1628879921.337 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:38:41.338Z,1628879921.338 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:38:41.733Z,1628879921.733 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
01D,000,0092B,185,80,80,6D,FF
2021-08-13T18:38:41.733Z,1628879921.733 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:38:41.733Z,1628879921.733 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:38:41.735Z,1628879921.735 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:38:42.146Z,1628879922.146 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:38:42.974Z,1628879922.974 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183842.26*5E

2021-08-13T18:38:43.459Z,1628879923.459 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:38:45.366Z,1628879925.366 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
B,185,80,80,6D,FF
2021-08-13T18:38:45.367Z,1628879925.367 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
B,185,80,80,6D,FF
2021-08-13T18:38:45.368Z,1628879925.368 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T18:38:46.218Z,1628879926.218 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:38:46.585Z,1628879926.585 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:38:46.585Z,1628879926.585 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:38:46.585Z,1628879926.585 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:38:46.586Z,1628879926.586 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:38:46.985Z,1628879926.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
B,185,80,80,6D,FF
2021-08-13T18:38:46.985Z,1628879926.985 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:38:46.985Z,1628879926.985 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:38:46.987Z,1628879926.987 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:38:47.420Z,1628879927.420 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:38:48.218Z,1628879928.218 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183847.51*5B

2021-08-13T18:38:49.042Z,1628879929.042 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:38:50.621Z,1628879930.621 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
B,185,80,80,6D,FF
2021-08-13T18:38:50.621Z,1628879930.621 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
B,185,80,80,6D,FF
2021-08-13T18:38:50.621Z,1628879930.621 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T18:38:51.856Z,1628879931.856 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:38:52.237Z,1628879932.237 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:38:52.237Z,1628879932.237 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:38:52.237Z,1628879932.237 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:38:52.238Z,1628879932.238 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:38:52.645Z,1628879932.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
B,185,80,80,6D,FF
2021-08-13T18:38:52.645Z,1628879932.645 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:38:52.645Z,1628879932.645 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:38:52.647Z,1628879932.647 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:38:53.106Z,1628879933.106 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:38:53.512Z,1628879933.512 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,07A,000,00963,187,80,80,5C,FF
2021-08-13T18:38:53.513Z,1628879933.513 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:38:53.917Z,1628879933.917 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183853.17*5C

2021-08-13T18:38:53.953Z,1628879933.953 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 106.680000 m, bearing: 201.222414 deg, deltaT: 15.460560 s, approachRate: 0.217327 m/s, LOS rate: -0.329061 deg/s, posRepo size: 4
2021-08-13T18:38:56.435Z,1628879936.435 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:38:56.737Z,1628879936.737 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:38:56.737Z,1628879936.737 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:38:56.737Z,1628879936.737 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:38:56.738Z,1628879936.738 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:38:57.133Z,1628879937.133 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
07A,000,00963,187,80,80,5C,FF
2021-08-13T18:38:57.133Z,1628879937.133 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:38:57.133Z,1628879937.133 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:38:57.135Z,1628879937.135 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:38:57.549Z,1628879937.549 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:38:57.961Z,1628879937.961 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0AA,000,00974,186,80,80,4A,FF
2021-08-13T18:38:57.961Z,1628879937.961 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:38:58.409Z,1628879938.409 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183857.66*5E

2021-08-13T18:38:58.442Z,1628879938.442 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 107.700005 m, bearing: 199.093812 deg, deltaT: 4.427621 s, approachRate: 0.230373 m/s, LOS rate: -0.480755 deg/s, posRepo size: 4
2021-08-13T18:39:00.814Z,1628879940.814 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:39:01.196Z,1628879941.196 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:39:01.197Z,1628879941.197 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:39:01.197Z,1628879941.197 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:39:01.199Z,1628879941.199 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:39:01.597Z,1628879941.597 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0AA,000,00974,186,80,80,4A,FF
2021-08-13T18:39:01.597Z,1628879941.597 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:39:01.598Z,1628879941.598 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:39:01.599Z,1628879941.599 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:39:02.005Z,1628879942.005 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:39:02.437Z,1628879942.437 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0B3,000,00984,186,80,80,33,FF
2021-08-13T18:39:02.437Z,1628879942.437 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:39:02.850Z,1628879942.850 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183902.12*5C

2021-08-13T18:39:02.871Z,1628879942.871 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 108.659996 m, bearing: 198.386287 deg, deltaT: 4.453844 s, approachRate: 0.215542 m/s, LOS rate: -0.158857 deg/s, posRepo size: 4
2021-08-13T18:39:05.326Z,1628879945.326 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:39:05.633Z,1628879945.633 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:39:05.633Z,1628879945.633 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:39:05.633Z,1628879945.633 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:39:05.634Z,1628879945.634 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:39:06.035Z,1628879946.035 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0B3,000,00984,186,80,80,33,FF
2021-08-13T18:39:06.035Z,1628879946.035 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:39:06.035Z,1628879946.035 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:39:06.037Z,1628879946.037 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:39:06.449Z,1628879946.449 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:39:07.285Z,1628879947.285 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,152,000,019FC,186,80,80,47,FF
2021-08-13T18:39:07.286Z,1628879947.286 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:39:07.288Z,1628879947.288 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183906.56*58

2021-08-13T18:39:07.719Z,1628879947.719 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 361.619965 m, bearing: 190.020507 deg, deltaT: 4.876840 s, approachRate: 51.869644 m/s, LOS rate: -1.715410 deg/s, posRepo size: 4
2021-08-13T18:39:10.111Z,1628879950.111 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:39:10.489Z,1628879950.489 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:39:10.489Z,1628879950.489 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:39:10.489Z,1628879950.489 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:39:10.490Z,1628879950.490 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:39:10.898Z,1628879950.898 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
152,000,019FC,186,80,80,47,FF
2021-08-13T18:39:10.898Z,1628879950.898 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:39:10.898Z,1628879950.898 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:39:10.901Z,1628879950.901 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:39:11.309Z,1628879951.309 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:39:12.130Z,1628879952.130 [Micromodem](INFO): Nmea in: $SNTTA,,0.094384,,,183911.42*47

2021-08-13T18:39:12.941Z,1628879952.941 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:39:14.529Z,1628879954.529 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,186,80,80,47,FF
2021-08-13T18:39:14.529Z,1628879954.529 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,186,80,80,47,FF
2021-08-13T18:39:14.529Z,1628879954.529 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T18:39:15.777Z,1628879955.777 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:39:16.145Z,1628879956.145 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:39:16.145Z,1628879956.145 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:39:16.145Z,1628879956.145 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:39:16.146Z,1628879956.146 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:39:16.549Z,1628879956.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,186,80,80,47,FF
2021-08-13T18:39:16.549Z,1628879956.549 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:39:16.549Z,1628879956.549 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:39:16.551Z,1628879956.551 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:39:16.956Z,1628879956.956 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:39:17.369Z,1628879957.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,182,000,009B9,186,80,80,4C,FF
2021-08-13T18:39:17.370Z,1628879957.370 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:39:17.805Z,1628879957.805 [Micromodem](INFO): Nmea in: $SNTTA,0.268924,,,,183917.08*4E

2021-08-13T18:39:17.850Z,1628879957.850 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 111.840004 m, bearing: 187.565505 deg, deltaT: 10.141464 s, approachRate: -24.629578 m/s, LOS rate: -0.242076 deg/s, posRepo size: 4
2021-08-13T18:39:20.202Z,1628879960.202 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:39:20.597Z,1628879960.597 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:39:20.597Z,1628879960.597 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:39:20.598Z,1628879960.598 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:39:20.599Z,1628879960.599 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:39:20.993Z,1628879960.993 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
182,000,009B9,186,80,80,4C,FF
2021-08-13T18:39:20.993Z,1628879960.993 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:39:20.993Z,1628879960.993 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:39:20.995Z,1628879960.995 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:39:21.425Z,1628879961.425 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:39:21.813Z,1628879961.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1B4,000,009CC,186,80,80,5D,FF
2021-08-13T18:39:21.813Z,1628879961.813 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:39:22.246Z,1628879962.246 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183921.52*59

2021-08-13T18:39:22.268Z,1628879962.268 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 112.979996 m, bearing: 184.903343 deg, deltaT: 4.368357 s, approachRate: 0.260966 m/s, LOS rate: -0.609419 deg/s, posRepo size: 4
2021-08-13T18:39:24.666Z,1628879964.666 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:39:25.037Z,1628879965.037 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:39:25.037Z,1628879965.037 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:39:25.037Z,1628879965.037 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:39:25.038Z,1628879965.038 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:39:25.445Z,1628879965.445 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1B4,000,009CC,186,80,80,5D,FF
2021-08-13T18:39:25.445Z,1628879965.445 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:39:25.445Z,1628879965.445 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:39:25.447Z,1628879965.447 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:39:25.853Z,1628879965.853 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:39:26.262Z,1628879966.262 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,253,000,009E0,189,80,80,49,FF
2021-08-13T18:39:26.262Z,1628879966.262 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:39:26.697Z,1628879966.697 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183925.97*54

2021-08-13T18:39:26.722Z,1628879966.722 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 114.180008 m, bearing: 176.386097 deg, deltaT: 4.432690 s, approachRate: 0.270719 m/s, LOS rate: -1.921462 deg/s, posRepo size: 4
2021-08-13T18:39:29.123Z,1628879969.123 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:39:29.489Z,1628879969.489 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:39:29.489Z,1628879969.489 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:39:29.489Z,1628879969.489 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:39:29.490Z,1628879969.490 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:39:29.894Z,1628879969.894 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
253,000,009E0,189,80,80,49,FF
2021-08-13T18:39:29.894Z,1628879969.894 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:39:29.894Z,1628879969.894 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:39:29.897Z,1628879969.897 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:39:30.305Z,1628879970.305 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:39:30.705Z,1628879970.705 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,22C,000,009EA,189,80,80,46,FF
2021-08-13T18:39:30.706Z,1628879970.706 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:39:31.142Z,1628879971.142 [Micromodem](INFO): Nmea in: $SNTTA,0.081792,,,,183930.42*43

2021-08-13T18:39:31.175Z,1628879971.175 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 114.780006 m, bearing: 178.272268 deg, deltaT: 4.497098 s, approachRate: 0.133419 m/s, LOS rate: 0.419419 deg/s, posRepo size: 4
2021-08-13T18:39:33.613Z,1628879973.613 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:39:33.937Z,1628879973.937 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:39:33.937Z,1628879973.937 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:39:33.937Z,1628879973.937 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:39:33.938Z,1628879973.938 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:39:34.337Z,1628879974.337 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
22C,000,009EA,189,80,80,46,FF
2021-08-13T18:39:34.337Z,1628879974.337 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:39:34.338Z,1628879974.338 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:39:34.339Z,1628879974.339 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:39:34.791Z,1628879974.791 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:39:35.155Z,1628879975.155 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,199,000,009F9,186,80,80,54,FF
2021-08-13T18:39:35.155Z,1628879975.155 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:39:35.585Z,1628879975.585 [Micromodem](INFO): Nmea in: $SNTTA,0.076612,,,,183934.86*4E

2021-08-13T18:39:35.654Z,1628879975.654 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 115.680000 m, bearing: 185.883106 deg, deltaT: 4.399797 s, approachRate: 0.204553 m/s, LOS rate: 1.729816 deg/s, posRepo size: 4
2021-08-13T18:39:38.039Z,1628879978.039 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:39:38.404Z,1628879978.404 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:39:38.404Z,1628879978.404 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:39:38.405Z,1628879978.405 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:39:38.405Z,1628879978.405 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:39:38.789Z,1628879978.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
199,000,009F9,186,80,80,54,FF
2021-08-13T18:39:38.789Z,1628879978.789 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:39:38.789Z,1628879978.789 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:39:38.791Z,1628879978.791 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:39:39.215Z,1628879979.215 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:39:39.605Z,1628879979.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1BD,000,00A0A,186,80,80,35,FF
2021-08-13T18:39:39.605Z,1628879979.605 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:39:40.025Z,1628879980.025 [Micromodem](INFO): Nmea in: $SNTTA,0.148541,,,,183939.32*45

2021-08-13T18:39:40.055Z,1628879980.055 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 116.699997 m, bearing: 184.107408 deg, deltaT: 4.502855 s, approachRate: 0.226522 m/s, LOS rate: -0.394350 deg/s, posRepo size: 4
2021-08-13T18:39:42.473Z,1628879982.473 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:39:42.821Z,1628879982.821 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:39:42.821Z,1628879982.821 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:39:42.821Z,1628879982.821 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:39:42.822Z,1628879982.822 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:39:43.272Z,1628879983.272 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1BD,000,00A0A,186,80,80,35,FF
2021-08-13T18:39:43.273Z,1628879983.273 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:39:43.273Z,1628879983.273 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:39:43.275Z,1628879983.275 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:39:43.670Z,1628879983.670 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:39:44.065Z,1628879984.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1C6,000,00A19,186,80,80,3E,FF
2021-08-13T18:39:44.066Z,1628879984.066 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:39:44.493Z,1628879984.493 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183943.80*52

2021-08-13T18:39:44.519Z,1628879984.519 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 117.599998 m, bearing: 183.764368 deg, deltaT: 4.425310 s, approachRate: 0.203376 m/s, LOS rate: -0.077518 deg/s, posRepo size: 4
2021-08-13T18:39:46.932Z,1628879986.932 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:39:47.301Z,1628879987.301 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:39:47.301Z,1628879987.301 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:39:47.301Z,1628879987.301 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:39:47.302Z,1628879987.302 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:39:47.697Z,1628879987.697 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1C6,000,00A19,186,80,80,3E,FF
2021-08-13T18:39:47.697Z,1628879987.697 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:39:47.697Z,1628879987.697 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:39:47.699Z,1628879987.699 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:39:48.117Z,1628879988.117 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:39:48.943Z,1628879988.943 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183948.22*51

2021-08-13T18:39:49.863Z,1628879989.863 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:39:51.345Z,1628879991.345 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
9,186,80,80,3E,FF
2021-08-13T18:39:51.346Z,1628879991.346 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
9,186,80,80,3E,FF
2021-08-13T18:39:51.347Z,1628879991.347 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T18:39:52.572Z,1628879992.572 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:39:52.962Z,1628879992.962 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:39:52.962Z,1628879992.962 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:39:52.962Z,1628879992.962 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:39:52.963Z,1628879992.963 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:39:53.354Z,1628879993.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
9,186,80,80,3E,FF
2021-08-13T18:39:53.354Z,1628879993.354 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:39:53.354Z,1628879993.354 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:39:53.356Z,1628879993.356 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:39:53.775Z,1628879993.775 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:39:54.583Z,1628879994.583 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183953.88*5B

2021-08-13T18:39:55.471Z,1628879995.471 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:39:57.001Z,1628879997.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
9,186,80,80,3E,FF
2021-08-13T18:39:57.002Z,1628879997.002 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
9,186,80,80,3E,FF
2021-08-13T18:39:57.002Z,1628879997.002 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T18:39:58.238Z,1628879998.238 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:39:58.606Z,1628879998.606 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:39:58.606Z,1628879998.606 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:39:58.606Z,1628879998.606 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:39:58.607Z,1628879998.607 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:39:59.009Z,1628879999.009 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
9,186,80,80,3E,FF
2021-08-13T18:39:59.010Z,1628879999.010 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:39:59.010Z,1628879999.010 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:39:59.011Z,1628879999.011 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:39:59.460Z,1628879999.460 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:39:59.849Z,1628879999.849 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,17A,000,00A51,186,80,80,3A,FF
2021-08-13T18:39:59.849Z,1628879999.849 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:40:00.258Z,1628880000.258 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183959.54*50

2021-08-13T18:40:00.304Z,1628880000.304 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 120.960007 m, bearing: 187.473625 deg, deltaT: 15.811678 s, approachRate: 0.212502 m/s, LOS rate: 0.234590 deg/s, posRepo size: 4
2021-08-13T18:40:02.705Z,1628880002.705 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:40:03.053Z,1628880003.053 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:40:03.054Z,1628880003.054 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:40:03.054Z,1628880003.054 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:40:03.055Z,1628880003.055 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:40:03.453Z,1628880003.453 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
17A,000,00A51,186,80,80,3A,FF
2021-08-13T18:40:03.453Z,1628880003.453 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:40:03.453Z,1628880003.453 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:40:03.457Z,1628880003.457 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:40:03.853Z,1628880003.853 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:40:04.274Z,1628880004.274 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,145,000,00A66,186,80,80,47,FF
2021-08-13T18:40:04.274Z,1628880004.274 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:40:04.701Z,1628880004.701 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184003.98*51

2021-08-13T18:40:04.731Z,1628880004.731 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 122.220009 m, bearing: 189.908123 deg, deltaT: 4.381370 s, approachRate: 0.287582 m/s, LOS rate: 0.555648 deg/s, posRepo size: 4
2021-08-13T18:40:07.118Z,1628880007.118 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:40:07.489Z,1628880007.489 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:40:07.489Z,1628880007.489 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:40:07.489Z,1628880007.489 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:40:07.490Z,1628880007.490 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:40:07.898Z,1628880007.898 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
145,000,00A66,186,80,80,47,FF
2021-08-13T18:40:07.898Z,1628880007.898 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:40:07.898Z,1628880007.898 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:40:07.904Z,1628880007.904 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:40:08.305Z,1628880008.305 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:40:09.130Z,1628880009.130 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184008.43*5C

2021-08-13T18:40:09.921Z,1628880009.921 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1CE,000,03B8C,186,80,80,4A,FF
2021-08-13T18:40:09.922Z,1628880009.922 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:40:10.347Z,1628880010.347 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 877.140015 m, bearing: 182.355737 deg, deltaT: 5.673176 s, approachRate: 133.068314 m/s, LOS rate: -1.331245 deg/s, posRepo size: 4
2021-08-13T18:40:12.782Z,1628880012.782 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:40:13.149Z,1628880013.149 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:40:13.149Z,1628880013.149 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:40:13.149Z,1628880013.149 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:40:13.150Z,1628880013.150 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:40:13.549Z,1628880013.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1CE,000,03B8C,186,80,80,4A,FF
2021-08-13T18:40:13.549Z,1628880013.549 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:40:13.549Z,1628880013.549 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:40:13.551Z,1628880013.551 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:40:13.975Z,1628880013.975 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:40:14.361Z,1628880014.361 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,200,000,00A85,187,80,80,5D,FF
2021-08-13T18:40:14.361Z,1628880014.361 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:40:14.808Z,1628880014.808 [Micromodem](INFO): Nmea in: $SNTTA,0.082097,,,,184014.07*4B

2021-08-13T18:40:14.878Z,1628880014.878 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 124.080009 m, bearing: 179.340373 deg, deltaT: 4.455398 s, approachRate: -169.021942 m/s, LOS rate: -0.676789 deg/s, posRepo size: 4
2021-08-13T18:40:17.283Z,1628880017.283 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:40:17.601Z,1628880017.601 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:40:17.601Z,1628880017.601 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:40:17.601Z,1628880017.601 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:40:17.602Z,1628880017.602 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:40:17.997Z,1628880017.997 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
200,000,00A85,187,80,80,5D,FF
2021-08-13T18:40:17.997Z,1628880017.997 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:40:17.997Z,1628880017.997 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:40:17.999Z,1628880017.999 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:40:18.421Z,1628880018.421 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:40:18.805Z,1628880018.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,265,000,00A90,189,80,80,5A,FF
2021-08-13T18:40:18.805Z,1628880018.805 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:40:19.269Z,1628880019.269 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184018.52*5D

2021-08-13T18:40:19.314Z,1628880019.314 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 124.739998 m, bearing: 174.033712 deg, deltaT: 4.419775 s, approachRate: 0.149326 m/s, LOS rate: -1.200663 deg/s, posRepo size: 4
2021-08-13T18:40:21.669Z,1628880021.669 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:40:22.041Z,1628880022.041 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:40:22.041Z,1628880022.041 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:40:22.041Z,1628880022.041 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:40:22.042Z,1628880022.042 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:40:22.457Z,1628880022.457 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
265,000,00A90,189,80,80,5A,FF
2021-08-13T18:40:22.457Z,1628880022.457 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:40:22.457Z,1628880022.457 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:40:22.459Z,1628880022.459 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:40:22.845Z,1628880022.845 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:40:23.286Z,1628880023.286 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,253,000,00AA4,188,80,80,57,FF
2021-08-13T18:40:23.286Z,1628880023.286 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:40:23.677Z,1628880023.677 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184022.98*52

2021-08-13T18:40:23.719Z,1628880023.719 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 125.940002 m, bearing: 174.498930 deg, deltaT: 4.492766 s, approachRate: 0.267097 m/s, LOS rate: 0.103548 deg/s, posRepo size: 4
2021-08-13T18:40:26.090Z,1628880026.090 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:40:26.485Z,1628880026.485 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:40:26.485Z,1628880026.485 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:40:26.485Z,1628880026.485 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:40:26.486Z,1628880026.486 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:40:26.893Z,1628880026.893 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
253,000,00AA4,188,80,80,57,FF
2021-08-13T18:40:26.893Z,1628880026.893 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:40:26.893Z,1628880026.893 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:40:26.896Z,1628880026.896 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:40:27.305Z,1628880027.305 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:40:27.689Z,1628880027.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,22F,000,00AAF,189,80,80,57,FF
2021-08-13T18:40:27.690Z,1628880027.690 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:40:28.145Z,1628880028.145 [Micromodem](INFO): Nmea in: $SNTTA,0.055979,,,,184027.42*49

2021-08-13T18:40:28.186Z,1628880028.186 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 126.599998 m, bearing: 175.778757 deg, deltaT: 4.398269 s, approachRate: 0.150058 m/s, LOS rate: 0.290984 deg/s, posRepo size: 4
2021-08-13T18:40:30.552Z,1628880030.552 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:40:30.933Z,1628880030.933 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:40:30.933Z,1628880030.933 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:40:30.933Z,1628880030.933 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:40:30.934Z,1628880030.934 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:40:31.325Z,1628880031.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
22F,000,00AAF,189,80,80,57,FF
2021-08-13T18:40:31.325Z,1628880031.325 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:40:31.325Z,1628880031.325 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:40:31.327Z,1628880031.327 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:40:31.745Z,1628880031.745 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:40:32.157Z,1628880032.157 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,27C,000,00ABF,189,80,80,56,FF
2021-08-13T18:40:32.157Z,1628880032.157 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:40:32.585Z,1628880032.585 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184031.85*5C

2021-08-13T18:40:32.627Z,1628880032.627 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 127.560005 m, bearing: 172.309034 deg, deltaT: 4.432861 s, approachRate: 0.216566 m/s, LOS rate: -0.782728 deg/s, posRepo size: 4
2021-08-13T18:40:34.994Z,1628880034.994 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:40:35.393Z,1628880035.393 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:40:35.393Z,1628880035.393 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:40:35.394Z,1628880035.394 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:40:35.395Z,1628880035.395 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:40:35.786Z,1628880035.786 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
27C,000,00ABF,189,80,80,56,FF
2021-08-13T18:40:35.786Z,1628880035.786 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:40:35.786Z,1628880035.786 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:40:35.787Z,1628880035.787 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:40:36.188Z,1628880036.188 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:40:36.593Z,1628880036.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,258,000,00AD3,188,80,80,65,FF
2021-08-13T18:40:36.594Z,1628880036.594 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:40:37.025Z,1628880037.025 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184036.31*54

2021-08-13T18:40:37.063Z,1628880037.063 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 128.760010 m, bearing: 174.819074 deg, deltaT: 4.466750 s, approachRate: 0.268653 m/s, LOS rate: 0.561939 deg/s, posRepo size: 4
2021-08-13T18:40:39.517Z,1628880039.517 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:40:39.830Z,1628880039.830 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:40:39.830Z,1628880039.830 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:40:39.832Z,1628880039.832 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:40:39.836Z,1628880039.836 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:40:40.230Z,1628880040.230 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
258,000,00AD3,188,80,80,65,FF
2021-08-13T18:40:40.230Z,1628880040.230 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:40:40.230Z,1628880040.230 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:40:40.232Z,1628880040.232 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:40:40.633Z,1628880040.633 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:40:41.045Z,1628880041.045 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,246,000,00ADF,189,80,80,4C,FF
2021-08-13T18:40:41.046Z,1628880041.046 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:40:41.466Z,1628880041.466 [Micromodem](INFO): Nmea in: $SNTTA,0.388522,0.388597,,,184040.76*58

2021-08-13T18:40:41.523Z,1628880041.523 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 129.479996 m, bearing: 176.209988 deg, deltaT: 4.454350 s, approachRate: 0.161637 m/s, LOS rate: 0.312260 deg/s, posRepo size: 4
2021-08-13T18:40:43.913Z,1628880043.913 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:40:44.277Z,1628880044.277 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:40:44.277Z,1628880044.277 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:40:44.277Z,1628880044.277 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:40:44.278Z,1628880044.278 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:40:44.676Z,1628880044.676 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
246,000,00ADF,189,80,80,4C,FF
2021-08-13T18:40:44.676Z,1628880044.676 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:40:44.676Z,1628880044.676 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:40:44.678Z,1628880044.678 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:40:45.081Z,1628880045.081 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:40:45.493Z,1628880045.493 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,28C,000,00AEC,18A,80,80,41,FF
2021-08-13T18:40:45.494Z,1628880045.494 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:40:45.497Z,1628880045.497 [Micromodem](INFO): Nmea in: $SNTTA,0.203991,0.203997,,,184045.20*56

2021-08-13T18:40:45.919Z,1628880045.919 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 130.260010 m, bearing: 173.243309 deg, deltaT: 4.496712 s, approachRate: 0.173463 m/s, LOS rate: -0.659744 deg/s, posRepo size: 4
2021-08-13T18:40:48.322Z,1628880048.322 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:40:48.709Z,1628880048.709 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:40:48.709Z,1628880048.709 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:40:48.709Z,1628880048.709 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:40:48.710Z,1628880048.710 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:40:49.117Z,1628880049.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
28C,000,00AEC,18A,80,80,41,FF
2021-08-13T18:40:49.117Z,1628880049.117 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:40:49.118Z,1628880049.118 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:40:49.119Z,1628880049.119 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:40:49.529Z,1628880049.529 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:40:49.941Z,1628880049.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,27A,000,00AFF,189,80,80,4F,FF
2021-08-13T18:40:49.941Z,1628880049.941 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:40:50.380Z,1628880050.380 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184049.64*5C

2021-08-13T18:40:50.428Z,1628880050.428 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 131.399994 m, bearing: 174.517426 deg, deltaT: 4.366247 s, approachRate: 0.261090 m/s, LOS rate: 0.291811 deg/s, posRepo size: 4
2021-08-13T18:40:52.784Z,1628880052.784 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:40:53.183Z,1628880053.183 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:40:53.184Z,1628880053.184 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:40:53.185Z,1628880053.185 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:40:53.186Z,1628880053.186 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:40:53.557Z,1628880053.557 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
27A,000,00AFF,189,80,80,4F,FF
2021-08-13T18:40:53.557Z,1628880053.557 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:40:53.557Z,1628880053.557 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:40:53.559Z,1628880053.559 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:40:53.969Z,1628880053.969 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:40:54.389Z,1628880054.389 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,27C,000,00B0E,189,80,80,48,FF
2021-08-13T18:40:54.390Z,1628880054.390 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:40:54.813Z,1628880054.813 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184054.08*5A

2021-08-13T18:40:54.870Z,1628880054.870 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 132.300003 m, bearing: 173.973688 deg, deltaT: 4.494298 s, approachRate: 0.200256 m/s, LOS rate: -0.120984 deg/s, posRepo size: 4
2021-08-13T18:40:57.267Z,1628880057.267 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:40:57.597Z,1628880057.597 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:40:57.597Z,1628880057.597 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:40:57.597Z,1628880057.597 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:40:57.598Z,1628880057.598 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:40:58.013Z,1628880058.013 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
27C,000,00B0E,189,80,80,48,FF
2021-08-13T18:40:58.013Z,1628880058.013 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:40:58.013Z,1628880058.013 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:40:58.015Z,1628880058.015 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:40:58.441Z,1628880058.441 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:40:58.833Z,1628880058.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,267,000,00B1B,189,80,80,56,FF
2021-08-13T18:40:58.833Z,1628880058.833 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:40:59.289Z,1628880059.289 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184058.54*5F

2021-08-13T18:40:59.343Z,1628880059.343 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 133.080002 m, bearing: 175.060945 deg, deltaT: 4.397581 s, approachRate: 0.177370 m/s, LOS rate: 0.247240 deg/s, posRepo size: 4
2021-08-13T18:41:01.366Z,1628880061.366 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:41:01.637Z,1628880061.637 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:41:01.637Z,1628880061.637 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:41:01.637Z,1628880061.637 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:41:01.638Z,1628880061.638 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:41:02.055Z,1628880062.055 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
267,000,00B1B,189,80,80,56,FF
2021-08-13T18:41:02.055Z,1628880062.055 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:41:02.055Z,1628880062.055 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:41:02.057Z,1628880062.057 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:41:02.465Z,1628880062.465 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:41:02.866Z,1628880062.866 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,269,000,00B2B,188,80,80,56,FF
2021-08-13T18:41:02.866Z,1628880062.866 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:41:03.305Z,1628880063.305 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184102.58*5D

2021-08-13T18:41:03.405Z,1628880063.405 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 134.039993 m, bearing: 174.765963 deg, deltaT: 4.083841 s, approachRate: 0.235071 m/s, LOS rate: -0.072232 deg/s, posRepo size: 4
2021-08-13T18:41:05.717Z,1628880065.717 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:41:06.086Z,1628880066.086 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:41:06.086Z,1628880066.086 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:41:06.086Z,1628880066.086 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:41:06.087Z,1628880066.087 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:41:06.497Z,1628880066.497 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
269,000,00B2B,188,80,80,56,FF
2021-08-13T18:41:06.497Z,1628880066.497 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:41:06.497Z,1628880066.497 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:41:06.499Z,1628880066.499 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:41:06.918Z,1628880066.918 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:41:07.301Z,1628880067.301 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,24E,000,00B39,189,80,80,66,FF
2021-08-13T18:41:07.301Z,1628880067.301 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:41:07.746Z,1628880067.746 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184107.02*57

2021-08-13T18:41:07.781Z,1628880067.781 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 134.880005 m, bearing: 175.333292 deg, deltaT: 4.474134 s, approachRate: 0.187748 m/s, LOS rate: 0.126802 deg/s, posRepo size: 4
2021-08-13T18:41:10.186Z,1628880070.186 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:41:10.533Z,1628880070.533 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:41:10.533Z,1628880070.533 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:41:10.533Z,1628880070.533 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:41:10.534Z,1628880070.534 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:41:10.949Z,1628880070.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
24E,000,00B39,189,80,80,66,FF
2021-08-13T18:41:10.950Z,1628880070.950 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:41:10.950Z,1628880070.950 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:41:10.953Z,1628880070.953 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:41:11.341Z,1628880071.341 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:41:11.751Z,1628880071.751 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,28B,000,00B4A,189,80,80,65,FF
2021-08-13T18:41:11.752Z,1628880071.752 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:41:12.173Z,1628880072.173 [Micromodem](INFO): Nmea in: $SNTTA,0.068042,,,,184111.48*48

2021-08-13T18:41:12.225Z,1628880072.225 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 135.899994 m, bearing: 171.064670 deg, deltaT: 4.407102 s, approachRate: 0.231442 m/s, LOS rate: -0.968578 deg/s, posRepo size: 4
2021-08-13T18:41:14.606Z,1628880074.606 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:41:14.977Z,1628880074.977 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:41:14.977Z,1628880074.977 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:41:14.977Z,1628880074.977 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:41:14.978Z,1628880074.978 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:41:15.396Z,1628880075.396 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
28B,000,00B4A,189,80,80,65,FF
2021-08-13T18:41:15.397Z,1628880075.397 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:41:15.397Z,1628880075.397 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:41:15.403Z,1628880075.403 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:41:15.793Z,1628880075.793 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:41:16.194Z,1628880076.194 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2AD,000,00B5A,189,80,80,65,FF
2021-08-13T18:41:16.194Z,1628880076.194 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:41:16.611Z,1628880076.611 [Micromodem](INFO): Nmea in: $SNTTA,0.465425,,,,184115.93*46

2021-08-13T18:41:16.690Z,1628880076.690 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 136.860001 m, bearing: 168.508567 deg, deltaT: 4.407564 s, approachRate: 0.217809 m/s, LOS rate: -0.579935 deg/s, posRepo size: 4
2021-08-13T18:41:19.045Z,1628880079.045 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:41:19.445Z,1628880079.445 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:41:19.445Z,1628880079.445 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:41:19.445Z,1628880079.445 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:41:19.446Z,1628880079.446 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:41:19.821Z,1628880079.821 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2AD,000,00B5A,189,80,80,65,FF
2021-08-13T18:41:19.821Z,1628880079.821 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:41:19.821Z,1628880079.821 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:41:19.823Z,1628880079.823 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:41:20.225Z,1628880080.225 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:41:20.640Z,1628880080.640 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2A8,000,00B67,189,80,80,6A,FF
2021-08-13T18:41:20.640Z,1628880080.640 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:41:21.077Z,1628880081.077 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184120.35*56

2021-08-13T18:41:21.099Z,1628880081.099 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 137.639999 m, bearing: 168.115230 deg, deltaT: 4.445023 s, approachRate: 0.175477 m/s, LOS rate: -0.088489 deg/s, posRepo size: 4
2021-08-13T18:41:23.536Z,1628880083.536 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:41:23.869Z,1628880083.869 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:41:23.869Z,1628880083.869 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:41:23.869Z,1628880083.869 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:41:23.870Z,1628880083.870 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:41:24.265Z,1628880084.265 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2A8,000,00B67,189,80,80,6A,FF
2021-08-13T18:41:24.265Z,1628880084.265 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:41:24.265Z,1628880084.265 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:41:24.267Z,1628880084.267 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:41:24.681Z,1628880084.681 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:41:25.077Z,1628880085.077 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2E5,000,00B77,189,80,80,66,FF
2021-08-13T18:41:25.077Z,1628880085.077 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:41:25.493Z,1628880085.493 [Micromodem](INFO): Nmea in: $SNTTA,0.411030,0.371304,,,184124.79*5F

2021-08-13T18:41:25.549Z,1628880085.549 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 138.600006 m, bearing: 163.932600 deg, deltaT: 4.455719 s, approachRate: 0.215455 m/s, LOS rate: -0.938710 deg/s, posRepo size: 4
2021-08-13T18:41:27.932Z,1628880087.932 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:41:28.309Z,1628880088.309 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:41:28.309Z,1628880088.309 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:41:28.309Z,1628880088.309 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:41:28.310Z,1628880088.310 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:41:28.709Z,1628880088.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2E5,000,00B77,189,80,80,66,FF
2021-08-13T18:41:28.709Z,1628880088.709 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:41:28.709Z,1628880088.709 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:41:28.711Z,1628880088.711 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:41:29.121Z,1628880089.121 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:41:29.521Z,1628880089.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,30C,000,00B89,189,80,80,62,FF
2021-08-13T18:41:29.521Z,1628880089.521 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:41:29.525Z,1628880089.525 [Micromodem](INFO): Nmea in: $SNTTA,0.111773,0.188019,,,184129.24*54

2021-08-13T18:41:29.986Z,1628880089.986 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 139.680008 m, bearing: 161.042241 deg, deltaT: 4.488984 s, approachRate: 0.240589 m/s, LOS rate: -0.643878 deg/s, posRepo size: 4
2021-08-13T18:41:32.411Z,1628880092.411 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:41:32.749Z,1628880092.749 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:41:32.749Z,1628880092.749 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:41:32.749Z,1628880092.749 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:41:32.750Z,1628880092.750 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:41:33.153Z,1628880093.153 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
30C,000,00B89,189,80,80,62,FF
2021-08-13T18:41:33.153Z,1628880093.153 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:41:33.154Z,1628880093.154 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:41:33.155Z,1628880093.155 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:41:33.569Z,1628880093.569 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:41:33.973Z,1628880093.973 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,369,000,00B99,189,80,80,43,FF
2021-08-13T18:41:33.973Z,1628880093.973 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:41:34.409Z,1628880094.409 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184133.68*5C

2021-08-13T18:41:34.446Z,1628880094.446 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 140.639999 m, bearing: 156.048827 deg, deltaT: 4.377946 s, approachRate: 0.219279 m/s, LOS rate: -1.140584 deg/s, posRepo size: 4
2021-08-13T18:41:36.806Z,1628880096.806 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:41:37.220Z,1628880097.220 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:41:37.220Z,1628880097.220 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:41:37.221Z,1628880097.221 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:41:37.222Z,1628880097.222 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:41:37.605Z,1628880097.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
369,000,00B99,189,80,80,43,FF
2021-08-13T18:41:37.605Z,1628880097.605 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:41:37.605Z,1628880097.605 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:41:37.607Z,1628880097.607 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:41:38.016Z,1628880098.016 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:41:38.441Z,1628880098.441 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,326,000,00BA8,189,80,80,4A,FF
2021-08-13T18:41:38.442Z,1628880098.442 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:41:38.845Z,1628880098.845 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184138.13*5B

2021-08-13T18:41:38.868Z,1628880098.868 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 141.540009 m, bearing: 158.740454 deg, deltaT: 4.534583 s, approachRate: 0.198477 m/s, LOS rate: 0.593578 deg/s, posRepo size: 4
2021-08-13T18:41:41.314Z,1628880101.314 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:41:41.645Z,1628880101.645 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:41:41.645Z,1628880101.645 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:41:41.645Z,1628880101.645 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:41:41.646Z,1628880101.646 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:41:42.045Z,1628880102.045 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
326,000,00BA8,189,80,80,4A,FF
2021-08-13T18:41:42.045Z,1628880102.045 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:41:42.045Z,1628880102.045 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:41:42.047Z,1628880102.047 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:41:42.457Z,1628880102.457 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:41:42.853Z,1628880102.853 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,321,000,00A08,189,80,80,4A,FF
2021-08-13T18:41:42.853Z,1628880102.853 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:41:43.302Z,1628880103.302 [Micromodem](INFO): Nmea in: $SNTTA,0.079576,,,,184142.57*42

2021-08-13T18:41:43.342Z,1628880103.342 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 116.580002 m, bearing: 158.125996 deg, deltaT: 4.346317 s, approachRate: -5.742795 m/s, LOS rate: -0.141374 deg/s, posRepo size: 4
2021-08-13T18:41:45.406Z,1628880105.406 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:41:45.687Z,1628880105.687 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:41:45.687Z,1628880105.687 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:41:45.687Z,1628880105.687 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:41:45.688Z,1628880105.688 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:41:46.085Z,1628880106.085 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
321,000,00A08,189,80,80,4A,FF
2021-08-13T18:41:46.085Z,1628880106.085 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:41:46.085Z,1628880106.085 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:41:46.087Z,1628880106.087 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:41:46.492Z,1628880106.492 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:41:46.894Z,1628880106.894 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EC1,000,00BC3,186,80,80,4D,FF
2021-08-13T18:41:46.895Z,1628880106.895 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:41:47.325Z,1628880107.325 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184146.61*57

2021-08-13T18:41:47.416Z,1628880107.416 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 143.160004 m, bearing: 213.777831 deg, deltaT: 4.069543 s, approachRate: 6.531446 m/s, LOS rate: 13.675205 deg/s, posRepo size: 4
2021-08-13T18:41:49.760Z,1628880109.760 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:41:50.129Z,1628880110.129 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:41:50.129Z,1628880110.129 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:41:50.129Z,1628880110.129 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:41:50.130Z,1628880110.130 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:41:50.529Z,1628880110.529 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EC1,000,00BC3,186,80,80,4D,FF
2021-08-13T18:41:50.529Z,1628880110.529 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:41:50.530Z,1628880110.530 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:41:50.531Z,1628880110.531 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:41:50.940Z,1628880110.940 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:41:51.341Z,1628880111.341 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E5B,000,00BD5,186,80,80,49,FF
2021-08-13T18:41:51.341Z,1628880111.341 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:41:51.345Z,1628880111.345 [Micromodem](INFO): Nmea in: $SNTTA,0.239810,0.237972,,,184151.05*58

2021-08-13T18:41:51.771Z,1628880111.771 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 144.240005 m, bearing: 217.924453 deg, deltaT: 4.538639 s, approachRate: 0.237957 m/s, LOS rate: 0.913627 deg/s, posRepo size: 4
2021-08-13T18:41:54.199Z,1628880114.199 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:41:54.565Z,1628880114.565 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:41:54.565Z,1628880114.565 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:41:54.565Z,1628880114.565 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:41:54.566Z,1628880114.566 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:41:54.977Z,1628880114.977 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E5B,000,00BD5,186,80,80,49,FF
2021-08-13T18:41:54.977Z,1628880114.977 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:41:54.977Z,1628880114.977 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:41:54.979Z,1628880114.979 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:41:55.410Z,1628880115.410 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:41:55.786Z,1628880115.786 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E7A,000,00BE3,185,80,80,61,FF
2021-08-13T18:41:55.786Z,1628880115.786 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:41:56.220Z,1628880116.220 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 145.080002 m, bearing: 215.700912 deg, deltaT: 4.324397 s, approachRate: 0.194246 m/s, LOS rate: -0.514185 deg/s, posRepo size: 4
2021-08-13T18:41:58.673Z,1628880118.673 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:41:59.017Z,1628880119.017 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:41:59.017Z,1628880119.017 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:41:59.018Z,1628880119.018 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:41:59.018Z,1628880119.018 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:41:59.453Z,1628880119.453 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E7A,000,00BE3,185,80,80,61,FF
2021-08-13T18:41:59.453Z,1628880119.453 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:41:59.453Z,1628880119.453 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:41:59.455Z,1628880119.455 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:41:59.824Z,1628880119.824 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:42:00.225Z,1628880120.225 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E34,000,00BE3,185,80,80,61,FF
2021-08-13T18:42:00.226Z,1628880120.226 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:42:00.655Z,1628880120.655 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184159.98*5F

2021-08-13T18:42:00.699Z,1628880120.699 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 145.080002 m, bearing: 218.444025 deg, deltaT: 4.444890 s, approachRate: 0.000000 m/s, LOS rate: 0.617139 deg/s, posRepo size: 4
2021-08-13T18:42:03.066Z,1628880123.066 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:42:03.454Z,1628880123.454 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:42:03.454Z,1628880123.454 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:42:03.455Z,1628880123.455 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:42:03.456Z,1628880123.456 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:42:03.865Z,1628880123.865 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E34,000,00BE3,185,80,80,61,FF
2021-08-13T18:42:03.865Z,1628880123.865 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:42:03.865Z,1628880123.865 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:42:03.867Z,1628880123.867 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:42:04.269Z,1628880124.269 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:42:05.098Z,1628880125.098 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184204.39*5F

2021-08-13T18:42:05.925Z,1628880125.925 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:42:07.505Z,1628880127.505 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
3,185,80,80,61,FF
2021-08-13T18:42:07.505Z,1628880127.505 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
3,185,80,80,61,FF
2021-08-13T18:42:07.505Z,1628880127.505 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T18:42:08.748Z,1628880128.748 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:42:09.113Z,1628880129.113 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:42:09.113Z,1628880129.113 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:42:09.113Z,1628880129.113 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:42:09.114Z,1628880129.114 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:42:09.526Z,1628880129.526 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
3,185,80,80,61,FF
2021-08-13T18:42:09.526Z,1628880129.526 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:42:09.526Z,1628880129.526 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:42:09.528Z,1628880129.528 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:42:09.981Z,1628880129.981 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:42:10.353Z,1628880130.353 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E15,000,00C1C,186,80,80,4D,FF
2021-08-13T18:42:10.354Z,1628880130.354 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:42:10.814Z,1628880130.814 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184210.05*55

2021-08-13T18:42:10.844Z,1628880130.844 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 148.500000 m, bearing: 220.138554 deg, deltaT: 10.159222 s, approachRate: 0.336640 m/s, LOS rate: 0.166797 deg/s, posRepo size: 4
2021-08-13T18:42:13.247Z,1628880133.247 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:42:13.581Z,1628880133.581 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:42:13.581Z,1628880133.581 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:42:13.581Z,1628880133.581 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:42:13.582Z,1628880133.582 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:42:13.973Z,1628880133.973 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E15,000,00C1C,186,80,80,4D,FF
2021-08-13T18:42:13.973Z,1628880133.973 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:42:13.974Z,1628880133.974 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:42:13.975Z,1628880133.975 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:42:14.409Z,1628880134.409 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:42:14.792Z,1628880134.792 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E20,000,00C28,186,80,80,73,FF
2021-08-13T18:42:14.792Z,1628880134.792 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:42:15.253Z,1628880135.253 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184214.50*51

2021-08-13T18:42:15.289Z,1628880135.289 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 149.220001 m, bearing: 220.429069 deg, deltaT: 4.408075 s, approachRate: 0.163337 m/s, LOS rate: 0.065905 deg/s, posRepo size: 4
2021-08-13T18:42:17.685Z,1628880137.685 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:42:18.013Z,1628880138.013 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:42:18.013Z,1628880138.013 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:42:18.013Z,1628880138.013 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:42:18.014Z,1628880138.014 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:42:18.450Z,1628880138.450 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E20,000,00C28,186,80,80,73,FF
2021-08-13T18:42:18.450Z,1628880138.450 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:42:18.451Z,1628880138.451 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:42:18.453Z,1628880138.453 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:42:18.829Z,1628880138.829 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:42:19.287Z,1628880139.287 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E3F,000,00C38,186,80,80,83,FF
2021-08-13T18:42:19.287Z,1628880139.287 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:42:19.658Z,1628880139.658 [Micromodem](INFO): Nmea in: $SNTTA,0.278313,,,,184218.98*4B

2021-08-13T18:42:19.695Z,1628880139.695 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 150.180008 m, bearing: 219.258689 deg, deltaT: 4.507869 s, approachRate: 0.212962 m/s, LOS rate: -0.259630 deg/s, posRepo size: 4
2021-08-13T18:42:22.070Z,1628880142.070 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:42:22.467Z,1628880142.467 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:42:22.468Z,1628880142.468 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:42:22.468Z,1628880142.468 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:42:22.469Z,1628880142.469 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:42:22.861Z,1628880142.861 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E3F,000,00C38,186,80,80,83,FF
2021-08-13T18:42:22.861Z,1628880142.861 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:42:22.861Z,1628880142.861 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:42:22.863Z,1628880142.863 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:42:23.291Z,1628880143.291 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:42:23.685Z,1628880143.685 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E55,000,00C47,186,80,80,72,FF
2021-08-13T18:42:23.686Z,1628880143.686 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:42:24.118Z,1628880144.118 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184223.39*5A

2021-08-13T18:42:24.173Z,1628880144.173 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 151.079987 m, bearing: 219.550898 deg, deltaT: 4.388947 s, approachRate: 0.205056 m/s, LOS rate: 0.066578 deg/s, posRepo size: 4
2021-08-13T18:42:26.580Z,1628880146.580 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:42:26.902Z,1628880146.902 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:42:26.902Z,1628880146.902 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:42:26.902Z,1628880146.902 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:42:26.903Z,1628880146.903 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:42:27.309Z,1628880147.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E55,000,00C47,186,80,80,72,FF
2021-08-13T18:42:27.309Z,1628880147.309 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:42:27.309Z,1628880147.309 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:42:27.311Z,1628880147.311 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:42:27.720Z,1628880147.720 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:42:28.117Z,1628880148.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E82,000,00C57,186,80,80,72,FF
2021-08-13T18:42:28.118Z,1628880148.118 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:42:28.573Z,1628880148.573 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184227.84*58

2021-08-13T18:42:28.599Z,1628880148.599 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 152.040009 m, bearing: 218.218916 deg, deltaT: 4.460839 s, approachRate: 0.215211 m/s, LOS rate: -0.298595 deg/s, posRepo size: 4
2021-08-13T18:42:30.976Z,1628880150.976 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:42:31.353Z,1628880151.353 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:42:31.353Z,1628880151.353 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:42:31.353Z,1628880151.353 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:42:31.354Z,1628880151.354 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:42:31.793Z,1628880151.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E82,000,00C57,186,80,80,72,FF
2021-08-13T18:42:31.793Z,1628880151.793 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:42:31.793Z,1628880151.793 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:42:31.795Z,1628880151.795 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:42:32.192Z,1628880152.192 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:42:33.022Z,1628880153.022 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184232.32*51

2021-08-13T18:42:33.826Z,1628880153.826 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:42:35.445Z,1628880155.445 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
7,186,80,80,72,FF
2021-08-13T18:42:35.445Z,1628880155.445 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
7,186,80,80,72,FF
2021-08-13T18:42:35.445Z,1628880155.445 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T18:42:36.690Z,1628880156.690 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:42:37.057Z,1628880157.057 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:42:37.057Z,1628880157.057 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:42:37.057Z,1628880157.057 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:42:37.058Z,1628880157.058 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:42:37.465Z,1628880157.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
7,186,80,80,72,FF
2021-08-13T18:42:37.465Z,1628880157.465 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:42:37.465Z,1628880157.465 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:42:37.467Z,1628880157.467 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:42:37.878Z,1628880157.878 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:42:38.286Z,1628880158.286 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E55,000,00C7C,186,80,80,6B,FF
2021-08-13T18:42:38.286Z,1628880158.286 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:42:38.713Z,1628880158.713 [Micromodem](INFO): Nmea in: $SNTTA,0.104774,,,,184237.99*4A

2021-08-13T18:42:38.787Z,1628880158.787 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 154.259995 m, bearing: 220.982083 deg, deltaT: 10.129810 s, approachRate: 0.219154 m/s, LOS rate: 0.272776 deg/s, posRepo size: 4
2021-08-13T18:42:41.130Z,1628880161.130 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:42:41.513Z,1628880161.513 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:42:41.513Z,1628880161.513 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:42:41.514Z,1628880161.514 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:42:41.514Z,1628880161.514 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:42:41.913Z,1628880161.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E55,000,00C7C,186,80,80,6B,FF
2021-08-13T18:42:41.913Z,1628880161.913 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:42:41.914Z,1628880161.914 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:42:41.915Z,1628880161.915 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:42:42.313Z,1628880162.313 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:42:42.722Z,1628880162.722 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E63,000,00C8C,186,80,80,6B,FF
2021-08-13T18:42:42.722Z,1628880162.722 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:42:43.164Z,1628880163.164 [Micromodem](INFO): Nmea in: $SNTTA,0.105345,,,,184242.44*4F

2021-08-13T18:42:43.245Z,1628880163.245 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 155.220001 m, bearing: 220.584839 deg, deltaT: 4.468758 s, approachRate: 0.214826 m/s, LOS rate: -0.088894 deg/s, posRepo size: 4
2021-08-13T18:42:45.626Z,1628880165.626 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:42:45.953Z,1628880165.953 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:42:45.953Z,1628880165.953 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:42:45.953Z,1628880165.953 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:42:45.954Z,1628880165.954 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:42:46.354Z,1628880166.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E63,000,00C8C,186,80,80,6B,FF
2021-08-13T18:42:46.354Z,1628880166.354 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:42:46.355Z,1628880166.355 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:42:46.356Z,1628880166.356 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:42:46.757Z,1628880166.757 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:42:47.165Z,1628880167.165 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,351,000,00C9D,189,80,80,6B,FF
2021-08-13T18:42:47.166Z,1628880167.166 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:42:47.597Z,1628880167.597 [Micromodem](INFO): Nmea in: $SNTTA,0.366586,,,,184246.88*45

2021-08-13T18:42:47.662Z,1628880167.662 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 156.240005 m, bearing: 157.264286 deg, deltaT: 4.483431 s, approachRate: 0.227505 m/s, LOS rate: -14.123236 deg/s, posRepo size: 4
2021-08-13T18:42:50.036Z,1628880170.036 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:42:50.409Z,1628880170.409 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:42:50.409Z,1628880170.409 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:42:50.409Z,1628880170.409 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:42:50.410Z,1628880170.410 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:42:50.806Z,1628880170.806 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
351,000,00C9D,189,80,80,6B,FF
2021-08-13T18:42:50.806Z,1628880170.806 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:42:50.806Z,1628880170.806 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:42:50.808Z,1628880170.808 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:42:51.237Z,1628880171.237 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:42:51.614Z,1628880171.614 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,35B,000,00CAE,189,80,80,6B,FF
2021-08-13T18:42:51.614Z,1628880171.614 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:42:52.049Z,1628880172.049 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184251.33*55

2021-08-13T18:42:52.072Z,1628880172.072 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 157.260010 m, bearing: 156.799929 deg, deltaT: 4.435327 s, approachRate: 0.229973 m/s, LOS rate: -0.104695 deg/s, posRepo size: 4
2021-08-13T18:42:54.497Z,1628880174.497 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:42:54.845Z,1628880174.845 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:42:54.845Z,1628880174.845 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:42:54.846Z,1628880174.846 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:42:54.847Z,1628880174.847 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:42:55.281Z,1628880175.281 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
35B,000,00CAE,189,80,80,6B,FF
2021-08-13T18:42:55.281Z,1628880175.281 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:42:55.281Z,1628880175.281 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:42:55.283Z,1628880175.283 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:42:55.668Z,1628880175.668 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:42:56.463Z,1628880176.463 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E5D,000,00CBE,187,80,80,59,FF
2021-08-13T18:42:56.465Z,1628880176.465 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:42:56.471Z,1628880176.471 [Micromodem](INFO): Nmea in: $SNTTA,0.112123,,,,184255.81*44

2021-08-13T18:42:56.917Z,1628880176.917 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 158.220016 m, bearing: 221.077323 deg, deltaT: 4.865312 s, approachRate: 0.197317 m/s, LOS rate: 13.211361 deg/s, posRepo size: 4
2021-08-13T18:42:59.341Z,1628880179.341 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:42:59.686Z,1628880179.686 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:42:59.687Z,1628880179.687 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:42:59.687Z,1628880179.687 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:42:59.688Z,1628880179.688 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:43:00.098Z,1628880180.098 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E5D,000,00CBE,187,80,80,59,FF
2021-08-13T18:43:00.098Z,1628880180.098 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:43:00.098Z,1628880180.098 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:43:00.100Z,1628880180.100 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:43:00.501Z,1628880180.501 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:43:00.903Z,1628880180.903 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E96,000,00CD0,187,80,80,59,FF
2021-08-13T18:43:00.903Z,1628880180.903 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:43:01.312Z,1628880181.312 [Micromodem](INFO): Nmea in: $SNTTA,0.454472,0.454454,,,184300.62*50

2021-08-13T18:43:01.351Z,1628880181.351 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 159.300003 m, bearing: 217.841343 deg, deltaT: 4.370454 s, approachRate: 0.247111 m/s, LOS rate: -0.740422 deg/s, posRepo size: 4
2021-08-13T18:43:03.781Z,1628880183.781 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:43:04.129Z,1628880184.129 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:43:04.129Z,1628880184.129 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:43:04.129Z,1628880184.129 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:43:04.130Z,1628880184.130 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:43:04.542Z,1628880184.542 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E96,000,00CD0,187,80,80,59,FF
2021-08-13T18:43:04.542Z,1628880184.542 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:43:04.542Z,1628880184.542 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:43:04.544Z,1628880184.544 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:43:04.976Z,1628880184.976 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:43:05.353Z,1628880185.353 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,34A,000,00CE0,187,80,80,59,FF
2021-08-13T18:43:05.353Z,1628880185.353 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:43:05.357Z,1628880185.357 [Micromodem](INFO): Nmea in: $SNTTA,0.232528,0.232653,,,184305.07*5D

2021-08-13T18:43:05.772Z,1628880185.772 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 160.260010 m, bearing: 157.448059 deg, deltaT: 4.555904 s, approachRate: 0.210717 m/s, LOS rate: -13.256048 deg/s, posRepo size: 4
2021-08-13T18:43:08.197Z,1628880188.197 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:43:08.569Z,1628880188.569 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:43:08.569Z,1628880188.569 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:43:08.569Z,1628880188.569 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:43:08.570Z,1628880188.570 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:43:08.973Z,1628880188.973 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
34A,000,00CE0,187,80,80,59,FF
2021-08-13T18:43:08.973Z,1628880188.973 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:43:08.973Z,1628880188.973 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:43:08.975Z,1628880188.975 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:43:09.456Z,1628880189.456 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:43:09.845Z,1628880189.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,333,000,00CF0,189,80,80,4A,FF
2021-08-13T18:43:09.845Z,1628880189.845 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:43:10.253Z,1628880190.253 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184309.50*5C

2021-08-13T18:43:10.276Z,1628880190.276 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 161.220001 m, bearing: 158.870787 deg, deltaT: 4.414217 s, approachRate: 0.217477 m/s, LOS rate: 0.322306 deg/s, posRepo size: 4
2021-08-13T18:43:12.713Z,1628880192.713 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:43:13.061Z,1628880193.061 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:43:13.061Z,1628880193.061 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:43:13.061Z,1628880193.061 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:43:13.062Z,1628880193.062 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:43:13.465Z,1628880193.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
333,000,00CF0,189,80,80,4A,FF
2021-08-13T18:43:13.465Z,1628880193.465 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:43:13.465Z,1628880193.465 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:43:13.467Z,1628880193.467 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:43:13.878Z,1628880193.878 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:43:14.277Z,1628880194.277 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,335,000,00CFF,189,80,80,4A,FF
2021-08-13T18:43:14.278Z,1628880194.278 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:43:14.717Z,1628880194.717 [Micromodem](INFO): Nmea in: $SNTTA,0.110385,,,,184313.99*42

2021-08-13T18:43:14.779Z,1628880194.779 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 162.120010 m, bearing: 158.210841 deg, deltaT: 4.403005 s, approachRate: 0.204408 m/s, LOS rate: -0.149885 deg/s, posRepo size: 4
2021-08-13T18:43:17.122Z,1628880197.122 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:43:17.509Z,1628880197.509 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:43:17.509Z,1628880197.509 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:43:17.510Z,1628880197.510 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:43:17.511Z,1628880197.511 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:43:17.918Z,1628880197.918 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
335,000,00CFF,189,80,80,4A,FF
2021-08-13T18:43:17.918Z,1628880197.918 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:43:17.919Z,1628880197.919 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:43:17.920Z,1628880197.920 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:43:18.317Z,1628880198.317 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:43:18.718Z,1628880198.718 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E90,000,00CFF,189,80,80,4A,FF
2021-08-13T18:43:18.719Z,1628880198.719 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:43:19.149Z,1628880199.149 [Micromodem](INFO): Nmea in: $SNTTA,0.133340,,,,184318.44*41

2021-08-13T18:43:19.244Z,1628880199.244 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 162.120010 m, bearing: 216.877959 deg, deltaT: 4.481478 s, approachRate: 0.000000 m/s, LOS rate: 13.091020 deg/s, posRepo size: 4
2021-08-13T18:43:21.618Z,1628880201.618 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:43:21.953Z,1628880201.953 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:43:21.953Z,1628880201.953 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:43:21.953Z,1628880201.953 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:43:21.954Z,1628880201.954 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:43:22.361Z,1628880202.361 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E90,000,00CFF,189,80,80,4A,FF
2021-08-13T18:43:22.361Z,1628880202.361 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:43:22.361Z,1628880202.361 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:43:22.365Z,1628880202.365 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:43:22.786Z,1628880202.786 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:43:23.163Z,1628880203.163 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E89,000,00CFF,189,80,80,4A,FF
2021-08-13T18:43:23.164Z,1628880203.164 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:43:23.585Z,1628880203.585 [Micromodem](INFO): Nmea in: $SNTTA,0.362228,0.362234,,,184322.89*5C

2021-08-13T18:43:23.673Z,1628880203.673 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 162.120010 m, bearing: 216.420049 deg, deltaT: 4.474656 s, approachRate: 0.000000 m/s, LOS rate: -0.102334 deg/s, posRepo size: 4
2021-08-13T18:43:26.039Z,1628880206.039 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:43:26.412Z,1628880206.412 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:43:26.412Z,1628880206.412 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:43:26.412Z,1628880206.412 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:43:26.413Z,1628880206.413 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:43:26.821Z,1628880206.821 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E89,000,00CFF,189,80,80,4A,FF
2021-08-13T18:43:26.821Z,1628880206.821 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:43:26.821Z,1628880206.821 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:43:26.823Z,1628880206.823 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:43:27.247Z,1628880207.247 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:43:28.014Z,1628880208.014 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184327.35*53

2021-08-13T18:43:28.845Z,1628880208.845 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:43:30.462Z,1628880210.462 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
F,189,80,80,4A,FF
2021-08-13T18:43:30.463Z,1628880210.463 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
F,189,80,80,4A,FF
2021-08-13T18:43:30.463Z,1628880210.463 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T18:43:31.711Z,1628880211.711 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:43:32.062Z,1628880212.062 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:43:32.062Z,1628880212.062 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:43:32.062Z,1628880212.062 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:43:32.063Z,1628880212.063 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:43:32.462Z,1628880212.462 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
F,189,80,80,4A,FF
2021-08-13T18:43:32.462Z,1628880212.462 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:43:32.463Z,1628880212.463 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:43:32.493Z,1628880212.493 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:43:32.881Z,1628880212.881 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:43:33.303Z,1628880213.303 [Micromodem](INFO): Nmea in: $SNTTA,0.256644,0.256600,,,184333.02*52

2021-08-13T18:43:34.516Z,1628880214.516 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:43:36.097Z,1628880216.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
F,189,80,80,4A,FF
2021-08-13T18:43:36.097Z,1628880216.097 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
F,189,80,80,4A,FF
2021-08-13T18:43:36.098Z,1628880216.098 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T18:43:37.424Z,1628880217.424 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:43:37.701Z,1628880217.701 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:43:37.701Z,1628880217.701 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:43:37.702Z,1628880217.702 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:43:37.703Z,1628880217.703 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:43:38.110Z,1628880218.110 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
F,189,80,80,4A,FF
2021-08-13T18:43:38.110Z,1628880218.110 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:43:38.110Z,1628880218.110 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:43:38.115Z,1628880218.115 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:43:38.523Z,1628880218.523 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:43:39.359Z,1628880219.359 [Micromodem](INFO): Nmea in: $SNTTA,0.113489,,,,184338.64*41

2021-08-13T18:43:40.154Z,1628880220.154 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:43:41.753Z,1628880221.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
F,189,80,80,4A,FF
2021-08-13T18:43:41.754Z,1628880221.754 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
F,189,80,80,4A,FF
2021-08-13T18:43:41.754Z,1628880221.754 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T18:43:42.985Z,1628880222.985 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:43:43.361Z,1628880223.361 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:43:43.361Z,1628880223.361 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:43:43.361Z,1628880223.361 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:43:43.362Z,1628880223.362 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:43:43.761Z,1628880223.761 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
F,189,80,80,4A,FF
2021-08-13T18:43:43.761Z,1628880223.761 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:43:43.762Z,1628880223.762 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:43:43.763Z,1628880223.763 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:43:44.176Z,1628880224.176 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:43:45.006Z,1628880225.006 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184344.28*5A

2021-08-13T18:43:45.817Z,1628880225.817 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:43:47.421Z,1628880227.421 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
F,189,80,80,4A,FF
2021-08-13T18:43:47.421Z,1628880227.421 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
F,189,80,80,4A,FF
2021-08-13T18:43:47.421Z,1628880227.421 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T18:43:48.640Z,1628880228.640 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:43:49.017Z,1628880229.017 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:43:49.017Z,1628880229.017 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:43:49.017Z,1628880229.017 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:43:49.018Z,1628880229.018 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:43:49.449Z,1628880229.449 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
F,189,80,80,4A,FF
2021-08-13T18:43:49.449Z,1628880229.449 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:43:49.449Z,1628880229.449 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:43:49.451Z,1628880229.451 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:43:49.868Z,1628880229.868 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:43:50.265Z,1628880230.265 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E77,000,00D86,189,80,80,4A,FF
2021-08-13T18:43:50.266Z,1628880230.266 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:43:50.697Z,1628880230.697 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184349.97*53

2021-08-13T18:43:50.741Z,1628880230.741 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 170.219986 m, bearing: 217.656545 deg, deltaT: 27.058939 s, approachRate: 0.299346 m/s, LOS rate: 0.045696 deg/s, posRepo size: 4
2021-08-13T18:43:53.120Z,1628880233.120 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:43:53.505Z,1628880233.505 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:43:53.505Z,1628880233.505 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:43:53.505Z,1628880233.505 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:43:53.506Z,1628880233.506 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:43:53.917Z,1628880233.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E77,000,00D86,189,80,80,4A,FF
2021-08-13T18:43:53.917Z,1628880233.917 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:43:53.917Z,1628880233.917 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:43:53.919Z,1628880233.919 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:43:54.312Z,1628880234.312 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:43:54.713Z,1628880234.713 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E77,000,00D86,189,80,80,4A,FF
2021-08-13T18:43:54.714Z,1628880234.714 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:43:55.145Z,1628880235.145 [Micromodem](INFO): Nmea in: $SNTTA,0.115952,,,,184354.44*44

2021-08-13T18:43:55.245Z,1628880235.245 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 170.219986 m, bearing: 217.863842 deg, deltaT: 4.465393 s, approachRate: 0.000000 m/s, LOS rate: 0.046423 deg/s, posRepo size: 4
2021-08-13T18:43:57.614Z,1628880237.614 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:43:57.957Z,1628880237.957 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:43:57.957Z,1628880237.957 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:43:57.957Z,1628880237.957 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:43:57.958Z,1628880237.958 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:43:58.345Z,1628880238.345 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E77,000,00D86,189,80,80,4A,FF
2021-08-13T18:43:58.346Z,1628880238.346 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:43:58.346Z,1628880238.346 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:43:58.347Z,1628880238.347 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:43:58.760Z,1628880238.760 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:43:59.169Z,1628880239.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EBD,000,00DA9,186,80,80,4A,FF
2021-08-13T18:43:59.170Z,1628880239.170 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:43:59.174Z,1628880239.174 [Micromodem](INFO): Nmea in: $SNTTA,0.122212,0.196025,,,184358.87*5B

2021-08-13T18:43:59.661Z,1628880239.661 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 172.320007 m, bearing: 215.100798 deg, deltaT: 4.479180 s, approachRate: 0.468841 m/s, LOS rate: -0.616864 deg/s, posRepo size: 4
2021-08-13T18:44:02.011Z,1628880242.011 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:44:02.413Z,1628880242.413 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:44:02.413Z,1628880242.413 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:44:02.414Z,1628880242.414 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:44:02.415Z,1628880242.415 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:44:02.793Z,1628880242.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EBD,000,00DA9,186,80,80,4A,FF
2021-08-13T18:44:02.793Z,1628880242.793 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:44:02.793Z,1628880242.793 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:44:02.795Z,1628880242.795 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:44:03.247Z,1628880243.247 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:44:03.614Z,1628880243.614 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA3,000,00DB5,186,80,80,4A,FF
2021-08-13T18:44:03.614Z,1628880243.614 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:44:04.039Z,1628880244.039 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 173.039993 m, bearing: 217.373243 deg, deltaT: 4.431261 s, approachRate: 0.162479 m/s, LOS rate: 0.512821 deg/s, posRepo size: 4
2021-08-13T18:44:06.488Z,1628880246.488 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:44:06.841Z,1628880246.841 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:44:06.841Z,1628880246.841 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:44:06.841Z,1628880246.841 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:44:06.842Z,1628880246.842 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:44:07.292Z,1628880247.292 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EA3,000,00DB5,186,80,80,4A,FF
2021-08-13T18:44:07.292Z,1628880247.292 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:44:07.293Z,1628880247.293 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:44:07.294Z,1628880247.294 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:44:09.357Z,1628880249.357 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:44:10.110Z,1628880250.110 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
5,186,80,80,4A,FF
2021-08-13T18:44:10.110Z,1628880250.110 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
5,186,80,80,4A,FF
2021-08-13T18:44:10.110Z,1628880250.110 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T18:44:12.154Z,1628880252.154 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:44:12.525Z,1628880252.525 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:44:12.525Z,1628880252.525 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:44:12.525Z,1628880252.525 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:44:12.526Z,1628880252.526 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:44:12.937Z,1628880252.937 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
5,186,80,80,4A,FF
2021-08-13T18:44:12.937Z,1628880252.937 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:44:12.937Z,1628880252.937 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:44:14.974Z,1628880254.974 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:44:15.761Z,1628880255.761 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
5,186,80,80,4A,FF
2021-08-13T18:44:15.761Z,1628880255.761 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
5,186,80,80,4A,FF
2021-08-13T18:44:15.761Z,1628880255.761 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T18:44:17.475Z,1628880257.475 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:44:17.777Z,1628880257.777 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:44:17.777Z,1628880257.777 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:44:17.777Z,1628880257.777 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:44:17.778Z,1628880257.778 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:44:18.181Z,1628880258.181 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
5,186,80,80,4A,FF
2021-08-13T18:44:18.181Z,1628880258.181 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:44:18.181Z,1628880258.181 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:44:18.594Z,1628880258.594 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:44:20.234Z,1628880260.234 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:44:21.025Z,1628880261.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
5,186,80,80,4A,FF
2021-08-13T18:44:21.026Z,1628880261.026 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
5,186,80,80,4A,FF
2021-08-13T18:44:21.026Z,1628880261.026 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T18:44:23.054Z,1628880263.054 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:44:23.457Z,1628880263.457 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:44:23.457Z,1628880263.457 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:44:23.457Z,1628880263.457 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:44:23.458Z,1628880263.458 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:44:23.837Z,1628880263.837 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
5,186,80,80,4A,FF
2021-08-13T18:44:23.837Z,1628880263.837 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:44:23.838Z,1628880263.838 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:44:25.887Z,1628880265.887 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:44:26.665Z,1628880266.665 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
5,186,80,80,4A,FF
2021-08-13T18:44:26.665Z,1628880266.665 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
5,186,80,80,4A,FF
2021-08-13T18:44:26.665Z,1628880266.665 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T18:44:28.735Z,1628880268.735 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:44:29.089Z,1628880269.089 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:44:29.089Z,1628880269.089 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:44:29.089Z,1628880269.089 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:44:29.090Z,1628880269.090 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:44:29.497Z,1628880269.497 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
5,186,80,80,4A,FF
2021-08-13T18:44:29.497Z,1628880269.497 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:44:29.498Z,1628880269.498 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:44:29.902Z,1628880269.902 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:44:29.905Z,1628880269.905 [Micromodem](FAULT): Failed to receive CAREV within timeout
2021-08-13T18:44:29.905Z,1628880269.905 [Micromodem] Hardware Fault, FailCount= 1
2021-08-13T18:44:29.906Z,1628880269.906 [Micromodem](ERROR): Hardware Fault
2021-08-13T18:44:29.981Z,1628880269.981 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-08-13T18:44:29.981Z,1628880269.981 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-08-13T18:44:29.981Z,1628880269.981 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-08-13T18:44:29.981Z,1628880269.981 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-13T18:44:29.981Z,1628880269.981 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-08-13T18:44:30.100Z,1628880270.100 [CBIT](ERROR): Hardware Fault in component: Micromodem
2021-08-13T18:44:30.417Z,1628880270.417 [Micromodem](INFO): Powering down
2021-08-13T18:44:30.789Z,1628880270.789 [Micromodem](FAULT): LCB 1 fault:  Software Overcurrent.
2021-08-13T18:44:31.252Z,1628880271.252 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:44:31.356Z,1628880271.356 [CBIT](INFO): Clearing failed state for component Micromodem
2021-08-13T18:44:31.357Z,1628880271.357 [Micromodem] No Fault, FailCount= 1
2021-08-13T18:44:32.419Z,1628880272.419 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
5,186,80,80,4A,FF
2021-08-13T18:44:32.419Z,1628880272.419 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
5,186,80,80,4A,FF
2021-08-13T18:44:32.419Z,1628880272.419 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T18:44:34.040Z,1628880274.040 [Micromodem](INFO): Powering up
2021-08-13T18:44:34.040Z,1628880274.040 [Micromodem](DEBUG): Initializing Micromodem.
2021-08-13T18:44:34.097Z,1628880274.097 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:44:34.457Z,1628880274.457 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:44:34.457Z,1628880274.457 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:44:34.457Z,1628880274.457 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:44:34.458Z,1628880274.458 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:44:34.837Z,1628880274.837 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
5,186,80,80,4A,FF
2021-08-13T18:44:34.837Z,1628880274.837 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:44:34.837Z,1628880274.837 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:44:36.641Z,1628880276.641 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:44:37.654Z,1628880277.654 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
5,186,80,80,4A,FF
2021-08-13T18:44:37.655Z,1628880277.655 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
5,186,80,80,4A,FF
2021-08-13T18:44:37.655Z,1628880277.655 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T18:44:39.310Z,1628880279.310 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:44:39.673Z,1628880279.673 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:44:39.673Z,1628880279.673 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:44:39.673Z,1628880279.673 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:44:39.674Z,1628880279.674 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:44:39.713Z,1628880279.713 [RDI_Pathfinder](ERROR): No DVL communication! Re-initializing
2021-08-13T18:44:39.714Z,1628880279.714 [RDI_Pathfinder] Communications Fault, FailCount= 1
2021-08-13T18:44:39.714Z,1628880279.714 [RDI_Pathfinder](ERROR): Communications Fault
2021-08-13T18:44:39.854Z,1628880279.854 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2021-08-13T18:44:40.116Z,1628880280.116 [DUSBL_Hydroid](INFO): DUSBL response received:E4
!U1,P
80,63,E4
5,186,80,80,4A,FF
2021-08-13T18:44:40.117Z,1628880280.117 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:44:40.117Z,1628880280.117 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:44:40.201Z,1628880280.201 [RDI_Pathfinder](INFO): Powering down
2021-08-13T18:44:40.481Z,1628880280.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,248,000,009D4,189,80,80,42,FF
2021-08-13T18:44:40.481Z,1628880280.481 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:44:40.518Z,1628880280.518 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T18:44:40.917Z,1628880280.917 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:44:41.013Z,1628880281.013 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 113.459999 m, bearing: 177.095194 deg, deltaT: 36.841641 s, approachRate: -1.617192 m/s, LOS rate: -1.093275 deg/s, posRepo size: 4
2021-08-13T18:44:41.111Z,1628880281.111 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2021-08-13T18:44:41.111Z,1628880281.111 [RDI_Pathfinder] No Fault, FailCount= 1
2021-08-13T18:44:42.134Z,1628880282.134 [Micromodem](INFO): Nmea in: $CATMG,2021-08-13T18:44:40.565769Z,RTC,RTC*58

2021-08-13T18:44:42.135Z,1628880282.135 [Micromodem](ERROR): Response from modem unexpected: $CATMG,2021-08-13T18:44:40.565769Z,RTC,RTC*58

2021-08-13T18:44:42.533Z,1628880282.533 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:44:42.549Z,1628880282.549 [Micromodem](INFO): Nmea out: $CCCFG,ALL,0*33

2021-08-13T18:44:42.925Z,1628880282.925 [Micromodem](INFO): Nmea in: $CACFG,ALL,0*31

2021-08-13T18:44:42.925Z,1628880282.925 [Micromodem](INFO): Nmea out: $CCCFG,SRC,1*31

2021-08-13T18:44:43.137Z,1628880283.137 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:44:43.324Z,1628880283.324 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:44:43.325Z,1628880283.325 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:44:43.325Z,1628880283.325 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:44:43.326Z,1628880283.326 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:44:43.331Z,1628880283.331 [Micromodem](INFO): Nmea in: $CACFG,SRC,1*33

2021-08-13T18:44:43.332Z,1628880283.332 [Micromodem](INFO): Nmea out: $CCCFG,nav.dt.txtrig_gpio4,1*64

2021-08-13T18:44:43.714Z,1628880283.714 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
248,000,009D4,189,80,80,42,FF
2021-08-13T18:44:43.714Z,1628880283.714 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:44:43.714Z,1628880283.714 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:44:43.716Z,1628880283.716 [Micromodem](INFO): Nmea in: $CACFG,nav.dt.txtrig_gpio4,1*66

2021-08-13T18:44:43.716Z,1628880283.716 [Micromodem](INFO): Nmea out: $CCCFG,pwramp.txlevel,0*2F

2021-08-13T18:44:44.142Z,1628880284.142 [Micromodem](INFO): Nmea in: $CACFG,pwramp.txlevel,0*2D

2021-08-13T18:44:44.142Z,1628880284.142 [Micromodem](INFO): Nmea out: $CCCFG,DTO,30*1E

2021-08-13T18:44:44.522Z,1628880284.522 [Micromodem](INFO): Nmea in: $CACFG,DTO,30*1C

2021-08-13T18:44:44.522Z,1628880284.522 [Micromodem](INFO): Nmea out: $CCCFG,FC0,14500*47

2021-08-13T18:44:44.938Z,1628880284.938 [Micromodem](INFO): Nmea in: $CACFG,FC0,14500*45

2021-08-13T18:44:44.939Z,1628880284.939 [Micromodem](INFO): Nmea out: $CCCFG,BW0,4000*63

2021-08-13T18:44:45.430Z,1628880285.430 [Micromodem](INFO): Nmea in: $CACFG,BW0,4000*61

2021-08-13T18:44:45.430Z,1628880285.430 [Micromodem](INFO): Nmea out: $CCCFG,BND,0*3A

2021-08-13T18:44:45.810Z,1628880285.810 [Micromodem](INFO): Nmea in: $CACFG,BND,0*38

2021-08-13T18:44:45.811Z,1628880285.811 [Micromodem](INFO): Nmea out: $CCCLK,2021,08,13,18,44,46*44

2021-08-13T18:44:45.878Z,1628880285.878 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:44:46.218Z,1628880286.218 [Micromodem](INFO): Nmea in: $CACLK,2021,8,13,18,44,46*76

2021-08-13T18:44:46.459Z,1628880286.459 [Micromodem](INFO): Outgoing frame #1, 64 bytes: B2AB16610F0000005D00000400320000000000000000151D80030C5669C08C7A971B90FEDA94C026CF3346BCC8BE808FA4B35F981D482174CF8CEA06173D0DD3
2021-08-13T18:44:46.459Z,1628880286.459 [Micromodem](INFO): Outgoing frame #2, 7 bytes: 69AE262919CD8F
2021-08-13T18:44:46.459Z,1628880286.459 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,2*6A

2021-08-13T18:44:46.565Z,1628880286.565 [lineCaptureDepth:MicromodemComms] Stopped
2021-08-13T18:44:46.566Z,1628880286.566 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-08-13T18:44:46.566Z,1628880286.566 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-08-13T18:44:46.566Z,1628880286.566 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-13T18:44:46.566Z,1628880286.566 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-08-13T18:44:46.713Z,1628880286.713 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
4,189,80,80,42,FF
2021-08-13T18:44:46.713Z,1628880286.713 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
4,189,80,80,42,FF
2021-08-13T18:44:46.713Z,1628880286.713 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T18:44:46.715Z,1628880286.715 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,2*68

2021-08-13T18:44:46.717Z,1628880286.717 [Micromodem](INFO): Nmea in: $CADRQ,184446,1,10,0,64,1*7D

2021-08-13T18:44:46.717Z,1628880286.717 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,B2AB16610F0000005D00000400320000000000000000151D80030C5669C08C7A971B90FEDA94C026CF3346BCC8BE808FA4B35F981D482174CF8CEA06173D0DD3*46

2021-08-13T18:44:47.099Z,1628880287.099 [Micromodem](INFO): Nmea in: $CATMS,0,2021-08-13T18:44:47Z*77

2021-08-13T18:44:47.099Z,1628880287.099 [Micromodem](ERROR): TXD response from modem unexpected: $CATMS,0,2021-08-13T18:44:47Z*77

2021-08-13T18:44:47.105Z,1628880287.105 [Micromodem](INFO): Nmea in: $CATMG,2021-08-13T18:44:47.028437Z,USER_CMD,RTC*1A

2021-08-13T18:44:47.105Z,1628880287.105 [Micromodem](ERROR): TXD response from modem unexpected: $CATMG,2021-08-13T18:44:47.028437Z,USER_CMD,RTC*1A

2021-08-13T18:44:47.515Z,1628880287.515 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-08-13T18:44:47.517Z,1628880287.517 [Micromodem](INFO): Nmea in: $CADRQ,184447,1,10,0,64,2*7F

2021-08-13T18:44:47.517Z,1628880287.517 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,69AE262919CD8F*3C

2021-08-13T18:44:47.914Z,1628880287.914 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,7*7C

2021-08-13T18:44:47.915Z,1628880287.915 [Micromodem](INFO): Nmea in: $CATXP,71*74

2021-08-13T18:44:48.783Z,1628880288.783 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:44:49.139Z,1628880289.139 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:44:49.139Z,1628880289.139 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:44:49.139Z,1628880289.139 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:44:49.140Z,1628880289.140 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:44:49.551Z,1628880289.551 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
4,189,80,80,42,FF
2021-08-13T18:44:49.551Z,1628880289.551 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:44:49.552Z,1628880289.552 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:44:49.553Z,1628880289.553 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:44:50.767Z,1628880290.767 [Micromodem](INFO): Nmea in: $CATXF,71*62

2021-08-13T18:44:50.767Z,1628880290.767 [Micromodem](ERROR): Response from modem unexpected: $CATXF,71*62

2021-08-13T18:44:50.770Z,1628880290.770 [Micromodem](INFO): Nmea in: $CAXST,7,20210813,184448.016958,3,0,200,4000,14500,1,1,10,1,2,2,3,71,14500*55

2021-08-13T18:44:50.770Z,1628880290.770 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210813,184448.016958,3,0,200,4000,14500,1,1,10,1,2,2,3,71,14500*55

2021-08-13T18:44:51.601Z,1628880291.601 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:44:54.464Z,1628880294.464 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:44:55.216Z,1628880295.216 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.075855
2021-08-13T18:44:57.238Z,1628880297.238 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:44:57.633Z,1628880297.633 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:44:57.633Z,1628880297.633 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:44:57.634Z,1628880297.634 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:44:57.635Z,1628880297.635 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:44:58.029Z,1628880298.029 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
4,189,80,80,42,FF
2021-08-13T18:44:58.029Z,1628880298.029 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:44:58.030Z,1628880298.030 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:45:00.090Z,1628880300.090 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:45:00.863Z,1628880300.863 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:45:01.265Z,1628880301.265 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:45:02.103Z,1628880302.103 [Micromodem](INFO): Nmea in: $SNTTA,0.197460,,,,184501.39*4E

2021-08-13T18:45:02.917Z,1628880302.917 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:45:03.692Z,1628880303.692 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.057433
2021-08-13T18:45:03.707Z,1628880303.707 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-13T18:45:04.497Z,1628880304.497 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
4,189,80,80,42,FF
2021-08-13T18:45:04.498Z,1628880304.498 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
4,189,80,80,42,FF
2021-08-13T18:45:04.498Z,1628880304.498 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T18:45:05.779Z,1628880305.779 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:45:06.113Z,1628880306.113 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:45:06.113Z,1628880306.113 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:45:06.113Z,1628880306.113 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:45:06.114Z,1628880306.114 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:45:06.510Z,1628880306.510 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
4,189,80,80,42,FF
2021-08-13T18:45:06.510Z,1628880306.510 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:45:06.510Z,1628880306.510 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:45:06.524Z,1628880306.524 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:45:07.033Z,1628880307.033 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:45:07.771Z,1628880307.771 [Micromodem](INFO): Nmea in: $SNTTA,,0.326301,,,184507.04*4E

2021-08-13T18:45:08.600Z,1628880308.600 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:45:10.194Z,1628880310.194 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
4,189,80,80,42,FF
2021-08-13T18:45:10.194Z,1628880310.194 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
4,189,80,80,42,FF
2021-08-13T18:45:10.195Z,1628880310.195 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T18:45:11.514Z,1628880311.514 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:45:11.817Z,1628880311.817 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:45:11.817Z,1628880311.817 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:45:11.817Z,1628880311.817 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:45:11.818Z,1628880311.818 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:45:12.221Z,1628880312.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
4,189,80,80,42,FF
2021-08-13T18:45:12.221Z,1628880312.221 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:45:12.221Z,1628880312.221 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:45:12.223Z,1628880312.223 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:45:12.629Z,1628880312.629 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:45:13.469Z,1628880313.469 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1AE,000,00EBB,185,80,80,4F,FF
2021-08-13T18:45:13.470Z,1628880313.470 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:45:13.473Z,1628880313.473 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184512.74*56

2021-08-13T18:45:13.913Z,1628880313.913 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 188.759995 m, bearing: 186.003892 deg, deltaT: 33.012345 s, approachRate: 2.280965 m/s, LOS rate: 0.269860 deg/s, posRepo size: 4
2021-08-13T18:45:16.418Z,1628880316.418 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:45:16.693Z,1628880316.693 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:45:16.693Z,1628880316.693 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:45:16.693Z,1628880316.693 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:45:16.694Z,1628880316.694 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:45:17.093Z,1628880317.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1AE,000,00EBB,185,80,80,4F,FF
2021-08-13T18:45:17.093Z,1628880317.093 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:45:17.093Z,1628880317.093 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:45:17.095Z,1628880317.095 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:45:17.505Z,1628880317.505 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:45:18.328Z,1628880318.328 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184517.62*54

2021-08-13T18:45:19.159Z,1628880319.159 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:45:19.942Z,1628880319.942 [NAL9602](INFO): Not Powering down - fast GPS
2021-08-13T18:45:20.737Z,1628880320.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
B,185,80,80,4F,FF
2021-08-13T18:45:20.737Z,1628880320.737 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
B,185,80,80,4F,FF
2021-08-13T18:45:20.737Z,1628880320.737 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T18:45:21.962Z,1628880321.962 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:45:22.363Z,1628880322.363 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:45:22.363Z,1628880322.363 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:45:22.364Z,1628880322.364 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:45:22.366Z,1628880322.366 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:45:22.749Z,1628880322.749 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
B,185,80,80,4F,FF
2021-08-13T18:45:22.749Z,1628880322.749 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:45:22.750Z,1628880322.750 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:45:22.752Z,1628880322.752 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:45:23.168Z,1628880323.168 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:45:23.572Z,1628880323.572 [Micromodem](INFO): Nmea in: $SNTTA,0.251196,0.251565,,,184523.27*5A

2021-08-13T18:45:24.803Z,1628880324.803 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:45:26.407Z,1628880326.407 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
B,185,80,80,4F,FF
2021-08-13T18:45:26.407Z,1628880326.407 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
B,185,80,80,4F,FF
2021-08-13T18:45:26.407Z,1628880326.407 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T18:45:27.657Z,1628880327.657 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:45:28.002Z,1628880328.002 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:45:28.002Z,1628880328.002 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:45:28.002Z,1628880328.002 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:45:28.003Z,1628880328.003 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:45:28.429Z,1628880328.429 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
B,185,80,80,4F,FF
2021-08-13T18:45:28.429Z,1628880328.429 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:45:28.430Z,1628880328.430 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:45:28.431Z,1628880328.431 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:45:28.819Z,1628880328.819 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:45:28.869Z,1628880328.869 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-08-13T18:45:28.870Z,1628880328.870 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-08-13T18:45:28.870Z,1628880328.870 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-08-13T18:45:28.870Z,1628880328.870 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-13T18:45:28.870Z,1628880328.870 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-08-13T18:45:29.661Z,1628880329.661 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184528.95*50

2021-08-13T18:45:30.503Z,1628880330.503 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:45:32.054Z,1628880332.054 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
B,185,80,80,4F,FF
2021-08-13T18:45:32.054Z,1628880332.054 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
B,185,80,80,4F,FF
2021-08-13T18:45:32.054Z,1628880332.054 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T18:45:33.303Z,1628880333.303 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:45:33.671Z,1628880333.671 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:45:33.671Z,1628880333.671 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:45:33.672Z,1628880333.671 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:45:33.673Z,1628880333.673 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:45:33.691Z,1628880333.691 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T18:45:34.069Z,1628880334.069 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
B,185,80,80,4F,FF
2021-08-13T18:45:34.069Z,1628880334.069 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:45:34.070Z,1628880334.070 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:45:34.071Z,1628880334.071 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:45:34.473Z,1628880334.473 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:45:35.301Z,1628880335.301 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,283,000,00F0F,189,80,80,42,FF
2021-08-13T18:45:35.302Z,1628880335.302 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:45:35.306Z,1628880335.306 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184534.59*5D

2021-08-13T18:45:35.911Z,1628880335.911 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 193.799988 m, bearing: 175.309864 deg, deltaT: 22.076134 s, approachRate: 0.228301 m/s, LOS rate: -0.484416 deg/s, posRepo size: 4
2021-08-13T18:45:38.337Z,1628880338.337 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:45:38.697Z,1628880338.697 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:45:38.697Z,1628880338.697 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:45:38.697Z,1628880338.697 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:45:38.698Z,1628880338.698 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:45:39.110Z,1628880339.110 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
283,000,00F0F,189,80,80,42,FF
2021-08-13T18:45:39.110Z,1628880339.110 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:45:39.110Z,1628880339.110 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:45:39.114Z,1628880339.114 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:45:39.532Z,1628880339.532 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:45:40.365Z,1628880340.365 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,228,000,00F20,189,80,80,30,FF
2021-08-13T18:45:40.365Z,1628880340.365 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:45:40.374Z,1628880340.374 [Micromodem](INFO): Nmea in: $SNTTA,0.131651,,,,184539.64*41

2021-08-13T18:45:40.761Z,1628880340.761 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 194.819992 m, bearing: 180.411415 deg, deltaT: 4.812470 s, approachRate: 0.211950 m/s, LOS rate: 1.060069 deg/s, posRepo size: 4
2021-08-13T18:45:43.194Z,1628880343.194 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:45:43.549Z,1628880343.549 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:45:43.549Z,1628880343.549 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:45:43.549Z,1628880343.549 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:45:43.550Z,1628880343.550 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:45:44.020Z,1628880344.020 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
228,000,00F20,189,80,80,30,FF
2021-08-13T18:45:44.020Z,1628880344.020 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:45:44.020Z,1628880344.020 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:45:44.022Z,1628880344.022 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:45:44.464Z,1628880344.464 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:45:45.265Z,1628880345.265 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,243,000,00F32,189,80,80,34,FF
2021-08-13T18:45:45.265Z,1628880345.265 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:45:45.268Z,1628880345.268 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184544.54*57

2021-08-13T18:45:45.694Z,1628880345.694 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 195.899979 m, bearing: 179.452702 deg, deltaT: 4.878442 s, approachRate: 0.221379 m/s, LOS rate: -0.196520 deg/s, posRepo size: 4
2021-08-13T18:45:48.222Z,1628880348.222 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:45:48.473Z,1628880348.473 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:45:48.473Z,1628880348.473 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:45:48.473Z,1628880348.473 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:45:48.474Z,1628880348.474 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:45:48.857Z,1628880348.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
243,000,00F32,189,80,80,34,FF
2021-08-13T18:45:48.857Z,1628880348.857 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:45:48.857Z,1628880348.857 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:45:48.859Z,1628880348.859 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:45:49.272Z,1628880349.272 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:45:50.137Z,1628880350.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,228,000,00F47,189,80,80,2D,FF
2021-08-13T18:45:50.137Z,1628880350.137 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:45:50.161Z,1628880350.161 [Micromodem](INFO): Nmea in: $SNTTA,0.133748,,,,184549.38*44

2021-08-13T18:45:50.652Z,1628880350.652 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 197.160004 m, bearing: 181.806918 deg, deltaT: 5.031876 s, approachRate: 0.250409 m/s, LOS rate: 0.467860 deg/s, posRepo size: 4
2021-08-13T18:45:51.469Z,1628880351.469 [Micromodem](ERROR): Buffer fill timout failure.
2021-08-13T18:45:51.978Z,1628880351.978 [Micromodem](INFO): Outgoing frame #1, 64 bytes: B2AB16610F0000005D00000400320000000000000000151D80030C5669C08C7A971B90FEDA94C026CF3346BCC8BE808FA4B35F981D482174CF8CEA06173D0DD3
2021-08-13T18:45:51.979Z,1628880351.979 [Micromodem](INFO): Outgoing frame #2, 7 bytes: 69AE262919CD8F
2021-08-13T18:45:51.979Z,1628880351.979 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,2*6A

2021-08-13T18:45:52.234Z,1628880352.234 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,2*68

2021-08-13T18:45:52.633Z,1628880352.633 [Micromodem](INFO): Nmea in: $CADRQ,184552,1,10,0,64,1*79

2021-08-13T18:45:52.633Z,1628880352.633 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,B2AB16610F0000005D00000400320000000000000000151D80030C5669C08C7A971B90FEDA94C026CF3346BCC8BE808FA4B35F981D482174CF8CEA06173D0DD3*46

2021-08-13T18:45:53.022Z,1628880353.022 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-08-13T18:45:53.061Z,1628880353.061 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:45:53.461Z,1628880353.461 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:45:53.461Z,1628880353.461 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:45:53.462Z,1628880353.462 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:45:53.462Z,1628880353.462 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:45:53.469Z,1628880353.469 [Micromodem](INFO): Nmea in: $CADRQ,184553,1,10,0,64,2*7B

2021-08-13T18:45:53.471Z,1628880353.471 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,69AE262919CD8F*3C

2021-08-13T18:45:53.833Z,1628880353.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
228,000,00F47,189,80,80,2D,FF
2021-08-13T18:45:53.833Z,1628880353.833 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:45:53.833Z,1628880353.833 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:45:53.835Z,1628880353.835 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,7*7C

2021-08-13T18:45:53.836Z,1628880353.836 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:45:54.246Z,1628880354.246 [Micromodem](INFO): Nmea in: $CATXP,71*74

2021-08-13T18:45:54.247Z,1628880354.247 [Micromodem](ERROR): Response from modem unexpected: $CATXP,71*74

2021-08-13T18:45:55.637Z,1628880355.637 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:45:56.861Z,1628880356.861 [Micromodem](INFO): Nmea in: $CATXF,71*62

2021-08-13T18:45:56.862Z,1628880356.862 [Micromodem](ERROR): Response from modem unexpected: $CATXF,71*62

2021-08-13T18:45:57.255Z,1628880357.255 [Micromodem](INFO): Nmea in: $CAXST,7,20210813,184553.968793,3,0,200,4000,14500,1,1,10,1,2,2,3,71,14500*57

2021-08-13T18:45:57.255Z,1628880357.255 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210813,184553.968793,3,0,200,4000,14500,1,1,10,1,2,2,3,71,14500*57

2021-08-13T18:45:58.511Z,1628880358.511 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:45:59.700Z,1628880359.700 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.237625
2021-08-13T18:46:01.482Z,1628880361.482 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:46:01.737Z,1628880361.737 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:46:01.737Z,1628880361.737 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:46:01.737Z,1628880361.737 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:46:01.738Z,1628880361.738 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:46:02.145Z,1628880362.145 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
228,000,00F47,189,80,80,2D,FF
2021-08-13T18:46:02.145Z,1628880362.145 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:46:02.145Z,1628880362.145 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:46:04.302Z,1628880364.302 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:46:05.115Z,1628880365.115 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:46:05.593Z,1628880365.593 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:46:06.416Z,1628880366.416 [Micromodem](INFO): Nmea in: $SNTTA,0.030236,,,,184605.64*48

2021-08-13T18:46:06.977Z,1628880366.977 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:46:08.012Z,1628880368.012 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.273712
2021-08-13T18:46:08.429Z,1628880368.429 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
7,189,80,80,2D,FF
2021-08-13T18:46:08.429Z,1628880368.429 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
7,189,80,80,2D,FF
2021-08-13T18:46:08.430Z,1628880368.430 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T18:46:09.684Z,1628880369.684 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:46:10.025Z,1628880370.025 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:46:10.025Z,1628880370.025 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:46:10.025Z,1628880370.025 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:46:10.026Z,1628880370.026 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:46:10.453Z,1628880370.453 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
7,189,80,80,2D,FF
2021-08-13T18:46:10.453Z,1628880370.453 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:46:10.453Z,1628880370.453 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:46:10.455Z,1628880370.455 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:46:10.833Z,1628880370.833 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:46:12.503Z,1628880372.503 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:46:14.093Z,1628880374.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
7,189,80,80,2D,FF
2021-08-13T18:46:14.093Z,1628880374.093 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
7,189,80,80,2D,FF
2021-08-13T18:46:14.094Z,1628880374.094 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T18:46:15.590Z,1628880375.590 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:46:15.745Z,1628880375.745 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:46:15.745Z,1628880375.745 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:46:15.745Z,1628880375.745 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:46:15.746Z,1628880375.746 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:46:16.145Z,1628880376.145 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
7,189,80,80,2D,FF
2021-08-13T18:46:16.145Z,1628880376.145 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:46:16.146Z,1628880376.146 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:46:16.148Z,1628880376.148 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:46:16.561Z,1628880376.561 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:46:17.417Z,1628880377.417 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184616.67*53

2021-08-13T18:46:18.191Z,1628880378.191 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:46:19.790Z,1628880379.790 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
7,189,80,80,2D,FF
2021-08-13T18:46:19.791Z,1628880379.791 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
7,189,80,80,2D,FF
2021-08-13T18:46:19.791Z,1628880379.791 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T18:46:21.062Z,1628880381.062 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:46:21.456Z,1628880381.456 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:46:21.456Z,1628880381.456 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:46:21.456Z,1628880381.456 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:46:21.457Z,1628880381.457 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:46:21.813Z,1628880381.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
7,189,80,80,2D,FF
2021-08-13T18:46:21.813Z,1628880381.813 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:46:21.813Z,1628880381.813 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:46:21.815Z,1628880381.815 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:46:22.337Z,1628880382.337 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:46:23.142Z,1628880383.142 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184622.34*52

2021-08-13T18:46:23.609Z,1628880383.609 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:46:25.193Z,1628880385.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
7,189,80,80,2D,FF
2021-08-13T18:46:25.194Z,1628880385.194 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
7,189,80,80,2D,FF
2021-08-13T18:46:25.194Z,1628880385.194 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T18:46:26.153Z,1628880386.153 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:46:26.371Z,1628880386.371 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:46:26.372Z,1628880386.372 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:46:26.373Z,1628880386.373 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:46:26.375Z,1628880386.375 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:46:26.777Z,1628880386.777 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
7,189,80,80,2D,FF
2021-08-13T18:46:26.777Z,1628880386.777 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:46:26.777Z,1628880386.777 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:46:26.779Z,1628880386.779 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:46:27.184Z,1628880387.184 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:46:28.007Z,1628880388.007 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184627.30*53

2021-08-13T18:46:28.839Z,1628880388.839 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:46:30.452Z,1628880390.452 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
7,189,80,80,2D,FF
2021-08-13T18:46:30.453Z,1628880390.453 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
7,189,80,80,2D,FF
2021-08-13T18:46:30.453Z,1628880390.453 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T18:46:31.718Z,1628880391.718 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:46:32.029Z,1628880392.029 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:46:32.029Z,1628880392.029 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:46:32.029Z,1628880392.029 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:46:32.030Z,1628880392.030 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:46:32.449Z,1628880392.449 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
7,189,80,80,2D,FF
2021-08-13T18:46:32.449Z,1628880392.449 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:46:32.449Z,1628880392.449 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:46:32.451Z,1628880392.451 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:46:32.920Z,1628880392.920 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:46:33.321Z,1628880393.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FCD,000,01008,185,80,80,2D,FF
2021-08-13T18:46:33.322Z,1628880393.322 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:46:33.790Z,1628880393.790 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184632.97*5A

2021-08-13T18:46:33.862Z,1628880393.862 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 208.739990 m, bearing: 217.834103 deg, deltaT: 43.140461 s, approachRate: 0.268425 m/s, LOS rate: 0.835114 deg/s, posRepo size: 4
2021-08-13T18:46:36.214Z,1628880396.214 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:46:36.605Z,1628880396.605 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:46:36.605Z,1628880396.605 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:46:36.605Z,1628880396.605 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:46:36.606Z,1628880396.606 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:46:37.006Z,1628880397.006 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FCD,000,01008,185,80,80,2D,FF
2021-08-13T18:46:37.006Z,1628880397.006 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:46:37.006Z,1628880397.006 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:46:37.007Z,1628880397.007 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:46:37.485Z,1628880397.485 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:46:38.213Z,1628880398.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF1,000,01003,183,80,80,43,FF
2021-08-13T18:46:38.213Z,1628880398.213 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:46:38.679Z,1628880398.679 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 208.439987 m, bearing: 215.670531 deg, deltaT: 4.776051 s, approachRate: -0.062814 m/s, LOS rate: -0.453004 deg/s, posRepo size: 4
2021-08-13T18:46:41.223Z,1628880401.223 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:46:41.477Z,1628880401.477 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:46:41.477Z,1628880401.477 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:46:41.477Z,1628880401.477 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:46:41.478Z,1628880401.478 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:46:41.870Z,1628880401.870 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF1,000,01003,183,80,80,43,FF
2021-08-13T18:46:41.870Z,1628880401.870 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:46:41.870Z,1628880401.870 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:46:41.871Z,1628880401.871 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:46:42.273Z,1628880402.273 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:46:42.569Z,1628880402.569 [CTD_Seabird](ERROR): Failed to parse device response: 5.55,23.75199,4801.40
2021-08-13T18:46:43.094Z,1628880403.094 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184642.40*57

2021-08-13T18:46:43.912Z,1628880403.912 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:46:45.501Z,1628880405.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
3,183,80,80,43,FF
2021-08-13T18:46:45.502Z,1628880405.502 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
3,183,80,80,43,FF
2021-08-13T18:46:45.502Z,1628880405.502 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T18:46:46.771Z,1628880406.771 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:46:47.109Z,1628880407.109 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:46:47.109Z,1628880407.109 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:46:47.109Z,1628880407.109 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:46:47.110Z,1628880407.110 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:46:47.522Z,1628880407.522 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
3,183,80,80,43,FF
2021-08-13T18:46:47.522Z,1628880407.522 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:46:47.522Z,1628880407.522 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:46:47.524Z,1628880407.524 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:46:48.193Z,1628880408.193 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:46:48.995Z,1628880408.995 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184648.04*5D

2021-08-13T18:46:49.534Z,1628880409.534 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:46:51.011Z,1628880411.011 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
3,183,80,80,43,FF
2021-08-13T18:46:51.011Z,1628880411.011 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
3,183,80,80,43,FF
2021-08-13T18:46:51.011Z,1628880411.011 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T18:46:52.077Z,1628880412.077 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:46:52.269Z,1628880412.269 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:46:52.269Z,1628880412.269 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:46:52.269Z,1628880412.269 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:46:52.270Z,1628880412.270 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:46:52.682Z,1628880412.682 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
3,183,80,80,43,FF
2021-08-13T18:46:52.683Z,1628880412.683 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:46:52.683Z,1628880412.683 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:46:52.685Z,1628880412.685 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:46:53.077Z,1628880413.077 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:46:53.503Z,1628880413.503 [Micromodem](INFO): Nmea in: $SNTTA,0.286247,0.286222,,,184653.21*53

2021-08-13T18:46:54.731Z,1628880414.731 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:46:56.314Z,1628880416.314 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
3,183,80,80,43,FF
2021-08-13T18:46:56.315Z,1628880416.315 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
3,183,80,80,43,FF
2021-08-13T18:46:56.315Z,1628880416.315 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T18:46:57.114Z,1628880417.114 [Micromodem](ERROR): Buffer fill timout failure.
2021-08-13T18:46:57.713Z,1628880417.713 [Micromodem](INFO): Outgoing frame #1, 64 bytes: B2AB16610F0000005D00000400320000000000000000151D80030C5669C08C7A971B90FEDA94C026CF3346BCC8BE808FA4B35F981D482174CF8CEA06173D0DD3
2021-08-13T18:46:57.713Z,1628880417.713 [Micromodem](INFO): Outgoing frame #2, 7 bytes: 69AE262919CD8F
2021-08-13T18:46:57.714Z,1628880417.714 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,2*6A

2021-08-13T18:46:57.813Z,1628880417.813 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:46:57.959Z,1628880417.959 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:46:57.959Z,1628880417.959 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:46:57.959Z,1628880417.959 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:46:57.962Z,1628880417.962 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:46:57.971Z,1628880417.971 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,2*68

2021-08-13T18:46:58.461Z,1628880418.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
3,183,80,80,43,FF
2021-08-13T18:46:58.461Z,1628880418.461 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:46:58.461Z,1628880418.461 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:46:58.463Z,1628880418.463 [Micromodem](INFO): Nmea in: $CADRQ,184658,1,10,0,64,1*70

2021-08-13T18:46:58.464Z,1628880418.464 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,B2AB16610F0000005D00000400320000000000000000151D80030C5669C08C7A971B90FEDA94C026CF3346BCC8BE808FA4B35F981D482174CF8CEA06173D0DD3*46

2021-08-13T18:46:58.862Z,1628880418.862 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-08-13T18:46:58.862Z,1628880418.862 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:46:59.267Z,1628880419.267 [Micromodem](INFO): Nmea in: $CADRQ,184658,1,10,0,64,2*73

2021-08-13T18:46:59.267Z,1628880419.267 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,184658,1,10,0,64,2*73

2021-08-13T18:46:59.688Z,1628880419.688 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:47:00.094Z,1628880420.094 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184659.38*52

2021-08-13T18:47:00.511Z,1628880420.511 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:47:01.708Z,1628880421.708 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-13T18:47:02.501Z,1628880422.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
3,183,80,80,43,FF
2021-08-13T18:47:02.501Z,1628880422.501 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
3,183,80,80,43,FF
2021-08-13T18:47:02.501Z,1628880422.501 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T18:47:03.323Z,1628880423.323 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:47:03.721Z,1628880423.721 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:47:03.721Z,1628880423.721 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:47:03.721Z,1628880423.721 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:47:03.722Z,1628880423.722 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:47:04.117Z,1628880424.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
3,183,80,80,43,FF
2021-08-13T18:47:04.117Z,1628880424.117 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:47:04.117Z,1628880424.117 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:47:04.119Z,1628880424.119 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:47:04.524Z,1628880424.524 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:47:05.360Z,1628880425.360 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184704.64*52

2021-08-13T18:47:05.832Z,1628880425.832 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:47:07.794Z,1628880427.794 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
3,183,80,80,43,FF
2021-08-13T18:47:07.795Z,1628880427.795 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
3,183,80,80,43,FF
2021-08-13T18:47:07.796Z,1628880427.796 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T18:47:08.596Z,1628880428.596 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:47:08.973Z,1628880428.973 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:47:08.973Z,1628880428.973 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:47:08.973Z,1628880428.973 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:47:08.974Z,1628880428.974 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:47:09.392Z,1628880429.392 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
3,183,80,80,43,FF
2021-08-13T18:47:09.393Z,1628880429.393 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:47:09.394Z,1628880429.394 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:47:09.410Z,1628880429.410 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:47:09.788Z,1628880429.788 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:47:10.609Z,1628880430.609 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184709.93*57

2021-08-13T18:47:11.173Z,1628880431.173 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:47:13.013Z,1628880433.013 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
3,183,80,80,43,FF
2021-08-13T18:47:13.013Z,1628880433.013 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
3,183,80,80,43,FF
2021-08-13T18:47:13.014Z,1628880433.013 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T18:47:13.880Z,1628880433.880 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:47:14.245Z,1628880434.245 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:47:14.245Z,1628880434.245 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:47:14.245Z,1628880434.245 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:47:14.246Z,1628880434.246 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:47:14.649Z,1628880434.649 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
3,183,80,80,43,FF
2021-08-13T18:47:14.649Z,1628880434.649 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:47:14.649Z,1628880434.649 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:47:14.651Z,1628880434.651 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:47:15.048Z,1628880435.048 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:47:15.475Z,1628880435.475 [Micromodem](INFO): Nmea in: $SNTTA,0.262855,0.263017,,,184715.17*59

2021-08-13T18:47:16.706Z,1628880436.706 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:47:18.289Z,1628880438.289 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
3,183,80,80,43,FF
2021-08-13T18:47:18.289Z,1628880438.289 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
3,183,80,80,43,FF
2021-08-13T18:47:18.289Z,1628880438.289 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T18:47:19.718Z,1628880439.718 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:47:19.953Z,1628880439.953 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:47:19.953Z,1628880439.953 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:47:19.953Z,1628880439.953 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:47:19.954Z,1628880439.954 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:47:20.367Z,1628880440.367 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
3,183,80,80,43,FF
2021-08-13T18:47:20.367Z,1628880440.367 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:47:20.368Z,1628880440.368 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:47:20.374Z,1628880440.374 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:47:20.776Z,1628880440.776 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:47:21.590Z,1628880441.590 [Micromodem](INFO): Nmea in: $SNTTA,,0.400549,,,184720.90*4D

2021-08-13T18:47:22.435Z,1628880442.435 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:47:23.997Z,1628880443.997 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
3,183,80,80,43,FF
2021-08-13T18:47:23.997Z,1628880443.997 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
3,183,80,80,43,FF
2021-08-13T18:47:23.998Z,1628880443.998 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T18:47:25.325Z,1628880445.325 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:47:25.693Z,1628880445.693 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:47:25.693Z,1628880445.693 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:47:25.693Z,1628880445.693 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:47:25.694Z,1628880445.694 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:47:26.089Z,1628880446.089 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
3,183,80,80,43,FF
2021-08-13T18:47:26.089Z,1628880446.089 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:47:26.089Z,1628880446.089 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:47:26.091Z,1628880446.091 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:47:26.772Z,1628880446.772 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:47:27.578Z,1628880447.578 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184726.61*57

2021-08-13T18:47:28.008Z,1628880448.008 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:47:28.785Z,1628880448.785 [Micromodem](INFO): Nmea in: $CAERR,184728,DATA_TIMEOUT,2*4D

2021-08-13T18:47:29.190Z,1628880449.190 [Micromodem](INFO): Nmea in: $CATXP,64*70

2021-08-13T18:47:29.604Z,1628880449.604 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
3,183,80,80,43,FF
2021-08-13T18:47:29.605Z,1628880449.605 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
3,183,80,80,43,FF
2021-08-13T18:47:29.605Z,1628880449.605 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T18:47:30.626Z,1628880450.626 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:47:30.833Z,1628880450.833 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:47:30.833Z,1628880450.833 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:47:30.833Z,1628880450.833 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:47:30.834Z,1628880450.834 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:47:30.839Z,1628880450.839 [Micromodem](INFO): Nmea in: $CATXF,64*66

2021-08-13T18:47:31.237Z,1628880451.237 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
3,183,80,80,43,FF
2021-08-13T18:47:31.237Z,1628880451.237 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:47:31.238Z,1628880451.238 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:47:31.241Z,1628880451.241 [Micromodem](INFO): Nmea in: $CAXST,7,20210813,184729.026255,3,0,200,4000,14500,1,1,10,1,2,1,3,64,14500*53

2021-08-13T18:47:31.241Z,1628880451.241 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:47:31.691Z,1628880451.691 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:47:32.494Z,1628880452.494 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184731.76*57

2021-08-13T18:47:33.340Z,1628880453.340 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:47:33.753Z,1628880453.753 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T18:47:34.513Z,1628880454.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
3,183,80,80,43,FF
2021-08-13T18:47:34.514Z,1628880454.514 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
3,183,80,80,43,FF
2021-08-13T18:47:34.514Z,1628880454.514 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T18:47:35.909Z,1628880455.909 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:47:36.134Z,1628880456.134 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:47:36.135Z,1628880456.135 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:47:36.135Z,1628880456.135 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:47:36.136Z,1628880456.136 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:47:36.533Z,1628880456.533 [DUSBL_Hydroid](INFO): DUSBL response received:80,80,63,E4
!U1,P
3,183,80,80,43,FF
2021-08-13T18:47:36.533Z,1628880456.533 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:47:36.534Z,1628880456.534 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:47:36.535Z,1628880456.535 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:47:36.956Z,1628880456.956 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:47:37.786Z,1628880457.786 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184737.07*57

2021-08-13T18:47:38.629Z,1628880458.629 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:47:40.194Z,1628880460.194 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
3,183,80,80,43,FF
2021-08-13T18:47:40.198Z,1628880460.198 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
3,183,80,80,43,FF
2021-08-13T18:47:40.198Z,1628880460.198 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T18:47:41.544Z,1628880461.544 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:47:41.805Z,1628880461.805 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:47:41.805Z,1628880461.805 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:47:41.805Z,1628880461.805 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:47:41.806Z,1628880461.806 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:47:42.213Z,1628880462.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
3,183,80,80,43,FF
2021-08-13T18:47:42.213Z,1628880462.213 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:47:42.214Z,1628880462.214 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:47:42.215Z,1628880462.215 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:47:42.616Z,1628880462.616 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:47:43.467Z,1628880463.467 [Micromodem](INFO): Nmea in: $SNTTA,0.151346,,,,184742.74*4B

2021-08-13T18:47:44.246Z,1628880464.246 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:47:45.657Z,1628880465.657 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T18:47:45.869Z,1628880465.869 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
3,183,80,80,43,FF
2021-08-13T18:47:45.869Z,1628880465.869 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
3,183,80,80,43,FF
2021-08-13T18:47:45.869Z,1628880465.869 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T18:47:47.099Z,1628880467.099 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:47:47.485Z,1628880467.485 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:47:47.485Z,1628880467.485 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:47:47.485Z,1628880467.485 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:47:47.486Z,1628880467.486 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:47:47.894Z,1628880467.894 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
3,183,80,80,43,FF
2021-08-13T18:47:47.894Z,1628880467.894 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:47:47.895Z,1628880467.895 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:47:47.897Z,1628880467.897 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:47:48.303Z,1628880468.303 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:47:49.111Z,1628880469.111 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184748.42*5E

2021-08-13T18:47:50.082Z,1628880470.082 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:47:51.525Z,1628880471.525 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
3,183,80,80,43,FF
2021-08-13T18:47:51.525Z,1628880471.525 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
3,183,80,80,43,FF
2021-08-13T18:47:51.525Z,1628880471.525 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T18:47:52.793Z,1628880472.793 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:47:53.154Z,1628880473.154 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:47:53.154Z,1628880473.154 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:47:53.155Z,1628880473.155 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:47:53.156Z,1628880473.156 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:47:53.570Z,1628880473.570 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
3,183,80,80,43,FF
2021-08-13T18:47:53.570Z,1628880473.570 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:47:53.570Z,1628880473.570 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:47:53.572Z,1628880473.572 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:47:53.972Z,1628880473.972 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:47:54.794Z,1628880474.794 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184754.09*5C

2021-08-13T18:47:55.652Z,1628880475.652 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:47:57.201Z,1628880477.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
3,183,80,80,43,FF
2021-08-13T18:47:57.201Z,1628880477.201 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
3,183,80,80,43,FF
2021-08-13T18:47:57.202Z,1628880477.202 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T18:47:58.679Z,1628880478.679 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:47:58.823Z,1628880478.823 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:47:58.823Z,1628880478.823 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:47:58.823Z,1628880478.823 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:47:58.824Z,1628880478.824 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:47:59.221Z,1628880479.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
3,183,80,80,43,FF
2021-08-13T18:47:59.221Z,1628880479.221 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:47:59.221Z,1628880479.221 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:47:59.223Z,1628880479.223 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:47:59.637Z,1628880479.637 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:48:00.466Z,1628880480.466 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184759.74*5B

2021-08-13T18:48:01.269Z,1628880481.269 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:48:02.857Z,1628880482.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
3,183,80,80,43,FF
2021-08-13T18:48:02.858Z,1628880482.858 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
3,183,80,80,43,FF
2021-08-13T18:48:02.858Z,1628880482.858 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T18:48:02.858Z,1628880482.858 [Micromodem](ERROR): Buffer fill timout failure.
2021-08-13T18:48:03.581Z,1628880483.581 [Micromodem](INFO): Outgoing frame #1, 64 bytes: B2AB16610F0000005D00000400320000000000000000151D80030C5669C08C7A971B90FEDA94C026CF3346BCC8BE808FA4B35F981D482174CF8CEA06173D0DD3
2021-08-13T18:48:03.581Z,1628880483.581 [Micromodem](INFO): Outgoing frame #2, 7 bytes: 69AE262919CD8F
2021-08-13T18:48:03.581Z,1628880483.581 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,2*6A

2021-08-13T18:48:03.835Z,1628880483.835 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,2*68

2021-08-13T18:48:03.852Z,1628880483.852 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:48:04.225Z,1628880484.225 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:48:04.225Z,1628880484.225 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:48:04.225Z,1628880484.225 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:48:04.226Z,1628880484.226 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:48:04.234Z,1628880484.234 [Micromodem](INFO): Nmea in: $CADRQ,184804,1,10,0,64,1*77

2021-08-13T18:48:04.237Z,1628880484.237 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,B2AB16610F0000005D00000400320000000000000000151D80030C5669C08C7A971B90FEDA94C026CF3346BCC8BE808FA4B35F981D482174CF8CEA06173D0DD3*46

2021-08-13T18:48:04.625Z,1628880484.625 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
3,183,80,80,43,FF
2021-08-13T18:48:04.626Z,1628880484.626 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:48:04.626Z,1628880484.626 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:48:04.627Z,1628880484.627 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-08-13T18:48:04.676Z,1628880484.676 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:48:05.035Z,1628880485.035 [Micromodem](INFO): Nmea in: $CADRQ,184804,1,10,0,64,2*74

2021-08-13T18:48:05.035Z,1628880485.035 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,184804,1,10,0,64,2*74

2021-08-13T18:48:05.477Z,1628880485.477 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:48:06.424Z,1628880486.424 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:48:08.289Z,1628880488.289 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
3,183,80,80,43,FF
2021-08-13T18:48:08.289Z,1628880488.289 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
3,183,80,80,43,FF
2021-08-13T18:48:08.290Z,1628880488.290 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T18:48:09.184Z,1628880489.184 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:48:09.501Z,1628880489.501 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:48:09.501Z,1628880489.501 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:48:09.501Z,1628880489.501 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:48:09.502Z,1628880489.502 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:48:09.966Z,1628880489.966 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
3,183,80,80,43,FF
2021-08-13T18:48:09.967Z,1628880489.967 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:48:09.967Z,1628880489.967 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:48:09.972Z,1628880489.972 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:48:10.357Z,1628880490.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:48:11.175Z,1628880491.175 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184810.49*57

2021-08-13T18:48:11.812Z,1628880491.812 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:48:13.581Z,1628880493.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
3,183,80,80,43,FF
2021-08-13T18:48:13.581Z,1628880493.581 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
3,183,80,80,43,FF
2021-08-13T18:48:13.582Z,1628880493.582 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T18:48:14.455Z,1628880494.455 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:48:14.793Z,1628880494.793 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:48:14.793Z,1628880494.793 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:48:14.793Z,1628880494.793 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:48:14.794Z,1628880494.794 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:48:15.210Z,1628880495.210 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
3,183,80,80,43,FF
2021-08-13T18:48:15.212Z,1628880495.212 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:48:15.212Z,1628880495.212 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:48:15.215Z,1628880495.215 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:48:15.604Z,1628880495.604 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:48:15.685Z,1628880495.685 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T18:48:16.475Z,1628880496.475 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184815.74*5C

2021-08-13T18:48:17.332Z,1628880497.332 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:48:18.490Z,1628880498.490 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
3,183,80,80,43,FF
2021-08-13T18:48:18.490Z,1628880498.490 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
3,183,80,80,43,FF
2021-08-13T18:48:18.490Z,1628880498.490 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T18:48:20.123Z,1628880500.123 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:48:20.502Z,1628880500.502 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:48:20.502Z,1628880500.502 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:48:20.502Z,1628880500.502 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:48:20.503Z,1628880500.503 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:48:20.929Z,1628880500.929 [DUSBL_Hydroid](INFO): DUSBL response received:0,80,63,E4
!U1,P

3,183,80,80,43,FF
2021-08-13T18:48:20.929Z,1628880500.929 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:48:20.929Z,1628880500.929 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:48:20.931Z,1628880500.931 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:48:21.332Z,1628880501.332 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:48:22.157Z,1628880502.157 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184821.45*59

2021-08-13T18:48:22.709Z,1628880502.709 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:48:24.562Z,1628880504.562 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
3,183,80,80,43,FF
2021-08-13T18:48:24.562Z,1628880504.562 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
3,183,80,80,43,FF
2021-08-13T18:48:24.562Z,1628880504.562 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T18:48:25.484Z,1628880505.484 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:48:25.801Z,1628880505.801 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:48:25.801Z,1628880505.801 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:48:25.801Z,1628880505.801 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:48:25.802Z,1628880505.802 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:48:26.193Z,1628880506.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
3,183,80,80,43,FF
2021-08-13T18:48:26.193Z,1628880506.193 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:48:26.194Z,1628880506.194 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:48:26.195Z,1628880506.195 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:48:26.609Z,1628880506.609 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:48:27.454Z,1628880507.454 [Micromodem](INFO): Nmea in: $SNTTA,0.490410,,,,184826.72*4C

2021-08-13T18:48:28.241Z,1628880508.241 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:48:29.861Z,1628880509.861 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
3,183,80,80,43,FF
2021-08-13T18:48:29.861Z,1628880509.861 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
3,183,80,80,43,FF
2021-08-13T18:48:29.861Z,1628880509.861 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T18:48:31.274Z,1628880511.274 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:48:31.555Z,1628880511.555 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:48:31.555Z,1628880511.555 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:48:31.555Z,1628880511.555 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:48:31.556Z,1628880511.556 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:48:31.974Z,1628880511.974 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
3,183,80,80,43,FF
2021-08-13T18:48:31.974Z,1628880511.974 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:48:31.975Z,1628880511.975 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:48:31.976Z,1628880511.976 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:48:32.366Z,1628880512.366 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:48:33.169Z,1628880513.169 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184832.50*5F

2021-08-13T18:48:33.999Z,1628880513.999 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:48:34.409Z,1628880514.409 [Micromodem](INFO): Nmea in: $CAERR,184834,DATA_TIMEOUT,2*4F

2021-08-13T18:48:34.786Z,1628880514.786 [Micromodem](INFO): Nmea in: $CATXP,64*70

2021-08-13T18:48:35.659Z,1628880515.659 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
3,183,80,80,43,FF
2021-08-13T18:48:35.659Z,1628880515.659 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
3,183,80,80,43,FF
2021-08-13T18:48:35.659Z,1628880515.659 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T18:48:36.466Z,1628880516.466 [Micromodem](INFO): Nmea in: $CATXF,64*66

2021-08-13T18:48:36.550Z,1628880516.550 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:48:36.882Z,1628880516.882 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:48:36.882Z,1628880516.882 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:48:36.882Z,1628880516.882 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:48:36.883Z,1628880516.883 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:48:36.896Z,1628880516.896 [Micromodem](INFO): Nmea in: $CAXST,7,20210813,184834.798460,3,0,200,4000,14500,1,1,10,1,2,1,3,64,14500*52

2021-08-13T18:48:37.278Z,1628880517.277 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
3,183,80,80,43,FF
2021-08-13T18:48:37.278Z,1628880517.278 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:48:37.278Z,1628880517.278 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:48:37.280Z,1628880517.280 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:48:37.648Z,1628880517.648 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T18:48:37.869Z,1628880517.869 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:48:38.681Z,1628880518.681 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184837.81*56

2021-08-13T18:48:39.111Z,1628880519.111 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:48:40.695Z,1628880520.695 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
3,183,80,80,43,FF
2021-08-13T18:48:40.695Z,1628880520.695 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
3,183,80,80,43,FF
2021-08-13T18:48:40.695Z,1628880520.695 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T18:48:42.050Z,1628880522.050 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:48:42.189Z,1628880522.189 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:48:42.189Z,1628880522.189 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:48:42.189Z,1628880522.189 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:48:42.190Z,1628880522.190 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:48:42.212Z,1628880522.212 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
3,183,80,80,43,FF
2021-08-13T18:48:42.212Z,1628880522.212 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:48:42.212Z,1628880522.212 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:48:42.214Z,1628880522.214 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:48:42.601Z,1628880522.601 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:48:43.454Z,1628880523.454 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184842.74*5E

2021-08-13T18:48:44.648Z,1628880524.648 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:48:45.861Z,1628880525.861 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
3,183,80,80,43,FF
2021-08-13T18:48:45.862Z,1628880525.862 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
3,183,80,80,43,FF
2021-08-13T18:48:45.862Z,1628880525.862 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T18:48:47.540Z,1628880527.540 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:48:47.882Z,1628880527.882 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:48:47.882Z,1628880527.882 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:48:47.882Z,1628880527.882 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:48:47.883Z,1628880527.883 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:48:48.293Z,1628880528.293 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
3,183,80,80,43,FF
2021-08-13T18:48:48.293Z,1628880528.293 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:48:48.294Z,1628880528.294 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:48:48.295Z,1628880528.295 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:48:48.789Z,1628880528.789 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:48:49.584Z,1628880529.584 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184848.81*5E

2021-08-13T18:48:50.594Z,1628880530.594 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:48:51.603Z,1628880531.603 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
3,183,80,80,43,FF
2021-08-13T18:48:51.603Z,1628880531.603 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
3,183,80,80,43,FF
2021-08-13T18:48:51.603Z,1628880531.603 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T18:48:53.240Z,1628880533.240 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:48:53.621Z,1628880533.621 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:48:53.621Z,1628880533.621 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:48:53.621Z,1628880533.621 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:48:53.622Z,1628880533.622 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:48:54.035Z,1628880534.035 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
3,183,80,80,43,FF
2021-08-13T18:48:54.035Z,1628880534.035 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:48:54.035Z,1628880534.035 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:48:54.037Z,1628880534.037 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:48:54.460Z,1628880534.460 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:48:55.272Z,1628880535.272 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184854.56*59

2021-08-13T18:48:56.106Z,1628880536.106 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:48:57.423Z,1628880537.423 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
3,183,80,80,43,FF
2021-08-13T18:48:57.423Z,1628880537.423 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
3,183,80,80,43,FF
2021-08-13T18:48:57.423Z,1628880537.423 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T18:48:58.645Z,1628880538.645 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:48:59.003Z,1628880539.003 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:48:59.003Z,1628880539.003 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:48:59.003Z,1628880539.003 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:48:59.004Z,1628880539.004 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:48:59.449Z,1628880539.449 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
3,183,80,80,43,FF
2021-08-13T18:48:59.449Z,1628880539.449 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:48:59.449Z,1628880539.449 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:48:59.451Z,1628880539.451 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:48:59.868Z,1628880539.868 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:49:00.698Z,1628880540.698 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184859.97*59

2021-08-13T18:49:01.276Z,1628880541.276 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:49:02.749Z,1628880542.749 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
3,183,80,80,43,FF
2021-08-13T18:49:02.749Z,1628880542.749 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
3,183,80,80,43,FF
2021-08-13T18:49:02.749Z,1628880542.749 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T18:49:04.062Z,1628880544.062 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:49:04.449Z,1628880544.449 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:49:04.449Z,1628880544.449 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:49:04.449Z,1628880544.449 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:49:04.450Z,1628880544.450 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:49:04.837Z,1628880544.837 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
3,183,80,80,43,FF
2021-08-13T18:49:04.837Z,1628880544.837 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:49:04.838Z,1628880544.838 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:49:04.839Z,1628880544.839 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:49:05.283Z,1628880545.283 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:49:06.081Z,1628880546.081 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184905.36*5A

2021-08-13T18:49:06.894Z,1628880546.894 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:49:07.846Z,1628880547.846 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T18:49:08.477Z,1628880548.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
3,183,80,80,43,FF
2021-08-13T18:49:08.477Z,1628880548.477 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
3,183,80,80,43,FF
2021-08-13T18:49:08.478Z,1628880548.478 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T18:49:08.896Z,1628880548.896 [Micromodem](ERROR): Buffer fill timout failure.
2021-08-13T18:49:09.511Z,1628880549.511 [Micromodem](INFO): Outgoing frame #1, 64 bytes: B2AB16610F0000005D00000400320000000000000000151D80030C5669C08C7A971B90FEDA94C026CF3346BCC8BE808FA4B35F981D482174CF8CEA06173D0DD3
2021-08-13T18:49:09.512Z,1628880549.512 [Micromodem](INFO): Outgoing frame #2, 7 bytes: 69AE262919CD8F
2021-08-13T18:49:09.512Z,1628880549.512 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,2*6A

2021-08-13T18:49:09.604Z,1628880549.604 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:49:09.815Z,1628880549.815 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:49:09.815Z,1628880549.815 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:49:09.815Z,1628880549.815 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:49:09.832Z,1628880549.832 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:49:09.834Z,1628880549.834 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,2*68

2021-08-13T18:49:10.259Z,1628880550.259 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
3,183,80,80,43,FF
2021-08-13T18:49:10.259Z,1628880550.259 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:49:10.259Z,1628880550.259 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:49:10.269Z,1628880550.269 [Micromodem](INFO): Nmea in: $CADRQ,184909,1,10,0,64,1*7B

2021-08-13T18:49:10.269Z,1628880550.269 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,B2AB16610F0000005D00000400320000000000000000151D80030C5669C08C7A971B90FEDA94C026CF3346BCC8BE808FA4B35F981D482174CF8CEA06173D0DD3*46

2021-08-13T18:49:10.626Z,1628880550.626 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-08-13T18:49:10.626Z,1628880550.626 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:49:11.043Z,1628880551.043 [Micromodem](INFO): Nmea in: $CADRQ,184910,1,10,0,64,2*70

2021-08-13T18:49:11.043Z,1628880551.043 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,184910,1,10,0,64,2*70

2021-08-13T18:49:11.461Z,1628880551.461 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:49:12.286Z,1628880552.286 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:49:14.281Z,1628880554.281 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
3,183,80,80,43,FF
2021-08-13T18:49:14.281Z,1628880554.281 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
3,183,80,80,43,FF
2021-08-13T18:49:14.281Z,1628880554.281 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T18:49:15.160Z,1628880555.160 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:49:15.485Z,1628880555.485 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:49:15.485Z,1628880555.485 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:49:15.485Z,1628880555.485 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:49:15.486Z,1628880555.486 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:49:15.898Z,1628880555.898 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
3,183,80,80,43,FF
2021-08-13T18:49:15.898Z,1628880555.898 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:49:15.898Z,1628880555.898 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:49:15.901Z,1628880555.901 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:49:16.461Z,1628880556.461 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:49:17.247Z,1628880557.247 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184916.42*5B

2021-08-13T18:49:17.721Z,1628880557.721 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:49:19.281Z,1628880559.281 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
3,183,80,80,43,FF
2021-08-13T18:49:19.281Z,1628880559.281 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
3,183,80,80,43,FF
2021-08-13T18:49:19.281Z,1628880559.281 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T18:49:20.288Z,1628880560.288 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:49:20.473Z,1628880560.473 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:49:20.473Z,1628880560.473 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:49:20.473Z,1628880560.473 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:49:20.474Z,1628880560.474 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:49:20.893Z,1628880560.893 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
3,183,80,80,43,FF
2021-08-13T18:49:20.893Z,1628880560.893 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:49:20.893Z,1628880560.893 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:49:20.896Z,1628880560.896 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:49:21.296Z,1628880561.296 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:49:22.105Z,1628880562.105 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184921.42*5F

2021-08-13T18:49:23.005Z,1628880563.005 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:49:24.193Z,1628880564.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
3,183,80,80,43,FF
2021-08-13T18:49:24.193Z,1628880564.193 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
3,183,80,80,43,FF
2021-08-13T18:49:24.194Z,1628880564.194 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T18:49:25.509Z,1628880565.509 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:49:25.809Z,1628880565.809 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:49:25.809Z,1628880565.809 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:49:25.809Z,1628880565.809 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:49:25.810Z,1628880565.810 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:49:26.213Z,1628880566.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
3,183,80,80,43,FF
2021-08-13T18:49:26.214Z,1628880566.214 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:49:26.214Z,1628880566.214 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:49:26.215Z,1628880566.215 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:49:26.786Z,1628880566.786 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:49:27.590Z,1628880567.590 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184926.75*5C

2021-08-13T18:49:28.064Z,1628880568.064 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:49:29.730Z,1628880569.730 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
3,183,80,80,43,FF
2021-08-13T18:49:29.731Z,1628880569.731 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
3,183,80,80,43,FF
2021-08-13T18:49:29.731Z,1628880569.731 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T18:49:30.577Z,1628880570.577 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:49:30.941Z,1628880570.941 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:49:30.941Z,1628880570.941 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:49:30.941Z,1628880570.941 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:49:30.942Z,1628880570.942 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:49:31.362Z,1628880571.362 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
3,183,80,80,43,FF
2021-08-13T18:49:31.362Z,1628880571.362 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:49:31.363Z,1628880571.363 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:49:31.392Z,1628880571.392 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:49:31.748Z,1628880571.748 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:49:32.971Z,1628880572.971 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184931.92*53

2021-08-13T18:49:33.462Z,1628880573.462 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:49:34.965Z,1628880574.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
3,183,80,80,43,FF
2021-08-13T18:49:34.965Z,1628880574.965 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
3,183,80,80,43,FF
2021-08-13T18:49:34.966Z,1628880574.966 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T18:49:36.235Z,1628880576.235 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:49:36.585Z,1628880576.585 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:49:36.585Z,1628880576.585 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:49:36.585Z,1628880576.585 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:49:36.586Z,1628880576.586 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:49:36.998Z,1628880576.998 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
3,183,80,80,43,FF
2021-08-13T18:49:36.998Z,1628880576.998 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:49:36.999Z,1628880576.999 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:49:37.001Z,1628880577.001 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:49:37.450Z,1628880577.450 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:49:38.222Z,1628880578.222 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184937.52*59

2021-08-13T18:49:39.197Z,1628880579.197 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:49:40.301Z,1628880580.301 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
3,183,80,80,43,FF
2021-08-13T18:49:40.301Z,1628880580.301 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
3,183,80,80,43,FF
2021-08-13T18:49:40.301Z,1628880580.301 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T18:49:40.682Z,1628880580.682 [Micromodem](INFO): Nmea in: $CAERR,184940,DATA_TIMEOUT,2*4D

2021-08-13T18:49:41.094Z,1628880581.094 [Micromodem](INFO): Nmea in: $CATXP,64*70

2021-08-13T18:49:41.938Z,1628880581.938 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:49:42.313Z,1628880582.313 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:49:42.313Z,1628880582.313 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:49:42.313Z,1628880582.313 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:49:42.314Z,1628880582.314 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:49:42.319Z,1628880582.319 [Micromodem](INFO): Nmea in: $CATXF,64*66

2021-08-13T18:49:42.697Z,1628880582.697 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
3,183,80,80,43,FF
2021-08-13T18:49:42.698Z,1628880582.698 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:49:42.698Z,1628880582.698 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:49:42.702Z,1628880582.702 [Micromodem](INFO): Nmea in: $CAXST,7,20210813,184940.833656,3,0,200,4000,14500,1,1,10,1,2,1,3,64,14500*59

2021-08-13T18:49:42.704Z,1628880582.704 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:49:43.112Z,1628880583.112 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:49:43.950Z,1628880583.950 [Micromodem](INFO): Nmea in: $SNTTA,0.170453,,,,184943.22*47

2021-08-13T18:49:44.770Z,1628880584.770 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:49:46.337Z,1628880586.337 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
3,183,80,80,43,FF
2021-08-13T18:49:46.337Z,1628880586.337 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
3,183,80,80,43,FF
2021-08-13T18:49:46.338Z,1628880586.338 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T18:49:47.801Z,1628880587.801 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:49:47.949Z,1628880587.949 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:49:47.949Z,1628880587.949 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:49:47.949Z,1628880587.949 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:49:47.950Z,1628880587.950 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:49:48.373Z,1628880588.373 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
3,183,80,80,43,FF
2021-08-13T18:49:48.373Z,1628880588.373 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:49:48.374Z,1628880588.374 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:49:48.392Z,1628880588.392 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:49:48.474Z,1628880588.474 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-13T18:49:48.764Z,1628880588.764 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:49:49.562Z,1628880589.562 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184948.92*5D

2021-08-13T18:49:50.440Z,1628880590.440 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:49:51.993Z,1628880591.993 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
3,183,80,80,43,FF
2021-08-13T18:49:51.993Z,1628880591.993 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
3,183,80,80,43,FF
2021-08-13T18:49:51.993Z,1628880591.993 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T18:49:53.269Z,1628880593.269 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:49:53.609Z,1628880593.609 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:49:53.609Z,1628880593.609 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:49:53.609Z,1628880593.609 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:49:53.610Z,1628880593.610 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:49:54.001Z,1628880594.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
3,183,80,80,43,FF
2021-08-13T18:49:54.002Z,1628880594.002 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:49:54.002Z,1628880594.002 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:49:54.003Z,1628880594.003 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:49:54.485Z,1628880594.485 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:49:55.299Z,1628880595.299 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,222,000,012FA,188,80,80,36,FF
2021-08-13T18:49:55.303Z,1628880595.303 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:49:55.311Z,1628880595.311 [Micromodem](INFO): Nmea in: $SNTTA,0.176658,,,,184954.53*48

2021-08-13T18:49:55.801Z,1628880595.801 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 253.979980 m, bearing: 182.709459 deg, deltaT: 197.168898 s, approachRate: 0.230969 m/s, LOS rate: -0.167172 deg/s, posRepo size: 4
2021-08-13T18:49:55.801Z,1628880595.801 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 253.98 m. Resuming terminal guidance.
2021-08-13T18:49:55.802Z,1628880595.802 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-13T18:49:56.137Z,1628880596.137 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.00 m/s, pitch 20.00 deg, mass-position 2.95 mm (3 active estimators).
2021-08-13T18:49:56.145Z,1628880596.145 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-08-13T18:49:56.145Z,1628880596.145 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-13T18:49:56.145Z,1628880596.145 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-08-13T18:49:56.146Z,1628880596.146 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-08-13T18:49:56.146Z,1628880596.146 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2021-08-13T18:49:56.146Z,1628880596.146 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-08-13T18:49:56.146Z,1628880596.146 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-08-13T18:49:57.784Z,1628880597.784 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-13T18:49:58.389Z,1628880598.389 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:49:58.760Z,1628880598.760 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:49:58.760Z,1628880598.760 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:49:58.760Z,1628880598.760 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:49:58.761Z,1628880598.761 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:49:59.149Z,1628880599.149 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
222,000,012FA,188,80,80,36,FF
2021-08-13T18:49:59.149Z,1628880599.149 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:49:59.149Z,1628880599.149 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:49:59.151Z,1628880599.151 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:49:59.565Z,1628880599.565 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:49:59.635Z,1628880599.635 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T18:50:00.420Z,1628880600.420 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184959.67*57

2021-08-13T18:50:01.274Z,1628880601.274 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:50:02.493Z,1628880602.493 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
A,188,80,80,36,FF
2021-08-13T18:50:02.493Z,1628880602.493 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
A,188,80,80,36,FF
2021-08-13T18:50:02.493Z,1628880602.493 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T18:50:04.129Z,1628880604.129 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:50:04.482Z,1628880604.482 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:50:04.482Z,1628880604.482 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:50:04.482Z,1628880604.482 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:50:04.483Z,1628880604.483 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:50:04.906Z,1628880604.906 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
A,188,80,80,36,FF
2021-08-13T18:50:04.906Z,1628880604.906 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:50:04.906Z,1628880604.906 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:50:04.909Z,1628880604.909 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:50:05.415Z,1628880605.415 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:50:06.175Z,1628880606.175 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185005.43*50

2021-08-13T18:50:06.634Z,1628880606.634 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:50:08.194Z,1628880608.194 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
A,188,80,80,36,FF
2021-08-13T18:50:08.194Z,1628880608.194 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
A,188,80,80,36,FF
2021-08-13T18:50:08.194Z,1628880608.194 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T18:50:09.565Z,1628880609.565 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:50:09.813Z,1628880609.813 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:50:09.813Z,1628880609.813 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:50:09.813Z,1628880609.813 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:50:09.814Z,1628880609.814 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:50:10.221Z,1628880610.221 [DUSBL_Hydroid](INFO): DUSBL response received:E4
!U1,P
80,63,E4
A,188,80,80,36,FF
2021-08-13T18:50:10.221Z,1628880610.221 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:50:10.221Z,1628880610.221 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:50:10.223Z,1628880610.223 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:50:10.628Z,1628880610.628 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:50:11.474Z,1628880611.474 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185010.74*50

2021-08-13T18:50:12.271Z,1628880612.271 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:50:13.894Z,1628880613.894 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
A,188,80,80,36,FF
2021-08-13T18:50:13.894Z,1628880613.894 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
A,188,80,80,36,FF
2021-08-13T18:50:13.894Z,1628880613.894 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T18:50:14.698Z,1628880614.698 [Micromodem](ERROR): Buffer fill timout failure.
2021-08-13T18:50:15.421Z,1628880615.421 [Micromodem](INFO): Outgoing frame #1, 64 bytes: B2AB16610F0000005D00000400320000000000000000151D80030C5669C08C7A971B90FEDA94C026CF3346BCC8BE808FA4B35F981D482174CF8CEA06173D0DD3
2021-08-13T18:50:15.422Z,1628880615.422 [Micromodem](INFO): Outgoing frame #2, 7 bytes: 69AE262919CD8F
2021-08-13T18:50:15.422Z,1628880615.422 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,2*6A

2021-08-13T18:50:15.553Z,1628880615.553 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:50:15.717Z,1628880615.717 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:50:15.717Z,1628880615.717 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:50:15.717Z,1628880615.717 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:50:15.718Z,1628880615.718 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:50:15.726Z,1628880615.726 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,2*68

2021-08-13T18:50:16.113Z,1628880616.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
A,188,80,80,36,FF
2021-08-13T18:50:16.113Z,1628880616.113 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:50:16.113Z,1628880616.113 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:50:16.115Z,1628880616.115 [Micromodem](INFO): Nmea in: $CADRQ,185015,1,10,0,64,1*7E

2021-08-13T18:50:16.148Z,1628880616.148 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,B2AB16610F0000005D00000400320000000000000000151D80030C5669C08C7A971B90FEDA94C026CF3346BCC8BE808FA4B35F981D482174CF8CEA06173D0DD3*46

2021-08-13T18:50:16.530Z,1628880616.530 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-08-13T18:50:16.530Z,1628880616.530 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:50:16.931Z,1628880616.931 [Micromodem](INFO): Nmea in: $CADRQ,185016,1,10,0,64,2*7E

2021-08-13T18:50:16.931Z,1628880616.931 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,185016,1,10,0,64,2*7E

2021-08-13T18:50:17.346Z,1628880617.346 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:50:17.754Z,1628880617.754 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185017.05*51

2021-08-13T18:50:18.176Z,1628880618.176 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:50:20.153Z,1628880620.153 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
A,188,80,80,36,FF
2021-08-13T18:50:20.154Z,1628880620.154 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
A,188,80,80,36,FF
2021-08-13T18:50:20.154Z,1628880620.154 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T18:50:21.046Z,1628880621.046 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:50:21.411Z,1628880621.411 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:50:21.411Z,1628880621.411 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:50:21.411Z,1628880621.411 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:50:21.412Z,1628880621.412 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:50:21.774Z,1628880621.774 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
A,188,80,80,36,FF
2021-08-13T18:50:21.774Z,1628880621.774 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:50:21.774Z,1628880621.774 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:50:21.776Z,1628880621.776 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:50:22.185Z,1628880622.185 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:50:23.017Z,1628880623.017 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A5,000,0141B,187,80,80,50,FF
2021-08-13T18:50:23.018Z,1628880623.018 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:50:23.021Z,1628880623.021 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185022.30*51

2021-08-13T18:50:23.546Z,1628880623.546 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 271.320007 m, bearing: 256.716949 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-13T18:50:23.547Z,1628880623.547 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 256.716949deg and heading rate command to 0 deg/s.
2021-08-13T18:50:25.915Z,1628880625.915 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:50:26.265Z,1628880626.265 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:50:26.265Z,1628880626.265 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:50:26.265Z,1628880626.265 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:50:26.266Z,1628880626.266 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:50:26.683Z,1628880626.683 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0A5,000,0141B,187,80,80,50,FF
2021-08-13T18:50:26.683Z,1628880626.683 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:50:26.684Z,1628880626.684 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:50:26.686Z,1628880626.686 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:50:27.081Z,1628880627.081 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:50:27.902Z,1628880627.902 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CA9,000,0143E,189,80,80,52,FF
2021-08-13T18:50:27.903Z,1628880627.903 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:50:27.907Z,1628880627.907 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185027.21*54

2021-08-13T18:50:28.328Z,1628880628.328 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 273.419983 m, bearing: 327.220184 deg, deltaT: 4.859312 s, approachRate: 0.432155 m/s, LOS rate: 14.508893 deg/s, posRepo size: 2
2021-08-13T18:50:28.329Z,1628880628.329 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 14.508893 deg/s. Setting heading cmd to target bearing of 327.220184deg and heading rate command to 0 deg/s.
2021-08-13T18:50:30.921Z,1628880630.921 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:50:31.121Z,1628880631.121 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:50:31.121Z,1628880631.121 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:50:31.121Z,1628880631.121 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:50:31.122Z,1628880631.122 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:50:31.529Z,1628880631.529 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CA9,000,0143E,189,80,80,52,FF
2021-08-13T18:50:31.529Z,1628880631.529 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:50:31.530Z,1628880631.530 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:50:31.531Z,1628880631.531 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:50:31.936Z,1628880631.936 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:50:32.755Z,1628880632.755 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CE9,000,01464,189,80,80,6E,FF
2021-08-13T18:50:32.755Z,1628880632.755 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:50:32.758Z,1628880632.758 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185032.05*56

2021-08-13T18:50:33.184Z,1628880633.184 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 275.699982 m, bearing: 316.630412 deg, deltaT: 5.048328 s, approachRate: 0.451634 m/s, LOS rate: -2.097679 deg/s, posRepo size: 3
2021-08-13T18:50:33.186Z,1628880633.186 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 275.699982 m,
      bearing: 316.630412 deg,
      approachRate: 0.451634 m/s,
      LOS rate: -2.097679 deg/s,
      cmd update: -6.293037 deg/s,
      cmd heading: 327.220184 deg,
      new cmd heading: 327.220184 deg.

2021-08-13T18:50:35.657Z,1628880635.657 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:50:35.969Z,1628880635.969 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:50:35.969Z,1628880635.969 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:50:35.969Z,1628880635.969 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:50:35.970Z,1628880635.970 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:50:36.388Z,1628880636.388 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CE9,000,01464,189,80,80,6E,FF
2021-08-13T18:50:36.389Z,1628880636.389 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:50:36.389Z,1628880636.389 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:50:36.395Z,1628880636.395 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:50:36.787Z,1628880636.787 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:50:37.821Z,1628880637.821 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA4,000,0149A,186,80,80,60,FF
2021-08-13T18:50:37.821Z,1628880637.821 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:50:37.824Z,1628880637.824 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185036.92*5C

2021-08-13T18:50:38.262Z,1628880638.262 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 278.940002 m, bearing: 298.579343 deg, deltaT: 4.896513 s, approachRate: 0.661700 m/s, LOS rate: -3.686515 deg/s, posRepo size: 4
2021-08-13T18:50:38.264Z,1628880638.264 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 278.940002 m,
      bearing: 298.579343 deg,
      approachRate: 0.661700 m/s,
      LOS rate: -3.686515 deg/s,
      cmd update: -11.059546 deg/s,
      cmd heading: 296.432553 deg,
      new cmd heading: 293.927742 deg.

2021-08-13T18:50:40.719Z,1628880640.719 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:50:41.073Z,1628880641.073 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:50:41.073Z,1628880641.073 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:50:41.074Z,1628880641.074 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:50:41.074Z,1628880641.074 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:50:41.469Z,1628880641.469 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EA4,000,0149A,186,80,80,60,FF
2021-08-13T18:50:41.469Z,1628880641.469 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:50:41.469Z,1628880641.469 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:50:41.471Z,1628880641.471 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:50:41.878Z,1628880641.878 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:50:42.710Z,1628880642.710 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,147,000,014C2,186,80,80,41,FF
2021-08-13T18:50:42.710Z,1628880642.710 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:50:42.713Z,1628880642.713 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185041.99*57

2021-08-13T18:50:43.123Z,1628880643.123 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 281.339996 m, bearing: 281.268611 deg, deltaT: 4.923676 s, approachRate: 0.487439 m/s, LOS rate: -3.515815 deg/s, posRepo size: 4
2021-08-13T18:50:43.126Z,1628880643.126 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 281.339996 m,
      bearing: 281.268611 deg,
      approachRate: 0.487439 m/s,
      LOS rate: -3.515815 deg/s,
      cmd update: -10.547444 deg/s,
      cmd heading: 242.119844 deg,
      new cmd heading: 238.264918 deg.

2021-08-13T18:50:45.634Z,1628880645.634 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:50:45.953Z,1628880645.953 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:50:45.953Z,1628880645.953 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:50:45.953Z,1628880645.953 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:50:45.954Z,1628880645.954 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:50:46.373Z,1628880646.373 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
147,000,014C2,186,80,80,41,FF
2021-08-13T18:50:46.373Z,1628880646.373 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:50:46.374Z,1628880646.374 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:50:46.379Z,1628880646.379 [Micromodem](INFO): Nmea in: $CAERR,185046,DATA_TIMEOUT,2*43

2021-08-13T18:50:46.398Z,1628880646.398 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:50:46.758Z,1628880646.758 [Micromodem](INFO): Nmea in: $CATXP,64*70

2021-08-13T18:50:46.758Z,1628880646.758 [Micromodem](ERROR): Response from modem unexpected: $CATXP,64*70

2021-08-13T18:50:48.406Z,1628880648.406 [Micromodem](INFO): Nmea in: $CATXF,64*66

2021-08-13T18:50:48.406Z,1628880648.406 [Micromodem](ERROR): Response from modem unexpected: $CATXF,64*66

2021-08-13T18:50:48.485Z,1628880648.485 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:50:48.783Z,1628880648.783 [Micromodem](INFO): Nmea in: $CAXST,7,20210813,185046.713372,3,0,200,4000,14500,1,1,10,1,2,1,3,64,14500*59

2021-08-13T18:50:48.783Z,1628880648.783 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210813,185046.713372,3,0,200,4000,14500,1,1,10,1,2,1,3,64,14500*59

2021-08-13T18:50:50.446Z,1628880650.446 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-08-13T18:50:50.812Z,1628880650.812 [Micromodem](INFO): Nmea in: $CACST,6,0,20210813185049.897863,06,12492,40,0156,0150,82,02,02,00,02,1,010,001,0,4,1,0,150,-1.4,3.02,05,-0.02,-01,0.62,59,14500,4000*7C

2021-08-13T18:50:50.812Z,1628880650.812 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210813185049.897863,06,12492,40,0156,0150,82,02,02,00,02,1,010,001,0,4,1,0,150,-1.4,3.02,05,-0.02,-01,0.62,59,14500,4000*7C

2021-08-13T18:50:51.219Z,1628880651.219 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:50:52.020Z,1628880652.020 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.065860
2021-08-13T18:50:54.062Z,1628880654.062 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:50:54.445Z,1628880654.445 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:50:54.446Z,1628880654.446 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:50:54.446Z,1628880654.446 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:50:54.447Z,1628880654.447 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:50:54.841Z,1628880654.841 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
147,000,014C2,186,80,80,41,FF
2021-08-13T18:50:54.841Z,1628880654.841 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:50:54.841Z,1628880654.841 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:50:57.050Z,1628880657.050 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:50:57.674Z,1628880657.674 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:50:58.081Z,1628880658.081 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:50:58.898Z,1628880658.898 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F8B,000,01559,186,80,80,40,FF
2021-08-13T18:50:58.898Z,1628880658.898 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:50:58.903Z,1628880658.903 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185058.19*57

2021-08-13T18:50:59.312Z,1628880659.312 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 290.399994 m, bearing: 240.564044 deg, deltaT: 16.340517 s, approachRate: 0.554450 m/s, LOS rate: -2.491021 deg/s, posRepo size: 4
2021-08-13T18:50:59.314Z,1628880659.314 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 290.399994 m,
      bearing: 240.564044 deg,
      approachRate: 0.554450 m/s,
      LOS rate: -2.491021 deg/s,
      cmd update: -7.473062 deg/s,
      cmd heading: 69.592224 deg,
      new cmd heading: 67.699106 deg.

2021-08-13T18:51:01.767Z,1628880661.767 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:51:02.113Z,1628880662.113 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:51:02.113Z,1628880662.113 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:51:02.113Z,1628880662.113 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:51:02.114Z,1628880662.114 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:51:02.513Z,1628880662.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F8B,000,01559,186,80,80,40,FF
2021-08-13T18:51:02.513Z,1628880662.513 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:51:02.513Z,1628880662.513 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:51:02.515Z,1628880662.515 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:51:02.929Z,1628880662.929 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:51:03.755Z,1628880663.755 [Micromodem](INFO): Nmea in: $SNTTA,0.331727,0.332289,,,185103.03*51

2021-08-13T18:51:04.629Z,1628880664.629 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:51:05.606Z,1628880665.606 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T18:51:06.180Z,1628880666.180 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
9,186,80,80,40,FF
2021-08-13T18:51:06.181Z,1628880666.181 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
9,186,80,80,40,FF
2021-08-13T18:51:06.181Z,1628880666.181 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T18:51:07.493Z,1628880667.493 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:51:07.785Z,1628880667.785 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:51:07.785Z,1628880667.785 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:51:07.785Z,1628880667.785 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:51:07.786Z,1628880667.786 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:51:08.198Z,1628880668.198 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
9,186,80,80,40,FF
2021-08-13T18:51:08.198Z,1628880668.198 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:51:08.198Z,1628880668.198 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:51:08.199Z,1628880668.199 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:51:08.600Z,1628880668.600 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:51:09.444Z,1628880669.444 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185108.72*5E

2021-08-13T18:51:09.999Z,1628880669.999 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:51:11.472Z,1628880671.472 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
9,186,80,80,40,FF
2021-08-13T18:51:11.472Z,1628880671.472 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
9,186,80,80,40,FF
2021-08-13T18:51:11.472Z,1628880671.472 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T18:51:12.707Z,1628880672.707 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:51:13.073Z,1628880673.073 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:51:13.073Z,1628880673.073 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:51:13.073Z,1628880673.073 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:51:13.074Z,1628880673.074 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:51:13.477Z,1628880673.477 [DUSBL_Hydroid](INFO): DUSBL response received:80,80,63,E4
!U1,P
9,186,80,80,40,FF
2021-08-13T18:51:13.477Z,1628880673.477 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:51:13.477Z,1628880673.477 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:51:13.479Z,1628880673.479 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:51:13.997Z,1628880673.997 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:51:14.802Z,1628880674.802 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185114.00*56

2021-08-13T18:51:15.216Z,1628880675.216 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:51:15.637Z,1628880675.637 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T18:51:16.817Z,1628880676.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
9,186,80,80,40,FF
2021-08-13T18:51:16.817Z,1628880676.817 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
9,186,80,80,40,FF
2021-08-13T18:51:16.818Z,1628880676.818 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T18:51:18.214Z,1628880678.214 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:51:18.453Z,1628880678.453 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:51:18.453Z,1628880678.453 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:51:18.453Z,1628880678.453 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:51:18.454Z,1628880678.454 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:51:18.833Z,1628880678.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
9,186,80,80,40,FF
2021-08-13T18:51:18.833Z,1628880678.833 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:51:18.833Z,1628880678.833 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:51:18.835Z,1628880678.835 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:51:19.245Z,1628880679.245 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:51:20.074Z,1628880680.074 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185119.36*5E

2021-08-13T18:51:20.458Z,1628880680.458 [Micromodem](ERROR): Buffer fill timout failure.
2021-08-13T18:51:21.087Z,1628880681.087 [Micromodem](INFO): Outgoing frame #1, 64 bytes: B2AB16610F0000005D00000400320000000000000000151D80030C5669C08C7A971B90FEDA94C026CF3346BCC8BE808FA4B35F981D482174CF8CEA06173D0DD3
2021-08-13T18:51:21.087Z,1628880681.087 [Micromodem](INFO): Outgoing frame #2, 7 bytes: 69AE262919CD8F
2021-08-13T18:51:21.087Z,1628880681.087 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,2*6A

2021-08-13T18:51:21.155Z,1628880681.155 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:51:21.454Z,1628880681.454 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,2*68

2021-08-13T18:51:21.836Z,1628880681.836 [Micromodem](INFO): Nmea in: $CADRQ,185121,1,10,0,64,1*78

2021-08-13T18:51:21.837Z,1628880681.837 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,B2AB16610F0000005D00000400320000000000000000151D80030C5669C08C7A971B90FEDA94C026CF3346BCC8BE808FA4B35F981D482174CF8CEA06173D0DD3*46

2021-08-13T18:51:22.225Z,1628880682.225 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
9,186,80,80,40,FF
2021-08-13T18:51:22.225Z,1628880682.225 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
9,186,80,80,40,FF
2021-08-13T18:51:22.225Z,1628880682.225 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T18:51:22.227Z,1628880682.227 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-08-13T18:51:22.623Z,1628880682.623 [Micromodem](INFO): Nmea in: $CADRQ,185122,1,10,0,64,2*78

2021-08-13T18:51:22.624Z,1628880682.624 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,69AE262919CD8F*3C

2021-08-13T18:51:23.042Z,1628880683.042 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,7*7C

2021-08-13T18:51:23.475Z,1628880683.475 [Micromodem](INFO): Nmea in: $CATXP,71*74

2021-08-13T18:51:23.918Z,1628880683.918 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:51:24.269Z,1628880684.269 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:51:24.269Z,1628880684.269 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:51:24.270Z,1628880684.270 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:51:24.271Z,1628880684.271 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:51:24.673Z,1628880684.673 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
9,186,80,80,40,FF
2021-08-13T18:51:24.673Z,1628880684.673 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:51:24.673Z,1628880684.673 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:51:24.675Z,1628880684.675 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:51:25.514Z,1628880685.514 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T18:51:25.518Z,1628880685.518 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T18:51:25.884Z,1628880685.884 [Micromodem](INFO): Nmea in: $CATXF,71*62

2021-08-13T18:51:25.885Z,1628880685.885 [Micromodem](ERROR): Response from modem unexpected: $CATXF,71*62

2021-08-13T18:51:26.295Z,1628880686.295 [Micromodem](INFO): Nmea in: $CAXST,7,20210813,185123.121331,3,0,200,4000,14500,1,1,10,1,2,2,3,71,14500*5C

2021-08-13T18:51:26.295Z,1628880686.295 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210813,185123.121331,3,0,200,4000,14500,1,1,10,1,2,2,3,71,14500*5C

2021-08-13T18:51:26.765Z,1628880686.765 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:51:28.763Z,1628880688.763 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-08-13T18:51:29.271Z,1628880689.271 [Micromodem](INFO): Nmea in: $CAACK,10,1,2,1*78

2021-08-13T18:51:29.271Z,1628880689.271 [Micromodem](INFO): Sent 63 bytes from file Logs/20210813T172818/Courier0015.lzma.parts
2021-08-13T18:51:29.272Z,1628880689.272 [Micromodem](INFO): Packets left to send: 0
2021-08-13T18:51:29.291Z,1628880689.291 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:51:29.674Z,1628880689.674 [Micromodem](INFO): Nmea in: $CACST,6,0,20210813185128.175142,06,2941,34,0124,0150,59,01,01,00,01,1,010,001,0,4,1,0,150,5.3,2.58,03,0.42,-01,0.48,46,14500,4000*4D

2021-08-13T18:51:29.675Z,1628880689.675 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210813185128.175142,06,2941,34,0124,0150,59,01,01,00,01,1,010,001,0,4,1,0,150,5.3,2.58,03,0.42,-01,0.48,46,14500,4000*4D

2021-08-13T18:51:29.842Z,1628880689.842 [Micromodem](INFO): Outgoing frame #1, 60 bytes: B2AB1661120000005D00000400260000000000000000151D80030C5669C08C7998493CAD3CA3AAC079878D8E6E5508C4BAFD9E411A1C542B41AC2B00
2021-08-13T18:51:30.532Z,1628880690.532 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.261179
2021-08-13T18:51:30.553Z,1628880690.553 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-13T18:51:31.813Z,1628880691.813 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:51:32.129Z,1628880692.129 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:51:32.129Z,1628880692.129 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:51:32.129Z,1628880692.129 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:51:32.130Z,1628880692.130 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:51:32.533Z,1628880692.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
9,186,80,80,40,FF
2021-08-13T18:51:32.533Z,1628880692.533 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:51:32.534Z,1628880692.534 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:51:34.597Z,1628880694.597 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:51:35.774Z,1628880695.774 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:51:36.173Z,1628880696.173 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:51:36.184Z,1628880696.184 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-08-13T18:51:36.586Z,1628880696.586 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-08-13T18:51:36.638Z,1628880696.638 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-13T18:51:37.017Z,1628880697.017 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,047,000,011FD,185,80,80,35,FF
2021-08-13T18:51:37.018Z,1628880697.018 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:51:37.021Z,1628880697.021 [Micromodem](INFO): Nmea in: $CADRQ,185136,1,10,0,64,1*7E

2021-08-13T18:51:37.021Z,1628880697.021 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,B2AB1661120000005D00000400260000000000000000151D80030C5669C08C7998493CAD3CA3AAC079878D8E6E5508C4BAFD9E411A1C542B41AC2B00*33

2021-08-13T18:51:37.441Z,1628880697.441 [Micromodem](INFO): Nmea in: $SNTTA,0.217203,,,,185136.29*46

2021-08-13T18:51:37.442Z,1628880697.442 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,0.217203,,,,185136.29*46

2021-08-13T18:51:37.628Z,1628880697.628 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T18:51:37.662Z,1628880697.662 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 238.800003 m, bearing: 227.804185 deg, deltaT: 37.991700 s, approachRate: -1.358191 m/s, LOS rate: -0.335859 deg/s, posRepo size: 4
2021-08-13T18:51:37.664Z,1628880697.664 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 238.800003 m,
      bearing: 227.804185 deg,
      approachRate: -1.358191 m/s,
      LOS rate: -0.335859 deg/s,
      cmd update: -1.007577 deg/s,
      cmd heading: 145.707826 deg,
      new cmd heading: 141.658936 deg.

2021-08-13T18:51:38.757Z,1628880698.757 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,60*4D

2021-08-13T18:51:39.168Z,1628880699.168 [Micromodem](INFO): Nmea in: $CATXP,60*74

2021-08-13T18:51:39.554Z,1628880699.554 [Micromodem](INFO): Nmea in: $CATXF,60*62

2021-08-13T18:51:39.963Z,1628880699.963 [Micromodem](INFO): Nmea in: $CAXST,7,20210813,185137.563260,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*5E

2021-08-13T18:51:39.985Z,1628880699.985 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:51:40.417Z,1628880700.417 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:51:40.417Z,1628880700.417 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:51:40.417Z,1628880700.417 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:51:40.418Z,1628880700.418 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:51:40.438Z,1628880700.438 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T18:51:40.765Z,1628880700.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
047,000,011FD,185,80,80,35,FF
2021-08-13T18:51:40.766Z,1628880700.766 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:51:40.766Z,1628880700.766 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:51:40.767Z,1628880700.767 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:51:41.172Z,1628880701.172 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:51:41.764Z,1628880701.764 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2021-08-13T18:51:41.764Z,1628880701.764 [RDI_Pathfinder] Communications Fault, FailCount= 1
2021-08-13T18:51:41.764Z,1628880701.764 [RDI_Pathfinder](ERROR): Communications Fault
2021-08-13T18:51:41.946Z,1628880701.946 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2021-08-13T18:51:42.014Z,1628880702.014 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185141.29*5D

2021-08-13T18:51:42.084Z,1628880702.084 [RDI_Pathfinder](INFO): Powering down
2021-08-13T18:51:42.486Z,1628880702.486 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:51:43.002Z,1628880703.002 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2021-08-13T18:51:43.002Z,1628880703.002 [RDI_Pathfinder] No Fault, FailCount= 1
2021-08-13T18:51:44.449Z,1628880704.449 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,185,80,80,35,FF
2021-08-13T18:51:44.450Z,1628880704.450 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,185,80,80,35,FF
2021-08-13T18:51:44.450Z,1628880704.450 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T18:51:45.247Z,1628880705.247 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:51:45.641Z,1628880705.641 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:51:45.641Z,1628880705.641 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:51:45.642Z,1628880705.642 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:51:45.642Z,1628880705.642 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:51:46.041Z,1628880706.041 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,185,80,80,35,FF
2021-08-13T18:51:46.041Z,1628880706.041 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:51:46.041Z,1628880706.041 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:51:46.043Z,1628880706.043 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:51:46.456Z,1628880706.456 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:51:47.272Z,1628880707.272 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F40,000,0180C,186,80,80,45,FF
2021-08-13T18:51:47.273Z,1628880707.273 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:51:47.276Z,1628880707.276 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185146.56*52

2021-08-13T18:51:47.713Z,1628880707.713 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 331.859985 m, bearing: 202.871617 deg, deltaT: 10.166425 s, approachRate: 9.153659 m/s, LOS rate: -2.452442 deg/s, posRepo size: 4
2021-08-13T18:51:47.715Z,1628880707.715 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 331.859985 m,
      bearing: 202.871617 deg,
      approachRate: 9.153659 m/s,
      LOS rate: -2.452442 deg/s,
      cmd update: -7.357326 deg/s,
      cmd heading: 135.460246 deg,
      new cmd heading: 135.034634 deg.

2021-08-13T18:51:50.254Z,1628880710.254 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:51:50.533Z,1628880710.533 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:51:50.533Z,1628880710.533 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:51:50.533Z,1628880710.533 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:51:50.534Z,1628880710.534 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:51:50.565Z,1628880710.565 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T18:51:50.941Z,1628880710.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F40,000,0180C,186,80,80,45,FF
2021-08-13T18:51:50.941Z,1628880710.941 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:51:50.941Z,1628880710.941 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:51:50.943Z,1628880710.943 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:51:51.361Z,1628880711.361 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:51:52.184Z,1628880712.184 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3CA,000,01841,189,80,80,42,FF
2021-08-13T18:51:52.185Z,1628880712.185 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:51:52.187Z,1628880712.187 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185151.47*54

2021-08-13T18:51:52.594Z,1628880712.594 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 335.039978 m, bearing: 130.195768 deg, deltaT: 4.912130 s, approachRate: 0.647376 m/s, LOS rate: -14.795180 deg/s, posRepo size: 4
2021-08-13T18:51:52.595Z,1628880712.595 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -14.795180 deg/s. Setting heading cmd to target bearing of 130.195768deg and heading rate command to 0 deg/s.
2021-08-13T18:51:54.776Z,1628880714.776 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:51:54.973Z,1628880714.973 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:51:54.973Z,1628880714.973 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:51:54.973Z,1628880714.973 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:51:54.974Z,1628880714.974 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:51:55.421Z,1628880715.421 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3CA,000,01841,189,80,80,42,FF
2021-08-13T18:51:55.421Z,1628880715.421 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:51:55.421Z,1628880715.421 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:51:55.423Z,1628880715.423 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:51:55.793Z,1628880715.793 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:51:56.591Z,1628880716.591 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,17D,000,0187C,185,80,80,78,FF
2021-08-13T18:51:56.592Z,1628880716.592 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:51:56.597Z,1628880716.597 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185155.95*5F

2021-08-13T18:51:56.805Z,1628880716.805 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T18:51:57.054Z,1628880717.054 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 338.579987 m, bearing: 145.318995 deg, deltaT: 4.649876 s, approachRate: 0.761312 m/s, LOS rate: 3.252394 deg/s, posRepo size: 4
2021-08-13T18:51:57.056Z,1628880717.056 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 338.579987 m,
      bearing: 145.318995 deg,
      approachRate: 0.761312 m/s,
      LOS rate: 3.252394 deg/s,
      cmd update: 9.757181 deg/s,
      cmd heading: 130.195768 deg,
      new cmd heading: 130.195768 deg.

2021-08-13T18:51:59.522Z,1628880719.522 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:51:59.821Z,1628880719.821 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:51:59.821Z,1628880719.821 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:51:59.821Z,1628880719.821 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:51:59.822Z,1628880719.822 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:52:00.225Z,1628880720.225 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
17D,000,0187C,185,80,80,78,FF
2021-08-13T18:52:00.225Z,1628880720.225 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:52:00.226Z,1628880720.226 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:52:00.227Z,1628880720.227 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:52:00.633Z,1628880720.633 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:52:00.670Z,1628880720.670 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T18:52:01.466Z,1628880721.466 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185200.75*52

2021-08-13T18:52:02.298Z,1628880722.298 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:52:03.861Z,1628880723.861 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,185,80,80,78,FF
2021-08-13T18:52:03.861Z,1628880723.861 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,185,80,80,78,FF
2021-08-13T18:52:03.861Z,1628880723.861 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T18:52:05.119Z,1628880725.119 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:52:05.481Z,1628880725.481 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:52:05.481Z,1628880725.481 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:52:05.481Z,1628880725.481 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:52:05.482Z,1628880725.482 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:52:05.544Z,1628880725.544 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-13T18:52:05.884Z,1628880725.884 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,185,80,80,78,FF
2021-08-13T18:52:05.884Z,1628880725.884 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:52:05.884Z,1628880725.884 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:52:05.887Z,1628880725.887 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:52:06.296Z,1628880726.296 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:52:07.117Z,1628880727.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,30F,000,018C7,189,80,80,55,FF
2021-08-13T18:52:07.118Z,1628880727.118 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:52:07.120Z,1628880727.120 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185206.41*53

2021-08-13T18:52:07.709Z,1628880727.709 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 343.079956 m, bearing: 124.960169 deg, deltaT: 10.331955 s, approachRate: 0.435539 m/s, LOS rate: -1.970472 deg/s, posRepo size: 4
2021-08-13T18:52:07.711Z,1628880727.711 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 343.079956 m,
      bearing: 124.960169 deg,
      approachRate: 0.435539 m/s,
      LOS rate: -1.970472 deg/s,
      cmd update: -5.911415 deg/s,
      cmd heading: 231.046131 deg,
      new cmd heading: 236.168935 deg.

2021-08-13T18:52:09.753Z,1628880729.753 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:52:09.949Z,1628880729.949 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:52:09.949Z,1628880729.949 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:52:09.949Z,1628880729.949 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:52:09.950Z,1628880729.950 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:52:10.325Z,1628880730.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
30F,000,018C7,189,80,80,55,FF
2021-08-13T18:52:10.325Z,1628880730.325 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:52:10.325Z,1628880730.325 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:52:10.327Z,1628880730.327 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:52:10.732Z,1628880730.732 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:52:10.794Z,1628880730.794 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T18:52:11.549Z,1628880731.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,250,000,018EF,189,80,80,53,FF
2021-08-13T18:52:11.550Z,1628880731.550 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:52:11.553Z,1628880731.553 [Micromodem](INFO): Nmea in: $SNTTA,0.232584,,,,185210.85*48

2021-08-13T18:52:11.978Z,1628880731.978 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 345.480011 m, bearing: 152.022840 deg, deltaT: 4.454182 s, approachRate: 0.538832 m/s, LOS rate: 6.075789 deg/s, posRepo size: 4
2021-08-13T18:52:11.981Z,1628880731.981 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 345.480011 m,
      bearing: 152.022840 deg,
      approachRate: 0.538832 m/s,
      LOS rate: 6.075789 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 204.739465 deg,
      new cmd heading: 202.708196 deg.

2021-08-13T18:52:14.154Z,1628880734.154 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:52:14.376Z,1628880734.376 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:52:14.377Z,1628880734.377 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:52:14.377Z,1628880734.377 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:52:14.379Z,1628880734.379 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:52:14.781Z,1628880734.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
250,000,018EF,189,80,80,53,FF
2021-08-13T18:52:14.781Z,1628880734.781 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:52:14.782Z,1628880734.782 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:52:14.783Z,1628880734.783 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:52:15.176Z,1628880735.176 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:52:15.587Z,1628880735.587 [Micromodem](INFO): Nmea in: $SNTTA,0.192216,0.151653,,,185215.30*5D

2021-08-13T18:52:15.978Z,1628880735.978 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EC7,000,01930,187,80,80,1D,FF
2021-08-13T18:52:15.978Z,1628880735.978 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:52:16.463Z,1628880736.463 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 349.379974 m, bearing: 215.362941 deg, deltaT: 4.543131 s, approachRate: 0.858431 m/s, LOS rate: 13.941949 deg/s, posRepo size: 4
2021-08-13T18:52:16.464Z,1628880736.464 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.941949 deg/s. Setting heading cmd to target bearing of 215.362941deg and heading rate command to 0 deg/s.
2021-08-13T18:52:18.861Z,1628880738.861 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:52:19.225Z,1628880739.225 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:52:19.225Z,1628880739.225 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:52:19.226Z,1628880739.226 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:52:19.226Z,1628880739.226 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:52:19.634Z,1628880739.634 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EC7,000,01930,187,80,80,1D,FF
2021-08-13T18:52:19.635Z,1628880739.635 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:52:19.635Z,1628880739.635 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:52:19.665Z,1628880739.665 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:52:20.040Z,1628880740.040 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:52:20.912Z,1628880740.912 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185220.19*5A

2021-08-13T18:52:21.423Z,1628880741.423 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:52:23.327Z,1628880743.327 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
0,187,80,80,1D,FF
2021-08-13T18:52:23.327Z,1628880743.327 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
0,187,80,80,1D,FF
2021-08-13T18:52:23.327Z,1628880743.327 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T18:52:24.127Z,1628880744.127 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:52:24.529Z,1628880744.529 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:52:24.529Z,1628880744.529 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:52:24.529Z,1628880744.529 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:52:24.530Z,1628880744.530 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:52:24.928Z,1628880744.928 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
0,187,80,80,1D,FF
2021-08-13T18:52:24.929Z,1628880744.929 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:52:24.929Z,1628880744.929 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:52:24.930Z,1628880744.930 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:52:25.419Z,1628880745.419 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:52:25.469Z,1628880745.469 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-13T18:52:26.149Z,1628880746.149 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FBD,000,019C9,185,80,80,25,FF
2021-08-13T18:52:26.150Z,1628880746.150 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:52:26.181Z,1628880746.181 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185225.45*56

2021-08-13T18:52:26.740Z,1628880746.740 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 358.559967 m, bearing: 231.047650 deg, deltaT: 10.041866 s, approachRate: 0.914172 m/s, LOS rate: 1.561932 deg/s, posRepo size: 4
2021-08-13T18:52:26.742Z,1628880746.742 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 358.559967 m,
      bearing: 231.047650 deg,
      approachRate: 0.914172 m/s,
      LOS rate: 1.561932 deg/s,
      cmd update: 4.685795 deg/s,
      cmd heading: 215.362941 deg,
      new cmd heading: 215.362941 deg.

2021-08-13T18:52:28.758Z,1628880748.758 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:52:28.965Z,1628880748.965 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:52:28.965Z,1628880748.965 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:52:28.965Z,1628880748.965 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:52:28.966Z,1628880748.966 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:52:29.385Z,1628880749.385 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FBD,000,019C9,185,80,80,25,FF
2021-08-13T18:52:29.386Z,1628880749.386 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:52:29.386Z,1628880749.386 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:52:29.410Z,1628880749.410 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:52:29.787Z,1628880749.787 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:52:30.590Z,1628880750.590 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185229.93*51

2021-08-13T18:52:31.481Z,1628880751.481 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:52:32.013Z,1628880752.013 [CTD_Seabird](ERROR): Failed to parse device response: .44
2021-08-13T18:52:33.010Z,1628880753.010 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
9,185,80,80,25,FF
2021-08-13T18:52:33.011Z,1628880753.011 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
9,185,80,80,25,FF
2021-08-13T18:52:33.011Z,1628880753.011 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T18:52:34.284Z,1628880754.284 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:52:34.626Z,1628880754.626 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:52:34.626Z,1628880754.626 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:52:34.626Z,1628880754.626 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:52:34.627Z,1628880754.627 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:52:35.017Z,1628880755.017 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
9,185,80,80,25,FF
2021-08-13T18:52:35.017Z,1628880755.017 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:52:35.017Z,1628880755.017 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:52:35.019Z,1628880755.019 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:52:35.461Z,1628880755.461 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-13T18:52:35.640Z,1628880755.640 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:52:35.652Z,1628880755.652 [Micromodem](ERROR): Buffer fill timout failure.
2021-08-13T18:52:36.242Z,1628880756.242 [Micromodem](INFO): Outgoing frame #1, 60 bytes: B2AB1661120000005D00000400260000000000000000151D80030C5669C08C7998493CAD3CA3AAC079878D8E6E5508C4BAFD9E411A1C542B41AC2B00
2021-08-13T18:52:36.242Z,1628880756.242 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-08-13T18:52:36.496Z,1628880756.496 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185235.54*57

2021-08-13T18:52:36.497Z,1628880756.497 [Micromodem](ERROR): Response from modem unexpected: $SNTTA,,,,,185235.54*57

2021-08-13T18:52:36.928Z,1628880756.928 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:52:37.706Z,1628880757.706 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-08-13T18:52:38.106Z,1628880758.106 [Micromodem](INFO): Nmea in: $CADRQ,185236,1,10,0,64,1*7D

2021-08-13T18:52:38.107Z,1628880758.107 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,B2AB1661120000005D00000400260000000000000000151D80030C5669C08C7998493CAD3CA3AAC079878D8E6E5508C4BAFD9E411A1C542B41AC2B00*33

2021-08-13T18:52:38.505Z,1628880758.505 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
9,185,80,80,25,FF
2021-08-13T18:52:38.505Z,1628880758.505 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
9,185,80,80,25,FF
2021-08-13T18:52:38.506Z,1628880758.506 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T18:52:38.507Z,1628880758.507 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,60*4D

2021-08-13T18:52:38.918Z,1628880758.918 [Micromodem](INFO): Nmea in: $CATXP,60*74

2021-08-13T18:52:39.601Z,1628880759.601 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:52:39.780Z,1628880759.780 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:52:39.780Z,1628880759.780 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:52:39.781Z,1628880759.781 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:52:39.781Z,1628880759.781 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:52:40.169Z,1628880760.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
9,185,80,80,25,FF
2021-08-13T18:52:40.169Z,1628880760.169 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:52:40.169Z,1628880760.169 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:52:40.171Z,1628880760.171 [Micromodem](INFO): Nmea in: $CATXF,60*62

2021-08-13T18:52:40.172Z,1628880760.172 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:52:40.581Z,1628880760.581 [Micromodem](INFO): Nmea in: $CAXST,7,20210813,185238.648832,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*55

2021-08-13T18:52:40.581Z,1628880760.581 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210813,185238.648832,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*55

2021-08-13T18:52:40.980Z,1628880760.980 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:52:41.426Z,1628880761.426 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185240.70*53

2021-08-13T18:52:42.420Z,1628880762.420 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:52:43.553Z,1628880763.553 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
9,185,80,80,25,FF
2021-08-13T18:52:43.553Z,1628880763.553 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
9,185,80,80,25,FF
2021-08-13T18:52:43.554Z,1628880763.554 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T18:52:45.202Z,1628880765.202 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:52:45.569Z,1628880765.569 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:52:45.569Z,1628880765.569 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:52:45.569Z,1628880765.569 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:52:45.570Z,1628880765.570 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:52:45.997Z,1628880765.997 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
9,185,80,80,25,FF
2021-08-13T18:52:45.997Z,1628880765.997 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:52:45.997Z,1628880765.997 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:52:45.999Z,1628880765.999 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:52:46.425Z,1628880766.425 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:52:47.230Z,1628880767.230 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3D2,000,01ADA,189,80,80,52,FF
2021-08-13T18:52:47.230Z,1628880767.230 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:52:47.235Z,1628880767.235 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185246.52*55

2021-08-13T18:52:47.852Z,1628880767.852 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 374.940002 m, bearing: 239.131726 deg, deltaT: 21.127909 s, approachRate: 0.775280 m/s, LOS rate: 0.382625 deg/s, posRepo size: 4
2021-08-13T18:52:47.854Z,1628880767.854 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 374.940002 m,
      bearing: 239.131726 deg,
      approachRate: 0.775280 m/s,
      LOS rate: 0.382625 deg/s,
      cmd update: 1.147876 deg/s,
      cmd heading: 314.357194 deg,
      new cmd heading: 316.728366 deg.

2021-08-13T18:52:50.055Z,1628880770.055 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:52:50.478Z,1628880770.478 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:52:50.478Z,1628880770.478 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:52:50.479Z,1628880770.479 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:52:50.479Z,1628880770.479 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:52:50.841Z,1628880770.841 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3D2,000,01ADA,189,80,80,52,FF
2021-08-13T18:52:50.841Z,1628880770.841 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:52:50.841Z,1628880770.841 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:52:50.843Z,1628880770.843 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:52:51.253Z,1628880771.253 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:52:51.666Z,1628880771.666 [Micromodem](INFO): Nmea in: $SNTTA,0.121468,0.121587,,,185251.36*51

2021-08-13T18:52:52.061Z,1628880772.061 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E23,000,01AF6,186,80,80,74,FF
2021-08-13T18:52:52.061Z,1628880772.061 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:52:52.523Z,1628880772.523 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 376.619995 m, bearing: 332.641551 deg, deltaT: 4.951535 s, approachRate: 0.339287 m/s, LOS rate: 18.885017 deg/s, posRepo size: 4
2021-08-13T18:52:52.523Z,1628880772.523 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 18.885017 deg/s. Setting heading cmd to target bearing of 332.641551deg and heading rate command to 0 deg/s.
2021-08-13T18:52:54.926Z,1628880774.926 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:52:55.345Z,1628880775.345 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:52:55.346Z,1628880775.346 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:52:55.346Z,1628880775.346 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:52:55.347Z,1628880775.347 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:52:55.713Z,1628880775.713 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E23,000,01AF6,186,80,80,74,FF
2021-08-13T18:52:55.713Z,1628880775.713 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:52:55.713Z,1628880775.713 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:52:55.715Z,1628880775.715 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:52:56.131Z,1628880776.131 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:52:56.934Z,1628880776.934 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,01B01,189,80,80,80,FF
2021-08-13T18:52:56.935Z,1628880776.935 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:52:57.393Z,1628880777.393 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185256.30*50

2021-08-13T18:52:57.458Z,1628880777.458 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 377.279999 m, bearing: 35.984114 deg, deltaT: 4.727447 s, approachRate: 0.139611 m/s, LOS rate: 13.398895 deg/s, posRepo size: 4
2021-08-13T18:52:57.459Z,1628880777.459 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.398895 deg/s. Setting heading cmd to target bearing of 35.984114deg and heading rate command to 0 deg/s.
2021-08-13T18:52:59.806Z,1628880779.806 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:53:00.153Z,1628880780.153 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:53:00.153Z,1628880780.153 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:53:00.154Z,1628880780.154 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:53:00.155Z,1628880780.155 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:53:00.553Z,1628880780.553 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,01B01,189,80,80,80,FF
2021-08-13T18:53:00.553Z,1628880780.553 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:53:00.553Z,1628880780.553 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:53:00.555Z,1628880780.555 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:53:01.005Z,1628880781.005 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:53:01.817Z,1628880781.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,01B02,189,80,80,89,FF
2021-08-13T18:53:01.817Z,1628880781.817 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:53:01.821Z,1628880781.821 [Micromodem](INFO): Nmea in: $SNTTA,0.304841,,,,185301.08*4C

2021-08-13T18:53:02.251Z,1628880782.251 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 377.339996 m, bearing: 54.187449 deg, deltaT: 4.886349 s, approachRate: 0.012279 m/s, LOS rate: 3.725345 deg/s, posRepo size: 4
2021-08-13T18:53:02.254Z,1628880782.254 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 377.339996 m,
      bearing: 54.187449 deg,
      approachRate: 0.012279 m/s,
      LOS rate: 3.725345 deg/s,
      cmd update: 11.176034 deg/s,
      cmd heading: 35.984114 deg,
      new cmd heading: 35.984114 deg.

2021-08-13T18:53:04.687Z,1628880784.687 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:53:05.037Z,1628880785.037 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:53:05.037Z,1628880785.037 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:53:05.037Z,1628880785.037 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:53:05.038Z,1628880785.038 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:53:05.517Z,1628880785.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,01B02,189,80,80,89,FF
2021-08-13T18:53:05.517Z,1628880785.517 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:53:05.518Z,1628880785.518 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:53:05.519Z,1628880785.519 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:53:05.911Z,1628880785.911 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:53:06.728Z,1628880786.728 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CD9,000,01AF0,189,80,80,67,FF
2021-08-13T18:53:06.729Z,1628880786.729 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:53:06.733Z,1628880786.733 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185306.04*53

2021-08-13T18:53:07.442Z,1628880787.442 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 376.260010 m, bearing: 48.563530 deg, deltaT: 4.903476 s, approachRate: -0.220249 m/s, LOS rate: -1.146925 deg/s, posRepo size: 4
2021-08-13T18:53:07.448Z,1628880787.448 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 376.260010 m,
      bearing: 48.563530 deg,
      approachRate: -0.220249 m/s,
      LOS rate: -1.146925 deg/s,
      cmd update: -3.440775 deg/s,
      cmd heading: 90.789185 deg,
      new cmd heading: 97.776286 deg.

2021-08-13T18:53:09.354Z,1628880789.354 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:53:09.676Z,1628880789.676 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:53:09.676Z,1628880789.676 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:53:09.676Z,1628880789.676 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:53:09.677Z,1628880789.677 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:53:10.073Z,1628880790.073 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CD9,000,01AF0,189,80,80,67,FF
2021-08-13T18:53:10.073Z,1628880790.073 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:53:10.073Z,1628880790.073 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:53:10.075Z,1628880790.075 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:53:10.515Z,1628880790.515 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:53:11.325Z,1628880791.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DF2,000,01ADD,187,80,80,87,FF
2021-08-13T18:53:11.325Z,1628880791.325 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:53:11.328Z,1628880791.328 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185310.60*56

2021-08-13T18:53:11.852Z,1628880791.852 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 375.119995 m, bearing: 58.343114 deg, deltaT: 4.775882 s, approachRate: -0.238702 m/s, LOS rate: 2.047702 deg/s, posRepo size: 4
2021-08-13T18:53:11.854Z,1628880791.854 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 375.119995 m,
      bearing: 58.343114 deg,
      approachRate: -0.238702 m/s,
      LOS rate: 2.047702 deg/s,
      cmd update: 6.143107 deg/s,
      cmd heading: 74.353733 deg,
      new cmd heading: 73.463715 deg.

2021-08-13T18:53:14.263Z,1628880794.263 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:53:14.641Z,1628880794.641 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:53:14.641Z,1628880794.641 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:53:14.642Z,1628880794.642 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:53:14.642Z,1628880794.642 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:53:15.041Z,1628880795.041 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DF2,000,01ADD,187,80,80,87,FF
2021-08-13T18:53:15.041Z,1628880795.041 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:53:15.041Z,1628880795.041 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:53:15.043Z,1628880795.043 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:53:15.469Z,1628880795.469 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:53:16.259Z,1628880796.259 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,05D,000,01ABC,187,80,80,8B,FF
2021-08-13T18:53:16.276Z,1628880796.276 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:53:16.300Z,1628880796.300 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185315.62*51

2021-08-13T18:53:16.712Z,1628880796.712 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 373.139984 m, bearing: 52.206421 deg, deltaT: 4.756979 s, approachRate: -0.416233 m/s, LOS rate: -1.290040 deg/s, posRepo size: 4
2021-08-13T18:53:16.714Z,1628880796.714 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 373.139984 m,
      bearing: 52.206421 deg,
      approachRate: -0.416233 m/s,
      LOS rate: -1.290040 deg/s,
      cmd update: -3.870120 deg/s,
      cmd heading: 103.495673 deg,
      new cmd heading: 105.799338 deg.

2021-08-13T18:53:19.134Z,1628880799.134 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:53:19.485Z,1628880799.485 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:53:19.485Z,1628880799.485 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:53:19.485Z,1628880799.485 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:53:19.486Z,1628880799.486 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:53:19.898Z,1628880799.898 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
05D,000,01ABC,187,80,80,8B,FF
2021-08-13T18:53:19.898Z,1628880799.898 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:53:19.898Z,1628880799.898 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:53:19.906Z,1628880799.906 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:53:20.385Z,1628880800.385 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:53:21.169Z,1628880801.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,25D,000,01A9B,188,80,80,6C,FF
2021-08-13T18:53:21.170Z,1628880801.170 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:53:21.193Z,1628880801.193 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185320.43*54

2021-08-13T18:53:21.666Z,1628880801.666 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 371.159973 m, bearing: 47.721033 deg, deltaT: 4.912576 s, approachRate: -0.403049 m/s, LOS rate: -0.913042 deg/s, posRepo size: 4
2021-08-13T18:53:21.673Z,1628880801.673 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 371.159973 m,
      bearing: 47.721033 deg,
      approachRate: -0.403049 m/s,
      LOS rate: -0.913042 deg/s,
      cmd update: -2.739126 deg/s,
      cmd heading: 84.481717 deg,
      new cmd heading: 82.869805 deg.

2021-08-13T18:53:24.193Z,1628880804.193 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:53:24.429Z,1628880804.429 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:53:24.429Z,1628880804.429 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:53:24.429Z,1628880804.429 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:53:24.430Z,1628880804.430 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:53:24.815Z,1628880804.815 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
25D,000,01A9B,188,80,80,6C,FF
2021-08-13T18:53:24.815Z,1628880804.815 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:53:24.815Z,1628880804.815 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:53:24.817Z,1628880804.817 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:53:25.216Z,1628880805.216 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:53:26.053Z,1628880806.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3DE,000,01A81,189,80,80,61,FF
2021-08-13T18:53:26.053Z,1628880806.053 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:53:26.057Z,1628880806.057 [Micromodem](INFO): Nmea in: $SNTTA,0.248502,,,,185325.34*46

2021-08-13T18:53:26.737Z,1628880806.737 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 369.600006 m, bearing: 42.193432 deg, deltaT: 5.197782 s, approachRate: -0.300122 m/s, LOS rate: -1.063454 deg/s, posRepo size: 4
2021-08-13T18:53:26.739Z,1628880806.739 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 369.600006 m,
      bearing: 42.193432 deg,
      approachRate: -0.300122 m/s,
      LOS rate: -1.063454 deg/s,
      cmd update: -3.190361 deg/s,
      cmd heading: 70.315417 deg,
      new cmd heading: 69.452061 deg.

2021-08-13T18:53:29.143Z,1628880809.143 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:53:29.514Z,1628880809.514 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:53:29.514Z,1628880809.514 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:53:29.514Z,1628880809.514 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:53:29.515Z,1628880809.515 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:53:29.910Z,1628880809.910 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3DE,000,01A81,189,80,80,61,FF
2021-08-13T18:53:29.910Z,1628880809.910 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:53:29.910Z,1628880809.910 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:53:29.912Z,1628880809.912 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:53:30.336Z,1628880810.336 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:53:31.181Z,1628880811.181 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2F9,000,01A65,189,80,80,5D,FF
2021-08-13T18:53:31.181Z,1628880811.181 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:53:31.184Z,1628880811.184 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185330.43*55

2021-08-13T18:53:31.670Z,1628880811.670 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 367.919983 m, bearing: 42.654490 deg, deltaT: 4.752484 s, approachRate: -0.353504 m/s, LOS rate: 0.097014 deg/s, posRepo size: 4
2021-08-13T18:53:31.672Z,1628880811.672 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 367.919983 m,
      bearing: 42.654490 deg,
      approachRate: -0.353504 m/s,
      LOS rate: 0.097014 deg/s,
      cmd update: 0.291042 deg/s,
      cmd heading: 55.071107 deg,
      new cmd heading: 53.572368 deg.

2021-08-13T18:53:34.027Z,1628880814.027 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:53:34.437Z,1628880814.437 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:53:34.437Z,1628880814.437 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:53:34.437Z,1628880814.437 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:53:34.438Z,1628880814.438 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:53:34.809Z,1628880814.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2F9,000,01A65,189,80,80,5D,FF
2021-08-13T18:53:34.809Z,1628880814.809 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:53:34.809Z,1628880814.809 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:53:34.811Z,1628880814.811 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:53:35.224Z,1628880815.224 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:53:36.053Z,1628880816.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,15C,000,01A48,186,80,80,69,FF
2021-08-13T18:53:36.053Z,1628880816.053 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:53:36.080Z,1628880816.080 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185335.33*57

2021-08-13T18:53:36.646Z,1628880816.646 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 366.179993 m, bearing: 48.377158 deg, deltaT: 4.902189 s, approachRate: -0.354941 m/s, LOS rate: 1.167370 deg/s, posRepo size: 4
2021-08-13T18:53:36.649Z,1628880816.649 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 366.179993 m,
      bearing: 48.377158 deg,
      approachRate: -0.354941 m/s,
      LOS rate: 1.167370 deg/s,
      cmd update: 3.502109 deg/s,
      cmd heading: 56.501375 deg,
      new cmd heading: 56.656274 deg.

2021-08-13T18:53:38.727Z,1628880818.727 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:53:38.913Z,1628880818.913 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:53:38.913Z,1628880818.913 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:53:38.913Z,1628880818.913 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:53:38.914Z,1628880818.914 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:53:39.399Z,1628880819.399 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
15C,000,01A48,186,80,80,69,FF
2021-08-13T18:53:39.404Z,1628880819.404 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:53:39.405Z,1628880819.405 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:53:39.407Z,1628880819.407 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:53:39.737Z,1628880819.737 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:53:40.549Z,1628880820.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,148,000,01A28,185,80,80,6A,FF
2021-08-13T18:53:40.549Z,1628880820.549 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:53:40.961Z,1628880820.961 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185339.93*51

2021-08-13T18:53:40.999Z,1628880820.999 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 364.259979 m, bearing: 49.038842 deg, deltaT: 4.521348 s, approachRate: -0.424655 m/s, LOS rate: 0.146347 deg/s, posRepo size: 4
2021-08-13T18:53:41.002Z,1628880821.002 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 364.259979 m,
      bearing: 49.038842 deg,
      approachRate: -0.424655 m/s,
      LOS rate: 0.146347 deg/s,
      cmd update: 0.439040 deg/s,
      cmd heading: 72.349119 deg,
      new cmd heading: 73.610067 deg.

2021-08-13T18:53:41.407Z,1628880821.407 [Micromodem](ERROR): Buffer fill timout failure.
2021-08-13T18:53:41.918Z,1628880821.918 [Micromodem](INFO): Outgoing frame #1, 60 bytes: B2AB1661120000005D00000400260000000000000000151D80030C5669C08C7998493CAD3CA3AAC079878D8E6E5508C4BAFD9E411A1C542B41AC2B00
2021-08-13T18:53:41.918Z,1628880821.918 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-08-13T18:53:42.202Z,1628880822.202 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-08-13T18:53:42.601Z,1628880822.601 [Micromodem](INFO): Nmea in: $CADRQ,185342,1,10,0,64,1*7F

2021-08-13T18:53:42.601Z,1628880822.601 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,B2AB1661120000005D00000400260000000000000000151D80030C5669C08C7998493CAD3CA3AAC079878D8E6E5508C4BAFD9E411A1C542B41AC2B00*33

2021-08-13T18:53:43.001Z,1628880823.001 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,60*4D

2021-08-13T18:53:43.404Z,1628880823.404 [Micromodem](INFO): Nmea in: $CATXP,60*74

2021-08-13T18:53:43.486Z,1628880823.486 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:53:43.797Z,1628880823.797 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:53:43.797Z,1628880823.797 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:53:43.798Z,1628880823.798 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:53:43.798Z,1628880823.798 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:53:44.193Z,1628880824.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
148,000,01A28,185,80,80,6A,FF
2021-08-13T18:53:44.193Z,1628880824.193 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:53:44.193Z,1628880824.193 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:53:44.195Z,1628880824.195 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:53:44.601Z,1628880824.601 [Micromodem](INFO): Nmea in: $CATXF,60*62

2021-08-13T18:53:44.602Z,1628880824.602 [Micromodem](ERROR): Response from modem unexpected: $CATXF,60*62

2021-08-13T18:53:45.003Z,1628880825.003 [Micromodem](INFO): Nmea in: $CAXST,7,20210813,185343.142471,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*5E

2021-08-13T18:53:45.003Z,1628880825.003 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210813,185343.142471,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*5E

2021-08-13T18:53:46.235Z,1628880826.235 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:53:47.038Z,1628880827.038 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-08-13T18:53:47.039Z,1628880827.039 [Micromodem](INFO): Sent 52 bytes from file Logs/20210813T172818/Courier0018.lzma.parts
2021-08-13T18:53:47.040Z,1628880827.040 [Micromodem](INFO): Packets left to send: 0
2021-08-13T18:53:47.462Z,1628880827.462 [Micromodem](INFO): Nmea in: $CACST,6,0,20210813185346.425809,06,3894,35,0113,0150,59,01,01,00,01,1,010,001,0,4,1,0,150,6.9,4.95,07,-1.95,-01,-0.20,44,14500,4000*41

2021-08-13T18:53:47.462Z,1628880827.462 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210813185346.425809,06,3894,35,0113,0150,59,01,01,00,01,1,010,001,0,4,1,0,150,6.9,4.95,07,-1.95,-01,-0.20,44,14500,4000*41

2021-08-13T18:53:47.679Z,1628880827.679 [lineCaptureDepth:MicromodemComms] Stopped
2021-08-13T18:53:47.679Z,1628880827.679 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-08-13T18:53:47.679Z,1628880827.679 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-08-13T18:53:47.680Z,1628880827.680 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-13T18:53:47.680Z,1628880827.680 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-08-13T18:53:49.501Z,1628880829.501 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:53:50.068Z,1628880830.068 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.269531
2021-08-13T18:53:52.115Z,1628880832.115 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:53:52.477Z,1628880832.477 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:53:52.477Z,1628880832.477 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:53:52.477Z,1628880832.477 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:53:52.478Z,1628880832.478 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:53:52.882Z,1628880832.882 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
148,000,01A28,185,80,80,6A,FF
2021-08-13T18:53:52.883Z,1628880832.883 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:53:52.883Z,1628880832.883 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:53:54.939Z,1628880834.939 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:53:55.345Z,1628880835.345 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:53:55.752Z,1628880835.752 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:53:56.574Z,1628880836.574 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,372,000,019B2,189,80,80,51,FF
2021-08-13T18:53:56.574Z,1628880836.574 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:53:56.577Z,1628880836.577 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185355.86*5F

2021-08-13T18:53:56.000Z,1628880837.000 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 357.179993 m, bearing: 41.662033 deg, deltaT: 15.986823 s, approachRate: -0.442864 m/s, LOS rate: -0.461431 deg/s, posRepo size: 4
2021-08-13T18:53:57.002Z,1628880837.002 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 357.179993 m,
      bearing: 41.662033 deg,
      approachRate: -0.442864 m/s,
      LOS rate: -0.461431 deg/s,
      cmd update: -1.384292 deg/s,
      cmd heading: 79.357639 deg,
      new cmd heading: 79.531951 deg.

2021-08-13T18:53:59.467Z,1628880839.467 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:53:59.785Z,1628880839.785 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:53:59.785Z,1628880839.785 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:53:59.785Z,1628880839.785 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:53:59.786Z,1628880839.786 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:54:00.197Z,1628880840.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
372,000,019B2,189,80,80,51,FF
2021-08-13T18:54:00.197Z,1628880840.197 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:54:00.197Z,1628880840.197 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:54:00.199Z,1628880840.199 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:54:00.593Z,1628880840.593 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:54:01.521Z,1628880841.521 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185400.72*53

2021-08-13T18:54:02.167Z,1628880842.167 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:54:03.757Z,1628880843.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
2,189,80,80,51,FF
2021-08-13T18:54:03.757Z,1628880843.757 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
2,189,80,80,51,FF
2021-08-13T18:54:03.757Z,1628880843.757 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T18:54:05.006Z,1628880845.006 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:54:05.384Z,1628880845.384 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:54:05.384Z,1628880845.384 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:54:05.385Z,1628880845.385 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:54:05.386Z,1628880845.386 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:54:05.769Z,1628880845.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
2,189,80,80,51,FF
2021-08-13T18:54:05.769Z,1628880845.769 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:54:05.770Z,1628880845.770 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:54:05.771Z,1628880845.771 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:54:06.177Z,1628880846.177 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:54:07.010Z,1628880847.010 [Micromodem](INFO): Nmea in: $SNTTA,0.237865,,,,185406.29*48

2021-08-13T18:54:07.819Z,1628880847.819 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:54:09.434Z,1628880849.434 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
2,189,80,80,51,FF
2021-08-13T18:54:09.435Z,1628880849.435 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
2,189,80,80,51,FF
2021-08-13T18:54:09.435Z,1628880849.435 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T18:54:10.670Z,1628880850.670 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:54:11.029Z,1628880851.029 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:54:11.029Z,1628880851.029 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:54:11.029Z,1628880851.029 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:54:11.030Z,1628880851.030 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:54:11.465Z,1628880851.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
2,189,80,80,51,FF
2021-08-13T18:54:11.465Z,1628880851.465 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:54:11.466Z,1628880851.466 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:54:11.467Z,1628880851.467 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:54:11.950Z,1628880851.950 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:54:12.757Z,1628880852.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,22A,000,01951,189,80,80,44,FF
2021-08-13T18:54:12.758Z,1628880852.758 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:54:12.761Z,1628880852.761 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185411.99*56

2021-08-13T18:54:13.189Z,1628880853.189 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 351.359985 m, bearing: 45.025973 deg, deltaT: 16.163999 s, approachRate: -0.360060 m/s, LOS rate: 0.208113 deg/s, posRepo size: 4
2021-08-13T18:54:13.191Z,1628880853.191 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 351.359985 m,
      bearing: 45.025973 deg,
      approachRate: -0.360060 m/s,
      LOS rate: 0.208113 deg/s,
      cmd update: 0.624339 deg/s,
      cmd heading: 56.949477 deg,
      new cmd heading: 56.397136 deg.

2021-08-13T18:54:15.653Z,1628880855.653 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:54:15.977Z,1628880855.977 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:54:15.977Z,1628880855.977 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:54:15.977Z,1628880855.977 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:54:15.978Z,1628880855.978 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:54:16.402Z,1628880856.402 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
22A,000,01951,189,80,80,44,FF
2021-08-13T18:54:16.403Z,1628880856.403 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:54:16.404Z,1628880856.404 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:54:16.431Z,1628880856.431 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:54:16.793Z,1628880856.793 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:54:17.606Z,1628880857.606 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1AA,000,01935,186,80,80,5B,FF
2021-08-13T18:54:17.606Z,1628880857.606 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:54:17.610Z,1628880857.610 [Micromodem](INFO): Nmea in: $SNTTA,0.368086,0.368079,,,185416.95*5D

2021-08-13T18:54:18.024Z,1628880858.024 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 349.679993 m, bearing: 45.816977 deg, deltaT: 4.925794 s, approachRate: -0.341060 m/s, LOS rate: 0.160584 deg/s, posRepo size: 4
2021-08-13T18:54:18.026Z,1628880858.026 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 349.679993 m,
      bearing: 45.816977 deg,
      approachRate: -0.341060 m/s,
      LOS rate: 0.160584 deg/s,
      cmd update: 0.481752 deg/s,
      cmd heading: 60.025006 deg,
      new cmd heading: 60.217246 deg.

2021-08-13T18:54:20.042Z,1628880860.042 [NAL9602](INFO): Not Powering down - fast GPS
2021-08-13T18:54:20.532Z,1628880860.532 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:54:20.833Z,1628880860.833 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:54:20.833Z,1628880860.833 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:54:20.833Z,1628880860.833 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:54:20.834Z,1628880860.834 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:54:21.233Z,1628880861.233 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1AA,000,01935,186,80,80,5B,FF
2021-08-13T18:54:21.233Z,1628880861.233 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:54:21.234Z,1628880861.234 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:54:21.238Z,1628880861.238 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:54:21.657Z,1628880861.657 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:54:22.481Z,1628880862.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1CD,000,01914,186,80,80,7B,FF
2021-08-13T18:54:22.482Z,1628880862.482 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:54:22.501Z,1628880862.501 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185421.76*54

2021-08-13T18:54:22.879Z,1628880862.879 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 347.699982 m, bearing: 44.607371 deg, deltaT: 4.847614 s, approachRate: -0.408451 m/s, LOS rate: -0.249526 deg/s, posRepo size: 4
2021-08-13T18:54:22.882Z,1628880862.882 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 347.699982 m,
      bearing: 44.607371 deg,
      approachRate: -0.408451 m/s,
      LOS rate: -0.249526 deg/s,
      cmd update: -0.748578 deg/s,
      cmd heading: 62.358428 deg,
      new cmd heading: 62.510192 deg.

2021-08-13T18:54:25.347Z,1628880865.347 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:54:25.687Z,1628880865.687 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:54:25.687Z,1628880865.687 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:54:25.688Z,1628880865.688 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:54:25.689Z,1628880865.689 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:54:26.081Z,1628880866.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1CD,000,01914,186,80,80,7B,FF
2021-08-13T18:54:26.081Z,1628880866.081 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:54:26.082Z,1628880866.082 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:54:26.084Z,1628880866.084 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:54:26.492Z,1628880866.492 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:54:27.345Z,1628880867.345 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1D0,000,018F3,186,80,80,84,FF
2021-08-13T18:54:27.346Z,1628880867.346 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:54:27.375Z,1628880867.375 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185426.61*55

2021-08-13T18:54:27.740Z,1628880867.740 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 345.719971 m, bearing: 44.412776 deg, deltaT: 4.915751 s, approachRate: -0.402789 m/s, LOS rate: -0.039586 deg/s, posRepo size: 4
2021-08-13T18:54:27.742Z,1628880867.742 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 345.719971 m,
      bearing: 44.412776 deg,
      approachRate: -0.402789 m/s,
      LOS rate: -0.039586 deg/s,
      cmd update: -0.118758 deg/s,
      cmd heading: 58.678580 deg,
      new cmd heading: 58.480618 deg.

2021-08-13T18:54:30.153Z,1628880870.153 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:54:30.569Z,1628880870.569 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:54:30.569Z,1628880870.569 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:54:30.569Z,1628880870.569 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:54:30.570Z,1628880870.570 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:54:30.937Z,1628880870.937 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1D0,000,018F3,186,80,80,84,FF
2021-08-13T18:54:30.937Z,1628880870.937 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:54:30.937Z,1628880870.937 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:54:30.939Z,1628880870.939 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:54:31.420Z,1628880871.420 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:54:31.444Z,1628880871.444 [Micromodem](INFO): Nmea in: 330*71

2021-08-13T18:54:31.444Z,1628880871.444 [Micromodem](ERROR): Response from modem failed NMEA checksum: 330*71
 expected 0
2021-08-13T18:54:32.141Z,1628880872.141 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1A9,000,018CD,186,80,80,7D,FF
2021-08-13T18:54:32.141Z,1628880872.141 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:54:32.578Z,1628880872.578 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T18:54:32.596Z,1628880872.596 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 343.440002 m, bearing: 44.901448 deg, deltaT: 4.679325 s, approachRate: -0.487243 m/s, LOS rate: 0.104432 deg/s, posRepo size: 4
2021-08-13T18:54:32.598Z,1628880872.598 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 343.440002 m,
      bearing: 44.901448 deg,
      approachRate: -0.487243 m/s,
      LOS rate: 0.104432 deg/s,
      cmd update: 0.313297 deg/s,
      cmd heading: 58.122403 deg,
      new cmd heading: 58.070525 deg.

2021-08-13T18:54:34.991Z,1628880874.991 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:54:35.404Z,1628880875.404 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:54:35.405Z,1628880875.405 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:54:35.405Z,1628880875.405 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:54:35.406Z,1628880875.406 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:54:35.781Z,1628880875.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1A9,000,018CD,186,80,80,7D,FF
2021-08-13T18:54:35.781Z,1628880875.781 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:54:35.781Z,1628880875.781 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:54:35.783Z,1628880875.783 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:54:36.200Z,1628880876.200 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:54:37.021Z,1628880877.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,186,000,018A3,185,80,80,5F,FF
2021-08-13T18:54:37.021Z,1628880877.021 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:54:37.025Z,1628880877.025 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185436.30*50

2021-08-13T18:54:37.505Z,1628880877.505 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 340.919983 m, bearing: 45.789984 deg, deltaT: 4.882323 s, approachRate: -0.516152 m/s, LOS rate: 0.181990 deg/s, posRepo size: 4
2021-08-13T18:54:37.507Z,1628880877.507 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 340.919983 m,
      bearing: 45.789984 deg,
      approachRate: -0.516152 m/s,
      LOS rate: 0.181990 deg/s,
      cmd update: 0.545971 deg/s,
      cmd heading: 59.651959 deg,
      new cmd heading: 59.796101 deg.

2021-08-13T18:54:39.555Z,1628880879.555 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:54:39.826Z,1628880879.826 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:54:39.826Z,1628880879.826 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:54:39.827Z,1628880879.827 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:54:39.828Z,1628880879.828 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:54:40.233Z,1628880880.233 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
186,000,018A3,185,80,80,5F,FF
2021-08-13T18:54:40.233Z,1628880880.233 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:54:40.234Z,1628880880.234 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:54:40.235Z,1628880880.235 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:54:40.633Z,1628880880.633 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:54:41.473Z,1628880881.473 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1A1,000,0188C,186,80,80,68,FF
2021-08-13T18:54:41.473Z,1628880881.473 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:54:41.476Z,1628880881.476 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185440.75*50

2021-08-13T18:54:41.922Z,1628880881.922 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 339.539978 m, bearing: 45.347542 deg, deltaT: 4.521474 s, approachRate: -0.305211 m/s, LOS rate: -0.097854 deg/s, posRepo size: 4
2021-08-13T18:54:41.928Z,1628880881.928 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 339.539978 m,
      bearing: 45.347542 deg,
      approachRate: -0.305211 m/s,
      LOS rate: -0.097854 deg/s,
      cmd update: -0.293561 deg/s,
      cmd heading: 62.120651 deg,
      new cmd heading: 62.316870 deg.

2021-08-13T18:54:44.306Z,1628880884.306 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:54:44.681Z,1628880884.681 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:54:44.681Z,1628880884.681 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:54:44.682Z,1628880884.682 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:54:44.682Z,1628880884.682 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:54:45.082Z,1628880885.082 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1A1,000,0188C,186,80,80,68,FF
2021-08-13T18:54:45.082Z,1628880885.082 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:54:45.082Z,1628880885.082 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:54:45.085Z,1628880885.085 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:54:45.490Z,1628880885.490 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:54:46.320Z,1628880886.320 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1DE,000,01861,186,80,80,7F,FF
2021-08-13T18:54:46.321Z,1628880886.321 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:54:46.324Z,1628880886.324 [Micromodem](INFO): Nmea in: $SNTTA,0.041714,,,,185445.60*48

2021-08-13T18:54:46.750Z,1628880886.750 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 336.959991 m, bearing: 44.040923 deg, deltaT: 4.780972 s, approachRate: -0.539636 m/s, LOS rate: -0.273296 deg/s, posRepo size: 4
2021-08-13T18:54:46.752Z,1628880886.752 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 336.959991 m,
      bearing: 44.040923 deg,
      approachRate: -0.539636 m/s,
      LOS rate: -0.273296 deg/s,
      cmd update: -0.819887 deg/s,
      cmd heading: 60.717127 deg,
      new cmd heading: 60.597854 deg.

2021-08-13T18:54:49.177Z,1628880889.177 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:54:49.521Z,1628880889.521 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:54:49.521Z,1628880889.521 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:54:49.521Z,1628880889.521 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:54:49.522Z,1628880889.522 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:54:49.930Z,1628880889.930 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1DE,000,01861,186,80,80,7F,FF
2021-08-13T18:54:49.930Z,1628880889.930 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:54:49.930Z,1628880889.930 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:54:49.933Z,1628880889.933 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:54:50.328Z,1628880890.328 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:54:51.161Z,1628880891.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1D0,000,0183E,186,80,80,81,FF
2021-08-13T18:54:51.162Z,1628880891.162 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:54:51.164Z,1628880891.164 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185450.45*52

2021-08-13T18:54:51.631Z,1628880891.631 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 334.859985 m, bearing: 43.989782 deg, deltaT: 4.872231 s, approachRate: -0.431015 m/s, LOS rate: -0.010496 deg/s, posRepo size: 4
2021-08-13T18:54:51.633Z,1628880891.633 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 334.859985 m,
      bearing: 43.989782 deg,
      approachRate: -0.431015 m/s,
      LOS rate: -0.010496 deg/s,
      cmd update: -0.031489 deg/s,
      cmd heading: 56.725742 deg,
      new cmd heading: 56.382239 deg.

2021-08-13T18:54:53.984Z,1628880893.984 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:54:54.373Z,1628880894.373 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:54:54.373Z,1628880894.373 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:54:54.374Z,1628880894.374 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:54:54.375Z,1628880894.375 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:54:54.778Z,1628880894.778 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1D0,000,0183E,186,80,80,81,FF
2021-08-13T18:54:54.778Z,1628880894.778 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:54:54.779Z,1628880894.779 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:54:54.780Z,1628880894.780 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:54:55.209Z,1628880895.209 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:54:56.017Z,1628880896.017 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,185,000,0181B,186,80,80,65,FF
2021-08-13T18:54:56.018Z,1628880896.018 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:54:56.021Z,1628880896.021 [Micromodem](INFO): Nmea in: $SNTTA,,0.192658,,,185455.30*4A

2021-08-13T18:54:56.490Z,1628880896.490 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 332.759979 m, bearing: 45.095177 deg, deltaT: 4.861442 s, approachRate: -0.431972 m/s, LOS rate: 0.227380 deg/s, posRepo size: 4
2021-08-13T18:54:56.509Z,1628880896.509 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 332.759979 m,
      bearing: 45.095177 deg,
      approachRate: -0.431972 m/s,
      LOS rate: 0.227380 deg/s,
      cmd update: 0.682140 deg/s,
      cmd heading: 56.572930 deg,
      new cmd heading: 56.559556 deg.

2021-08-13T18:54:58.849Z,1628880898.849 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:54:59.245Z,1628880899.245 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:54:59.245Z,1628880899.245 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:54:59.245Z,1628880899.245 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:54:59.246Z,1628880899.246 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:54:59.653Z,1628880899.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
185,000,0181B,186,80,80,65,FF
2021-08-13T18:54:59.653Z,1628880899.653 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:54:59.653Z,1628880899.653 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:54:59.655Z,1628880899.655 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:55:00.048Z,1628880900.048 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:55:00.875Z,1628880900.875 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185500.18*5E

2021-08-13T18:55:01.365Z,1628880901.365 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:55:03.294Z,1628880903.294 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
B,186,80,80,65,FF
2021-08-13T18:55:03.295Z,1628880903.295 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
B,186,80,80,65,FF
2021-08-13T18:55:03.295Z,1628880903.295 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T18:55:04.114Z,1628880904.114 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:55:04.481Z,1628880904.481 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:55:04.481Z,1628880904.481 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:55:04.481Z,1628880904.481 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:55:04.482Z,1628880904.482 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:55:04.891Z,1628880904.891 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
B,186,80,80,65,FF
2021-08-13T18:55:04.891Z,1628880904.891 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:55:04.891Z,1628880904.891 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:55:04.894Z,1628880904.894 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:55:05.332Z,1628880905.332 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:55:06.117Z,1628880906.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1C7,000,017D3,186,80,80,75,FF
2021-08-13T18:55:06.117Z,1628880906.117 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:55:06.121Z,1628880906.121 [Micromodem](INFO): Nmea in: $SNTTA,0.136790,,,,185505.41*43

2021-08-13T18:55:06.554Z,1628880906.554 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 328.439972 m, bearing: 43.770188 deg, deltaT: 10.087373 s, approachRate: -0.428259 m/s, LOS rate: -0.131351 deg/s, posRepo size: 4
2021-08-13T18:55:06.572Z,1628880906.572 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 328.439972 m,
      bearing: 43.770188 deg,
      approachRate: -0.428259 m/s,
      LOS rate: -0.131351 deg/s,
      cmd update: -0.394054 deg/s,
      cmd heading: 63.443333 deg,
      new cmd heading: 63.728122 deg.

2021-08-13T18:55:08.958Z,1628880908.958 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:55:09.363Z,1628880909.363 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:55:09.363Z,1628880909.363 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:55:09.363Z,1628880909.363 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:55:09.364Z,1628880909.364 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:55:09.741Z,1628880909.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1C7,000,017D3,186,80,80,75,FF
2021-08-13T18:55:09.741Z,1628880909.741 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:55:09.741Z,1628880909.741 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:55:09.743Z,1628880909.743 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:55:10.151Z,1628880910.151 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:55:10.976Z,1628880910.976 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,23E,000,017B1,189,80,80,60,FF
2021-08-13T18:55:10.977Z,1628880910.977 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:55:10.980Z,1628880910.980 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185510.26*52

2021-08-13T18:55:11.478Z,1628880911.478 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 326.399994 m, bearing: 39.951593 deg, deltaT: 4.839001 s, approachRate: -0.421570 m/s, LOS rate: -0.789129 deg/s, posRepo size: 4
2021-08-13T18:55:11.480Z,1628880911.480 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 326.399994 m,
      bearing: 39.951593 deg,
      approachRate: -0.421570 m/s,
      LOS rate: -0.789129 deg/s,
      cmd update: -2.367386 deg/s,
      cmd heading: 61.525419 deg,
      new cmd heading: 61.338494 deg.

2021-08-13T18:55:13.811Z,1628880913.811 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:55:14.185Z,1628880914.185 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:55:14.185Z,1628880914.185 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:55:14.185Z,1628880914.185 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:55:14.186Z,1628880914.186 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:55:14.585Z,1628880914.585 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
23E,000,017B1,189,80,80,60,FF
2021-08-13T18:55:14.585Z,1628880914.585 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:55:14.585Z,1628880914.585 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:55:14.587Z,1628880914.587 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:55:14.996Z,1628880914.996 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:55:15.442Z,1628880915.442 [Micromodem](INFO): Nmea in: $SNTTA,0.286871,0.286883,,,185515.11*5E

2021-08-13T18:55:15.793Z,1628880915.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1DD,000,0178C,186,80,80,65,FF
2021-08-13T18:55:15.794Z,1628880915.794 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:55:16.239Z,1628880916.239 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 324.179993 m, bearing: 41.821272 deg, deltaT: 4.843993 s, approachRate: -0.458300 m/s, LOS rate: 0.385979 deg/s, posRepo size: 4
2021-08-13T18:55:16.242Z,1628880916.242 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 324.179993 m,
      bearing: 41.821272 deg,
      approachRate: -0.458300 m/s,
      LOS rate: 0.385979 deg/s,
      cmd update: 1.157937 deg/s,
      cmd heading: 50.067204 deg,
      new cmd heading: 49.130526 deg.

2021-08-13T18:55:18.657Z,1628880918.657 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:55:19.029Z,1628880919.029 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:55:19.029Z,1628880919.029 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:55:19.029Z,1628880919.029 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:55:19.030Z,1628880919.030 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:55:19.449Z,1628880919.449 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1DD,000,0178C,186,80,80,65,FF
2021-08-13T18:55:19.449Z,1628880919.449 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:55:19.449Z,1628880919.449 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:55:19.451Z,1628880919.451 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:55:19.841Z,1628880919.841 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:55:20.669Z,1628880920.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,117,000,01768,186,80,80,8F,FF
2021-08-13T18:55:20.669Z,1628880920.669 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:55:20.672Z,1628880920.672 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185519.97*51

2021-08-13T18:55:21.096Z,1628880921.096 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 322.019989 m, bearing: 44.579381 deg, deltaT: 4.850644 s, approachRate: -0.445302 m/s, LOS rate: 0.568607 deg/s, posRepo size: 4
2021-08-13T18:55:21.098Z,1628880921.098 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 322.019989 m,
      bearing: 44.579381 deg,
      approachRate: -0.445302 m/s,
      LOS rate: 0.568607 deg/s,
      cmd update: 1.705820 deg/s,
      cmd heading: 55.688569 deg,
      new cmd heading: 56.148673 deg.

2021-08-13T18:55:23.529Z,1628880923.529 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:55:23.882Z,1628880923.882 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:55:23.882Z,1628880923.882 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:55:23.882Z,1628880923.882 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:55:23.883Z,1628880923.883 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:55:24.287Z,1628880924.287 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
117,000,01768,186,80,80,8F,FF
2021-08-13T18:55:24.287Z,1628880924.287 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:55:24.287Z,1628880924.287 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:55:24.289Z,1628880924.289 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:55:24.696Z,1628880924.696 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:55:25.493Z,1628880925.493 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,16B,000,01746,185,80,80,99,FF
2021-08-13T18:55:25.493Z,1628880925.493 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:55:25.517Z,1628880925.517 [Micromodem](INFO): Nmea in: $SNTTA,0.438961,0.438936,,,185524.81*5A

2021-08-13T18:55:25.931Z,1628880925.931 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 319.979980 m, bearing: 44.741315 deg, deltaT: 4.911640 s, approachRate: -0.415342 m/s, LOS rate: 0.032969 deg/s, posRepo size: 4
2021-08-13T18:55:25.951Z,1628880925.951 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 319.979980 m,
      bearing: 44.741315 deg,
      approachRate: -0.415342 m/s,
      LOS rate: 0.032969 deg/s,
      cmd update: 0.098908 deg/s,
      cmd heading: 64.066215 deg,
      new cmd heading: 64.615420 deg.

2021-08-13T18:55:28.362Z,1628880928.362 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:55:28.737Z,1628880928.737 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:55:28.737Z,1628880928.737 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:55:28.737Z,1628880928.737 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:55:28.738Z,1628880928.738 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:55:29.129Z,1628880929.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
16B,000,01746,185,80,80,99,FF
2021-08-13T18:55:29.129Z,1628880929.129 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:55:29.129Z,1628880929.129 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:55:29.131Z,1628880929.131 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:55:29.545Z,1628880929.545 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:55:30.367Z,1628880930.367 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,231,000,01722,188,80,80,78,FF
2021-08-13T18:55:30.369Z,1628880930.369 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:55:30.404Z,1628880930.404 [Micromodem](INFO): Nmea in: $SNTTA,0.018473,,,,185529.65*48

2021-08-13T18:55:30.787Z,1628880930.787 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 317.820007 m, bearing: 41.626100 deg, deltaT: 4.855098 s, approachRate: -0.444888 m/s, LOS rate: -0.641638 deg/s, posRepo size: 4
2021-08-13T18:55:30.790Z,1628880930.790 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 317.820007 m,
      bearing: 41.626100 deg,
      approachRate: -0.444888 m/s,
      LOS rate: -0.641638 deg/s,
      cmd update: -1.924914 deg/s,
      cmd heading: 64.545246 deg,
      new cmd heading: 64.578351 deg.

2021-08-13T18:55:33.201Z,1628880933.201 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:55:33.573Z,1628880933.573 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:55:33.573Z,1628880933.573 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:55:33.573Z,1628880933.573 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:55:33.574Z,1628880933.574 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:55:33.984Z,1628880933.984 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
231,000,01722,188,80,80,78,FF
2021-08-13T18:55:33.984Z,1628880933.984 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:55:33.984Z,1628880933.984 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:55:33.989Z,1628880933.989 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:55:34.416Z,1628880934.416 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:55:35.209Z,1628880935.209 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,23E,000,01701,189,80,80,88,FF
2021-08-13T18:55:35.209Z,1628880935.209 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:55:35.212Z,1628880935.212 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185534.51*54

2021-08-13T18:55:35.670Z,1628880935.670 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 315.839996 m, bearing: 40.278459 deg, deltaT: 4.829093 s, approachRate: -0.410017 m/s, LOS rate: -0.279067 deg/s, posRepo size: 4
2021-08-13T18:55:35.691Z,1628880935.691 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 315.839996 m,
      bearing: 40.278459 deg,
      approachRate: -0.410017 m/s,
      LOS rate: -0.279067 deg/s,
      cmd update: -0.837201 deg/s,
      cmd heading: 55.352079 deg,
      new cmd heading: 54.501598 deg.

2021-08-13T18:55:38.042Z,1628880938.042 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:55:38.481Z,1628880938.481 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:55:38.481Z,1628880938.481 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:55:38.482Z,1628880938.482 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:55:38.483Z,1628880938.483 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:55:38.845Z,1628880938.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
23E,000,01701,189,80,80,88,FF
2021-08-13T18:55:38.845Z,1628880938.845 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:55:38.845Z,1628880938.845 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:55:38.847Z,1628880938.847 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:55:39.240Z,1628880939.240 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:55:39.643Z,1628880939.643 [Micromodem](INFO): Nmea in: $SNTTA,0.159833,0.159833,,,185539.37*59

2021-08-13T18:55:40.041Z,1628880940.041 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,17E,000,016DE,185,80,80,88,FF
2021-08-13T18:55:40.041Z,1628880940.041 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:55:40.506Z,1628880940.506 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 313.739990 m, bearing: 43.392697 deg, deltaT: 4.765465 s, approachRate: -0.440672 m/s, LOS rate: 0.653501 deg/s, posRepo size: 4
2021-08-13T18:55:40.508Z,1628880940.508 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 313.739990 m,
      bearing: 43.392697 deg,
      approachRate: -0.440672 m/s,
      LOS rate: 0.653501 deg/s,
      cmd update: 1.960504 deg/s,
      cmd heading: 51.307681 deg,
      new cmd heading: 50.933877 deg.

2021-08-13T18:55:42.923Z,1628880942.923 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:55:43.284Z,1628880943.284 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:55:43.285Z,1628880943.285 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:55:43.285Z,1628880943.285 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:55:43.287Z,1628880943.287 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:55:43.681Z,1628880943.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
17E,000,016DE,185,80,80,88,FF
2021-08-13T18:55:43.681Z,1628880943.681 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:55:43.681Z,1628880943.681 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:55:43.683Z,1628880943.683 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:55:44.084Z,1628880944.084 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:55:44.501Z,1628880944.501 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T18:55:44.917Z,1628880944.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,142,000,016BA,186,80,80,8A,FF
2021-08-13T18:55:44.917Z,1628880944.917 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:55:44.920Z,1628880944.920 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185544.20*55

2021-08-13T18:55:45.439Z,1628880945.439 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 311.579987 m, bearing: 43.704345 deg, deltaT: 4.876540 s, approachRate: -0.442938 m/s, LOS rate: 0.063908 deg/s, posRepo size: 4
2021-08-13T18:55:45.441Z,1628880945.441 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 311.579987 m,
      bearing: 43.704345 deg,
      approachRate: -0.442938 m/s,
      LOS rate: 0.063908 deg/s,
      cmd update: 0.191723 deg/s,
      cmd heading: 60.868450 deg,
      new cmd heading: 61.854072 deg.

2021-08-13T18:55:47.468Z,1628880947.468 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:55:47.718Z,1628880947.718 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:55:47.718Z,1628880947.718 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:55:47.718Z,1628880947.718 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:55:47.719Z,1628880947.719 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:55:48.113Z,1628880948.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
142,000,016BA,186,80,80,8A,FF
2021-08-13T18:55:48.113Z,1628880948.113 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:55:48.113Z,1628880948.113 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:55:48.115Z,1628880948.115 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:55:48.527Z,1628880948.527 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:55:49.362Z,1628880949.362 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1E2,000,0169A,186,80,80,87,FF
2021-08-13T18:55:49.362Z,1628880949.362 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:55:49.369Z,1628880949.369 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185548.63*5E

2021-08-13T18:55:49.771Z,1628880949.771 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 309.659973 m, bearing: 42.181466 deg, deltaT: 4.565119 s, approachRate: -0.420583 m/s, LOS rate: -0.333590 deg/s, posRepo size: 4
2021-08-13T18:55:49.774Z,1628880949.774 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 309.659973 m,
      bearing: 42.181466 deg,
      approachRate: -0.420583 m/s,
      LOS rate: -0.333590 deg/s,
      cmd update: -1.000771 deg/s,
      cmd heading: 61.742084 deg,
      new cmd heading: 61.795491 deg.

2021-08-13T18:55:52.196Z,1628880952.196 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:55:52.553Z,1628880952.553 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:55:52.553Z,1628880952.553 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:55:52.553Z,1628880952.553 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:55:52.554Z,1628880952.554 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:55:52.961Z,1628880952.961 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1E2,000,0169A,186,80,80,87,FF
2021-08-13T18:55:52.961Z,1628880952.961 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:55:52.962Z,1628880952.962 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:55:52.963Z,1628880952.963 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:55:53.413Z,1628880953.413 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:55:54.177Z,1628880954.177 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,22C,000,01677,189,80,80,7D,FF
2021-08-13T18:55:54.178Z,1628880954.178 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:55:54.627Z,1628880954.627 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 307.559998 m, bearing: 39.513228 deg, deltaT: 4.706089 s, approachRate: -0.446225 m/s, LOS rate: -0.566976 deg/s, posRepo size: 4
2021-08-13T18:55:54.646Z,1628880954.646 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 307.559998 m,
      bearing: 39.513228 deg,
      approachRate: -0.446225 m/s,
      LOS rate: -0.566976 deg/s,
      cmd update: -1.700927 deg/s,
      cmd heading: 57.027084 deg,
      new cmd heading: 56.603479 deg.

2021-08-13T18:55:57.043Z,1628880957.043 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:55:57.421Z,1628880957.421 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:55:57.421Z,1628880957.421 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:55:57.421Z,1628880957.421 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:55:57.422Z,1628880957.422 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:55:57.814Z,1628880957.814 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
22C,000,01677,189,80,80,7D,FF
2021-08-13T18:55:57.814Z,1628880957.814 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:55:57.814Z,1628880957.814 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:55:57.816Z,1628880957.816 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:55:58.213Z,1628880958.213 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:55:59.026Z,1628880959.026 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,196,000,01655,185,80,80,79,FF
2021-08-13T18:55:59.026Z,1628880959.026 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:55:59.516Z,1628880959.516 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 305.519989 m, bearing: 42.196188 deg, deltaT: 4.835576 s, approachRate: -0.421875 m/s, LOS rate: 0.554838 deg/s, posRepo size: 4
2021-08-13T18:55:59.518Z,1628880959.518 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 305.519989 m,
      bearing: 42.196188 deg,
      approachRate: -0.421875 m/s,
      LOS rate: 0.554838 deg/s,
      cmd update: 1.664513 deg/s,
      cmd heading: 48.796900 deg,
      new cmd heading: 47.992882 deg.

2021-08-13T18:56:01.550Z,1628880961.550 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:56:01.849Z,1628880961.849 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:56:01.849Z,1628880961.849 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:56:01.849Z,1628880961.849 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:56:01.850Z,1628880961.850 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:56:02.262Z,1628880962.262 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
196,000,01655,185,80,80,79,FF
2021-08-13T18:56:02.263Z,1628880962.263 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:56:02.263Z,1628880962.263 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:56:02.265Z,1628880962.265 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:56:02.672Z,1628880962.672 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:56:03.463Z,1628880963.463 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,117,000,01634,186,80,80,7A,FF
2021-08-13T18:56:03.463Z,1628880963.463 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:56:03.466Z,1628880963.466 [Micromodem](INFO): Nmea in: $SNTTA,0.449197,0.448835,,,185602.79*58

2021-08-13T18:56:03.927Z,1628880963.927 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 303.539978 m, bearing: 43.447831 deg, deltaT: 4.518186 s, approachRate: -0.438231 m/s, LOS rate: 0.277023 deg/s, posRepo size: 4
2021-08-13T18:56:03.935Z,1628880963.935 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 303.539978 m,
      bearing: 43.447831 deg,
      approachRate: -0.438231 m/s,
      LOS rate: 0.277023 deg/s,
      cmd update: 0.831070 deg/s,
      cmd heading: 56.301923 deg,
      new cmd heading: 56.926550 deg.

2021-08-13T18:56:06.318Z,1628880966.318 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:56:06.701Z,1628880966.701 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:56:06.702Z,1628880966.702 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:56:06.702Z,1628880966.702 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:56:06.703Z,1628880966.703 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:56:07.101Z,1628880967.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
117,000,01634,186,80,80,7A,FF
2021-08-13T18:56:07.101Z,1628880967.101 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:56:07.101Z,1628880967.101 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:56:07.103Z,1628880967.103 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:56:07.517Z,1628880967.517 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:56:08.337Z,1628880968.337 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,188,000,0160C,186,80,80,82,FF
2021-08-13T18:56:08.337Z,1628880968.337 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:56:08.361Z,1628880968.361 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185607.62*57

2021-08-13T18:56:08.778Z,1628880968.778 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 301.139984 m, bearing: 42.638542 deg, deltaT: 4.866380 s, approachRate: -0.493178 m/s, LOS rate: -0.166302 deg/s, posRepo size: 4
2021-08-13T18:56:08.785Z,1628880968.785 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 301.139984 m,
      bearing: 42.638542 deg,
      approachRate: -0.493178 m/s,
      LOS rate: -0.166302 deg/s,
      cmd update: -0.498906 deg/s,
      cmd heading: 60.347248 deg,
      new cmd heading: 60.645705 deg.

2021-08-13T18:56:11.173Z,1628880971.173 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:56:11.547Z,1628880971.547 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:56:11.547Z,1628880971.547 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:56:11.547Z,1628880971.547 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:56:11.548Z,1628880971.548 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:56:11.957Z,1628880971.957 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
188,000,0160C,186,80,80,82,FF
2021-08-13T18:56:11.957Z,1628880971.957 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:56:11.957Z,1628880971.957 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:56:11.959Z,1628880971.959 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:56:12.384Z,1628880972.384 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:56:13.197Z,1628880973.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1FC,000,015DE,187,80,80,5D,FF
2021-08-13T18:56:13.197Z,1628880973.197 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:56:13.200Z,1628880973.200 [Micromodem](INFO): Nmea in: $SNTTA,0.201086,,,,185612.48*48

2021-08-13T18:56:13.650Z,1628880973.650 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 298.380005 m, bearing: 40.526818 deg, deltaT: 4.788448 s, approachRate: -0.576383 m/s, LOS rate: -0.441004 deg/s, posRepo size: 4
2021-08-13T18:56:13.656Z,1628880973.656 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 298.380005 m,
      bearing: 40.526818 deg,
      approachRate: -0.576383 m/s,
      LOS rate: -0.441004 deg/s,
      cmd update: -1.323011 deg/s,
      cmd heading: 57.954212 deg,
      new cmd heading: 57.737696 deg.

2021-08-13T18:56:16.019Z,1628880976.019 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:56:16.413Z,1628880976.413 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:56:16.413Z,1628880976.413 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:56:16.413Z,1628880976.413 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:56:16.414Z,1628880976.414 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:56:16.797Z,1628880976.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1FC,000,015DE,187,80,80,5D,FF
2021-08-13T18:56:16.797Z,1628880976.797 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:56:16.797Z,1628880976.797 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:56:16.799Z,1628880976.799 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:56:17.209Z,1628880977.209 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:56:18.041Z,1628880978.041 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1AA,000,015C8,185,80,80,6F,FF
2021-08-13T18:56:18.041Z,1628880978.041 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:56:18.044Z,1628880978.044 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185617.32*53

2021-08-13T18:56:18.494Z,1628880978.494 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 297.059998 m, bearing: 41.905376 deg, deltaT: 4.875808 s, approachRate: -0.270726 m/s, LOS rate: 0.282734 deg/s, posRepo size: 4
2021-08-13T18:56:18.497Z,1628880978.497 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 297.059998 m,
      bearing: 41.905376 deg,
      approachRate: -0.270726 m/s,
      LOS rate: 0.282734 deg/s,
      cmd update: 0.848203 deg/s,
      cmd heading: 51.545716 deg,
      new cmd heading: 50.970767 deg.

2021-08-13T18:56:20.874Z,1628880980.874 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:56:21.249Z,1628880981.249 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:56:21.249Z,1628880981.249 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:56:21.249Z,1628880981.249 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:56:21.250Z,1628880981.250 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:56:21.657Z,1628880981.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1AA,000,015C8,185,80,80,6F,FF
2021-08-13T18:56:21.658Z,1628880981.658 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:56:21.658Z,1628880981.658 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:56:21.659Z,1628880981.659 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:56:22.076Z,1628880982.076 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:56:22.890Z,1628880982.890 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,15F,000,01598,186,80,80,56,FF
2021-08-13T18:56:22.890Z,1628880982.890 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:56:22.895Z,1628880982.895 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185622.18*5D

2021-08-13T18:56:23.357Z,1628880983.357 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 294.179993 m, bearing: 42.574143 deg, deltaT: 4.860512 s, approachRate: -0.592531 m/s, LOS rate: 0.137592 deg/s, posRepo size: 4
2021-08-13T18:56:23.359Z,1628880983.359 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 294.179993 m,
      bearing: 42.574143 deg,
      approachRate: -0.592531 m/s,
      LOS rate: 0.137592 deg/s,
      cmd update: 0.412776 deg/s,
      cmd heading: 55.692082 deg,
      new cmd heading: 56.038938 deg.

2021-08-13T18:56:25.721Z,1628880985.721 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:56:26.104Z,1628880986.104 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:56:26.105Z,1628880986.105 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:56:26.105Z,1628880986.105 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:56:26.106Z,1628880986.106 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:56:26.497Z,1628880986.497 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
15F,000,01598,186,80,80,56,FF
2021-08-13T18:56:26.497Z,1628880986.497 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:56:26.498Z,1628880986.498 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:56:26.499Z,1628880986.499 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:56:26.911Z,1628880986.911 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:56:27.733Z,1628880987.733 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1B1,000,01574,185,80,80,53,FF
2021-08-13T18:56:27.733Z,1628880987.733 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:56:27.736Z,1628880987.736 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185627.02*53

2021-08-13T18:56:28.148Z,1628880988.148 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 292.019989 m, bearing: 40.762924 deg, deltaT: 4.827769 s, approachRate: -0.447412 m/s, LOS rate: -0.375167 deg/s, posRepo size: 4
2021-08-13T18:56:28.150Z,1628880988.150 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 292.019989 m,
      bearing: 40.762924 deg,
      approachRate: -0.447412 m/s,
      LOS rate: -0.375167 deg/s,
      cmd update: -1.125501 deg/s,
      cmd heading: 57.684788 deg,
      new cmd heading: 57.838277 deg.

2021-08-13T18:56:30.612Z,1628880990.612 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:56:30.957Z,1628880990.957 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:56:30.957Z,1628880990.957 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:56:30.957Z,1628880990.957 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:56:30.958Z,1628880990.958 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:56:31.361Z,1628880991.361 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1B1,000,01574,185,80,80,53,FF
2021-08-13T18:56:31.361Z,1628880991.361 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:56:31.361Z,1628880991.361 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:56:31.363Z,1628880991.363 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:56:31.756Z,1628880991.756 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:56:32.589Z,1628880992.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1B1,000,0154E,186,80,80,5E,FF
2021-08-13T18:56:32.589Z,1628880992.589 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:56:32.592Z,1628880992.592 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185631.89*57

2021-08-13T18:56:33.008Z,1628880993.008 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 289.739990 m, bearing: 40.614842 deg, deltaT: 4.875343 s, approachRate: -0.467659 m/s, LOS rate: -0.030374 deg/s, posRepo size: 4
2021-08-13T18:56:33.010Z,1628880993.010 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 289.739990 m,
      bearing: 40.614842 deg,
      approachRate: -0.467659 m/s,
      LOS rate: -0.030374 deg/s,
      cmd update: -0.091121 deg/s,
      cmd heading: 52.193034 deg,
      new cmd heading: 51.796143 deg.

2021-08-13T18:56:35.462Z,1628880995.462 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:56:35.797Z,1628880995.797 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:56:35.797Z,1628880995.797 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:56:35.798Z,1628880995.798 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:56:35.799Z,1628880995.799 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:56:36.209Z,1628880996.209 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1B1,000,0154E,186,80,80,5E,FF
2021-08-13T18:56:36.209Z,1628880996.209 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:56:36.209Z,1628880996.209 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:56:36.211Z,1628880996.211 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:56:36.605Z,1628880996.605 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:56:37.445Z,1628880997.445 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,157,000,0152A,186,80,80,61,FF
2021-08-13T18:56:37.445Z,1628880997.445 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:56:37.448Z,1628880997.448 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185636.73*55

2021-08-13T18:56:37.858Z,1628880997.858 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 287.579987 m, bearing: 41.888632 deg, deltaT: 4.888711 s, approachRate: -0.441835 m/s, LOS rate: 0.260557 deg/s, posRepo size: 4
2021-08-13T18:56:37.860Z,1628880997.860 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 287.579987 m,
      bearing: 41.888632 deg,
      approachRate: -0.441835 m/s,
      LOS rate: 0.260557 deg/s,
      cmd update: 0.781672 deg/s,
      cmd heading: 51.747929 deg,
      new cmd heading: 51.718961 deg.

2021-08-13T18:56:40.274Z,1628881000.274 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:56:40.685Z,1628881000.685 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:56:40.685Z,1628881000.685 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:56:40.685Z,1628881000.685 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:56:40.686Z,1628881000.686 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:56:41.045Z,1628881001.045 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
157,000,0152A,186,80,80,61,FF
2021-08-13T18:56:41.045Z,1628881001.045 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:56:41.045Z,1628881001.045 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:56:41.047Z,1628881001.047 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:56:41.461Z,1628881001.461 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:56:42.290Z,1628881002.290 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,156,000,01505,185,80,80,5D,FF
2021-08-13T18:56:42.290Z,1628881002.290 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:56:42.293Z,1628881002.293 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185641.57*53

2021-08-13T18:56:42.700Z,1628881002.700 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 285.359985 m, bearing: 41.177015 deg, deltaT: 4.806938 s, approachRate: -0.461833 m/s, LOS rate: -0.148040 deg/s, posRepo size: 4
2021-08-13T18:56:42.702Z,1628881002.702 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 285.359985 m,
      bearing: 41.177015 deg,
      approachRate: -0.461833 m/s,
      LOS rate: -0.148040 deg/s,
      cmd update: -0.444119 deg/s,
      cmd heading: 55.500778 deg,
      new cmd heading: 55.781263 deg.

2021-08-13T18:56:45.127Z,1628881005.127 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:56:45.537Z,1628881005.537 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:56:45.537Z,1628881005.537 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:56:45.537Z,1628881005.537 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:56:45.538Z,1628881005.538 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:56:45.938Z,1628881005.938 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
156,000,01505,185,80,80,5D,FF
2021-08-13T18:56:45.938Z,1628881005.938 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:56:45.939Z,1628881005.939 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:56:45.940Z,1628881005.940 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:56:46.345Z,1628881006.345 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:56:47.123Z,1628881007.123 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,17A,000,014E0,186,80,80,7B,FF
2021-08-13T18:56:47.128Z,1628881007.128 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:56:47.141Z,1628881007.141 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185646.46*54

2021-08-13T18:56:47.574Z,1628881007.574 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 283.139984 m, bearing: 40.881476 deg, deltaT: 4.822328 s, approachRate: -0.460359 m/s, LOS rate: -0.061286 deg/s, posRepo size: 4
2021-08-13T18:56:47.592Z,1628881007.592 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 283.139984 m,
      bearing: 40.881476 deg,
      approachRate: -0.460359 m/s,
      LOS rate: -0.061286 deg/s,
      cmd update: -0.183857 deg/s,
      cmd heading: 53.360150 deg,
      new cmd heading: 53.176677 deg.

2021-08-13T18:56:49.973Z,1628881009.973 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:56:50.355Z,1628881010.355 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:56:50.355Z,1628881010.355 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:56:50.356Z,1628881010.356 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:56:50.357Z,1628881010.357 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:56:50.738Z,1628881010.738 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
17A,000,014E0,186,80,80,7B,FF
2021-08-13T18:56:50.739Z,1628881010.739 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:56:50.739Z,1628881010.739 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:56:50.741Z,1628881010.741 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:56:51.181Z,1628881011.181 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:56:51.972Z,1628881011.972 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,166,000,014BB,186,80,80,49,FF
2021-08-13T18:56:51.973Z,1628881011.973 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:56:51.977Z,1628881011.977 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185651.26*54

2021-08-13T18:56:52.425Z,1628881012.425 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 280.920013 m, bearing: 40.940372 deg, deltaT: 4.820085 s, approachRate: -0.460567 m/s, LOS rate: 0.012219 deg/s, posRepo size: 4
2021-08-13T18:56:52.427Z,1628881012.427 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 280.920013 m,
      bearing: 40.940372 deg,
      approachRate: -0.460567 m/s,
      LOS rate: 0.012219 deg/s,
      cmd update: 0.036657 deg/s,
      cmd heading: 52.471717 deg,
      new cmd heading: 52.393055 deg.

2021-08-13T18:56:54.803Z,1628881014.803 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:56:55.201Z,1628881015.201 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:56:55.201Z,1628881015.201 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:56:55.201Z,1628881015.201 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:56:55.202Z,1628881015.202 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:56:55.589Z,1628881015.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
166,000,014BB,186,80,80,49,FF
2021-08-13T18:56:55.589Z,1628881015.589 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:56:55.589Z,1628881015.589 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:56:55.591Z,1628881015.591 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:56:56.007Z,1628881016.007 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:56:56.837Z,1628881016.837 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,160,000,01498,185,80,80,76,FF
2021-08-13T18:56:56.837Z,1628881016.837 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:56:56.843Z,1628881016.843 [Micromodem](INFO): Nmea in: $SNTTA,0.185787,,,,185656.11*4D

2021-08-13T18:56:57.282Z,1628881017.282 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 278.819977 m, bearing: 40.637969 deg, deltaT: 4.910548 s, approachRate: -0.427658 m/s, LOS rate: -0.061582 deg/s, posRepo size: 4
2021-08-13T18:56:57.299Z,1628881017.299 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 278.819977 m,
      bearing: 40.637969 deg,
      approachRate: -0.427658 m/s,
      LOS rate: -0.061582 deg/s,
      cmd update: -0.184747 deg/s,
      cmd heading: 52.651333 deg,
      new cmd heading: 52.664852 deg.

2021-08-13T18:56:59.474Z,1628881019.474 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:56:59.754Z,1628881019.754 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:56:59.754Z,1628881019.754 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:56:59.754Z,1628881019.754 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:56:59.755Z,1628881019.755 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:57:00.149Z,1628881020.149 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
160,000,01498,185,80,80,76,FF
2021-08-13T18:57:00.149Z,1628881020.149 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:57:00.149Z,1628881020.149 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:57:00.151Z,1628881020.151 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:57:00.541Z,1628881020.541 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:57:01.397Z,1628881021.397 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,159,000,01474,186,80,80,49,FF
2021-08-13T18:57:01.398Z,1628881021.398 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:57:01.413Z,1628881021.413 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185700.67*54

2021-08-13T18:57:01.769Z,1628881021.769 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 276.659973 m, bearing: 41.280861 deg, deltaT: 4.576058 s, approachRate: -0.472023 m/s, LOS rate: 0.140490 deg/s, posRepo size: 4
2021-08-13T18:57:01.771Z,1628881021.771 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 276.659973 m,
      bearing: 41.280861 deg,
      approachRate: -0.472023 m/s,
      LOS rate: 0.140490 deg/s,
      cmd update: 0.421471 deg/s,
      cmd heading: 51.804294 deg,
      new cmd heading: 51.750530 deg.

2021-08-13T18:57:04.198Z,1628881024.198 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:57:04.557Z,1628881024.557 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:57:04.557Z,1628881024.557 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:57:04.557Z,1628881024.557 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:57:04.558Z,1628881024.558 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:57:04.974Z,1628881024.974 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
159,000,01474,186,80,80,49,FF
2021-08-13T18:57:04.974Z,1628881024.974 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:57:04.975Z,1628881024.975 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:57:04.976Z,1628881024.976 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:57:05.394Z,1628881025.394 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:57:06.199Z,1628881026.199 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,14C,000,0144F,185,80,80,5A,FF
2021-08-13T18:57:06.199Z,1628881026.199 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:57:06.202Z,1628881026.202 [Micromodem](INFO): Nmea in: $SNTTA,0.185255,,,,185705.50*45

2021-08-13T18:57:06.650Z,1628881026.650 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 274.439972 m, bearing: 41.196071 deg, deltaT: 4.761647 s, approachRate: -0.466226 m/s, LOS rate: -0.017807 deg/s, posRepo size: 4
2021-08-13T18:57:06.656Z,1628881026.656 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 274.439972 m,
      bearing: 41.196071 deg,
      approachRate: -0.466226 m/s,
      LOS rate: -0.017807 deg/s,
      cmd update: -0.053421 deg/s,
      cmd heading: 53.810365 deg,
      new cmd heading: 53.984185 deg.

2021-08-13T18:57:09.031Z,1628881029.031 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:57:09.429Z,1628881029.429 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:57:09.429Z,1628881029.429 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:57:09.429Z,1628881029.429 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:57:09.430Z,1628881029.430 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:57:09.826Z,1628881029.826 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
14C,000,0144F,185,80,80,5A,FF
2021-08-13T18:57:09.826Z,1628881029.826 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:57:09.826Z,1628881029.826 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:57:09.829Z,1628881029.829 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:57:10.225Z,1628881030.225 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:57:11.037Z,1628881031.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,166,000,01427,186,80,80,7A,FF
2021-08-13T18:57:11.037Z,1628881031.037 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:57:11.040Z,1628881031.040 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185710.35*52

2021-08-13T18:57:11.537Z,1628881031.537 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 272.039978 m, bearing: 40.787707 deg, deltaT: 4.845964 s, approachRate: -0.495256 m/s, LOS rate: -0.084269 deg/s, posRepo size: 4
2021-08-13T18:57:11.539Z,1628881031.539 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 272.039978 m,
      bearing: 40.787707 deg,
      approachRate: -0.495256 m/s,
      LOS rate: -0.084269 deg/s,
      cmd update: -0.252806 deg/s,
      cmd heading: 53.552523 deg,
      new cmd heading: 53.527278 deg.

2021-08-13T18:57:13.912Z,1628881033.912 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:57:14.253Z,1628881034.253 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:57:14.253Z,1628881034.253 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:57:14.253Z,1628881034.253 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:57:14.254Z,1628881034.254 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:57:14.671Z,1628881034.671 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
166,000,01427,186,80,80,7A,FF
2021-08-13T18:57:14.671Z,1628881034.671 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:57:14.671Z,1628881034.671 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:57:14.674Z,1628881034.674 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:57:15.067Z,1628881035.067 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:57:15.902Z,1628881035.902 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,173,000,01402,185,80,80,51,FF
2021-08-13T18:57:15.902Z,1628881035.902 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:57:15.907Z,1628881035.907 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185715.19*59

2021-08-13T18:57:16.331Z,1628881036.331 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 269.819977 m, bearing: 40.084331 deg, deltaT: 4.872249 s, approachRate: -0.455642 m/s, LOS rate: -0.144364 deg/s, posRepo size: 4
2021-08-13T18:57:16.355Z,1628881036.355 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 269.819977 m,
      bearing: 40.084331 deg,
      approachRate: -0.455642 m/s,
      LOS rate: -0.144364 deg/s,
      cmd update: -0.433091 deg/s,
      cmd heading: 52.315890 deg,
      new cmd heading: 52.221211 deg.

2021-08-13T18:57:18.771Z,1628881038.771 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:57:19.113Z,1628881039.113 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:57:19.113Z,1628881039.113 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:57:19.113Z,1628881039.113 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:57:19.114Z,1628881039.114 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:57:19.513Z,1628881039.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
173,000,01402,185,80,80,51,FF
2021-08-13T18:57:19.513Z,1628881039.513 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:57:19.513Z,1628881039.513 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:57:19.515Z,1628881039.515 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:57:19.921Z,1628881039.921 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:57:20.753Z,1628881040.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,14C,000,013DC,186,80,80,92,FF
2021-08-13T18:57:20.753Z,1628881040.753 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:57:20.756Z,1628881040.756 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185720.04*53

2021-08-13T18:57:21.171Z,1628881041.171 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 267.540009 m, bearing: 41.510680 deg, deltaT: 4.858352 s, approachRate: -0.469288 m/s, LOS rate: 0.293587 deg/s, posRepo size: 4
2021-08-13T18:57:21.175Z,1628881041.175 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 267.540009 m,
      bearing: 41.510680 deg,
      approachRate: -0.469288 m/s,
      LOS rate: 0.293587 deg/s,
      cmd update: 0.880761 deg/s,
      cmd heading: 50.211788 deg,
      new cmd heading: 50.057420 deg.

2021-08-13T18:57:23.639Z,1628881043.639 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:57:23.953Z,1628881043.953 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:57:23.953Z,1628881043.953 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:57:23.953Z,1628881043.953 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:57:23.954Z,1628881043.954 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:57:24.355Z,1628881044.355 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
14C,000,013DC,186,80,80,92,FF
2021-08-13T18:57:24.355Z,1628881044.355 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:57:24.355Z,1628881044.355 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:57:24.357Z,1628881044.357 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:57:24.766Z,1628881044.766 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:57:25.662Z,1628881045.662 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,131,000,013B4,186,80,80,76,FF
2021-08-13T18:57:25.663Z,1628881045.663 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:57:25.666Z,1628881045.666 [Micromodem](INFO): Nmea in: $SNTTA,0.176659,,,,185724.88*47

2021-08-13T18:57:26.136Z,1628881046.136 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 265.139984 m, bearing: 41.616578 deg, deltaT: 4.938021 s, approachRate: -0.486030 m/s, LOS rate: 0.021446 deg/s, posRepo size: 4
2021-08-13T18:57:26.138Z,1628881046.138 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 265.139984 m,
      bearing: 41.616578 deg,
      approachRate: -0.486030 m/s,
      LOS rate: 0.021446 deg/s,
      cmd update: 0.064337 deg/s,
      cmd heading: 54.560975 deg,
      new cmd heading: 54.881075 deg.

2021-08-13T18:57:28.445Z,1628881048.445 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:57:28.801Z,1628881048.801 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:57:28.801Z,1628881048.801 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:57:28.801Z,1628881048.801 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:57:28.802Z,1628881048.802 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:57:29.209Z,1628881049.209 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
131,000,013B4,186,80,80,76,FF
2021-08-13T18:57:29.209Z,1628881049.209 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:57:29.209Z,1628881049.209 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:57:29.211Z,1628881049.211 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:57:29.612Z,1628881049.612 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:57:30.461Z,1628881050.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,16F,000,01390,185,80,80,6C,FF
2021-08-13T18:57:30.461Z,1628881050.461 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:57:30.464Z,1628881050.464 [Micromodem](INFO): Nmea in: $SNTTA,0.177547,,,,185729.73*43

2021-08-13T18:57:30.859Z,1628881050.859 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 262.980011 m, bearing: 40.277188 deg, deltaT: 4.734815 s, approachRate: -0.456190 m/s, LOS rate: -0.282881 deg/s, posRepo size: 4
2021-08-13T18:57:30.862Z,1628881050.862 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 262.980011 m,
      bearing: 40.277188 deg,
      approachRate: -0.456190 m/s,
      LOS rate: -0.282881 deg/s,
      cmd update: -0.848643 deg/s,
      cmd heading: 54.865819 deg,
      new cmd heading: 54.889561 deg.

2021-08-13T18:57:33.323Z,1628881053.323 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:57:33.649Z,1628881053.649 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:57:33.649Z,1628881053.649 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:57:33.649Z,1628881053.649 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:57:33.650Z,1628881053.650 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:57:34.053Z,1628881054.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
16F,000,01390,185,80,80,6C,FF
2021-08-13T18:57:34.053Z,1628881054.053 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:57:34.054Z,1628881054.054 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:57:34.055Z,1628881054.055 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:57:34.460Z,1628881054.460 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:57:35.321Z,1628881055.321 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185734.58*5F

2021-08-13T18:57:36.086Z,1628881056.086 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:57:37.685Z,1628881057.685 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
0,185,80,80,6C,FF
2021-08-13T18:57:37.685Z,1628881057.685 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
0,185,80,80,6C,FF
2021-08-13T18:57:37.685Z,1628881057.685 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T18:57:38.937Z,1628881058.937 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:57:39.529Z,1628881059.529 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:57:39.530Z,1628881059.530 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:57:39.530Z,1628881059.530 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:57:39.531Z,1628881059.531 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:57:39.834Z,1628881059.834 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
0,185,80,80,6C,FF
2021-08-13T18:57:39.834Z,1628881059.834 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:57:39.834Z,1628881059.834 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:57:39.841Z,1628881059.841 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:57:40.228Z,1628881060.228 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:57:41.019Z,1628881061.019 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,119,000,0133D,186,80,80,68,FF
2021-08-13T18:57:41.020Z,1628881061.020 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:57:41.027Z,1628881061.027 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185740.36*54

2021-08-13T18:57:41.548Z,1628881061.548 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 258.000000 m, bearing: 41.076140 deg, deltaT: 10.601785 s, approachRate: -0.469733 m/s, LOS rate: 0.075360 deg/s, posRepo size: 4
2021-08-13T18:57:41.550Z,1628881061.550 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 258.000000 m,
      bearing: 41.076140 deg,
      approachRate: -0.469733 m/s,
      LOS rate: 0.075360 deg/s,
      cmd update: 0.226080 deg/s,
      cmd heading: 45.875709 deg,
      new cmd heading: 45.482239 deg.

2021-08-13T18:57:43.864Z,1628881063.864 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:57:44.249Z,1628881064.249 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:57:44.249Z,1628881064.249 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:57:44.249Z,1628881064.249 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:57:44.250Z,1628881064.250 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:57:44.654Z,1628881064.654 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
119,000,0133D,186,80,80,68,FF
2021-08-13T18:57:44.654Z,1628881064.654 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:57:44.654Z,1628881064.654 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:57:44.656Z,1628881064.656 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:57:45.055Z,1628881065.055 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:57:45.892Z,1628881065.892 [Micromodem](INFO): Nmea in: $SNTTA,0.253579,,,,185745.18*4C

2021-08-13T18:57:46.718Z,1628881066.718 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:57:47.485Z,1628881067.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0C9,000,06AB2,186,80,80,91,FF
2021-08-13T18:57:47.485Z,1628881067.485 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:57:47.927Z,1628881067.927 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1601.340088 m, bearing: 42.541598 deg, deltaT: 6.489561 s, approachRate: 207.000153 m/s, LOS rate: 0.225818 deg/s, posRepo size: 4
2021-08-13T18:57:47.943Z,1628881067.943 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 1601.340088 m,
      bearing: 42.541598 deg,
      approachRate: 207.000153 m/s,
      LOS rate: 0.225818 deg/s,
      cmd update: 0.677453 deg/s,
      cmd heading: 47.343983 deg,
      new cmd heading: 47.422896 deg.

2021-08-13T18:57:50.319Z,1628881070.319 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:57:50.737Z,1628881070.737 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:57:50.737Z,1628881070.737 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:57:50.737Z,1628881070.737 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:57:50.738Z,1628881070.738 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:57:51.114Z,1628881071.114 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0C9,000,06AB2,186,80,80,91,FF
2021-08-13T18:57:51.114Z,1628881071.114 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:57:51.115Z,1628881071.115 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:57:51.117Z,1628881071.117 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:57:51.520Z,1628881071.520 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:57:52.354Z,1628881072.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0D8,000,012E2,186,80,80,8C,FF
2021-08-13T18:57:52.354Z,1628881072.354 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:57:52.357Z,1628881072.357 [Micromodem](INFO): Nmea in: $SNTTA,0.184186,,,,185751.64*4F

2021-08-13T18:57:52.780Z,1628881072.780 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 252.539993 m, bearing: 42.378271 deg, deltaT: 4.847319 s, approachRate: -278.256927 m/s, LOS rate: -0.033694 deg/s, posRepo size: 4
2021-08-13T18:57:52.782Z,1628881072.782 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 252.539993 m,
      bearing: 42.378271 deg,
      approachRate: -278.256927 m/s,
      LOS rate: -0.033694 deg/s,
      cmd update: -0.101083 deg/s,
      cmd heading: 50.621873 deg,
      new cmd heading: 50.867476 deg.

2021-08-13T18:57:55.187Z,1628881075.187 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:57:55.584Z,1628881075.584 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:57:55.584Z,1628881075.584 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:57:55.585Z,1628881075.585 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:57:55.586Z,1628881075.586 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:57:55.977Z,1628881075.977 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0D8,000,012E2,186,80,80,8C,FF
2021-08-13T18:57:55.977Z,1628881075.977 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:57:55.977Z,1628881075.977 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:57:55.979Z,1628881075.979 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:57:56.416Z,1628881076.416 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:57:57.217Z,1628881077.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,117,000,012BF,186,80,80,72,FF
2021-08-13T18:57:57.217Z,1628881077.217 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:57:57.220Z,1628881077.220 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185756.50*53

2021-08-13T18:57:57.678Z,1628881077.678 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 250.440002 m, bearing: 40.915849 deg, deltaT: 4.880310 s, approachRate: -0.430299 m/s, LOS rate: -0.299658 deg/s, posRepo size: 4
2021-08-13T18:57:57.684Z,1628881077.684 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 250.440002 m,
      bearing: 40.915849 deg,
      approachRate: -0.430299 m/s,
      LOS rate: -0.299658 deg/s,
      cmd update: -0.898973 deg/s,
      cmd heading: 50.134696 deg,
      new cmd heading: 50.090068 deg.

2021-08-13T18:58:00.046Z,1628881080.046 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:58:00.457Z,1628881080.457 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:58:00.458Z,1628881080.458 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:58:00.458Z,1628881080.458 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:58:00.458Z,1628881080.458 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:58:00.829Z,1628881080.829 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
117,000,012BF,186,80,80,72,FF
2021-08-13T18:58:00.829Z,1628881080.829 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:58:00.830Z,1628881080.830 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:58:00.831Z,1628881080.831 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:58:01.232Z,1628881081.232 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:58:02.078Z,1628881082.078 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,114,000,01296,185,80,80,7E,FF
2021-08-13T18:58:02.078Z,1628881082.078 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:58:02.081Z,1628881082.081 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185801.35*5D

2021-08-13T18:58:02.503Z,1628881082.503 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 247.979996 m, bearing: 40.076606 deg, deltaT: 4.787017 s, approachRate: -0.513891 m/s, LOS rate: -0.175316 deg/s, posRepo size: 4
2021-08-13T18:58:02.505Z,1628881082.505 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 247.979996 m,
      bearing: 40.076606 deg,
      approachRate: -0.513891 m/s,
      LOS rate: -0.175316 deg/s,
      cmd update: -0.525949 deg/s,
      cmd heading: 45.765547 deg,
      new cmd heading: 45.400326 deg.

2021-08-13T18:58:04.911Z,1628881084.911 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:58:05.284Z,1628881085.284 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:58:05.285Z,1628881085.285 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:58:05.285Z,1628881085.285 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:58:05.287Z,1628881085.287 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:58:05.689Z,1628881085.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
114,000,01296,185,80,80,7E,FF
2021-08-13T18:58:05.691Z,1628881085.691 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:58:05.691Z,1628881085.691 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:58:05.693Z,1628881085.693 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:58:06.081Z,1628881086.081 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:58:07.060Z,1628881087.060 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0C0,000,01270,186,80,80,5E,FF
2021-08-13T18:58:07.061Z,1628881087.061 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:58:07.063Z,1628881087.063 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185806.21*5F

2021-08-13T18:58:07.518Z,1628881087.518 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 245.699997 m, bearing: 41.715134 deg, deltaT: 4.982241 s, approachRate: -0.457625 m/s, LOS rate: 0.328874 deg/s, posRepo size: 4
2021-08-13T18:58:07.524Z,1628881087.524 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 245.699997 m,
      bearing: 41.715134 deg,
      approachRate: -0.457625 m/s,
      LOS rate: 0.328874 deg/s,
      cmd update: 0.986621 deg/s,
      cmd heading: 43.145019 deg,
      new cmd heading: 42.914256 deg.

2021-08-13T18:58:09.766Z,1628881089.766 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:58:10.137Z,1628881090.137 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:58:10.137Z,1628881090.137 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:58:10.137Z,1628881090.137 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:58:10.138Z,1628881090.138 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:58:10.546Z,1628881090.546 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0C0,000,01270,186,80,80,5E,FF
2021-08-13T18:58:10.546Z,1628881090.546 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:58:10.546Z,1628881090.546 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:58:10.548Z,1628881090.548 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:58:10.968Z,1628881090.968 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:58:11.391Z,1628881091.391 [Micromodem](INFO): Nmea in: $SNTTA,0.308099,0.308099,,,185811.07*5D

2021-08-13T18:58:12.614Z,1628881092.614 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:58:14.177Z,1628881094.177 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
0,186,80,80,5E,FF
2021-08-13T18:58:14.177Z,1628881094.177 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
0,186,80,80,5E,FF
2021-08-13T18:58:14.177Z,1628881094.177 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T18:58:15.488Z,1628881095.488 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:58:15.805Z,1628881095.805 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:58:15.805Z,1628881095.805 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:58:15.805Z,1628881095.805 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:58:15.806Z,1628881095.806 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:58:16.198Z,1628881096.198 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
0,186,80,80,5E,FF
2021-08-13T18:58:16.198Z,1628881096.198 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:58:16.198Z,1628881096.198 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:58:16.201Z,1628881096.201 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:58:16.617Z,1628881096.617 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:58:17.466Z,1628881097.466 [Micromodem](INFO): Nmea in: $SNTTA,0.481818,0.481868,,,185816.72*5F

2021-08-13T18:58:18.255Z,1628881098.255 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:58:19.842Z,1628881099.842 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
0,186,80,80,5E,FF
2021-08-13T18:58:19.842Z,1628881099.842 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
0,186,80,80,5E,FF
2021-08-13T18:58:19.842Z,1628881099.842 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T18:58:20.766Z,1628881100.766 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:58:21.072Z,1628881101.072 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:58:21.072Z,1628881101.072 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:58:21.072Z,1628881101.072 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:58:21.073Z,1628881101.073 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:58:21.497Z,1628881101.497 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
0,186,80,80,5E,FF
2021-08-13T18:58:21.497Z,1628881101.497 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:58:21.497Z,1628881101.497 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:58:21.499Z,1628881101.499 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:58:21.869Z,1628881101.869 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:58:22.695Z,1628881102.695 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185822.02*58

2021-08-13T18:58:23.558Z,1628881103.558 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:58:25.093Z,1628881105.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
0,186,80,80,5E,FF
2021-08-13T18:58:25.093Z,1628881105.093 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
0,186,80,80,5E,FF
2021-08-13T18:58:25.093Z,1628881105.093 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T18:58:26.362Z,1628881106.362 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:58:26.715Z,1628881106.715 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:58:26.715Z,1628881106.715 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:58:26.716Z,1628881106.716 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:58:26.717Z,1628881106.717 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:58:27.113Z,1628881107.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
0,186,80,80,5E,FF
2021-08-13T18:58:27.113Z,1628881107.113 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:58:27.113Z,1628881107.113 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:58:27.115Z,1628881107.115 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:58:27.529Z,1628881107.529 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:58:28.346Z,1628881108.346 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185827.64*5D

2021-08-13T18:58:29.175Z,1628881109.175 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:58:30.762Z,1628881110.762 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
0,186,80,80,5E,FF
2021-08-13T18:58:30.762Z,1628881110.762 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
0,186,80,80,5E,FF
2021-08-13T18:58:30.762Z,1628881110.762 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T18:58:32.001Z,1628881112.001 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:58:32.382Z,1628881112.382 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:58:32.383Z,1628881112.383 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:58:32.383Z,1628881112.383 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:58:32.401Z,1628881112.401 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:58:32.773Z,1628881112.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
0,186,80,80,5E,FF
2021-08-13T18:58:32.773Z,1628881112.773 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:58:32.773Z,1628881112.773 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:58:32.775Z,1628881112.775 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:58:33.177Z,1628881113.177 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:58:34.106Z,1628881114.106 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185833.30*59

2021-08-13T18:58:34.831Z,1628881114.831 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:58:36.418Z,1628881116.418 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
0,186,80,80,5E,FF
2021-08-13T18:58:36.418Z,1628881116.418 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
0,186,80,80,5E,FF
2021-08-13T18:58:36.418Z,1628881116.418 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T18:58:37.707Z,1628881117.707 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:58:38.021Z,1628881118.021 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:58:38.021Z,1628881118.021 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:58:38.021Z,1628881118.021 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:58:38.022Z,1628881118.022 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:58:38.461Z,1628881118.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
0,186,80,80,5E,FF
2021-08-13T18:58:38.461Z,1628881118.461 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:58:38.461Z,1628881118.461 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:58:38.463Z,1628881118.463 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:58:38.838Z,1628881118.838 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:58:39.637Z,1628881119.637 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,385,000,01183,189,80,80,96,FF
2021-08-13T18:58:39.638Z,1628881119.638 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:58:39.641Z,1628881119.641 [Micromodem](INFO): Nmea in: $SNTTA,0.350309,0.350615,,,185838.98*58

2021-08-13T18:58:40.075Z,1628881120.075 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 231.479980 m, bearing: 30.883810 deg, deltaT: 32.658528 s, approachRate: -0.435415 m/s, LOS rate: -0.331654 deg/s, posRepo size: 4
2021-08-13T18:58:40.077Z,1628881120.077 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 231.479980 m,
      bearing: 30.883810 deg,
      approachRate: -0.435415 m/s,
      LOS rate: -0.331654 deg/s,
      cmd update: -0.994961 deg/s,
      cmd heading: 75.362755 deg,
      new cmd heading: 75.699510 deg.

2021-08-13T18:58:42.566Z,1628881122.566 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:58:42.913Z,1628881122.913 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:58:42.913Z,1628881122.913 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:58:42.913Z,1628881122.913 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:58:42.914Z,1628881122.914 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:58:43.385Z,1628881123.385 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
385,000,01183,189,80,80,96,FF
2021-08-13T18:58:43.385Z,1628881123.385 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:58:43.386Z,1628881123.386 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:58:43.391Z,1628881123.391 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:58:43.756Z,1628881123.756 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:58:44.587Z,1628881124.587 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3A6,000,0116B,189,80,80,9C,FF
2021-08-13T18:58:44.588Z,1628881124.588 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:58:44.601Z,1628881124.601 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185843.92*56

2021-08-13T18:58:45.007Z,1628881125.007 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 230.039993 m, bearing: 32.130347 deg, deltaT: 4.918451 s, approachRate: -0.292773 m/s, LOS rate: 0.253441 deg/s, posRepo size: 4
2021-08-13T18:58:45.010Z,1628881125.010 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 230.039993 m,
      bearing: 32.130347 deg,
      approachRate: -0.292773 m/s,
      LOS rate: 0.253441 deg/s,
      cmd update: 0.760323 deg/s,
      cmd heading: 70.469382 deg,
      new cmd heading: 70.115613 deg.

2021-08-13T18:58:47.521Z,1628881127.521 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:58:47.874Z,1628881127.874 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:58:47.874Z,1628881127.874 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:58:47.874Z,1628881127.874 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:58:47.875Z,1628881127.875 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:58:48.237Z,1628881128.237 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3A6,000,0116B,189,80,80,9C,FF
2021-08-13T18:58:48.237Z,1628881128.237 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:58:48.237Z,1628881128.237 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:58:48.239Z,1628881128.239 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:58:48.619Z,1628881128.619 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:58:49.446Z,1628881129.446 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,385,000,01152,189,80,80,83,FF
2021-08-13T18:58:49.447Z,1628881129.447 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:58:49.450Z,1628881129.450 [Micromodem](INFO): Nmea in: $SNTTA,0.166453,,,,185848.76*4A

2021-08-13T18:58:49.865Z,1628881129.865 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 228.539993 m, bearing: 31.496243 deg, deltaT: 4.883835 s, approachRate: -0.307136 m/s, LOS rate: -0.129837 deg/s, posRepo size: 4
2021-08-13T18:58:49.867Z,1628881129.867 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 228.539993 m,
      bearing: 31.496243 deg,
      approachRate: -0.307136 m/s,
      LOS rate: -0.129837 deg/s,
      cmd update: -0.389512 deg/s,
      cmd heading: 74.179896 deg,
      new cmd heading: 74.432658 deg.

2021-08-13T18:58:52.282Z,1628881132.282 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:58:52.649Z,1628881132.649 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:58:52.649Z,1628881132.649 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:58:52.649Z,1628881132.649 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:58:52.650Z,1628881132.650 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:58:53.051Z,1628881133.051 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
385,000,01152,189,80,80,83,FF
2021-08-13T18:58:53.051Z,1628881133.051 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:58:53.051Z,1628881133.051 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:58:53.053Z,1628881133.053 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:58:53.460Z,1628881133.460 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:58:54.277Z,1628881134.277 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3B0,000,01137,189,80,80,9B,FF
2021-08-13T18:58:54.277Z,1628881134.277 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:58:54.282Z,1628881134.282 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185853.58*51

2021-08-13T18:58:54.734Z,1628881134.734 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 226.919998 m, bearing: 30.985413 deg, deltaT: 4.778715 s, approachRate: -0.339002 m/s, LOS rate: -0.106897 deg/s, posRepo size: 4
2021-08-13T18:58:54.740Z,1628881134.740 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 226.919998 m,
      bearing: 30.985413 deg,
      approachRate: -0.339002 m/s,
      LOS rate: -0.106897 deg/s,
      cmd update: -0.320691 deg/s,
      cmd heading: 72.315522 deg,
      new cmd heading: 72.153671 deg.

2021-08-13T18:58:57.113Z,1628881137.113 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:58:57.485Z,1628881137.485 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:58:57.485Z,1628881137.485 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:58:57.485Z,1628881137.485 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:58:57.486Z,1628881137.486 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:58:57.907Z,1628881137.907 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3B0,000,01137,189,80,80,9B,FF
2021-08-13T18:58:57.907Z,1628881137.907 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:58:57.907Z,1628881137.907 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:58:57.910Z,1628881137.910 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:58:58.301Z,1628881138.301 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:58:59.117Z,1628881139.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,383,000,01119,189,80,80,A2,FF
2021-08-13T18:58:59.118Z,1628881139.118 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:58:59.145Z,1628881139.145 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185858.43*50

2021-08-13T18:58:59.604Z,1628881139.604 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 225.119995 m, bearing: 32.143584 deg, deltaT: 4.865956 s, approachRate: -0.369918 m/s, LOS rate: 0.238015 deg/s, posRepo size: 4
2021-08-13T18:58:59.606Z,1628881139.606 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 225.119995 m,
      bearing: 32.143584 deg,
      approachRate: -0.369918 m/s,
      LOS rate: 0.238015 deg/s,
      cmd update: 0.714045 deg/s,
      cmd heading: 70.756338 deg,
      new cmd heading: 70.625772 deg.

2021-08-13T18:59:02.003Z,1628881142.003 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:59:02.355Z,1628881142.355 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:59:02.355Z,1628881142.355 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:59:02.355Z,1628881142.355 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:59:02.356Z,1628881142.356 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:59:02.762Z,1628881142.762 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
383,000,01119,189,80,80,A2,FF
2021-08-13T18:59:02.762Z,1628881142.762 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:59:02.762Z,1628881142.762 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:59:02.767Z,1628881142.767 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:59:03.156Z,1628881143.156 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:59:03.557Z,1628881143.557 [Micromodem](INFO): Nmea in: $SNTTA,0.197494,0.197381,,,185903.29*50

2021-08-13T18:59:03.969Z,1628881143.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,395,000,010FD,189,80,80,94,FF
2021-08-13T18:59:03.969Z,1628881143.969 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:59:04.439Z,1628881144.439 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 223.439987 m, bearing: 30.935802 deg, deltaT: 4.804462 s, approachRate: -0.349677 m/s, LOS rate: -0.251388 deg/s, posRepo size: 4
2021-08-13T18:59:04.445Z,1628881144.445 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 223.439987 m,
      bearing: 30.935802 deg,
      approachRate: -0.349677 m/s,
      LOS rate: -0.251388 deg/s,
      cmd update: -0.754163 deg/s,
      cmd heading: 74.189686 deg,
      new cmd heading: 74.511278 deg.

2021-08-13T18:59:06.843Z,1628881146.843 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:59:07.189Z,1628881147.189 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:59:07.189Z,1628881147.189 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:59:07.189Z,1628881147.189 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:59:07.190Z,1628881147.190 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:59:07.592Z,1628881147.592 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
395,000,010FD,189,80,80,94,FF
2021-08-13T18:59:07.592Z,1628881147.592 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:59:07.593Z,1628881147.593 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:59:07.595Z,1628881147.595 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:59:07.993Z,1628881147.993 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:59:08.831Z,1628881148.831 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,39B,000,010E1,189,80,80,89,FF
2021-08-13T18:59:08.831Z,1628881148.831 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:59:08.835Z,1628881148.835 [Micromodem](INFO): Nmea in: $SNTTA,0.149966,,,,185908.11*48

2021-08-13T18:59:09.333Z,1628881149.333 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 221.759995 m, bearing: 31.566792 deg, deltaT: 4.905248 s, approachRate: -0.342489 m/s, LOS rate: 0.128636 deg/s, posRepo size: 4
2021-08-13T18:59:09.335Z,1628881149.335 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 221.759995 m,
      bearing: 31.566792 deg,
      approachRate: -0.342489 m/s,
      LOS rate: 0.128636 deg/s,
      cmd update: 0.385907 deg/s,
      cmd heading: 70.498376 deg,
      new cmd heading: 70.163494 deg.

2021-08-13T18:59:11.775Z,1628881151.775 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:59:12.057Z,1628881152.057 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:59:12.057Z,1628881152.057 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:59:12.057Z,1628881152.057 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:59:12.058Z,1628881152.058 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:59:12.458Z,1628881152.458 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
39B,000,010E1,189,80,80,89,FF
2021-08-13T18:59:12.458Z,1628881152.458 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:59:12.459Z,1628881152.459 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:59:12.462Z,1628881152.462 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:59:12.869Z,1628881152.869 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:59:13.705Z,1628881153.705 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,37B,000,010C7,189,80,80,95,FF
2021-08-13T18:59:13.706Z,1628881153.706 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:59:13.709Z,1628881153.709 [Micromodem](INFO): Nmea in: $SNTTA,0.149351,,,,185912.99*4D

2021-08-13T18:59:14.138Z,1628881154.138 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 220.199997 m, bearing: 31.407679 deg, deltaT: 4.917172 s, approachRate: -0.317255 m/s, LOS rate: -0.032359 deg/s, posRepo size: 4
2021-08-13T18:59:14.146Z,1628881154.146 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 220.199997 m,
      bearing: 31.407679 deg,
      approachRate: -0.317255 m/s,
      LOS rate: -0.032359 deg/s,
      cmd update: -0.097076 deg/s,
      cmd heading: 72.398433 deg,
      new cmd heading: 72.524260 deg.

2021-08-13T18:59:16.558Z,1628881156.558 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:59:16.906Z,1628881156.906 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:59:16.907Z,1628881156.907 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:59:16.907Z,1628881156.907 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:59:16.908Z,1628881156.908 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:59:17.354Z,1628881157.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
37B,000,010C7,189,80,80,95,FF
2021-08-13T18:59:17.354Z,1628881157.354 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:59:17.355Z,1628881157.355 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:59:17.358Z,1628881157.358 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:59:17.764Z,1628881157.764 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:59:18.561Z,1628881158.561 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,395,000,010AB,189,80,80,B0,FF
2021-08-13T18:59:18.562Z,1628881158.562 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:59:18.565Z,1628881158.565 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185917.88*5D

2021-08-13T18:59:19.025Z,1628881159.025 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 218.519989 m, bearing: 30.386986 deg, deltaT: 4.798874 s, approachRate: -0.350084 m/s, LOS rate: -0.212694 deg/s, posRepo size: 4
2021-08-13T18:59:19.027Z,1628881159.027 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 218.519989 m,
      bearing: 30.386986 deg,
      approachRate: -0.350084 m/s,
      LOS rate: -0.212694 deg/s,
      cmd update: -0.638083 deg/s,
      cmd heading: 71.932149 deg,
      new cmd heading: 71.891955 deg.

2021-08-13T18:59:21.477Z,1628881161.477 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:59:21.785Z,1628881161.785 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:59:21.786Z,1628881161.786 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:59:21.786Z,1628881161.786 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:59:21.787Z,1628881161.787 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:59:22.191Z,1628881162.191 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
395,000,010AB,189,80,80,B0,FF
2021-08-13T18:59:22.191Z,1628881162.191 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:59:22.191Z,1628881162.191 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:59:22.194Z,1628881162.194 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:59:22.593Z,1628881162.593 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:59:23.453Z,1628881163.453 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,36D,000,0108E,189,80,80,A0,FF
2021-08-13T18:59:23.454Z,1628881163.454 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:59:23.456Z,1628881163.456 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185922.72*5E

2021-08-13T18:59:23.849Z,1628881163.849 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 216.779999 m, bearing: 31.824290 deg, deltaT: 4.919868 s, approachRate: -0.353666 m/s, LOS rate: 0.292143 deg/s, posRepo size: 4
2021-08-13T18:59:23.852Z,1628881163.852 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 216.779999 m,
      bearing: 31.824290 deg,
      approachRate: -0.353666 m/s,
      LOS rate: 0.292143 deg/s,
      cmd update: 0.876428 deg/s,
      cmd heading: 68.795281 deg,
      new cmd heading: 68.590710 deg.

2021-08-13T18:59:26.254Z,1628881166.254 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:59:26.633Z,1628881166.633 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:59:26.634Z,1628881166.634 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:59:26.634Z,1628881166.634 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:59:26.635Z,1628881166.635 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:59:27.038Z,1628881167.038 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
36D,000,0108E,189,80,80,A0,FF
2021-08-13T18:59:27.038Z,1628881167.038 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:59:27.038Z,1628881167.038 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:59:27.040Z,1628881167.040 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:59:27.460Z,1628881167.460 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:59:28.337Z,1628881168.337 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,36C,000,0106F,189,80,80,AB,FF
2021-08-13T18:59:28.338Z,1628881168.338 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:59:28.341Z,1628881168.341 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185927.56*5D

2021-08-13T18:59:28.814Z,1628881168.814 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 214.919998 m, bearing: 30.617242 deg, deltaT: 4.831363 s, approachRate: -0.384985 m/s, LOS rate: -0.249836 deg/s, posRepo size: 4
2021-08-13T18:59:28.820Z,1628881168.820 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 214.919998 m,
      bearing: 30.617242 deg,
      approachRate: -0.384985 m/s,
      LOS rate: -0.249836 deg/s,
      cmd update: -0.749508 deg/s,
      cmd heading: 73.032387 deg,
      new cmd heading: 73.429270 deg.

2021-08-13T18:59:31.099Z,1628881171.099 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:59:31.477Z,1628881171.477 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:59:31.477Z,1628881171.477 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:59:31.477Z,1628881171.477 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:59:31.478Z,1628881171.478 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:59:31.885Z,1628881171.885 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
36C,000,0106F,189,80,80,AB,FF
2021-08-13T18:59:31.885Z,1628881171.885 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:59:31.885Z,1628881171.885 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:59:31.888Z,1628881171.888 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:59:32.300Z,1628881172.300 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:59:33.118Z,1628881173.118 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,384,000,01055,18A,80,80,AD,FF
2021-08-13T18:59:33.118Z,1628881173.118 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:59:33.121Z,1628881173.121 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185932.41*5F

2021-08-13T18:59:33.575Z,1628881173.575 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 213.359985 m, bearing: 30.903317 deg, deltaT: 4.806145 s, approachRate: -0.324587 m/s, LOS rate: 0.059523 deg/s, posRepo size: 4
2021-08-13T18:59:33.579Z,1628881173.579 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 213.359985 m,
      bearing: 30.903317 deg,
      approachRate: -0.324587 m/s,
      LOS rate: 0.059523 deg/s,
      cmd update: 0.178569 deg/s,
      cmd heading: 69.429508 deg,
      new cmd heading: 69.124384 deg.

2021-08-13T18:59:35.982Z,1628881175.982 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:59:36.331Z,1628881176.331 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:59:36.331Z,1628881176.331 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:59:36.331Z,1628881176.331 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:59:36.333Z,1628881176.333 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:59:36.731Z,1628881176.731 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
384,000,01055,18A,80,80,AD,FF
2021-08-13T18:59:36.731Z,1628881176.731 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:59:36.731Z,1628881176.731 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:59:36.734Z,1628881176.734 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:59:37.144Z,1628881177.144 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:59:37.540Z,1628881177.540 [Micromodem](INFO): Nmea in: $SNTTA,0.144230,0.214337,,,185937.25*58

2021-08-13T18:59:37.953Z,1628881177.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,352,000,0103B,188,80,80,A2,FF
2021-08-13T18:59:37.953Z,1628881177.953 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:59:38.419Z,1628881178.419 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 211.799988 m, bearing: 32.057459 deg, deltaT: 4.829507 s, approachRate: -0.323014 m/s, LOS rate: 0.238977 deg/s, posRepo size: 4
2021-08-13T18:59:38.425Z,1628881178.425 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 211.799988 m,
      bearing: 32.057459 deg,
      approachRate: -0.323014 m/s,
      LOS rate: 0.238977 deg/s,
      cmd update: 0.716931 deg/s,
      cmd heading: 70.291617 deg,
      new cmd heading: 70.367212 deg.

2021-08-13T18:59:40.829Z,1628881180.829 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:59:41.179Z,1628881181.179 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:59:41.179Z,1628881181.179 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:59:41.179Z,1628881181.179 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:59:41.181Z,1628881181.181 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:59:41.648Z,1628881181.648 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
352,000,0103B,188,80,80,A2,FF
2021-08-13T18:59:41.648Z,1628881181.648 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:59:41.649Z,1628881181.649 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:59:41.650Z,1628881181.650 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:59:42.104Z,1628881182.104 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:59:42.838Z,1628881182.838 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,39B,000,0101D,189,80,80,AB,FF
2021-08-13T18:59:42.839Z,1628881182.839 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:59:42.872Z,1628881182.872 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185942.17*5B

2021-08-13T18:59:43.325Z,1628881183.325 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 210.000000 m, bearing: 28.616213 deg, deltaT: 4.917352 s, approachRate: -0.366048 m/s, LOS rate: -0.699817 deg/s, posRepo size: 4
2021-08-13T18:59:43.332Z,1628881183.332 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 210.000000 m,
      bearing: 28.616213 deg,
      approachRate: -0.366048 m/s,
      LOS rate: -0.699817 deg/s,
      cmd update: -2.099450 deg/s,
      cmd heading: 73.818276 deg,
      new cmd heading: 74.103270 deg.

2021-08-13T18:59:45.648Z,1628881185.648 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-13T18:59:45.695Z,1628881185.695 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:59:46.037Z,1628881186.037 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:59:46.037Z,1628881186.037 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:59:46.037Z,1628881186.037 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:59:46.038Z,1628881186.038 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:59:46.453Z,1628881186.453 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
39B,000,0101D,189,80,80,AB,FF
2021-08-13T18:59:46.453Z,1628881186.453 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:59:46.454Z,1628881186.454 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:59:46.456Z,1628881186.456 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:59:46.868Z,1628881186.868 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:59:47.688Z,1628881187.688 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,394,000,01001,18A,80,80,AA,FF
2021-08-13T18:59:47.689Z,1628881187.689 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:59:47.691Z,1628881187.691 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185946.98*58

2021-08-13T18:59:48.103Z,1628881188.103 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 208.319992 m, bearing: 29.865726 deg, deltaT: 4.871663 s, approachRate: -0.344853 m/s, LOS rate: 0.256486 deg/s, posRepo size: 4
2021-08-13T18:59:48.106Z,1628881188.106 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 208.319992 m,
      bearing: 29.865726 deg,
      approachRate: -0.344853 m/s,
      LOS rate: 0.256486 deg/s,
      cmd update: 0.769458 deg/s,
      cmd heading: 63.599802 deg,
      new cmd heading: 62.925650 deg.

2021-08-13T18:59:50.522Z,1628881190.522 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:59:50.894Z,1628881190.894 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:59:50.894Z,1628881190.894 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:59:50.894Z,1628881190.894 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:59:50.895Z,1628881190.895 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:59:51.322Z,1628881191.322 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
394,000,01001,18A,80,80,AA,FF
2021-08-13T18:59:51.322Z,1628881191.322 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:59:51.322Z,1628881191.322 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:59:51.335Z,1628881191.335 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:59:51.721Z,1628881191.721 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:59:52.535Z,1628881192.535 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,346,000,00FEB,189,80,80,BC,FF
2021-08-13T18:59:52.535Z,1628881192.535 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:59:52.538Z,1628881192.538 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185951.85*52

2021-08-13T18:59:52.972Z,1628881192.972 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 207.000000 m, bearing: 27.603632 deg, deltaT: 4.814641 s, approachRate: -0.274162 m/s, LOS rate: -0.469836 deg/s, posRepo size: 4
2021-08-13T18:59:52.974Z,1628881192.974 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 207.000000 m,
      bearing: 27.603632 deg,
      approachRate: -0.274162 m/s,
      LOS rate: -0.469836 deg/s,
      cmd update: -1.409509 deg/s,
      cmd heading: 67.301322 deg,
      new cmd heading: 67.592997 deg.

2021-08-13T18:59:55.566Z,1628881195.566 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T18:59:55.785Z,1628881195.785 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T18:59:55.785Z,1628881195.785 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T18:59:55.785Z,1628881195.785 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T18:59:55.785Z,1628881195.785 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T18:59:56.177Z,1628881196.177 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
346,000,00FEB,189,80,80,BC,FF
2021-08-13T18:59:56.178Z,1628881196.178 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T18:59:56.178Z,1628881196.178 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T18:59:56.179Z,1628881196.179 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T18:59:56.577Z,1628881196.577 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T18:59:57.393Z,1628881197.393 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,35F,000,00FC6,189,80,80,AB,FF
2021-08-13T18:59:57.394Z,1628881197.394 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T18:59:57.410Z,1628881197.410 [Micromodem](INFO): Nmea in: $SNTTA,0.492879,0.492892,,,185956.70*5A

2021-08-13T18:59:57.811Z,1628881197.811 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 204.779999 m, bearing: 26.365915 deg, deltaT: 4.893110 s, approachRate: -0.453699 m/s, LOS rate: -0.252951 deg/s, posRepo size: 4
2021-08-13T18:59:57.813Z,1628881197.813 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 204.779999 m,
      bearing: 26.365915 deg,
      approachRate: -0.453699 m/s,
      LOS rate: -0.252951 deg/s,
      cmd update: -0.758853 deg/s,
      cmd heading: 60.392540 deg,
      new cmd heading: 59.946668 deg.

2021-08-13T19:00:00.217Z,1628881200.217 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:00:00.593Z,1628881200.593 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:00:00.593Z,1628881200.593 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:00:00.593Z,1628881200.593 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:00:00.594Z,1628881200.594 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:00:01.001Z,1628881201.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
35F,000,00FC6,189,80,80,AB,FF
2021-08-13T19:00:01.001Z,1628881201.001 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:00:01.002Z,1628881201.002 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:00:01.003Z,1628881201.003 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:00:01.424Z,1628881201.424 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:00:02.245Z,1628881202.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,30C,000,00FAD,189,80,80,AB,FF
2021-08-13T19:00:02.245Z,1628881202.245 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:00:02.249Z,1628881202.249 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190001.52*50

2021-08-13T19:00:02.646Z,1628881202.646 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 203.279999 m, bearing: 25.883012 deg, deltaT: 4.770567 s, approachRate: -0.314428 m/s, LOS rate: -0.101225 deg/s, posRepo size: 4
2021-08-13T19:00:02.664Z,1628881202.664 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 203.279999 m,
      bearing: 25.883012 deg,
      approachRate: -0.314428 m/s,
      LOS rate: -0.101225 deg/s,
      cmd update: -0.303676 deg/s,
      cmd heading: 56.772575 deg,
      new cmd heading: 56.483057 deg.

2021-08-13T19:00:05.075Z,1628881205.075 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:00:05.468Z,1628881205.468 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:00:05.468Z,1628881205.468 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:00:05.469Z,1628881205.469 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:00:05.470Z,1628881205.470 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:00:05.846Z,1628881205.846 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
30C,000,00FAD,189,80,80,AB,FF
2021-08-13T19:00:05.846Z,1628881205.846 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:00:05.846Z,1628881205.846 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:00:05.847Z,1628881205.847 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:00:06.249Z,1628881206.249 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:00:07.085Z,1628881207.085 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2C1,000,00F89,189,80,80,93,FF
2021-08-13T19:00:07.086Z,1628881207.086 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:00:07.089Z,1628881207.089 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190006.37*54

2021-08-13T19:00:07.544Z,1628881207.544 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 201.119995 m, bearing: 26.044819 deg, deltaT: 4.871935 s, approachRate: -0.443356 m/s, LOS rate: 0.033212 deg/s, posRepo size: 4
2021-08-13T19:00:07.546Z,1628881207.546 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 201.119995 m,
      bearing: 26.044819 deg,
      approachRate: -0.443356 m/s,
      LOS rate: 0.033212 deg/s,
      cmd update: 0.099636 deg/s,
      cmd heading: 55.293199 deg,
      new cmd heading: 55.169429 deg.

2021-08-13T19:00:09.944Z,1628881209.944 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:00:10.301Z,1628881210.301 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:00:10.301Z,1628881210.301 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:00:10.301Z,1628881210.301 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:00:10.302Z,1628881210.302 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:00:10.697Z,1628881210.697 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2C1,000,00F89,189,80,80,93,FF
2021-08-13T19:00:10.697Z,1628881210.697 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:00:10.697Z,1628881210.697 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:00:10.699Z,1628881210.699 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:00:11.101Z,1628881211.101 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:00:11.945Z,1628881211.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2AD,000,00F65,189,80,80,8E,FF
2021-08-13T19:00:11.945Z,1628881211.945 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:00:11.948Z,1628881211.948 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190011.22*56

2021-08-13T19:00:12.357Z,1628881212.357 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 198.959991 m, bearing: 25.129475 deg, deltaT: 4.857707 s, approachRate: -0.444655 m/s, LOS rate: -0.188431 deg/s, posRepo size: 4
2021-08-13T19:00:12.359Z,1628881212.359 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 198.959991 m,
      bearing: 25.129475 deg,
      approachRate: -0.444655 m/s,
      LOS rate: -0.188431 deg/s,
      cmd update: -0.565294 deg/s,
      cmd heading: 55.776863 deg,
      new cmd heading: 55.813370 deg.

2021-08-13T19:00:14.761Z,1628881214.761 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:00:15.137Z,1628881215.137 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:00:15.137Z,1628881215.137 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:00:15.137Z,1628881215.137 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:00:15.138Z,1628881215.138 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:00:15.550Z,1628881215.550 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2AD,000,00F65,189,80,80,8E,FF
2021-08-13T19:00:15.550Z,1628881215.550 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:00:15.550Z,1628881215.550 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:00:15.572Z,1628881215.572 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:00:15.952Z,1628881215.952 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:00:16.763Z,1628881216.763 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,277,000,00F42,189,80,80,86,FF
2021-08-13T19:00:16.764Z,1628881216.764 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:00:16.777Z,1628881216.777 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190016.09*58

2021-08-13T19:00:17.195Z,1628881217.195 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 196.860001 m, bearing: 27.294351 deg, deltaT: 4.845527 s, approachRate: -0.433387 m/s, LOS rate: 0.446778 deg/s, posRepo size: 4
2021-08-13T19:00:17.197Z,1628881217.197 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 196.860001 m,
      bearing: 27.294351 deg,
      approachRate: -0.433387 m/s,
      LOS rate: 0.446778 deg/s,
      cmd update: 1.340335 deg/s,
      cmd heading: 53.037727 deg,
      new cmd heading: 52.834796 deg.

2021-08-13T19:00:19.659Z,1628881219.659 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:00:20.005Z,1628881220.005 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:00:20.005Z,1628881220.005 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:00:20.006Z,1628881220.006 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:00:20.006Z,1628881220.006 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:00:20.405Z,1628881220.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
277,000,00F42,189,80,80,86,FF
2021-08-13T19:00:20.405Z,1628881220.405 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:00:20.406Z,1628881220.406 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:00:20.433Z,1628881220.433 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:00:20.821Z,1628881220.821 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:00:21.705Z,1628881221.705 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2BA,000,00F1F,189,80,80,98,FF
2021-08-13T19:00:21.705Z,1628881221.705 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:00:21.708Z,1628881221.708 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190020.95*58

2021-08-13T19:00:22.072Z,1628881222.072 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 194.760010 m, bearing: 23.699006 deg, deltaT: 4.954948 s, approachRate: -0.423817 m/s, LOS rate: -0.725607 deg/s, posRepo size: 4
2021-08-13T19:00:22.074Z,1628881222.074 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 194.760010 m,
      bearing: 23.699006 deg,
      approachRate: -0.423817 m/s,
      LOS rate: -0.725607 deg/s,
      cmd update: -2.176821 deg/s,
      cmd heading: 59.678965 deg,
      new cmd heading: 60.050172 deg.

2021-08-13T19:00:24.495Z,1628881224.495 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:00:24.847Z,1628881224.847 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:00:24.848Z,1628881224.848 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:00:24.848Z,1628881224.848 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:00:24.849Z,1628881224.849 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:00:25.243Z,1628881225.243 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2BA,000,00F1F,189,80,80,98,FF
2021-08-13T19:00:25.243Z,1628881225.243 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:00:25.244Z,1628881225.244 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:00:25.246Z,1628881225.246 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:00:25.655Z,1628881225.655 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:00:26.485Z,1628881226.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2EF,000,00F04,189,80,80,8B,FF
2021-08-13T19:00:26.485Z,1628881226.485 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:00:26.488Z,1628881226.488 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190025.77*51

2021-08-13T19:00:26.910Z,1628881226.910 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 193.139999 m, bearing: 23.012914 deg, deltaT: 4.719743 s, approachRate: -0.343241 m/s, LOS rate: -0.145367 deg/s, posRepo size: 4
2021-08-13T19:00:26.917Z,1628881226.917 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 193.139999 m,
      bearing: 23.012914 deg,
      approachRate: -0.343241 m/s,
      LOS rate: -0.145367 deg/s,
      cmd update: -0.436100 deg/s,
      cmd heading: 49.396507 deg,
      new cmd heading: 48.536201 deg.

2021-08-13T19:00:29.412Z,1628881229.412 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:00:29.689Z,1628881229.689 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:00:29.689Z,1628881229.689 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:00:29.689Z,1628881229.689 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:00:29.693Z,1628881229.693 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:00:30.096Z,1628881230.096 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2EF,000,00F04,189,80,80,8B,FF
2021-08-13T19:00:30.096Z,1628881230.096 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:00:30.096Z,1628881230.096 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:00:30.098Z,1628881230.098 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:00:30.501Z,1628881230.501 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:00:31.363Z,1628881231.363 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,204,000,00EDA,187,80,80,50,FF
2021-08-13T19:00:31.363Z,1628881231.363 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:00:31.370Z,1628881231.370 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190030.62*51

2021-08-13T19:00:31.736Z,1628881231.736 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 190.619995 m, bearing: 28.397966 deg, deltaT: 4.962147 s, approachRate: -0.507846 m/s, LOS rate: 1.085226 deg/s, posRepo size: 4
2021-08-13T19:00:31.738Z,1628881231.738 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 190.619995 m,
      bearing: 28.397966 deg,
      approachRate: -0.507846 m/s,
      LOS rate: 1.085226 deg/s,
      cmd update: 3.255679 deg/s,
      cmd heading: 47.232533 deg,
      new cmd heading: 47.119597 deg.

2021-08-13T19:00:34.149Z,1628881234.149 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:00:34.549Z,1628881234.549 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:00:34.549Z,1628881234.549 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:00:34.549Z,1628881234.549 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:00:34.550Z,1628881234.550 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:00:35.018Z,1628881235.018 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
204,000,00EDA,187,80,80,50,FF
2021-08-13T19:00:35.018Z,1628881235.018 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:00:35.019Z,1628881235.019 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:00:35.020Z,1628881235.020 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:00:35.416Z,1628881235.416 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:00:35.837Z,1628881235.837 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,204,000,00EDA,187,80,80,50,FF
2021-08-13T19:00:35.838Z,1628881235.838 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:00:36.211Z,1628881236.211 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190035.54*51

2021-08-13T19:00:36.255Z,1628881236.255 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 190.619995 m, bearing: 27.529825 deg, deltaT: 4.418554 s, approachRate: 0.000000 m/s, LOS rate: -0.196476 deg/s, posRepo size: 4
2021-08-13T19:00:36.261Z,1628881236.261 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 190.619995 m,
      bearing: 27.529825 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.196476 deg/s,
      cmd update: -0.589429 deg/s,
      cmd heading: 61.505147 deg,
      new cmd heading: 62.788321 deg.

2021-08-13T19:00:38.618Z,1628881238.618 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:00:38.977Z,1628881238.977 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:00:38.977Z,1628881238.977 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:00:38.977Z,1628881238.977 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:00:38.978Z,1628881238.978 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:00:39.413Z,1628881239.413 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
204,000,00EDA,187,80,80,50,FF
2021-08-13T19:00:39.413Z,1628881239.413 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:00:39.414Z,1628881239.414 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:00:39.415Z,1628881239.415 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:00:39.786Z,1628881239.786 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:00:40.591Z,1628881240.591 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2F2,000,00E92,189,80,80,6B,FF
2021-08-13T19:00:40.592Z,1628881240.592 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:00:40.603Z,1628881240.603 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190039.94*51

2021-08-13T19:00:41.051Z,1628881241.051 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 186.300018 m, bearing: 24.947085 deg, deltaT: 4.780520 s, approachRate: -0.903663 m/s, LOS rate: -0.540263 deg/s, posRepo size: 4
2021-08-13T19:00:41.058Z,1628881241.058 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 186.300018 m,
      bearing: 24.947085 deg,
      approachRate: -0.903663 m/s,
      LOS rate: -0.540263 deg/s,
      cmd update: -1.620790 deg/s,
      cmd heading: 58.669403 deg,
      new cmd heading: 58.445406 deg.

2021-08-13T19:00:43.502Z,1628881243.502 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:00:43.821Z,1628881243.821 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:00:43.821Z,1628881243.821 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:00:43.821Z,1628881243.821 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:00:43.822Z,1628881243.822 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:00:44.229Z,1628881244.229 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2F2,000,00E92,189,80,80,6B,FF
2021-08-13T19:00:44.230Z,1628881244.230 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:00:44.230Z,1628881244.230 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:00:44.237Z,1628881244.237 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:00:44.640Z,1628881244.640 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:00:45.447Z,1628881245.447 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2B7,000,00E78,189,80,80,A7,FF
2021-08-13T19:00:45.447Z,1628881245.447 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:00:45.450Z,1628881245.450 [Micromodem](INFO): Nmea in: $SNTTA,0.423515,0.423696,,,190044.76*5F

2021-08-13T19:00:45.915Z,1628881245.915 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 184.739990 m, bearing: 26.227990 deg, deltaT: 4.863413 s, approachRate: -0.320768 m/s, LOS rate: 0.263376 deg/s, posRepo size: 4
2021-08-13T19:00:45.917Z,1628881245.917 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 184.739990 m,
      bearing: 26.227990 deg,
      approachRate: -0.320768 m/s,
      LOS rate: 0.263376 deg/s,
      cmd update: 0.790127 deg/s,
      cmd heading: 50.779716 deg,
      new cmd heading: 50.170882 deg.

2021-08-13T19:00:48.375Z,1628881248.375 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:00:48.674Z,1628881248.674 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:00:48.674Z,1628881248.674 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:00:48.675Z,1628881248.675 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:00:48.677Z,1628881248.677 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:00:49.174Z,1628881249.174 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2B7,000,00E78,189,80,80,A7,FF
2021-08-13T19:00:49.174Z,1628881249.174 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:00:49.174Z,1628881249.174 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:00:49.176Z,1628881249.176 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:00:49.596Z,1628881249.596 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:00:50.396Z,1628881250.396 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,262,000,00E52,189,80,80,75,FF
2021-08-13T19:00:50.398Z,1628881250.398 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:00:50.417Z,1628881250.417 [Micromodem](INFO): Nmea in: $SNTTA,0.123855,,,,190049.70*4A

2021-08-13T19:00:50.838Z,1628881250.838 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 182.460007 m, bearing: 26.353148 deg, deltaT: 4.933079 s, approachRate: -0.462183 m/s, LOS rate: 0.025371 deg/s, posRepo size: 4
2021-08-13T19:00:50.856Z,1628881250.856 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 182.460007 m,
      bearing: 26.353148 deg,
      approachRate: -0.462183 m/s,
      LOS rate: 0.025371 deg/s,
      cmd update: 0.076114 deg/s,
      cmd heading: 54.674310 deg,
      new cmd heading: 54.966398 deg.

2021-08-13T19:00:53.238Z,1628881253.238 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:00:53.593Z,1628881253.593 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:00:53.593Z,1628881253.593 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:00:53.593Z,1628881253.593 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:00:53.594Z,1628881253.594 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:00:54.013Z,1628881254.013 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
262,000,00E52,189,80,80,75,FF
2021-08-13T19:00:54.013Z,1628881254.013 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:00:54.013Z,1628881254.013 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:00:54.015Z,1628881254.015 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:00:54.431Z,1628881254.431 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:00:55.221Z,1628881255.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,32E,000,00E43,189,80,80,55,FF
2021-08-13T19:00:55.221Z,1628881255.221 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:00:55.228Z,1628881255.228 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190054.54*56

2021-08-13T19:00:55.704Z,1628881255.704 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 181.559998 m, bearing: 17.367771 deg, deltaT: 4.850778 s, approachRate: -0.185539 m/s, LOS rate: -1.852358 deg/s, posRepo size: 4
2021-08-13T19:00:55.706Z,1628881255.706 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 181.559998 m,
      bearing: 17.367771 deg,
      approachRate: -0.185539 m/s,
      LOS rate: -1.852358 deg/s,
      cmd update: -5.557074 deg/s,
      cmd heading: 55.042075 deg,
      new cmd heading: 55.071580 deg.

2021-08-13T19:00:58.090Z,1628881258.090 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:00:58.465Z,1628881258.465 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:00:58.465Z,1628881258.465 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:00:58.465Z,1628881258.465 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:00:58.466Z,1628881258.466 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:00:58.858Z,1628881258.858 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
32E,000,00E43,189,80,80,55,FF
2021-08-13T19:00:58.858Z,1628881258.858 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:00:58.858Z,1628881258.858 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:00:58.862Z,1628881258.862 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:00:59.258Z,1628881259.258 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:01:00.077Z,1628881260.077 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,270,000,00E0D,189,80,80,6F,FF
2021-08-13T19:01:00.077Z,1628881260.077 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:01:00.080Z,1628881260.080 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190059.38*51

2021-08-13T19:01:00.515Z,1628881260.515 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 178.319992 m, bearing: 22.344752 deg, deltaT: 4.773191 s, approachRate: -0.678792 m/s, LOS rate: 1.042695 deg/s, posRepo size: 4
2021-08-13T19:01:00.517Z,1628881260.517 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 178.319992 m,
      bearing: 22.344752 deg,
      approachRate: -0.678792 m/s,
      LOS rate: 1.042695 deg/s,
      cmd update: 3.128084 deg/s,
      cmd heading: 28.389254 deg,
      new cmd heading: 26.063691 deg.

2021-08-13T19:01:02.607Z,1628881262.607 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:01:02.922Z,1628881262.922 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:01:02.922Z,1628881262.922 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:01:02.922Z,1628881262.922 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:01:02.923Z,1628881262.923 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:01:03.321Z,1628881263.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
270,000,00E0D,189,80,80,6F,FF
2021-08-13T19:01:03.321Z,1628881263.321 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:01:03.321Z,1628881263.321 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:01:03.323Z,1628881263.323 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:01:03.719Z,1628881263.719 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:01:04.506Z,1628881264.506 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190103.85*59

2021-08-13T19:01:05.449Z,1628881265.449 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:01:06.937Z,1628881266.937 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,189,80,80,6F,FF
2021-08-13T19:01:06.938Z,1628881266.938 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,189,80,80,6F,FF
2021-08-13T19:01:06.938Z,1628881266.938 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T19:01:08.183Z,1628881268.183 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:01:08.553Z,1628881268.553 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:01:08.553Z,1628881268.553 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:01:08.553Z,1628881268.553 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:01:08.554Z,1628881268.554 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:01:08.949Z,1628881268.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,189,80,80,6F,FF
2021-08-13T19:01:08.949Z,1628881268.949 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:01:08.949Z,1628881268.949 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:01:08.951Z,1628881268.951 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:01:09.406Z,1628881269.406 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:01:09.760Z,1628881269.760 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1BC,0003,E4
D,189,80,80,6F,FF
2021-08-13T19:01:09.761Z,1628881269.761 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,1BC,0003,E4
D,189,80,80,6F,FF
2021-08-13T19:01:10.183Z,1628881270.183 [Micromodem](INFO): Nmea in: $SNTTA,0.065235,,,,190109.47*44

2021-08-13T19:01:10.987Z,1628881270.987 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:01:13.487Z,1628881273.487 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:01:14.612Z,1628881274.612 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.057889
2021-08-13T19:01:16.280Z,1628881276.280 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:01:16.657Z,1628881276.657 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:01:16.658Z,1628881276.658 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:01:16.658Z,1628881276.658 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:01:16.659Z,1628881276.659 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:01:17.037Z,1628881277.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1BC,0003,E4
D,189,80,80,6F,FF
2021-08-13T19:01:17.037Z,1628881277.037 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:01:17.037Z,1628881277.037 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:01:17.039Z,1628881277.039 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:01:17.453Z,1628881277.453 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:01:17.842Z,1628881277.842 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4E4,0003,E4
D,189,80,80,6F,FF
2021-08-13T19:01:17.842Z,1628881277.842 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,4E4,0003,E4
D,189,80,80,6F,FF
2021-08-13T19:01:18.275Z,1628881278.275 [Micromodem](INFO): Nmea in: $SNTTA,0.115665,,,,190117.56*4C

2021-08-13T19:01:19.074Z,1628881279.074 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:01:21.915Z,1628881281.915 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:01:22.700Z,1628881282.700 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.041353
2021-08-13T19:01:24.740Z,1628881284.740 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:01:25.105Z,1628881285.105 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:01:25.105Z,1628881285.105 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:01:25.105Z,1628881285.105 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:01:25.106Z,1628881285.106 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:01:25.509Z,1628881285.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
4E4,0003,E4
D,189,80,80,6F,FF
2021-08-13T19:01:25.509Z,1628881285.509 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:01:25.509Z,1628881285.509 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:01:25.511Z,1628881285.511 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:01:25.936Z,1628881285.936 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:01:26.322Z,1628881286.322 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D76,000,0E4
D,189,80,80,6F,FF
2021-08-13T19:01:26.322Z,1628881286.322 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,D76,000,0E4
D,189,80,80,6F,FF
2021-08-13T19:01:26.761Z,1628881286.761 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190126.03*50

2021-08-13T19:01:27.595Z,1628881287.595 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:01:30.435Z,1628881290.435 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:01:31.180Z,1628881291.180 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.073872
2021-08-13T19:01:33.210Z,1628881293.210 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:01:33.601Z,1628881293.601 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:01:33.601Z,1628881293.601 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:01:33.601Z,1628881293.601 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:01:33.602Z,1628881293.602 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:01:33.993Z,1628881293.993 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D76,000,0E4
D,189,80,80,6F,FF
2021-08-13T19:01:33.993Z,1628881293.993 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:01:33.994Z,1628881293.994 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:01:33.995Z,1628881293.995 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:01:34.422Z,1628881294.422 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:01:34.810Z,1628881294.810 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4CD,000,0E4
D,189,80,80,6F,FF
2021-08-13T19:01:34.810Z,1628881294.810 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,4CD,000,0E4
D,189,80,80,6F,FF
2021-08-13T19:01:35.230Z,1628881295.230 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190134.52*57

2021-08-13T19:01:36.054Z,1628881296.054 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:01:38.867Z,1628881298.867 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:01:39.668Z,1628881299.668 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.065893
2021-08-13T19:01:41.370Z,1628881301.370 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:01:41.729Z,1628881301.729 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:01:41.730Z,1628881301.730 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:01:41.730Z,1628881301.730 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:01:41.731Z,1628881301.731 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:01:42.085Z,1628881302.085 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
4CD,000,0E4
D,189,80,80,6F,FF
2021-08-13T19:01:42.085Z,1628881302.085 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:01:42.085Z,1628881302.085 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:01:42.087Z,1628881302.087 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:01:42.492Z,1628881302.492 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:01:42.974Z,1628881302.974 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,26A,000,00DEA,188,80,80,A9,FF
2021-08-13T19:01:42.974Z,1628881302.974 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:01:43.383Z,1628881303.383 [Micromodem](INFO): Nmea in: $SNTTA,0.116991,,,,190142.61*4F

2021-08-13T19:01:43.459Z,1628881303.459 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 176.220001 m, bearing: 124.292613 deg, deltaT: 42.894739 s, approachRate: -0.048957 m/s, LOS rate: 2.376699 deg/s, posRepo size: 4
2021-08-13T19:01:43.461Z,1628881303.461 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 176.220001 m,
      bearing: 124.292613 deg,
      approachRate: -0.048957 m/s,
      LOS rate: 2.376699 deg/s,
      cmd update: 7.130096 deg/s,
      cmd heading: 162.567456 deg,
      new cmd heading: 164.031043 deg.

2021-08-13T19:01:45.734Z,1628881305.734 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:01:46.117Z,1628881306.117 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:01:46.117Z,1628881306.117 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:01:46.117Z,1628881306.117 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:01:46.118Z,1628881306.118 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:01:46.517Z,1628881306.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
26A,000,00DEA,188,80,80,A9,FF
2021-08-13T19:01:46.517Z,1628881306.517 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:01:46.517Z,1628881306.517 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:01:46.519Z,1628881306.519 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:01:46.944Z,1628881306.944 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:01:47.365Z,1628881307.365 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DD5,000,00E20,189,80,80,A9,FF
2021-08-13T19:01:47.366Z,1628881307.366 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:01:47.765Z,1628881307.765 [Micromodem](INFO): Nmea in: $SNTTA,0.138010,,,,190147.04*45

2021-08-13T19:01:47.787Z,1628881307.787 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 179.460007 m, bearing: 197.244812 deg, deltaT: 4.505967 s, approachRate: 0.719048 m/s, LOS rate: 16.190132 deg/s, posRepo size: 4
2021-08-13T19:01:47.789Z,1628881307.789 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 16.190132 deg/s. Setting heading cmd to target bearing of 197.244812deg and heading rate command to 0 deg/s.
2021-08-13T19:01:50.171Z,1628881310.171 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:01:50.567Z,1628881310.567 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:01:50.567Z,1628881310.567 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:01:50.567Z,1628881310.567 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:01:50.568Z,1628881310.568 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:01:50.965Z,1628881310.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DD5,000,00E20,189,80,80,A9,FF
2021-08-13T19:01:50.965Z,1628881310.965 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:01:50.965Z,1628881310.965 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:01:50.967Z,1628881310.967 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:01:51.395Z,1628881311.395 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:01:52.201Z,1628881312.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2B2,000,00E5C,18A,80,80,33,FF
2021-08-13T19:01:52.201Z,1628881312.201 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:01:52.204Z,1628881312.204 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190151.49*5E

2021-08-13T19:01:52.622Z,1628881312.622 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 183.059998 m, bearing: 154.593614 deg, deltaT: 4.723353 s, approachRate: 0.762168 m/s, LOS rate: -9.029856 deg/s, posRepo size: 4
2021-08-13T19:01:52.624Z,1628881312.624 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 183.059998 m,
      bearing: 154.593614 deg,
      approachRate: 0.762168 m/s,
      LOS rate: -9.029856 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 197.244812 deg,
      new cmd heading: 197.244812 deg.

2021-08-13T19:01:55.083Z,1628881315.083 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:01:55.458Z,1628881315.458 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:01:55.458Z,1628881315.458 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:01:55.459Z,1628881315.459 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:01:55.460Z,1628881315.460 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:01:55.829Z,1628881315.829 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2B2,000,00E5C,18A,80,80,33,FF
2021-08-13T19:01:55.830Z,1628881315.830 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:01:55.830Z,1628881315.830 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:01:55.832Z,1628881315.832 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:01:56.238Z,1628881316.238 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:01:56.690Z,1628881316.690 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E42,000,00E9E,185,80,80,33,FF
2021-08-13T19:01:56.690Z,1628881316.690 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:01:57.057Z,1628881317.057 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190156.36*51

2021-08-13T19:01:57.080Z,1628881317.080 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 187.020004 m, bearing: 223.608946 deg, deltaT: 4.537535 s, approachRate: 0.872722 m/s, LOS rate: 15.209873 deg/s, posRepo size: 4
2021-08-13T19:01:57.081Z,1628881317.081 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 15.209873 deg/s. Setting heading cmd to target bearing of 223.608946deg and heading rate command to 0 deg/s.
2021-08-13T19:01:59.533Z,1628881319.533 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:01:59.861Z,1628881319.861 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:01:59.861Z,1628881319.861 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:01:59.861Z,1628881319.861 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:01:59.862Z,1628881319.862 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:02:00.257Z,1628881320.257 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E42,000,00E9E,185,80,80,33,FF
2021-08-13T19:02:00.257Z,1628881320.257 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:02:00.258Z,1628881320.258 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:02:00.259Z,1628881320.259 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:02:00.737Z,1628881320.737 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:02:01.539Z,1628881321.539 [Micromodem](INFO): Nmea in: $SNTTA,0.452252,0.412478,,,190200.78*51

2021-08-13T19:02:02.345Z,1628881322.345 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1DA,000,04065,187,80,80,84,FF
2021-08-13T19:02:02.345Z,1628881322.345 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:02:02.786Z,1628881322.786 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 951.600037 m, bearing: 161.951039 deg, deltaT: 5.729725 s, approachRate: 133.440964 m/s, LOS rate: -10.761059 deg/s, posRepo size: 4
2021-08-13T19:02:02.789Z,1628881322.789 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 951.600037 m,
      bearing: 161.951039 deg,
      approachRate: 133.440964 m/s,
      LOS rate: -10.761059 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 223.608946 deg,
      new cmd heading: 223.608946 deg.

2021-08-13T19:02:05.211Z,1628881325.211 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:02:05.573Z,1628881325.573 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:02:05.573Z,1628881325.573 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:02:05.573Z,1628881325.573 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:02:05.574Z,1628881325.574 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:02:05.985Z,1628881325.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1DA,000,04065,187,80,80,84,FF
2021-08-13T19:02:05.985Z,1628881325.985 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:02:05.985Z,1628881325.985 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:02:05.987Z,1628881325.987 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:02:06.417Z,1628881326.417 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:02:07.221Z,1628881327.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB5,000,00F2B,186,80,80,7F,FF
2021-08-13T19:02:07.221Z,1628881327.221 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:02:07.224Z,1628881327.224 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190206.51*56

2021-08-13T19:02:07.687Z,1628881327.687 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 195.479996 m, bearing: 198.667732 deg, deltaT: 4.796615 s, approachRate: -157.636185 m/s, LOS rate: 7.654709 deg/s, posRepo size: 4
2021-08-13T19:02:07.693Z,1628881327.693 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 195.479996 m,
      bearing: 198.667732 deg,
      approachRate: -157.636185 m/s,
      LOS rate: 7.654709 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 166.396760 deg,
      new cmd heading: 161.216900 deg.

2021-08-13T19:02:10.180Z,1628881330.180 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:02:10.477Z,1628881330.477 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:02:10.477Z,1628881330.477 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:02:10.477Z,1628881330.477 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:02:10.478Z,1628881330.478 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:02:10.837Z,1628881330.837 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EB5,000,00F2B,186,80,80,7F,FF
2021-08-13T19:02:10.837Z,1628881330.837 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:02:10.837Z,1628881330.837 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:02:10.839Z,1628881330.839 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:02:11.248Z,1628881331.248 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:02:12.058Z,1628881332.058 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190211.37*50

2021-08-13T19:02:12.849Z,1628881332.849 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,04E,000,040EA,184,80,80,A0,FF
2021-08-13T19:02:12.850Z,1628881332.850 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:02:13.332Z,1628881333.332 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 959.580017 m, bearing: 189.427783 deg, deltaT: 5.607398 s, approachRate: 136.266418 m/s, LOS rate: -1.647814 deg/s, posRepo size: 4
2021-08-13T19:02:13.334Z,1628881333.334 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 959.580017 m,
      bearing: 189.427783 deg,
      approachRate: 136.266418 m/s,
      LOS rate: -1.647814 deg/s,
      cmd update: -4.943442 deg/s,
      cmd heading: 233.903542 deg,
      new cmd heading: 239.266943 deg.

2021-08-13T19:02:15.706Z,1628881335.706 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:02:16.097Z,1628881336.097 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:02:16.097Z,1628881336.097 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:02:16.097Z,1628881336.097 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:02:16.098Z,1628881336.098 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:02:16.497Z,1628881336.497 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
04E,000,040EA,184,80,80,A0,FF
2021-08-13T19:02:16.497Z,1628881336.497 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:02:16.497Z,1628881336.497 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:02:16.499Z,1628881336.499 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:02:16.911Z,1628881336.911 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:02:17.725Z,1628881337.725 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F24,000,00FBA,186,80,80,8E,FF
2021-08-13T19:02:17.725Z,1628881337.725 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:02:17.728Z,1628881337.728 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190217.02*50

2021-08-13T19:02:18.143Z,1628881338.143 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 204.059982 m, bearing: 213.119756 deg, deltaT: 4.863038 s, approachRate: -155.359680 m/s, LOS rate: 4.871846 deg/s, posRepo size: 4
2021-08-13T19:02:18.145Z,1628881338.145 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 204.059982 m,
      bearing: 213.119756 deg,
      approachRate: -155.359680 m/s,
      LOS rate: 4.871846 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 209.810365 deg,
      new cmd heading: 207.893105 deg.

2021-08-13T19:02:20.567Z,1628881340.567 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:02:20.977Z,1628881340.977 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:02:20.977Z,1628881340.977 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:02:20.977Z,1628881340.977 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:02:20.978Z,1628881340.978 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:02:21.365Z,1628881341.365 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F24,000,00FBA,186,80,80,8E,FF
2021-08-13T19:02:21.365Z,1628881341.365 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:02:21.365Z,1628881341.365 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:02:21.367Z,1628881341.367 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:02:21.757Z,1628881341.757 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:02:22.661Z,1628881342.661 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F81,000,00FFD,186,80,80,3D,FF
2021-08-13T19:02:22.662Z,1628881342.662 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:02:22.665Z,1628881342.665 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190221.89*56

2021-08-13T19:02:23.032Z,1628881343.032 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 208.079987 m, bearing: 223.611022 deg, deltaT: 4.981414 s, approachRate: 0.807001 m/s, LOS rate: 2.106082 deg/s, posRepo size: 4
2021-08-13T19:02:23.034Z,1628881343.034 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 208.079987 m,
      bearing: 223.611022 deg,
      approachRate: 0.807001 m/s,
      LOS rate: 2.106082 deg/s,
      cmd update: 6.318246 deg/s,
      cmd heading: 269.538050 deg,
      new cmd heading: 273.134330 deg.

2021-08-13T19:02:25.541Z,1628881345.541 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:02:25.876Z,1628881345.876 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:02:25.876Z,1628881345.876 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:02:25.877Z,1628881345.877 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:02:25.877Z,1628881345.877 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:02:26.270Z,1628881346.270 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F81,000,00FFD,186,80,80,3D,FF
2021-08-13T19:02:26.270Z,1628881346.270 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:02:26.270Z,1628881346.270 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:02:26.272Z,1628881346.272 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:02:26.686Z,1628881346.686 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:02:27.521Z,1628881347.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EFD,000,01036,186,80,80,88,FF
2021-08-13T19:02:27.521Z,1628881347.521 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:02:27.524Z,1628881347.524 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190226.80*58

2021-08-13T19:02:27.923Z,1628881347.923 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 211.499985 m, bearing: 248.741665 deg, deltaT: 4.886983 s, approachRate: 0.699818 m/s, LOS rate: 5.142364 deg/s, posRepo size: 4
2021-08-13T19:02:27.941Z,1628881347.941 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 211.499985 m,
      bearing: 248.741665 deg,
      approachRate: 0.699818 m/s,
      LOS rate: 5.142364 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 300.415514 deg,
      new cmd heading: 302.339319 deg.

2021-08-13T19:02:30.341Z,1628881350.341 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:02:30.729Z,1628881350.729 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:02:30.729Z,1628881350.729 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:02:30.729Z,1628881350.729 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:02:30.730Z,1628881350.730 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:02:31.133Z,1628881351.133 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EFD,000,01036,186,80,80,88,FF
2021-08-13T19:02:31.133Z,1628881351.133 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:02:31.133Z,1628881351.133 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:02:31.135Z,1628881351.135 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:02:31.540Z,1628881351.540 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:02:32.358Z,1628881352.358 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA1,000,01068,186,80,80,8D,FF
2021-08-13T19:02:32.358Z,1628881352.358 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:02:32.361Z,1628881352.361 [Micromodem](INFO): Nmea in: $SNTTA,0.142595,,,,190231.66*46

2021-08-13T19:02:32.787Z,1628881352.787 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 214.499985 m, bearing: 275.704438 deg, deltaT: 4.802067 s, approachRate: 0.624731 m/s, LOS rate: 5.614827 deg/s, posRepo size: 4
2021-08-13T19:02:32.789Z,1628881352.789 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 214.499985 m,
      bearing: 275.704438 deg,
      approachRate: 0.624731 m/s,
      LOS rate: 5.614827 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 357.989211 deg,
      new cmd heading: 2.426236 deg.

2021-08-13T19:02:35.178Z,1628881355.178 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:02:35.591Z,1628881355.591 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:02:35.591Z,1628881355.591 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:02:35.591Z,1628881355.591 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:02:35.592Z,1628881355.592 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:02:35.973Z,1628881355.973 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EA1,000,01068,186,80,80,8D,FF
2021-08-13T19:02:35.973Z,1628881355.973 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:02:35.973Z,1628881355.973 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:02:35.975Z,1628881355.975 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:02:36.548Z,1628881356.548 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:02:37.239Z,1628881357.239 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1B3,000,01081,186,80,80,93,FF
2021-08-13T19:02:37.239Z,1628881357.239 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:02:37.272Z,1628881357.272 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190236.50*54

2021-08-13T19:02:37.670Z,1628881357.670 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 215.999985 m, bearing: 258.763793 deg, deltaT: 4.931840 s, approachRate: 0.304146 m/s, LOS rate: -3.434954 deg/s, posRepo size: 4
2021-08-13T19:02:37.688Z,1628881357.688 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 215.999985 m,
      bearing: 258.763793 deg,
      approachRate: 0.304146 m/s,
      LOS rate: -3.434954 deg/s,
      cmd update: -10.304863 deg/s,
      cmd heading: 57.139133 deg,
      new cmd heading: 61.028393 deg.

2021-08-13T19:02:40.055Z,1628881360.055 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:02:40.449Z,1628881360.449 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:02:40.449Z,1628881360.449 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:02:40.449Z,1628881360.449 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:02:40.450Z,1628881360.450 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:02:40.829Z,1628881360.829 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1B3,000,01081,186,80,80,93,FF
2021-08-13T19:02:40.829Z,1628881360.829 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:02:40.830Z,1628881360.830 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:02:40.831Z,1628881360.831 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:02:41.259Z,1628881361.259 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:02:42.073Z,1628881362.073 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CCA,000,0108E,189,80,80,A4,FF
2021-08-13T19:02:42.073Z,1628881362.073 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:02:42.076Z,1628881362.076 [Micromodem](INFO): Nmea in: $SNTTA,0.147023,,,,190241.35*4A

2021-08-13T19:02:42.503Z,1628881362.503 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 216.779999 m, bearing: 344.124000 deg, deltaT: 4.734359 s, approachRate: 0.164756 m/s, LOS rate: 18.029939 deg/s, posRepo size: 4
2021-08-13T19:02:42.503Z,1628881362.503 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 18.029939 deg/s. Setting heading cmd to target bearing of 344.124000deg and heading rate command to 0 deg/s.
2021-08-13T19:02:44.921Z,1628881364.921 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:02:45.320Z,1628881365.320 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:02:45.320Z,1628881365.320 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:02:45.320Z,1628881365.320 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:02:45.321Z,1628881365.321 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:02:45.678Z,1628881365.678 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CCA,000,0108E,189,80,80,A4,FF
2021-08-13T19:02:45.678Z,1628881365.678 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:02:45.678Z,1628881365.678 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:02:45.680Z,1628881365.680 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:02:46.095Z,1628881366.095 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:02:46.918Z,1628881366.918 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B42,000,0108C,189,80,80,AC,FF
2021-08-13T19:02:46.918Z,1628881366.918 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:02:46.921Z,1628881366.921 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190246.20*54

2021-08-13T19:02:47.428Z,1628881367.428 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 216.659988 m, bearing: 27.988099 deg, deltaT: 4.881845 s, approachRate: -0.024583 m/s, LOS rate: 8.985146 deg/s, posRepo size: 4
2021-08-13T19:02:47.430Z,1628881367.430 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 216.659988 m,
      bearing: 27.988099 deg,
      approachRate: -0.024583 m/s,
      LOS rate: 8.985146 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 344.124000 deg,
      new cmd heading: 344.124000 deg.

2021-08-13T19:02:49.803Z,1628881369.803 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:02:50.230Z,1628881370.230 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:02:50.230Z,1628881370.230 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:02:50.231Z,1628881370.231 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:02:50.232Z,1628881370.232 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:02:50.553Z,1628881370.553 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B42,000,0108C,189,80,80,AC,FF
2021-08-13T19:02:50.553Z,1628881370.553 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:02:50.554Z,1628881370.554 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:02:50.555Z,1628881370.555 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:02:50.973Z,1628881370.973 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:02:51.397Z,1628881371.397 [Micromodem](INFO): Nmea in: $SNTTA,0.143350,0.262654,,,190251.08*59

2021-08-13T19:02:51.745Z,1628881371.745 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D67,000,01077,189,80,80,9B,FF
2021-08-13T19:02:51.746Z,1628881371.746 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:02:52.180Z,1628881372.180 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 215.399979 m, bearing: 24.162805 deg, deltaT: 4.812710 s, approachRate: -0.261809 m/s, LOS rate: -0.794832 deg/s, posRepo size: 4
2021-08-13T19:02:52.182Z,1628881372.182 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 215.399979 m,
      bearing: 24.162805 deg,
      approachRate: -0.261809 m/s,
      LOS rate: -0.794832 deg/s,
      cmd update: -2.384495 deg/s,
      cmd heading: 41.849738 deg,
      new cmd heading: 46.748510 deg.

2021-08-13T19:02:54.625Z,1628881374.625 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:02:54.978Z,1628881374.978 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:02:54.978Z,1628881374.978 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:02:54.979Z,1628881374.979 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:02:54.980Z,1628881374.980 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:02:55.392Z,1628881375.392 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D67,000,01077,189,80,80,9B,FF
2021-08-13T19:02:55.393Z,1628881375.393 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:02:55.393Z,1628881375.393 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:02:55.399Z,1628881375.399 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:02:55.786Z,1628881375.786 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:02:56.638Z,1628881376.638 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA3,000,01058,187,80,80,A8,FF
2021-08-13T19:02:56.638Z,1628881376.638 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:02:56.643Z,1628881376.643 [Micromodem](INFO): Nmea in: $SNTTA,0.144534,,,,190255.92*42

2021-08-13T19:02:57.042Z,1628881377.042 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 213.539978 m, bearing: 32.629716 deg, deltaT: 4.935128 s, approachRate: -0.376890 m/s, LOS rate: 1.715642 deg/s, posRepo size: 4
2021-08-13T19:02:57.045Z,1628881377.045 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 213.539978 m,
      bearing: 32.629716 deg,
      approachRate: -0.376890 m/s,
      LOS rate: 1.715642 deg/s,
      cmd update: 5.146925 deg/s,
      cmd heading: 30.086458 deg,
      new cmd heading: 29.280995 deg.

2021-08-13T19:02:59.509Z,1628881379.509 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:02:59.817Z,1628881379.817 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:02:59.817Z,1628881379.817 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:02:59.817Z,1628881379.817 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:02:59.818Z,1628881379.818 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:03:00.227Z,1628881380.227 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EA3,000,01058,187,80,80,A8,FF
2021-08-13T19:03:00.227Z,1628881380.227 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:03:00.227Z,1628881380.227 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:03:00.229Z,1628881380.229 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:03:00.628Z,1628881380.628 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:03:01.461Z,1628881381.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,091,000,01035,186,80,80,A4,FF
2021-08-13T19:03:01.462Z,1628881381.462 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:03:01.465Z,1628881381.465 [Micromodem](INFO): Nmea in: $SNTTA,0.426755,,,,190300.75*4E

2021-08-13T19:03:01.883Z,1628881381.883 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 211.439987 m, bearing: 30.233771 deg, deltaT: 4.862732 s, approachRate: -0.431854 m/s, LOS rate: -0.492716 deg/s, posRepo size: 4
2021-08-13T19:03:01.886Z,1628881381.886 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 211.439987 m,
      bearing: 30.233771 deg,
      approachRate: -0.431854 m/s,
      LOS rate: -0.492716 deg/s,
      cmd update: -1.478147 deg/s,
      cmd heading: 55.177280 deg,
      new cmd heading: 56.733427 deg.

2021-08-13T19:03:03.025Z,1628881383.025 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2021-08-13T19:03:03.028Z,1628881383.028 [BPC1](INFO): Received data from all battery sticks.
2021-08-13T19:03:04.303Z,1628881384.303 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:03:04.665Z,1628881384.665 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:03:04.665Z,1628881384.665 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:03:04.665Z,1628881384.665 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:03:04.666Z,1628881384.666 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:03:05.066Z,1628881385.066 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
091,000,01035,186,80,80,A4,FF
2021-08-13T19:03:05.066Z,1628881385.066 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:03:05.066Z,1628881385.066 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:03:05.068Z,1628881385.068 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:03:05.488Z,1628881385.488 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:03:06.306Z,1628881386.306 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190305.59*5C

2021-08-13T19:03:07.119Z,1628881387.119 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:03:08.705Z,1628881388.705 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
5,186,80,80,A4,FF
2021-08-13T19:03:08.706Z,1628881388.706 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
5,186,80,80,A4,FF
2021-08-13T19:03:08.706Z,1628881388.706 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T19:03:09.951Z,1628881389.951 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:03:10.321Z,1628881390.321 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:03:10.321Z,1628881390.321 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:03:10.321Z,1628881390.321 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:03:10.322Z,1628881390.322 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:03:10.737Z,1628881390.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
5,186,80,80,A4,FF
2021-08-13T19:03:10.737Z,1628881390.737 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:03:10.737Z,1628881390.737 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:03:10.739Z,1628881390.739 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:03:11.137Z,1628881391.137 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:03:11.969Z,1628881391.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,23B,000,00FEC,189,80,80,AB,FF
2021-08-13T19:03:11.970Z,1628881391.970 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:03:11.973Z,1628881391.973 [Micromodem](INFO): Nmea in: $SNTTA,0.211912,,,,190311.26*47

2021-08-13T19:03:12.420Z,1628881392.420 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 207.059982 m, bearing: 26.728677 deg, deltaT: 10.404393 s, approachRate: -0.420976 m/s, LOS rate: -0.336886 deg/s, posRepo size: 4
2021-08-13T19:03:12.422Z,1628881392.422 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 207.059982 m,
      bearing: 26.728677 deg,
      approachRate: -0.420976 m/s,
      LOS rate: -0.336886 deg/s,
      cmd update: -1.010658 deg/s,
      cmd heading: 39.792063 deg,
      new cmd heading: 39.159856 deg.

2021-08-13T19:03:14.782Z,1628881394.782 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:03:15.177Z,1628881395.177 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:03:15.177Z,1628881395.177 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:03:15.177Z,1628881395.177 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:03:15.178Z,1628881395.178 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:03:15.577Z,1628881395.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
23B,000,00FEC,189,80,80,AB,FF
2021-08-13T19:03:15.578Z,1628881395.578 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:03:15.578Z,1628881395.578 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:03:15.579Z,1628881395.579 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:03:16.007Z,1628881396.007 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:03:16.805Z,1628881396.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,112,000,00FC9,185,80,80,9D,FF
2021-08-13T19:03:16.805Z,1628881396.805 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:03:16.808Z,1628881396.808 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190316.10*53

2021-08-13T19:03:17.218Z,1628881397.218 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 204.959991 m, bearing: 29.615851 deg, deltaT: 4.863777 s, approachRate: -0.431761 m/s, LOS rate: 0.593607 deg/s, posRepo size: 4
2021-08-13T19:03:17.220Z,1628881397.220 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 204.959991 m,
      bearing: 29.615851 deg,
      approachRate: -0.431761 m/s,
      LOS rate: 0.593607 deg/s,
      cmd update: 1.780822 deg/s,
      cmd heading: 34.904838 deg,
      new cmd heading: 34.506626 deg.

2021-08-13T19:03:19.687Z,1628881399.687 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:03:20.029Z,1628881400.029 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:03:20.029Z,1628881400.029 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:03:20.029Z,1628881400.029 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:03:20.030Z,1628881400.030 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:03:20.445Z,1628881400.445 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
112,000,00FC9,185,80,80,9D,FF
2021-08-13T19:03:20.445Z,1628881400.445 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:03:20.445Z,1628881400.445 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:03:20.447Z,1628881400.447 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:03:20.840Z,1628881400.840 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:03:21.647Z,1628881401.647 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0F2,000,00FA2,186,80,80,A2,FF
2021-08-13T19:03:21.648Z,1628881401.648 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:03:21.651Z,1628881401.651 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190320.97*59

2021-08-13T19:03:22.079Z,1628881402.079 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 202.619995 m, bearing: 28.838455 deg, deltaT: 4.871973 s, approachRate: -0.480297 m/s, LOS rate: -0.159565 deg/s, posRepo size: 4
2021-08-13T19:03:22.082Z,1628881402.082 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 202.619995 m,
      bearing: 28.838455 deg,
      approachRate: -0.480297 m/s,
      LOS rate: -0.159565 deg/s,
      cmd update: -0.478694 deg/s,
      cmd heading: 43.631166 deg,
      new cmd heading: 44.264392 deg.

2021-08-13T19:03:24.525Z,1628881404.525 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:03:24.869Z,1628881404.869 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:03:24.869Z,1628881404.869 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:03:24.869Z,1628881404.869 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:03:24.870Z,1628881404.870 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:03:25.305Z,1628881405.305 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0F2,000,00FA2,186,80,80,A2,FF
2021-08-13T19:03:25.305Z,1628881405.305 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:03:25.306Z,1628881405.306 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:03:25.311Z,1628881405.311 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:03:25.705Z,1628881405.705 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:03:26.523Z,1628881406.523 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,19C,000,00F78,186,80,80,A7,FF
2021-08-13T19:03:26.523Z,1628881406.523 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:03:26.526Z,1628881406.526 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190325.84*5E

2021-08-13T19:03:26.944Z,1628881406.944 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 200.099991 m, bearing: 25.803434 deg, deltaT: 4.828028 s, approachRate: -0.521953 m/s, LOS rate: -0.628626 deg/s, posRepo size: 4
2021-08-13T19:03:26.946Z,1628881406.946 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 200.099991 m,
      bearing: 25.803434 deg,
      approachRate: -0.521953 m/s,
      LOS rate: -0.628626 deg/s,
      cmd update: -1.885877 deg/s,
      cmd heading: 41.319966 deg,
      new cmd heading: 41.132336 deg.

2021-08-13T19:03:29.459Z,1628881409.459 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:03:29.737Z,1628881409.737 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:03:29.737Z,1628881409.737 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:03:29.737Z,1628881409.737 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:03:29.738Z,1628881409.738 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:03:30.141Z,1628881410.141 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
19C,000,00F78,186,80,80,A7,FF
2021-08-13T19:03:30.141Z,1628881410.141 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:03:30.141Z,1628881410.141 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:03:30.143Z,1628881410.143 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:03:30.559Z,1628881410.559 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:03:31.397Z,1628881411.397 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,13A,000,00F4F,186,80,80,AC,FF
2021-08-13T19:03:31.398Z,1628881411.398 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:03:31.407Z,1628881411.407 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190330.67*57

2021-08-13T19:03:31.787Z,1628881411.787 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 197.639999 m, bearing: 28.157100 deg, deltaT: 4.949246 s, approachRate: -0.497044 m/s, LOS rate: 0.475561 deg/s, posRepo size: 4
2021-08-13T19:03:31.790Z,1628881411.790 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 197.639999 m,
      bearing: 28.157100 deg,
      approachRate: -0.497044 m/s,
      LOS rate: 0.475561 deg/s,
      cmd update: 1.426682 deg/s,
      cmd heading: 31.986687 deg,
      new cmd heading: 31.446274 deg.

2021-08-13T19:03:34.202Z,1628881414.202 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:03:34.585Z,1628881414.585 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:03:34.585Z,1628881414.585 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:03:34.585Z,1628881414.585 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:03:34.586Z,1628881414.586 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:03:34.989Z,1628881414.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
13A,000,00F4F,186,80,80,AC,FF
2021-08-13T19:03:34.989Z,1628881414.989 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:03:34.989Z,1628881414.989 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:03:34.991Z,1628881414.991 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:03:35.419Z,1628881415.419 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:03:35.814Z,1628881415.814 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A6,000,003CB,186,80,80,A1,FF
2021-08-13T19:03:35.814Z,1628881415.814 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:03:36.237Z,1628881416.237 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190335.51*57

2021-08-13T19:03:36.256Z,1628881416.256 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.759998 m, bearing: 29.609983 deg, deltaT: 4.346303 s, approachRate: -40.696659 m/s, LOS rate: 0.334280 deg/s, posRepo size: 4
2021-08-13T19:03:36.256Z,1628881416.256 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 20.76 m.
2021-08-13T19:03:36.258Z,1628881416.258 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 20.759998 m,
      bearing: 29.609983 deg,
      approachRate: -40.696659 m/s,
      LOS rate: 0.334280 deg/s,
      cmd update: 1.002841 deg/s,
      cmd heading: 38.181954 deg,
      new cmd heading: 38.770079 deg.

2021-08-13T19:03:36.650Z,1628881416.650 [PowerOnly](INFO): Powering up loadControl
2021-08-13T19:03:36.693Z,1628881416.693 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-13T19:03:36.693Z,1628881416.693 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T19:03:36.694Z,1628881416.694 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-13T19:03:36.694Z,1628881416.694 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-13T19:03:36.694Z,1628881416.694 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-13T19:03:36.695Z,1628881416.695 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-13T19:03:37.061Z,1628881417.061 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-13T19:03:37.061Z,1628881417.061 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T19:03:37.061Z,1628881417.061 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-13T19:03:37.062Z,1628881417.062 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T19:03:38.754Z,1628881418.754 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:03:39.060Z,1628881419.060 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:03:39.060Z,1628881419.060 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:03:39.060Z,1628881419.060 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:03:39.061Z,1628881419.061 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:03:39.476Z,1628881419.476 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0A6,000,003CB,186,80,80,A1,FF
2021-08-13T19:03:39.476Z,1628881419.476 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:03:39.477Z,1628881419.477 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:03:39.478Z,1628881419.478 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:03:39.891Z,1628881419.891 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:03:40.670Z,1628881420.670 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190340.00*51

2021-08-13T19:03:41.544Z,1628881421.544 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:03:43.089Z,1628881423.089 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
B,186,80,80,A1,FF
2021-08-13T19:03:43.090Z,1628881423.090 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
B,186,80,80,A1,FF
2021-08-13T19:03:43.090Z,1628881423.090 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T19:03:44.311Z,1628881424.311 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:03:44.701Z,1628881424.701 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:03:44.701Z,1628881424.701 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:03:44.701Z,1628881424.701 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:03:44.702Z,1628881424.702 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:03:45.101Z,1628881425.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
B,186,80,80,A1,FF
2021-08-13T19:03:45.101Z,1628881425.101 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:03:45.101Z,1628881425.101 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:03:45.103Z,1628881425.103 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:03:45.508Z,1628881425.508 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:03:46.334Z,1628881426.334 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190345.62*50

2021-08-13T19:03:47.158Z,1628881427.158 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:03:48.737Z,1628881428.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
B,186,80,80,A1,FF
2021-08-13T19:03:48.737Z,1628881428.737 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
B,186,80,80,A1,FF
2021-08-13T19:03:48.737Z,1628881428.737 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T19:03:49.982Z,1628881429.982 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:03:50.353Z,1628881430.353 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:03:50.354Z,1628881430.354 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:03:50.354Z,1628881430.354 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:03:50.355Z,1628881430.355 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:03:50.757Z,1628881430.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
B,186,80,80,A1,FF
2021-08-13T19:03:50.757Z,1628881430.757 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:03:50.757Z,1628881430.757 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:03:50.759Z,1628881430.759 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:03:51.173Z,1628881431.173 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:03:51.993Z,1628881431.993 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2A5,000,00EB7,189,80,80,54,FF
2021-08-13T19:03:51.993Z,1628881431.993 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:03:52.020Z,1628881432.020 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190351.28*5B

2021-08-13T19:03:52.040Z,1628881432.040 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T19:03:52.433Z,1628881432.433 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 188.520004 m, bearing: 20.469969 deg, deltaT: 16.189657 s, approachRate: 10.362172 m/s, LOS rate: -0.564559 deg/s, posRepo size: 4
2021-08-13T19:03:52.435Z,1628881432.435 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 188.520004 m,
      bearing: 20.469969 deg,
      approachRate: 10.362172 m/s,
      LOS rate: -0.564559 deg/s,
      cmd update: -1.693676 deg/s,
      cmd heading: 54.420976 deg,
      new cmd heading: 54.814218 deg.

2021-08-13T19:03:52.820Z,1628881432.820 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-13T19:03:52.820Z,1628881432.820 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T19:03:52.820Z,1628881432.820 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-13T19:03:52.821Z,1628881432.821 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-13T19:03:52.821Z,1628881432.821 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-13T19:03:52.821Z,1628881432.821 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-13T19:03:53.229Z,1628881433.229 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-13T19:03:53.229Z,1628881433.229 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T19:03:53.229Z,1628881433.229 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-13T19:03:53.230Z,1628881433.230 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T19:03:54.832Z,1628881434.832 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:03:55.209Z,1628881435.209 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:03:55.209Z,1628881435.209 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:03:55.209Z,1628881435.209 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:03:55.210Z,1628881435.210 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:03:55.613Z,1628881435.613 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2A5,000,00EB7,189,80,80,54,FF
2021-08-13T19:03:55.613Z,1628881435.613 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:03:55.613Z,1628881435.613 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:03:55.615Z,1628881435.615 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:03:56.036Z,1628881436.036 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:03:56.441Z,1628881436.441 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2BF,000,00EB7,189,80,80,54,FF
2021-08-13T19:03:56.442Z,1628881436.442 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:03:56.853Z,1628881436.853 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190356.13*54

2021-08-13T19:03:56.879Z,1628881436.879 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 188.520004 m, bearing: 19.006335 deg, deltaT: 4.474231 s, approachRate: 0.000000 m/s, LOS rate: -0.327125 deg/s, posRepo size: 4
2021-08-13T19:03:56.907Z,1628881436.907 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 188.520004 m,
      bearing: 19.006335 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.327125 deg/s,
      cmd update: -0.981376 deg/s,
      cmd heading: 46.849034 deg,
      new cmd heading: 46.223585 deg.

2021-08-13T19:03:59.323Z,1628881439.323 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:03:59.653Z,1628881439.653 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:03:59.653Z,1628881439.653 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:03:59.653Z,1628881439.653 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:03:59.654Z,1628881439.654 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:04:00.053Z,1628881440.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2BF,000,00EB7,189,80,80,54,FF
2021-08-13T19:04:00.053Z,1628881440.053 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:04:00.053Z,1628881440.053 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:04:00.055Z,1628881440.055 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:04:00.485Z,1628881440.485 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:04:01.317Z,1628881441.317 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190400.58*5F

2021-08-13T19:04:02.081Z,1628881442.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,26F,000,03FBB,189,80,80,4A,FF
2021-08-13T19:04:02.082Z,1628881442.082 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:04:02.526Z,1628881442.526 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 941.400024 m, bearing: 18.088832 deg, deltaT: 5.587742 s, approachRate: 134.737793 m/s, LOS rate: -0.164199 deg/s, posRepo size: 4
2021-08-13T19:04:02.528Z,1628881442.528 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 941.400024 m,
      bearing: 18.088832 deg,
      approachRate: 134.737793 m/s,
      LOS rate: -0.164199 deg/s,
      cmd update: -0.492598 deg/s,
      cmd heading: 41.361240 deg,
      new cmd heading: 40.942126 deg.

2021-08-13T19:04:04.944Z,1628881444.944 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:04:05.341Z,1628881445.341 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:04:05.341Z,1628881445.341 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:04:05.341Z,1628881445.341 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:04:05.342Z,1628881445.342 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:04:05.717Z,1628881445.717 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
26F,000,03FBB,189,80,80,4A,FF
2021-08-13T19:04:05.717Z,1628881445.717 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:04:05.717Z,1628881445.717 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:04:05.719Z,1628881445.719 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:04:06.117Z,1628881446.117 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:04:06.946Z,1628881446.946 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190406.24*52

2021-08-13T19:04:07.477Z,1628881447.477 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:04:09.361Z,1628881449.361 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
B,189,80,80,4A,FF
2021-08-13T19:04:09.361Z,1628881449.361 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
B,189,80,80,4A,FF
2021-08-13T19:04:09.361Z,1628881449.361 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T19:04:10.184Z,1628881450.184 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:04:10.554Z,1628881450.554 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:04:10.554Z,1628881450.554 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:04:10.554Z,1628881450.554 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:04:10.555Z,1628881450.555 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:04:10.957Z,1628881450.957 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
B,189,80,80,4A,FF
2021-08-13T19:04:10.958Z,1628881450.958 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:04:10.958Z,1628881450.958 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:04:10.959Z,1628881450.959 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:04:11.409Z,1628881451.409 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:04:12.203Z,1628881452.203 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190411.49*5F

2021-08-13T19:04:13.047Z,1628881453.047 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:04:14.594Z,1628881454.594 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
B,189,80,80,4A,FF
2021-08-13T19:04:14.595Z,1628881454.595 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
B,189,80,80,4A,FF
2021-08-13T19:04:14.595Z,1628881454.595 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T19:04:15.832Z,1628881455.832 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:04:16.213Z,1628881456.213 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:04:16.213Z,1628881456.213 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:04:16.213Z,1628881456.213 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:04:16.214Z,1628881456.214 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:04:16.637Z,1628881456.637 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
B,189,80,80,4A,FF
2021-08-13T19:04:16.637Z,1628881456.637 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:04:16.637Z,1628881456.637 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:04:16.639Z,1628881456.639 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:04:17.038Z,1628881457.038 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:04:17.454Z,1628881457.454 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,161,000,,E4
B,189,80,80,4A,FF
2021-08-13T19:04:17.454Z,1628881457.454 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,161,000,,E4
B,189,80,80,4A,FF
2021-08-13T19:04:17.842Z,1628881457.842 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190417.16*53

2021-08-13T19:04:18.698Z,1628881458.698 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:04:21.540Z,1628881461.540 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:04:22.284Z,1628881462.284 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.069883
2021-08-13T19:04:24.307Z,1628881464.307 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:04:24.697Z,1628881464.697 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:04:24.697Z,1628881464.697 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:04:24.697Z,1628881464.697 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:04:24.698Z,1628881464.698 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:04:25.101Z,1628881465.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
161,000,,E4
B,189,80,80,4A,FF
2021-08-13T19:04:25.101Z,1628881465.101 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:04:25.101Z,1628881465.101 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:04:25.103Z,1628881465.103 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:04:25.505Z,1628881465.505 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:04:25.914Z,1628881465.914 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,12B,000,,E4
B,189,80,80,4A,FF
2021-08-13T19:04:25.914Z,1628881465.914 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,12B,000,,E4
B,189,80,80,4A,FF
2021-08-13T19:04:26.334Z,1628881466.334 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190425.62*51

2021-08-13T19:04:27.141Z,1628881467.141 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:04:29.994Z,1628881469.994 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:04:30.769Z,1628881470.769 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.071472
2021-08-13T19:04:32.795Z,1628881472.795 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:04:33.181Z,1628881473.181 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:04:33.181Z,1628881473.181 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:04:33.181Z,1628881473.181 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:04:33.182Z,1628881473.182 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:04:33.581Z,1628881473.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
12B,000,,E4
B,189,80,80,4A,FF
2021-08-13T19:04:33.581Z,1628881473.581 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:04:33.581Z,1628881473.581 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:04:33.583Z,1628881473.583 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:04:33.988Z,1628881473.988 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:04:34.401Z,1628881474.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0D6,000,00D8B,189,80,80,4A,FF
2021-08-13T19:04:34.402Z,1628881474.402 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:04:34.833Z,1628881474.833 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190434.10*54

2021-08-13T19:04:34.864Z,1628881474.864 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 170.519989 m, bearing: 19.524548 deg, deltaT: 32.380468 s, approachRate: -23.806944 m/s, LOS rate: 0.044339 deg/s, posRepo size: 4
2021-08-13T19:04:34.866Z,1628881474.866 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 170.519989 m,
      bearing: 19.524548 deg,
      approachRate: -23.806944 m/s,
      LOS rate: 0.044339 deg/s,
      cmd update: 0.133017 deg/s,
      cmd heading: 25.412674 deg,
      new cmd heading: 25.221552 deg.

2021-08-13T19:04:37.291Z,1628881477.291 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:04:37.621Z,1628881477.621 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:04:37.621Z,1628881477.621 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:04:37.621Z,1628881477.621 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:04:37.622Z,1628881477.622 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:04:38.025Z,1628881478.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0D6,000,00D8B,189,80,80,4A,FF
2021-08-13T19:04:38.025Z,1628881478.025 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:04:38.025Z,1628881478.025 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:04:38.027Z,1628881478.027 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:04:38.456Z,1628881478.456 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:04:38.838Z,1628881478.838 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0B3,000,00D6B,189,80,80,4A,FF
2021-08-13T19:04:38.838Z,1628881478.838 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:04:39.297Z,1628881479.297 [Micromodem](INFO): Nmea in: $SNTTA,0.123033,,,,190438.55*47

2021-08-13T19:04:39.349Z,1628881479.349 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 168.600006 m, bearing: 19.883579 deg, deltaT: 4.411838 s, approachRate: -0.435189 m/s, LOS rate: 0.081379 deg/s, posRepo size: 4
2021-08-13T19:04:39.355Z,1628881479.355 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 168.600006 m,
      bearing: 19.883579 deg,
      approachRate: -0.435189 m/s,
      LOS rate: 0.081379 deg/s,
      cmd update: 0.244137 deg/s,
      cmd heading: 25.995927 deg,
      new cmd heading: 26.058127 deg.

2021-08-13T19:04:41.738Z,1628881481.738 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:04:42.071Z,1628881482.071 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:04:42.071Z,1628881482.071 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:04:42.071Z,1628881482.071 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:04:42.084Z,1628881482.084 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:04:42.466Z,1628881482.466 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0B3,000,00D6B,189,80,80,4A,FF
2021-08-13T19:04:42.466Z,1628881482.466 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:04:42.466Z,1628881482.466 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:04:42.468Z,1628881482.468 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:04:42.879Z,1628881482.879 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:04:43.301Z,1628881483.301 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A7,000,00D40,186,80,80,5A,FF
2021-08-13T19:04:43.303Z,1628881483.303 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:04:43.335Z,1628881483.335 [Micromodem](INFO): Nmea in: $SNTTA,0.307964,0.307951,,,190442.99*52

2021-08-13T19:04:43.721Z,1628881483.721 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 166.020004 m, bearing: 20.926556 deg, deltaT: 4.546917 s, approachRate: -0.567418 m/s, LOS rate: 0.229381 deg/s, posRepo size: 4
2021-08-13T19:04:43.723Z,1628881483.723 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 166.020004 m,
      bearing: 20.926556 deg,
      approachRate: -0.567418 m/s,
      LOS rate: 0.229381 deg/s,
      cmd update: 0.688143 deg/s,
      cmd heading: 27.109689 deg,
      new cmd heading: 27.182463 deg.

2021-08-13T19:04:46.135Z,1628881486.135 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:04:46.517Z,1628881486.517 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:04:46.517Z,1628881486.517 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:04:46.518Z,1628881486.518 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:04:46.519Z,1628881486.519 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:04:46.921Z,1628881486.921 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0A7,000,00D40,186,80,80,5A,FF
2021-08-13T19:04:46.922Z,1628881486.922 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:04:46.923Z,1628881486.923 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:04:46.952Z,1628881486.952 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:04:47.401Z,1628881487.401 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:04:47.762Z,1628881487.762 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0DE,000,00D1B,186,80,80,5A,FF
2021-08-13T19:04:47.762Z,1628881487.762 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:04:48.221Z,1628881488.221 [Micromodem](INFO): Nmea in: $SNTTA,0.125433,,,,190447.47*4E

2021-08-13T19:04:48.243Z,1628881488.243 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 163.800018 m, bearing: 18.742138 deg, deltaT: 4.365333 s, approachRate: -0.508549 m/s, LOS rate: -0.500401 deg/s, posRepo size: 4
2021-08-13T19:04:48.246Z,1628881488.246 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 163.800018 m,
      bearing: 18.742138 deg,
      approachRate: -0.508549 m/s,
      LOS rate: -0.500401 deg/s,
      cmd update: -1.501203 deg/s,
      cmd heading: 30.124629 deg,
      new cmd heading: 30.427281 deg.

2021-08-13T19:04:50.629Z,1628881490.629 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:04:50.985Z,1628881490.985 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:04:50.985Z,1628881490.985 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:04:50.985Z,1628881490.985 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:04:50.986Z,1628881490.986 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:04:51.413Z,1628881491.413 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0DE,000,00D1B,186,80,80,5A,FF
2021-08-13T19:04:51.413Z,1628881491.413 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:04:51.413Z,1628881491.413 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:04:51.415Z,1628881491.415 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:04:51.801Z,1628881491.801 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:04:52.202Z,1628881492.202 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0ED,000,00D1B,186,80,80,5A,FF
2021-08-13T19:04:52.202Z,1628881492.202 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:04:52.633Z,1628881492.633 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190451.94*5B

2021-08-13T19:04:52.684Z,1628881492.684 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 163.800018 m, bearing: 19.151893 deg, deltaT: 4.422237 s, approachRate: 0.000000 m/s, LOS rate: 0.092658 deg/s, posRepo size: 4
2021-08-13T19:04:52.686Z,1628881492.686 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 163.800018 m,
      bearing: 19.151893 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.092658 deg/s,
      cmd update: 0.277974 deg/s,
      cmd heading: 23.488540 deg,
      new cmd heading: 22.804466 deg.

2021-08-13T19:04:55.052Z,1628881495.052 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:04:55.449Z,1628881495.449 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:04:55.449Z,1628881495.449 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:04:55.449Z,1628881495.449 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:04:55.450Z,1628881495.450 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:04:55.837Z,1628881495.837 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0ED,000,00D1B,186,80,80,5A,FF
2021-08-13T19:04:55.837Z,1628881495.837 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:04:55.837Z,1628881495.837 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:04:55.839Z,1628881495.839 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:04:56.244Z,1628881496.244 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:04:56.650Z,1628881496.650 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,08A,000,00CCD,187,80,80,5A,FF
2021-08-13T19:04:56.650Z,1628881496.650 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:04:57.081Z,1628881497.081 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190456.36*54

2021-08-13T19:04:57.125Z,1628881497.125 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 159.120010 m, bearing: 21.117676 deg, deltaT: 4.484095 s, approachRate: -1.043691 m/s, LOS rate: 0.438390 deg/s, posRepo size: 4
2021-08-13T19:04:57.127Z,1628881497.127 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 159.120010 m,
      bearing: 21.117676 deg,
      approachRate: -1.043691 m/s,
      LOS rate: 0.438390 deg/s,
      cmd update: 1.315170 deg/s,
      cmd heading: 24.734302 deg,
      new cmd heading: 24.850857 deg.

2021-08-13T19:04:59.542Z,1628881499.542 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:04:59.878Z,1628881499.878 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:04:59.878Z,1628881499.878 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:04:59.878Z,1628881499.878 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:04:59.879Z,1628881499.879 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:05:00.290Z,1628881500.290 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
08A,000,00CCD,187,80,80,5A,FF
2021-08-13T19:05:00.290Z,1628881500.290 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:05:00.290Z,1628881500.290 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:05:00.291Z,1628881500.291 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:05:00.693Z,1628881500.693 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:05:01.086Z,1628881501.086 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A1,000,00CCD,187,80,80,5A,FF
2021-08-13T19:05:01.086Z,1628881501.086 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:05:01.529Z,1628881501.529 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190500.81*5A

2021-08-13T19:05:01.587Z,1628881501.587 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 159.120010 m, bearing: 20.383620 deg, deltaT: 4.425417 s, approachRate: 0.000000 m/s, LOS rate: -0.165873 deg/s, posRepo size: 4
2021-08-13T19:05:01.589Z,1628881501.589 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 159.120010 m,
      bearing: 20.383620 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.165873 deg/s,
      cmd update: -0.497618 deg/s,
      cmd heading: 30.554812 deg,
      new cmd heading: 31.153805 deg.

2021-08-13T19:05:03.943Z,1628881503.943 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:05:04.317Z,1628881504.317 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:05:04.317Z,1628881504.317 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:05:04.317Z,1628881504.317 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:05:04.318Z,1628881504.318 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:05:04.733Z,1628881504.733 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0A1,000,00CCD,187,80,80,5A,FF
2021-08-13T19:05:04.733Z,1628881504.733 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:05:04.733Z,1628881504.733 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:05:04.735Z,1628881504.735 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:05:05.141Z,1628881505.141 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:05:05.550Z,1628881505.550 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0F3,000,00C84,186,80,80,7C,FF
2021-08-13T19:05:05.550Z,1628881505.550 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:05:05.978Z,1628881505.978 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190505.25*51

2021-08-13T19:05:05.999Z,1628881505.999 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 154.740005 m, bearing: 19.112613 deg, deltaT: 4.487266 s, approachRate: -0.976097 m/s, LOS rate: -0.283248 deg/s, posRepo size: 4
2021-08-13T19:05:06.002Z,1628881506.002 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 154.740005 m,
      bearing: 19.112613 deg,
      approachRate: -0.976097 m/s,
      LOS rate: -0.283248 deg/s,
      cmd update: -0.849743 deg/s,
      cmd heading: 28.321884 deg,
      new cmd heading: 28.132372 deg.

2021-08-13T19:05:08.425Z,1628881508.425 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:05:08.773Z,1628881508.773 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:05:08.774Z,1628881508.774 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:05:08.774Z,1628881508.774 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:05:08.775Z,1628881508.775 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:05:09.185Z,1628881509.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0F3,000,00C84,186,80,80,7C,FF
2021-08-13T19:05:09.185Z,1628881509.185 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:05:09.185Z,1628881509.185 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:05:09.187Z,1628881509.187 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:05:09.588Z,1628881509.588 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:05:09.982Z,1628881509.982 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0D9,000,00C5F,186,80,80,7C,FF
2021-08-13T19:05:09.982Z,1628881509.982 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:05:10.421Z,1628881510.421 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190509.71*5C

2021-08-13T19:05:10.463Z,1628881510.463 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 152.520004 m, bearing: 19.988304 deg, deltaT: 4.381677 s, approachRate: -0.506656 m/s, LOS rate: 0.199853 deg/s, posRepo size: 4
2021-08-13T19:05:10.466Z,1628881510.466 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 152.520004 m,
      bearing: 19.988304 deg,
      approachRate: -0.506656 m/s,
      LOS rate: 0.199853 deg/s,
      cmd update: 0.599559 deg/s,
      cmd heading: 24.595692 deg,
      new cmd heading: 24.205007 deg.

2021-08-13T19:05:12.823Z,1628881512.823 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:05:13.210Z,1628881513.210 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:05:13.210Z,1628881513.210 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:05:13.210Z,1628881513.210 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:05:13.211Z,1628881513.211 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:05:13.617Z,1628881513.617 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0D9,000,00C5F,186,80,80,7C,FF
2021-08-13T19:05:13.618Z,1628881513.618 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:05:13.618Z,1628881513.618 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:05:13.619Z,1628881513.619 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:05:14.021Z,1628881514.021 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:05:14.453Z,1628881514.453 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,096,000,00C39,186,80,80,9B,FF
2021-08-13T19:05:14.453Z,1628881514.453 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:05:14.865Z,1628881514.865 [Micromodem](INFO): Nmea in: $SNTTA,0.111235,,,,190514.14*48

2021-08-13T19:05:14.927Z,1628881514.927 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 150.239990 m, bearing: 21.572376 deg, deltaT: 4.544671 s, approachRate: -0.501690 m/s, LOS rate: 0.348556 deg/s, posRepo size: 4
2021-08-13T19:05:14.929Z,1628881514.929 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 150.239990 m,
      bearing: 21.572376 deg,
      approachRate: -0.501690 m/s,
      LOS rate: 0.348556 deg/s,
      cmd update: 1.045667 deg/s,
      cmd heading: 27.320645 deg,
      new cmd heading: 27.545639 deg.

2021-08-13T19:05:17.335Z,1628881517.335 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:05:17.661Z,1628881517.661 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:05:17.661Z,1628881517.661 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:05:17.661Z,1628881517.661 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:05:17.662Z,1628881517.662 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:05:18.061Z,1628881518.061 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
096,000,00C39,186,80,80,9B,FF
2021-08-13T19:05:18.061Z,1628881518.061 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:05:18.061Z,1628881518.061 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:05:18.063Z,1628881518.063 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:05:18.465Z,1628881518.465 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:05:18.878Z,1628881518.878 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0C7,000,00C12,186,80,80,8C,FF
2021-08-13T19:05:18.879Z,1628881518.879 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:05:19.368Z,1628881519.368 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190518.59*56

2021-08-13T19:05:19.473Z,1628881519.473 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 147.899994 m, bearing: 19.512587 deg, deltaT: 4.360610 s, approachRate: -0.536621 m/s, LOS rate: -0.472362 deg/s, posRepo size: 4
2021-08-13T19:05:19.475Z,1628881519.475 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 147.899994 m,
      bearing: 19.512587 deg,
      approachRate: -0.536621 m/s,
      LOS rate: -0.472362 deg/s,
      cmd update: -1.417088 deg/s,
      cmd heading: 31.878964 deg,
      new cmd heading: 32.465503 deg.

2021-08-13T19:05:21.472Z,1628881521.472 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:05:21.701Z,1628881521.701 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:05:21.701Z,1628881521.701 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:05:21.701Z,1628881521.701 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:05:21.702Z,1628881521.702 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:05:22.113Z,1628881522.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0C7,000,00C12,186,80,80,8C,FF
2021-08-13T19:05:22.113Z,1628881522.113 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:05:22.113Z,1628881522.113 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:05:22.115Z,1628881522.115 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:05:22.504Z,1628881522.504 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:05:22.917Z,1628881522.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,128,000,00BEF,185,80,80,A8,FF
2021-08-13T19:05:22.918Z,1628881522.918 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:05:23.400Z,1628881523.400 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190522.64*51

2021-08-13T19:05:23.471Z,1628881523.471 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 145.800003 m, bearing: 18.522071 deg, deltaT: 4.026740 s, approachRate: -0.521511 m/s, LOS rate: -0.245985 deg/s, posRepo size: 4
2021-08-13T19:05:23.478Z,1628881523.478 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 145.800003 m,
      bearing: 18.522071 deg,
      approachRate: -0.521511 m/s,
      LOS rate: -0.245985 deg/s,
      cmd update: -0.737954 deg/s,
      cmd heading: 26.170190 deg,
      new cmd heading: 25.411981 deg.

2021-08-13T19:05:25.450Z,1628881525.450 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:05:25.733Z,1628881525.733 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:05:25.733Z,1628881525.733 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:05:25.733Z,1628881525.733 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:05:25.734Z,1628881525.734 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:05:26.149Z,1628881526.149 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
128,000,00BEF,185,80,80,A8,FF
2021-08-13T19:05:26.149Z,1628881526.149 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:05:26.149Z,1628881526.149 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:05:26.151Z,1628881526.151 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:05:26.552Z,1628881526.552 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:05:26.965Z,1628881526.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0B8,000,00BCF,186,80,80,A4,FF
2021-08-13T19:05:26.965Z,1628881526.965 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:05:27.406Z,1628881527.406 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190526.67*56

2021-08-13T19:05:27.489Z,1628881527.489 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 143.880005 m, bearing: 21.505628 deg, deltaT: 4.046005 s, approachRate: -0.474542 m/s, LOS rate: 0.737408 deg/s, posRepo size: 4
2021-08-13T19:05:27.491Z,1628881527.491 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 143.880005 m,
      bearing: 21.505628 deg,
      approachRate: -0.474542 m/s,
      LOS rate: 0.737408 deg/s,
      cmd update: 2.212224 deg/s,
      cmd heading: 23.184435 deg,
      new cmd heading: 22.813897 deg.

2021-08-13T19:05:29.793Z,1628881529.793 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:05:30.193Z,1628881530.193 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:05:30.193Z,1628881530.193 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:05:30.193Z,1628881530.193 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:05:30.194Z,1628881530.194 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:05:30.581Z,1628881530.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0B8,000,00BCF,186,80,80,A4,FF
2021-08-13T19:05:30.582Z,1628881530.582 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:05:30.582Z,1628881530.582 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:05:30.583Z,1628881530.583 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:05:31.006Z,1628881531.006 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:05:31.413Z,1628881531.413 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,093,000,00BA8,186,80,80,AE,FF
2021-08-13T19:05:31.414Z,1628881531.414 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:05:31.833Z,1628881531.833 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190531.10*50

2021-08-13T19:05:31.855Z,1628881531.855 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 141.540009 m, bearing: 20.950425 deg, deltaT: 4.533422 s, approachRate: -0.516166 m/s, LOS rate: -0.122469 deg/s, posRepo size: 4
2021-08-13T19:05:31.879Z,1628881531.879 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 141.540009 m,
      bearing: 20.950425 deg,
      approachRate: -0.516166 m/s,
      LOS rate: -0.122469 deg/s,
      cmd update: -0.367406 deg/s,
      cmd heading: 33.212873 deg,
      new cmd heading: 33.964576 deg.

2021-08-13T19:05:34.255Z,1628881534.255 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:05:34.621Z,1628881534.621 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:05:34.621Z,1628881534.621 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:05:34.621Z,1628881534.621 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:05:34.622Z,1628881534.622 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:05:35.030Z,1628881535.030 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
093,000,00BA8,186,80,80,AE,FF
2021-08-13T19:05:35.030Z,1628881535.030 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:05:35.031Z,1628881535.031 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:05:35.033Z,1628881535.033 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:05:35.449Z,1628881535.449 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:05:35.838Z,1628881535.838 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,142,000,00B84,186,80,80,B2,FF
2021-08-13T19:05:35.839Z,1628881535.839 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:05:36.277Z,1628881536.277 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190535.55*55

2021-08-13T19:05:36.294Z,1628881536.294 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 139.379990 m, bearing: 17.954757 deg, deltaT: 4.393471 s, approachRate: -0.491643 m/s, LOS rate: -0.681845 deg/s, posRepo size: 4
2021-08-13T19:05:36.295Z,1628881536.295 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 139.379990 m,
      bearing: 17.954757 deg,
      approachRate: -0.491643 m/s,
      LOS rate: -0.681845 deg/s,
      cmd update: -2.045536 deg/s,
      cmd heading: 31.602658 deg,
      new cmd heading: 31.457429 deg.

2021-08-13T19:05:38.702Z,1628881538.702 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:05:39.065Z,1628881539.065 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:05:39.065Z,1628881539.065 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:05:39.066Z,1628881539.066 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:05:39.066Z,1628881539.066 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:05:39.469Z,1628881539.469 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
142,000,00B84,186,80,80,B2,FF
2021-08-13T19:05:39.469Z,1628881539.469 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:05:39.469Z,1628881539.469 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:05:39.471Z,1628881539.471 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:05:39.883Z,1628881539.883 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:05:40.281Z,1628881540.281 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,105,000,00B63,185,80,80,B1,FF
2021-08-13T19:05:40.281Z,1628881540.281 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:05:40.714Z,1628881540.714 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190539.99*59

2021-08-13T19:05:40.765Z,1628881540.765 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 137.399994 m, bearing: 19.610759 deg, deltaT: 4.413418 s, approachRate: -0.448631 m/s, LOS rate: 0.375220 deg/s, posRepo size: 4
2021-08-13T19:05:40.767Z,1628881540.767 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 137.399994 m,
      bearing: 19.610759 deg,
      approachRate: -0.448631 m/s,
      LOS rate: 0.375220 deg/s,
      cmd update: 1.125659 deg/s,
      cmd heading: 22.602008 deg,
      new cmd heading: 21.648801 deg.

2021-08-13T19:05:43.163Z,1628881543.163 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:05:43.517Z,1628881543.517 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:05:43.518Z,1628881543.518 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:05:43.518Z,1628881543.518 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:05:43.519Z,1628881543.519 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:05:43.921Z,1628881543.921 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
105,000,00B63,185,80,80,B1,FF
2021-08-13T19:05:43.921Z,1628881543.921 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:05:43.921Z,1628881543.921 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:05:43.923Z,1628881543.923 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:05:44.325Z,1628881544.325 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:05:44.726Z,1628881544.726 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,07D,000,00B3A,186,80,80,B6,FF
2021-08-13T19:05:44.727Z,1628881544.727 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:05:45.158Z,1628881545.158 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190544.45*52

2021-08-13T19:05:45.174Z,1628881545.174 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 134.940002 m, bearing: 22.157219 deg, deltaT: 4.486942 s, approachRate: -0.548256 m/s, LOS rate: 0.567527 deg/s, posRepo size: 4
2021-08-13T19:05:45.176Z,1628881545.176 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 134.940002 m,
      bearing: 22.157219 deg,
      approachRate: -0.548256 m/s,
      LOS rate: 0.567527 deg/s,
      cmd update: 1.702581 deg/s,
      cmd heading: 27.675386 deg,
      new cmd heading: 28.089958 deg.

2021-08-13T19:05:47.560Z,1628881547.560 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T19:05:47.587Z,1628881547.587 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:05:47.949Z,1628881547.949 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:05:47.949Z,1628881547.949 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:05:47.950Z,1628881547.950 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:05:47.950Z,1628881547.950 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:05:48.354Z,1628881548.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
07D,000,00B3A,186,80,80,B6,FF
2021-08-13T19:05:48.354Z,1628881548.354 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:05:48.354Z,1628881548.354 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:05:48.360Z,1628881548.360 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:05:48.765Z,1628881548.765 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:05:49.178Z,1628881549.178 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0DD,000,00B14,186,80,80,A8,FF
2021-08-13T19:05:49.178Z,1628881549.178 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:05:49.615Z,1628881549.615 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190548.88*5F

2021-08-13T19:05:49.710Z,1628881549.710 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 132.660004 m, bearing: 19.385405 deg, deltaT: 4.385547 s, approachRate: -0.519889 m/s, LOS rate: -0.632034 deg/s, posRepo size: 4
2021-08-13T19:05:49.711Z,1628881549.711 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 132.660004 m,
      bearing: 19.385405 deg,
      approachRate: -0.519889 m/s,
      LOS rate: -0.632034 deg/s,
      cmd update: -1.896101 deg/s,
      cmd heading: 35.148946 deg,
      new cmd heading: 36.025012 deg.

2021-08-13T19:05:52.027Z,1628881552.027 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:05:52.441Z,1628881552.441 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:05:52.441Z,1628881552.441 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:05:52.442Z,1628881552.442 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:05:52.443Z,1628881552.443 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:05:52.797Z,1628881552.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0DD,000,00B14,186,80,80,A8,FF
2021-08-13T19:05:52.797Z,1628881552.797 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:05:52.798Z,1628881552.798 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:05:52.799Z,1628881552.799 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:05:53.218Z,1628881553.218 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:05:53.613Z,1628881553.613 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,174,000,00AF0,186,80,80,A7,FF
2021-08-13T19:05:53.614Z,1628881553.614 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:05:54.057Z,1628881554.057 [Micromodem](INFO): Nmea in: $SNTTA,0.089309,,,,190553.32*41

2021-08-13T19:05:54.091Z,1628881554.091 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 130.500000 m, bearing: 16.543709 deg, deltaT: 4.543676 s, approachRate: -0.475387 m/s, LOS rate: -0.625418 deg/s, posRepo size: 4
2021-08-13T19:05:54.094Z,1628881554.094 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 130.500000 m,
      bearing: 16.543709 deg,
      approachRate: -0.475387 m/s,
      LOS rate: -0.625418 deg/s,
      cmd update: -1.876254 deg/s,
      cmd heading: 26.543338 deg,
      new cmd heading: 25.865016 deg.

2021-08-13T19:05:56.501Z,1628881556.501 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:05:56.857Z,1628881556.857 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:05:56.857Z,1628881556.857 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:05:56.857Z,1628881556.857 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:05:56.858Z,1628881556.858 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:05:57.266Z,1628881557.266 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
174,000,00AF0,186,80,80,A7,FF
2021-08-13T19:05:57.266Z,1628881557.266 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:05:57.267Z,1628881557.267 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:05:57.273Z,1628881557.273 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:05:57.669Z,1628881557.669 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:05:58.081Z,1628881558.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A5,000,00ACC,186,80,80,AE,FF
2021-08-13T19:05:58.081Z,1628881558.081 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:05:58.521Z,1628881558.521 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190557.80*59

2021-08-13T19:05:58.586Z,1628881558.586 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 128.339996 m, bearing: 22.549497 deg, deltaT: 4.421091 s, approachRate: -0.488568 m/s, LOS rate: 1.358440 deg/s, posRepo size: 4
2021-08-13T19:05:58.595Z,1628881558.595 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 128.339996 m,
      bearing: 22.549497 deg,
      approachRate: -0.488568 m/s,
      LOS rate: 1.358440 deg/s,
      cmd update: 4.075321 deg/s,
      cmd heading: 18.238280 deg,
      new cmd heading: 17.439513 deg.

2021-08-13T19:06:00.930Z,1628881560.930 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:06:01.450Z,1628881561.450 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:06:01.450Z,1628881561.450 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:06:01.451Z,1628881561.451 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:06:01.454Z,1628881561.454 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:06:01.727Z,1628881561.727 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0A5,000,00ACC,186,80,80,AE,FF
2021-08-13T19:06:01.727Z,1628881561.727 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:06:01.727Z,1628881561.727 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:06:01.729Z,1628881561.729 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:06:02.109Z,1628881562.109 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:06:02.521Z,1628881562.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,003,000,00AA8,182,80,80,A0,FF
2021-08-13T19:06:02.521Z,1628881562.521 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:06:02.945Z,1628881562.945 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190602.25*55

2021-08-13T19:06:02.986Z,1628881562.986 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 126.180000 m, bearing: 23.167411 deg, deltaT: 4.420987 s, approachRate: -0.488578 m/s, LOS rate: 0.139768 deg/s, posRepo size: 4
2021-08-13T19:06:02.988Z,1628881562.988 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 126.180000 m,
      bearing: 23.167411 deg,
      approachRate: -0.488578 m/s,
      LOS rate: 0.139768 deg/s,
      cmd update: 0.419305 deg/s,
      cmd heading: 36.221563 deg,
      new cmd heading: 37.906766 deg.

2021-08-13T19:06:05.461Z,1628881565.461 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:06:05.749Z,1628881565.749 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:06:05.749Z,1628881565.749 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:06:05.750Z,1628881565.750 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:06:05.751Z,1628881565.751 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:06:06.161Z,1628881566.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
003,000,00AA8,182,80,80,A0,FF
2021-08-13T19:06:06.161Z,1628881566.161 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:06:06.162Z,1628881566.162 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:06:06.163Z,1628881566.163 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:06:06.552Z,1628881566.552 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:06:06.957Z,1628881566.957 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,145,000,00A7F,186,80,80,B1,FF
2021-08-13T19:06:06.958Z,1628881566.958 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:06:07.425Z,1628881567.425 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190606.68*58

2021-08-13T19:06:07.537Z,1628881567.537 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 123.720001 m, bearing: 18.611287 deg, deltaT: 4.393636 s, approachRate: -0.559901 m/s, LOS rate: -1.036983 deg/s, posRepo size: 4
2021-08-13T19:06:07.539Z,1628881567.539 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 123.720001 m,
      bearing: 18.611287 deg,
      approachRate: -0.559901 m/s,
      LOS rate: -1.036983 deg/s,
      cmd update: -3.110948 deg/s,
      cmd heading: 38.067284 deg,
      new cmd heading: 38.300727 deg.

2021-08-13T19:06:09.803Z,1628881569.803 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:06:10.193Z,1628881570.193 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:06:10.193Z,1628881570.193 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:06:10.193Z,1628881570.193 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:06:10.194Z,1628881570.194 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:06:10.593Z,1628881570.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
145,000,00A7F,186,80,80,B1,FF
2021-08-13T19:06:10.593Z,1628881570.593 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:06:10.593Z,1628881570.593 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:06:10.595Z,1628881570.595 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:06:11.000Z,1628881571.000 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:06:11.425Z,1628881571.425 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1EF,000,00A5A,186,80,80,87,FF
2021-08-13T19:06:11.425Z,1628881571.425 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:06:11.837Z,1628881571.837 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190611.12*53

2021-08-13T19:06:11.868Z,1628881571.868 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 121.500000 m, bearing: 14.944509 deg, deltaT: 4.533629 s, approachRate: -0.489674 m/s, LOS rate: -0.808795 deg/s, posRepo size: 4
2021-08-13T19:06:11.870Z,1628881571.870 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 121.500000 m,
      bearing: 14.944509 deg,
      approachRate: -0.489674 m/s,
      LOS rate: -0.808795 deg/s,
      cmd update: -2.426386 deg/s,
      cmd heading: 23.964602 deg,
      new cmd heading: 22.844592 deg.

2021-08-13T19:06:14.247Z,1628881574.247 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:06:14.641Z,1628881574.641 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:06:14.641Z,1628881574.641 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:06:14.641Z,1628881574.641 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:06:14.642Z,1628881574.642 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:06:15.042Z,1628881575.042 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1EF,000,00A5A,186,80,80,87,FF
2021-08-13T19:06:15.042Z,1628881575.042 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:06:15.042Z,1628881575.042 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:06:15.044Z,1628881575.044 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:06:15.473Z,1628881575.473 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:06:15.849Z,1628881575.849 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,094,000,00A3B,186,80,80,A3,FF
2021-08-13T19:06:15.849Z,1628881575.849 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:06:16.281Z,1628881576.281 [Micromodem](INFO): Nmea in: $SNTTA,0.082371,,,,190615.56*46

2021-08-13T19:06:16.313Z,1628881576.313 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 119.639999 m, bearing: 21.331830 deg, deltaT: 4.359002 s, approachRate: -0.426703 m/s, LOS rate: 1.465317 deg/s, posRepo size: 4
2021-08-13T19:06:16.315Z,1628881576.315 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 119.639999 m,
      bearing: 21.331830 deg,
      approachRate: -0.426703 m/s,
      LOS rate: 1.465317 deg/s,
      cmd update: 4.395952 deg/s,
      cmd heading: 13.387035 deg,
      new cmd heading: 12.306245 deg.

2021-08-13T19:06:18.717Z,1628881578.717 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:06:19.081Z,1628881579.081 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:06:19.081Z,1628881579.081 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:06:19.081Z,1628881579.081 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:06:19.082Z,1628881579.082 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:06:19.489Z,1628881579.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
094,000,00A3B,186,80,80,A3,FF
2021-08-13T19:06:19.489Z,1628881579.489 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:06:19.489Z,1628881579.489 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:06:19.491Z,1628881579.491 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:06:19.903Z,1628881579.903 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:06:20.293Z,1628881580.293 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FAE,000,00A17,185,80,80,AF,FF
2021-08-13T19:06:20.293Z,1628881580.293 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:06:20.733Z,1628881580.733 [Micromodem](INFO): Nmea in: $SNTTA,0.080876,,,,190620.01*4C

2021-08-13T19:06:20.760Z,1628881580.760 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 117.480003 m, bearing: 23.555062 deg, deltaT: 4.443515 s, approachRate: -0.486101 m/s, LOS rate: 0.500332 deg/s, posRepo size: 4
2021-08-13T19:06:20.762Z,1628881580.762 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 117.480003 m,
      bearing: 23.555062 deg,
      approachRate: -0.486101 m/s,
      LOS rate: 0.500332 deg/s,
      cmd update: 1.500995 deg/s,
      cmd heading: 32.919030 deg,
      new cmd heading: 34.894193 deg.

2021-08-13T19:06:23.151Z,1628881583.151 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:06:23.514Z,1628881583.514 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:06:23.514Z,1628881583.514 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:06:23.515Z,1628881583.515 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:06:23.516Z,1628881583.516 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:06:23.933Z,1628881583.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FAE,000,00A17,185,80,80,AF,FF
2021-08-13T19:06:23.933Z,1628881583.933 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:06:23.933Z,1628881583.933 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:06:23.935Z,1628881583.935 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:06:24.358Z,1628881584.358 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:06:24.737Z,1628881584.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0DB,000,009F3,186,80,80,9E,FF
2021-08-13T19:06:24.737Z,1628881584.737 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:06:25.187Z,1628881585.187 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 115.320000 m, bearing: 19.514943 deg, deltaT: 4.521608 s, approachRate: -0.477707 m/s, LOS rate: -0.893514 deg/s, posRepo size: 4
2021-08-13T19:06:25.190Z,1628881585.190 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 115.320000 m,
      bearing: 19.514943 deg,
      approachRate: -0.477707 m/s,
      LOS rate: -0.893514 deg/s,
      cmd update: -2.680541 deg/s,
      cmd heading: 39.700112 deg,
      new cmd heading: 40.239574 deg.

2021-08-13T19:06:27.630Z,1628881587.630 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:06:27.969Z,1628881587.969 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:06:27.969Z,1628881587.969 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:06:27.970Z,1628881587.970 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:06:27.970Z,1628881587.970 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:06:28.372Z,1628881588.372 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0DB,000,009F3,186,80,80,9E,FF
2021-08-13T19:06:28.373Z,1628881588.373 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:06:28.373Z,1628881588.373 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:06:28.400Z,1628881588.400 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:06:28.789Z,1628881588.789 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:06:29.189Z,1628881589.189 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,236,000,009D1,188,80,80,A8,FF
2021-08-13T19:06:29.189Z,1628881589.189 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:06:29.595Z,1628881589.595 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190628.92*51

2021-08-13T19:06:29.660Z,1628881589.660 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 113.279999 m, bearing: 13.159658 deg, deltaT: 4.400463 s, approachRate: -0.463588 m/s, LOS rate: -1.444231 deg/s, posRepo size: 4
2021-08-13T19:06:29.662Z,1628881589.662 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 113.279999 m,
      bearing: 13.159658 deg,
      approachRate: -0.463588 m/s,
      LOS rate: -1.444231 deg/s,
      cmd update: -4.332693 deg/s,
      cmd heading: 27.916436 deg,
      new cmd heading: 26.747972 deg.

2021-08-13T19:06:32.027Z,1628881592.027 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:06:32.429Z,1628881592.429 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:06:32.429Z,1628881592.429 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:06:32.429Z,1628881592.429 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:06:32.430Z,1628881592.430 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:06:32.813Z,1628881592.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
236,000,009D1,188,80,80,A8,FF
2021-08-13T19:06:32.813Z,1628881592.813 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:06:32.813Z,1628881592.813 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:06:32.815Z,1628881592.815 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:06:33.229Z,1628881593.229 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:06:33.637Z,1628881593.637 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,109,000,009AE,186,80,80,AB,FF
2021-08-13T19:06:33.638Z,1628881593.638 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:06:33.641Z,1628881593.641 [Micromodem](INFO): Nmea in: $SNTTA,0.171924,0.171843,,,190633.33*50

2021-08-13T19:06:34.068Z,1628881594.068 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 111.180000 m, bearing: 19.505567 deg, deltaT: 4.498964 s, approachRate: -0.466774 m/s, LOS rate: 1.410527 deg/s, posRepo size: 4
2021-08-13T19:06:34.070Z,1628881594.070 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 111.180000 m,
      bearing: 19.505567 deg,
      approachRate: -0.466774 m/s,
      LOS rate: 1.410527 deg/s,
      cmd update: 4.231581 deg/s,
      cmd heading: 8.404977 deg,
      new cmd heading: 6.930375 deg.

2021-08-13T19:06:36.490Z,1628881596.490 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:06:36.857Z,1628881596.857 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:06:36.857Z,1628881596.857 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:06:36.857Z,1628881596.857 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:06:36.858Z,1628881596.858 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:06:37.265Z,1628881597.265 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
109,000,009AE,186,80,80,AB,FF
2021-08-13T19:06:37.265Z,1628881597.265 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:06:37.266Z,1628881597.266 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:06:37.271Z,1628881597.271 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:06:37.673Z,1628881597.673 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:06:38.065Z,1628881598.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F9A,000,0098C,187,80,80,BD,FF
2021-08-13T19:06:38.066Z,1628881598.066 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:06:38.506Z,1628881598.506 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190637.79*5A

2021-08-13T19:06:38.531Z,1628881598.531 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 109.139999 m, bearing: 23.281016 deg, deltaT: 4.391744 s, approachRate: -0.464508 m/s, LOS rate: 0.859670 deg/s, posRepo size: 4
2021-08-13T19:06:38.534Z,1628881598.534 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 109.139999 m,
      bearing: 23.281016 deg,
      approachRate: -0.464508 m/s,
      LOS rate: 0.859670 deg/s,
      cmd update: 2.579009 deg/s,
      cmd heading: 26.990535 deg,
      new cmd heading: 28.733803 deg.

2021-08-13T19:06:40.926Z,1628881600.926 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:06:41.337Z,1628881601.337 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:06:41.337Z,1628881601.337 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:06:41.337Z,1628881601.337 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:06:41.338Z,1628881601.338 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:06:41.709Z,1628881601.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F9A,000,0098C,187,80,80,BD,FF
2021-08-13T19:06:41.709Z,1628881601.709 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:06:41.709Z,1628881601.709 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:06:41.711Z,1628881601.711 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:06:42.109Z,1628881602.109 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:06:42.513Z,1628881602.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,004,000,00969,182,80,80,B6,FF
2021-08-13T19:06:42.513Z,1628881602.513 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:06:42.957Z,1628881602.957 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190642.23*57

2021-08-13T19:06:42.980Z,1628881602.980 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 107.040001 m, bearing: 21.869530 deg, deltaT: 4.458264 s, approachRate: -0.471035 m/s, LOS rate: -0.316600 deg/s, posRepo size: 4
2021-08-13T19:06:42.982Z,1628881602.982 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 107.040001 m,
      bearing: 21.869530 deg,
      approachRate: -0.471035 m/s,
      LOS rate: -0.316600 deg/s,
      cmd update: -0.949800 deg/s,
      cmd heading: 38.487872 deg,
      new cmd heading: 39.525355 deg.

2021-08-13T19:06:45.448Z,1628881605.448 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:06:45.749Z,1628881605.749 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:06:45.749Z,1628881605.749 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:06:45.749Z,1628881605.749 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:06:45.750Z,1628881605.750 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:06:46.173Z,1628881606.173 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
004,000,00969,182,80,80,B6,FF
2021-08-13T19:06:46.173Z,1628881606.173 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:06:46.173Z,1628881606.173 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:06:46.175Z,1628881606.175 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:06:46.568Z,1628881606.568 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:06:46.957Z,1628881606.957 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,197,000,00945,186,80,80,B6,FF
2021-08-13T19:06:46.958Z,1628881606.958 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:06:47.409Z,1628881607.409 [Micromodem](INFO): Nmea in: $SNTTA,0.432220,,,,190646.74*4A

2021-08-13T19:06:47.479Z,1628881607.479 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 104.880005 m, bearing: 16.978812 deg, deltaT: 4.420754 s, approachRate: -0.488604 m/s, LOS rate: -1.106308 deg/s, posRepo size: 4
2021-08-13T19:06:47.481Z,1628881607.481 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 104.880005 m,
      bearing: 16.978812 deg,
      approachRate: -0.488604 m/s,
      LOS rate: -1.106308 deg/s,
      cmd update: -3.318926 deg/s,
      cmd heading: 34.285245 deg,
      new cmd heading: 33.832452 deg.

2021-08-13T19:06:49.810Z,1628881609.810 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:06:50.190Z,1628881610.190 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:06:50.190Z,1628881610.190 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:06:50.191Z,1628881610.191 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:06:50.191Z,1628881610.191 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:06:50.598Z,1628881610.598 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
197,000,00945,186,80,80,B6,FF
2021-08-13T19:06:50.598Z,1628881610.598 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:06:50.598Z,1628881610.598 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:06:50.607Z,1628881610.607 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:06:51.004Z,1628881611.004 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:06:51.427Z,1628881611.427 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,19C,000,00927,186,80,80,B7,FF
2021-08-13T19:06:51.427Z,1628881611.427 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:06:51.833Z,1628881611.833 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190651.13*56

2021-08-13T19:06:51.855Z,1628881611.855 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 103.079994 m, bearing: 16.345324 deg, deltaT: 4.516277 s, approachRate: -0.398561 m/s, LOS rate: -0.140268 deg/s, posRepo size: 4
2021-08-13T19:06:51.858Z,1628881611.858 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 103.079994 m,
      bearing: 16.345324 deg,
      approachRate: -0.398561 m/s,
      LOS rate: -0.140268 deg/s,
      cmd update: -0.420803 deg/s,
      cmd heading: 19.309609 deg,
      new cmd heading: 18.178065 deg.

2021-08-13T19:06:54.247Z,1628881614.247 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:06:54.635Z,1628881614.635 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:06:54.635Z,1628881614.635 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:06:54.635Z,1628881614.635 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:06:54.636Z,1628881614.636 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:06:55.043Z,1628881615.043 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
19C,000,00927,186,80,80,B7,FF
2021-08-13T19:06:55.043Z,1628881615.043 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:06:55.048Z,1628881615.048 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:06:55.050Z,1628881615.050 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:06:55.472Z,1628881615.472 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:06:55.845Z,1628881615.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,01F,000,00908,184,80,80,CA,FF
2021-08-13T19:06:55.845Z,1628881615.845 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:06:56.287Z,1628881616.287 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190655.57*52

2021-08-13T19:06:56.309Z,1628881616.309 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 101.219994 m, bearing: 22.405647 deg, deltaT: 4.387078 s, approachRate: -0.423973 m/s, LOS rate: 1.381403 deg/s, posRepo size: 4
2021-08-13T19:06:56.311Z,1628881616.311 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 101.219994 m,
      bearing: 22.405647 deg,
      approachRate: -0.423973 m/s,
      LOS rate: 1.381403 deg/s,
      cmd update: 4.144209 deg/s,
      cmd heading: 17.466267 deg,
      new cmd heading: 17.292324 deg.

2021-08-13T19:06:58.755Z,1628881618.755 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:06:59.073Z,1628881619.073 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:06:59.073Z,1628881619.073 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:06:59.073Z,1628881619.073 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:06:59.074Z,1628881619.074 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:06:59.481Z,1628881619.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
01F,000,00908,184,80,80,CA,FF
2021-08-13T19:06:59.481Z,1628881619.481 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:06:59.481Z,1628881619.481 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:06:59.483Z,1628881619.483 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:06:59.887Z,1628881619.887 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:07:00.285Z,1628881620.285 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF6,000,008E3,183,80,80,8F,FF
2021-08-13T19:07:00.285Z,1628881620.285 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:07:00.746Z,1628881620.746 [Micromodem](INFO): Nmea in: $SNTTA,0.097966,,,,190700.00*48

2021-08-13T19:07:00.777Z,1628881620.777 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 99.000000 m, bearing: 21.192506 deg, deltaT: 4.400379 s, approachRate: -0.504501 m/s, LOS rate: -0.275690 deg/s, posRepo size: 4
2021-08-13T19:07:00.779Z,1628881620.779 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 99.000000 m,
      bearing: 21.192506 deg,
      approachRate: -0.504501 m/s,
      LOS rate: -0.275690 deg/s,
      cmd update: -0.827070 deg/s,
      cmd heading: 35.731511 deg,
      new cmd heading: 37.698273 deg.

2021-08-13T19:07:03.132Z,1628881623.132 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:07:03.513Z,1628881623.513 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:07:03.513Z,1628881623.513 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:07:03.513Z,1628881623.513 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:07:03.514Z,1628881623.514 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:07:03.933Z,1628881623.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF6,000,008E3,183,80,80,8F,FF
2021-08-13T19:07:03.933Z,1628881623.933 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:07:03.933Z,1628881623.933 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:07:03.935Z,1628881623.935 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:07:04.337Z,1628881624.337 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:07:04.737Z,1628881624.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,134,000,008C3,186,80,80,A0,FF
2021-08-13T19:07:04.737Z,1628881624.737 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:07:05.179Z,1628881625.179 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190704.46*57

2021-08-13T19:07:05.211Z,1628881625.211 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 97.080009 m, bearing: 18.162566 deg, deltaT: 4.509386 s, approachRate: -0.425776 m/s, LOS rate: -0.671919 deg/s, posRepo size: 4
2021-08-13T19:07:05.241Z,1628881625.241 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 97.080009 m,
      bearing: 18.162566 deg,
      approachRate: -0.425776 m/s,
      LOS rate: -0.671919 deg/s,
      cmd update: -2.015756 deg/s,
      cmd heading: 31.998773 deg,
      new cmd heading: 31.672475 deg.

2021-08-13T19:07:07.653Z,1628881627.653 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:07:07.961Z,1628881627.961 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:07:07.961Z,1628881627.961 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:07:07.961Z,1628881627.961 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:07:07.962Z,1628881627.962 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:07:08.373Z,1628881628.373 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
134,000,008C3,186,80,80,A0,FF
2021-08-13T19:07:08.373Z,1628881628.373 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:07:08.374Z,1628881628.374 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:07:08.380Z,1628881628.380 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:07:08.779Z,1628881628.779 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:07:09.173Z,1628881629.173 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,152,000,0089E,185,80,80,BB,FF
2021-08-13T19:07:09.173Z,1628881629.173 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:07:09.617Z,1628881629.617 [Micromodem](INFO): Nmea in: $SNTTA,0.065480,,,,190708.90*41

2021-08-13T19:07:09.682Z,1628881629.682 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 94.860001 m, bearing: 18.611260 deg, deltaT: 4.411708 s, approachRate: -0.503208 m/s, LOS rate: 0.101705 deg/s, posRepo size: 4
2021-08-13T19:07:09.684Z,1628881629.684 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 94.860001 m,
      bearing: 18.611260 deg,
      approachRate: -0.503208 m/s,
      LOS rate: 0.101705 deg/s,
      cmd update: 0.305116 deg/s,
      cmd heading: 23.114019 deg,
      new cmd heading: 22.189453 deg.

2021-08-13T19:07:12.023Z,1628881632.023 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:07:12.425Z,1628881632.425 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:07:12.425Z,1628881632.425 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:07:12.425Z,1628881632.425 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:07:12.426Z,1628881632.426 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:07:12.809Z,1628881632.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
152,000,0089E,185,80,80,BB,FF
2021-08-13T19:07:12.809Z,1628881632.809 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:07:12.809Z,1628881632.809 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:07:12.811Z,1628881632.811 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:07:13.221Z,1628881633.221 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:07:13.617Z,1628881633.617 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,094,000,0087E,187,80,80,96,FF
2021-08-13T19:07:13.617Z,1628881633.617 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:07:14.061Z,1628881634.061 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190713.33*53

2021-08-13T19:07:14.083Z,1628881634.083 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 92.940010 m, bearing: 19.909291 deg, deltaT: 4.472499 s, approachRate: -0.429288 m/s, LOS rate: 0.290225 deg/s, posRepo size: 4
2021-08-13T19:07:14.086Z,1628881634.086 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 92.940010 m,
      bearing: 19.909291 deg,
      approachRate: -0.429288 m/s,
      LOS rate: 0.290225 deg/s,
      cmd update: 0.870675 deg/s,
      cmd heading: 24.479887 deg,
      new cmd heading: 24.596961 deg.

2021-08-13T19:07:16.482Z,1628881636.482 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:07:16.849Z,1628881636.849 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:07:16.849Z,1628881636.849 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:07:16.849Z,1628881636.849 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:07:16.850Z,1628881636.850 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:07:17.268Z,1628881637.268 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
094,000,0087E,187,80,80,96,FF
2021-08-13T19:07:17.269Z,1628881637.269 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:07:17.270Z,1628881637.270 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:07:17.275Z,1628881637.275 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:07:17.657Z,1628881637.657 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:07:18.065Z,1628881638.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0B5,000,00857,186,80,80,99,FF
2021-08-13T19:07:18.066Z,1628881638.066 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:07:18.497Z,1628881638.497 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190717.79*59

2021-08-13T19:07:18.541Z,1628881638.541 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 90.600006 m, bearing: 18.523838 deg, deltaT: 4.382957 s, approachRate: -0.533887 m/s, LOS rate: -0.316100 deg/s, posRepo size: 4
2021-08-13T19:07:18.543Z,1628881638.543 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 90.600006 m,
      bearing: 18.523838 deg,
      approachRate: -0.533887 m/s,
      LOS rate: -0.316100 deg/s,
      cmd update: -0.948300 deg/s,
      cmd heading: 28.296001 deg,
      new cmd heading: 28.694945 deg.

2021-08-13T19:07:20.941Z,1628881640.941 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:07:21.345Z,1628881641.345 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:07:21.345Z,1628881641.345 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:07:21.345Z,1628881641.345 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:07:21.346Z,1628881641.346 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:07:21.709Z,1628881641.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0B5,000,00857,186,80,80,99,FF
2021-08-13T19:07:21.709Z,1628881641.709 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:07:21.709Z,1628881641.709 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:07:21.711Z,1628881641.711 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:07:22.105Z,1628881642.105 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:07:22.505Z,1628881642.505 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0E3,000,00831,186,80,80,91,FF
2021-08-13T19:07:22.506Z,1628881642.506 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:07:22.941Z,1628881642.941 [Micromodem](INFO): Nmea in: $SNTTA,0.067091,,,,190722.23*47

2021-08-13T19:07:22.979Z,1628881642.979 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 88.320000 m, bearing: 17.694278 deg, deltaT: 4.450436 s, approachRate: -0.512311 m/s, LOS rate: -0.186400 deg/s, posRepo size: 4
2021-08-13T19:07:22.986Z,1628881642.986 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 88.320000 m,
      bearing: 17.694278 deg,
      approachRate: -0.512311 m/s,
      LOS rate: -0.186400 deg/s,
      cmd update: -0.559200 deg/s,
      cmd heading: 24.075892 deg,
      new cmd heading: 23.652431 deg.

2021-08-13T19:07:25.462Z,1628881645.462 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:07:25.752Z,1628881645.752 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:07:25.752Z,1628881645.752 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:07:25.752Z,1628881645.752 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:07:25.753Z,1628881645.753 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:07:26.144Z,1628881646.144 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0E3,000,00831,186,80,80,91,FF
2021-08-13T19:07:26.146Z,1628881646.146 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:07:26.147Z,1628881646.147 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:07:26.160Z,1628881646.160 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:07:26.549Z,1628881646.549 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:07:26.953Z,1628881646.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,074,000,0080D,186,80,80,C0,FF
2021-08-13T19:07:26.953Z,1628881646.953 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:07:27.413Z,1628881647.413 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190726.68*5B

2021-08-13T19:07:27.483Z,1628881647.483 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 86.159996 m, bearing: 21.029335 deg, deltaT: 4.437542 s, approachRate: -0.486757 m/s, LOS rate: 0.751555 deg/s, posRepo size: 4
2021-08-13T19:07:27.485Z,1628881647.485 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 86.159996 m,
      bearing: 21.029335 deg,
      approachRate: -0.486757 m/s,
      LOS rate: 0.751555 deg/s,
      cmd update: 2.254665 deg/s,
      cmd heading: 21.594288 deg,
      new cmd heading: 21.307868 deg.

2021-08-13T19:07:29.816Z,1628881649.816 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:07:30.181Z,1628881650.181 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:07:30.181Z,1628881650.181 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:07:30.181Z,1628881650.181 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:07:30.182Z,1628881650.182 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:07:30.589Z,1628881650.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
074,000,0080D,186,80,80,C0,FF
2021-08-13T19:07:30.589Z,1628881650.589 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:07:30.590Z,1628881650.590 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:07:30.591Z,1628881650.591 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:07:30.993Z,1628881650.993 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:07:31.820Z,1628881651.820 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190731.11*53

2021-08-13T19:07:32.649Z,1628881652.649 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:07:34.225Z,1628881654.225 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,186,80,80,C0,FF
2021-08-13T19:07:34.225Z,1628881654.225 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,186,80,80,C0,FF
2021-08-13T19:07:34.225Z,1628881654.225 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T19:07:35.531Z,1628881655.531 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:07:35.849Z,1628881655.849 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:07:35.849Z,1628881655.849 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:07:35.849Z,1628881655.849 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:07:35.850Z,1628881655.850 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:07:36.241Z,1628881656.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,186,80,80,C0,FF
2021-08-13T19:07:36.241Z,1628881656.241 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:07:36.241Z,1628881656.241 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:07:36.243Z,1628881656.243 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:07:36.648Z,1628881656.648 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:07:37.049Z,1628881657.049 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,17E,000,007B8,185,80,80,98,FF
2021-08-13T19:07:37.049Z,1628881657.049 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:07:37.489Z,1628881657.489 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190736.77*54

2021-08-13T19:07:37.571Z,1628881657.571 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 81.059998 m, bearing: 17.822904 deg, deltaT: 10.096631 s, approachRate: -0.505119 m/s, LOS rate: -0.317574 deg/s, posRepo size: 4
2021-08-13T19:07:37.577Z,1628881657.577 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 81.059998 m,
      bearing: 17.822904 deg,
      approachRate: -0.505119 m/s,
      LOS rate: -0.317574 deg/s,
      cmd update: -0.952723 deg/s,
      cmd heading: 44.358631 deg,
      new cmd heading: 45.493742 deg.

2021-08-13T19:07:39.931Z,1628881659.931 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:07:40.289Z,1628881660.289 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:07:40.289Z,1628881660.289 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:07:40.289Z,1628881660.289 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:07:40.290Z,1628881660.290 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:07:40.685Z,1628881660.685 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
17E,000,007B8,185,80,80,98,FF
2021-08-13T19:07:40.685Z,1628881660.685 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:07:40.685Z,1628881660.685 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:07:40.687Z,1628881660.687 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:07:41.092Z,1628881661.092 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:07:41.497Z,1628881661.497 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2CB,000,0079B,189,80,80,9A,FF
2021-08-13T19:07:41.497Z,1628881661.497 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:07:41.937Z,1628881661.937 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190741.21*57

2021-08-13T19:07:41.971Z,1628881661.971 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 79.320007 m, bearing: 9.729799 deg, deltaT: 4.524467 s, approachRate: -0.384574 m/s, LOS rate: -1.788742 deg/s, posRepo size: 4
2021-08-13T19:07:41.974Z,1628881661.974 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 79.320007 m,
      bearing: 9.729799 deg,
      approachRate: -0.384574 m/s,
      LOS rate: -1.788742 deg/s,
      cmd update: -5.366226 deg/s,
      cmd heading: 40.051805 deg,
      new cmd heading: 39.686279 deg.

2021-08-13T19:07:44.339Z,1628881664.339 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:07:44.733Z,1628881664.733 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:07:44.733Z,1628881664.733 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:07:44.733Z,1628881664.733 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:07:44.734Z,1628881664.734 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:07:45.129Z,1628881665.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2CB,000,0079B,189,80,80,9A,FF
2021-08-13T19:07:45.129Z,1628881665.129 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:07:45.129Z,1628881665.129 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:07:45.131Z,1628881665.131 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:07:45.540Z,1628881665.540 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:07:45.949Z,1628881665.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,22D,000,00775,188,80,80,B2,FF
2021-08-13T19:07:45.949Z,1628881665.949 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:07:46.381Z,1628881666.381 [Micromodem](INFO): Nmea in: $SNTTA,0.059522,,,,190745.65*44

2021-08-13T19:07:46.439Z,1628881666.439 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 77.040009 m, bearing: 13.309079 deg, deltaT: 4.374632 s, approachRate: -0.521186 m/s, LOS rate: 0.818190 deg/s, posRepo size: 4
2021-08-13T19:07:46.449Z,1628881666.449 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 77.040009 m,
      bearing: 13.309079 deg,
      approachRate: -0.521186 m/s,
      LOS rate: 0.818190 deg/s,
      cmd update: 2.454570 deg/s,
      cmd heading: 16.554972 deg,
      new cmd heading: 14.019634 deg.

2021-08-13T19:07:48.802Z,1628881668.802 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:07:49.169Z,1628881669.169 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:07:49.169Z,1628881669.169 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:07:49.169Z,1628881669.169 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:07:49.170Z,1628881669.170 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:07:49.577Z,1628881669.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
22D,000,00775,188,80,80,B2,FF
2021-08-13T19:07:49.577Z,1628881669.577 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:07:49.577Z,1628881669.577 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:07:49.579Z,1628881669.579 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:07:49.985Z,1628881669.985 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:07:50.405Z,1628881670.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,050,000,00752,184,80,80,B2,FF
2021-08-13T19:07:50.406Z,1628881670.406 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:07:50.829Z,1628881670.829 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190750.10*55

2021-08-13T19:07:50.852Z,1628881670.852 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 74.940002 m, bearing: 22.566791 deg, deltaT: 4.492351 s, approachRate: -0.467463 m/s, LOS rate: 2.060772 deg/s, posRepo size: 4
2021-08-13T19:07:50.854Z,1628881670.854 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 74.940002 m,
      bearing: 22.566791 deg,
      approachRate: -0.467463 m/s,
      LOS rate: 2.060772 deg/s,
      cmd update: 6.182317 deg/s,
      cmd heading: 27.581525 deg,
      new cmd heading: 28.545886 deg.

2021-08-13T19:07:53.241Z,1628881673.241 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:07:53.613Z,1628881673.613 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:07:53.613Z,1628881673.613 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:07:53.613Z,1628881673.613 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:07:53.614Z,1628881673.614 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:07:54.021Z,1628881674.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
050,000,00752,184,80,80,B2,FF
2021-08-13T19:07:54.021Z,1628881674.021 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:07:54.021Z,1628881674.021 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:07:54.023Z,1628881674.023 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:07:54.453Z,1628881674.453 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:07:54.822Z,1628881674.822 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,07C,000,0072E,187,80,80,AE,FF
2021-08-13T19:07:54.822Z,1628881674.822 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:07:55.297Z,1628881675.297 [Micromodem](INFO): Nmea in: $SNTTA,0.073459,,,,190754.54*43

2021-08-13T19:07:55.363Z,1628881675.363 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 72.779999 m, bearing: 21.008941 deg, deltaT: 4.380949 s, approachRate: -0.493045 m/s, LOS rate: -0.355596 deg/s, posRepo size: 4
2021-08-13T19:07:55.366Z,1628881675.366 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 72.779999 m,
      bearing: 21.008941 deg,
      approachRate: -0.493045 m/s,
      LOS rate: -0.355596 deg/s,
      cmd update: -1.066789 deg/s,
      cmd heading: 54.665995 deg,
      new cmd heading: 57.903612 deg.

2021-08-13T19:07:57.720Z,1628881677.720 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:07:58.067Z,1628881678.067 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:07:58.067Z,1628881678.067 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:07:58.067Z,1628881678.067 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:07:58.068Z,1628881678.068 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:07:58.461Z,1628881678.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
07C,000,0072E,187,80,80,AE,FF
2021-08-13T19:07:58.461Z,1628881678.461 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:07:58.461Z,1628881678.461 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:07:58.463Z,1628881678.463 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:07:58.879Z,1628881678.879 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:07:59.301Z,1628881679.301 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,289,000,00708,189,80,80,BC,FF
2021-08-13T19:07:59.302Z,1628881679.302 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:07:59.717Z,1628881679.717 [Micromodem](INFO): Nmea in: $SNTTA,0.049350,,,,190758.98*48

2021-08-13T19:07:59.743Z,1628881679.743 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 70.500000 m, bearing: 12.783666 deg, deltaT: 4.585914 s, approachRate: -0.497174 m/s, LOS rate: -1.793596 deg/s, posRepo size: 4
2021-08-13T19:07:59.746Z,1628881679.746 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 70.500000 m,
      bearing: 12.783666 deg,
      approachRate: -0.497174 m/s,
      LOS rate: -1.793596 deg/s,
      cmd update: -5.380787 deg/s,
      cmd heading: 49.774707 deg,
      new cmd heading: 49.434688 deg.

2021-08-13T19:08:02.123Z,1628881682.123 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:08:02.501Z,1628881682.501 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:08:02.501Z,1628881682.501 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:08:02.501Z,1628881682.501 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:08:02.502Z,1628881682.502 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:08:02.921Z,1628881682.921 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
289,000,00708,189,80,80,BC,FF
2021-08-13T19:08:02.921Z,1628881682.921 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:08:02.921Z,1628881682.921 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:08:02.923Z,1628881682.923 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:08:03.359Z,1628881683.359 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:08:03.721Z,1628881683.721 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,385,000,006ED,189,80,80,AB,FF
2021-08-13T19:08:03.721Z,1628881683.721 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:08:04.146Z,1628881684.146 [Micromodem](INFO): Nmea in: $SNTTA,0.057351,,,,190803.44*46

2021-08-13T19:08:04.162Z,1628881684.162 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 68.879997 m, bearing: 8.563935 deg, deltaT: 4.313459 s, approachRate: -0.375569 m/s, LOS rate: -0.978271 deg/s, posRepo size: 4
2021-08-13T19:08:04.164Z,1628881684.164 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 68.879997 m,
      bearing: 8.563935 deg,
      approachRate: -0.375569 m/s,
      LOS rate: -0.978271 deg/s,
      cmd update: -2.934812 deg/s,
      cmd heading: 26.559915 deg,
      new cmd heading: 24.284299 deg.

2021-08-13T19:08:06.578Z,1628881686.578 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:08:06.970Z,1628881686.970 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:08:06.970Z,1628881686.970 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:08:06.970Z,1628881686.970 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:08:06.971Z,1628881686.971 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:08:07.361Z,1628881687.361 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
385,000,006ED,189,80,80,AB,FF
2021-08-13T19:08:07.361Z,1628881687.361 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:08:07.361Z,1628881687.361 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:08:07.363Z,1628881687.363 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:08:07.773Z,1628881687.773 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:08:08.161Z,1628881688.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,218,000,006D0,187,80,80,AC,FF
2021-08-13T19:08:08.161Z,1628881688.161 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:08:08.602Z,1628881688.602 [Micromodem](INFO): Nmea in: $SNTTA,0.047026,,,,190807.89*41

2021-08-13T19:08:08.629Z,1628881688.629 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 67.140007 m, bearing: 14.741073 deg, deltaT: 4.467333 s, approachRate: -0.389492 m/s, LOS rate: 1.382735 deg/s, posRepo size: 4
2021-08-13T19:08:08.631Z,1628881688.631 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 67.140007 m,
      bearing: 14.741073 deg,
      approachRate: -0.389492 m/s,
      LOS rate: 1.382735 deg/s,
      cmd update: 4.148205 deg/s,
      cmd heading: 13.460731 deg,
      new cmd heading: 12.211194 deg.

2021-08-13T19:08:11.035Z,1628881691.035 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:08:11.396Z,1628881691.396 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:08:11.397Z,1628881691.397 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:08:11.397Z,1628881691.397 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:08:11.399Z,1628881691.399 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:08:11.814Z,1628881691.814 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
218,000,006D0,187,80,80,AC,FF
2021-08-13T19:08:11.814Z,1628881691.814 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:08:11.815Z,1628881691.815 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:08:11.817Z,1628881691.817 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:08:12.222Z,1628881692.222 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:08:12.611Z,1628881692.611 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,08A,000,006AF,186,80,80,A5,FF
2021-08-13T19:08:12.611Z,1628881692.611 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:08:13.050Z,1628881693.050 [Micromodem](INFO): Nmea in: $SNTTA,,0.043023,,,190812.34*42

2021-08-13T19:08:13.072Z,1628881693.072 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 65.159996 m, bearing: 20.312766 deg, deltaT: 4.477422 s, approachRate: -0.442221 m/s, LOS rate: 1.244398 deg/s, posRepo size: 4
2021-08-13T19:08:13.075Z,1628881693.075 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 65.159996 m,
      bearing: 20.312766 deg,
      approachRate: -0.442221 m/s,
      LOS rate: 1.244398 deg/s,
      cmd update: 3.733193 deg/s,
      cmd heading: 32.002066 deg,
      new cmd heading: 33.658701 deg.

2021-08-13T19:08:15.537Z,1628881695.537 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:08:15.846Z,1628881695.846 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:08:15.846Z,1628881695.846 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:08:15.846Z,1628881695.846 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:08:15.847Z,1628881695.847 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:08:16.249Z,1628881696.249 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
08A,000,006AF,186,80,80,A5,FF
2021-08-13T19:08:16.249Z,1628881696.249 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:08:16.249Z,1628881696.249 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:08:16.251Z,1628881696.251 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:08:16.664Z,1628881696.664 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:08:17.057Z,1628881697.057 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,14F,000,00688,186,80,80,7A,FF
2021-08-13T19:08:17.057Z,1628881697.057 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:08:17.484Z,1628881697.484 [Micromodem](INFO): Nmea in: $SNTTA,0.454840,0.454908,,,190816.77*54

2021-08-13T19:08:17.561Z,1628881697.561 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 62.820007 m, bearing: 16.025374 deg, deltaT: 4.423179 s, approachRate: -0.529029 m/s, LOS rate: -0.969301 deg/s, posRepo size: 4
2021-08-13T19:08:17.563Z,1628881697.563 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 62.820007 m,
      bearing: 16.025374 deg,
      approachRate: -0.529029 m/s,
      LOS rate: -0.969301 deg/s,
      cmd update: -2.907903 deg/s,
      cmd heading: 48.542596 deg,
      new cmd heading: 50.236207 deg.

2021-08-13T19:08:19.938Z,1628881699.938 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:08:20.285Z,1628881700.285 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:08:20.285Z,1628881700.285 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:08:20.285Z,1628881700.285 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:08:20.286Z,1628881700.286 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:08:20.698Z,1628881700.698 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
14F,000,00688,186,80,80,7A,FF
2021-08-13T19:08:20.698Z,1628881700.698 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:08:20.698Z,1628881700.698 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:08:20.702Z,1628881700.702 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:08:21.096Z,1628881701.096 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:08:21.502Z,1628881701.502 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,357,000,0066A,189,80,80,77,FF
2021-08-13T19:08:21.503Z,1628881701.503 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:08:21.507Z,1628881701.507 [Micromodem](INFO): Nmea in: $SNTTA,0.062450,0.228442,,,190821.23*53

2021-08-13T19:08:21.959Z,1628881701.959 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 61.019997 m, bearing: 6.682814 deg, deltaT: 4.509186 s, approachRate: -0.399188 m/s, LOS rate: -2.071895 deg/s, posRepo size: 4
2021-08-13T19:08:21.961Z,1628881701.961 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 61.019997 m,
      bearing: 6.682814 deg,
      approachRate: -0.399188 m/s,
      LOS rate: -2.071895 deg/s,
      cmd update: -6.215685 deg/s,
      cmd heading: 35.430594 deg,
      new cmd heading: 34.421037 deg.

2021-08-13T19:08:24.368Z,1628881704.368 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:08:24.733Z,1628881704.733 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:08:24.733Z,1628881704.733 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:08:24.733Z,1628881704.733 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:08:24.734Z,1628881704.734 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:08:25.134Z,1628881705.134 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
357,000,0066A,189,80,80,77,FF
2021-08-13T19:08:25.134Z,1628881705.134 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:08:25.134Z,1628881705.134 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:08:25.135Z,1628881705.135 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:08:25.562Z,1628881705.562 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:08:25.945Z,1628881705.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,307,000,00655,188,80,80,A0,FF
2021-08-13T19:08:25.945Z,1628881705.945 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:08:26.565Z,1628881706.565 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190825.66*59

2021-08-13T19:08:26.612Z,1628881706.612 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 59.759998 m, bearing: 10.164565 deg, deltaT: 4.387399 s, approachRate: -0.287186 m/s, LOS rate: 0.793580 deg/s, posRepo size: 4
2021-08-13T19:08:26.614Z,1628881706.614 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 59.759998 m,
      bearing: 10.164565 deg,
      approachRate: -0.287186 m/s,
      LOS rate: 0.793580 deg/s,
      cmd update: 2.380740 deg/s,
      cmd heading: 8.133184 deg,
      new cmd heading: 4.477678 deg.

2021-08-13T19:08:28.560Z,1628881708.560 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:08:28.945Z,1628881708.945 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:08:28.945Z,1628881708.945 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:08:28.945Z,1628881708.945 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:08:28.946Z,1628881708.946 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:08:29.363Z,1628881709.363 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
307,000,00655,188,80,80,A0,FF
2021-08-13T19:08:29.363Z,1628881709.363 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:08:29.363Z,1628881709.363 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:08:29.365Z,1628881709.365 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:08:29.761Z,1628881709.761 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:08:30.554Z,1628881710.554 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190829.88*55

2021-08-13T19:08:31.485Z,1628881711.485 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:08:32.977Z,1628881712.977 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
5,188,80,80,A0,FF
2021-08-13T19:08:32.977Z,1628881712.977 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
5,188,80,80,A0,FF
2021-08-13T19:08:32.977Z,1628881712.977 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T19:08:34.202Z,1628881714.202 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:08:34.589Z,1628881714.589 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:08:34.589Z,1628881714.589 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:08:34.589Z,1628881714.589 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:08:34.590Z,1628881714.590 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:08:34.986Z,1628881714.986 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
5,188,80,80,A0,FF
2021-08-13T19:08:34.986Z,1628881714.986 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:08:34.986Z,1628881714.986 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:08:34.988Z,1628881714.988 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:08:35.422Z,1628881715.422 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:08:35.801Z,1628881715.801 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0E3,000,00604,186,80,80,BD,FF
2021-08-13T19:08:35.802Z,1628881715.802 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:08:36.253Z,1628881716.253 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190835.51*5C

2021-08-13T19:08:36.296Z,1628881716.296 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 54.900002 m, bearing: 14.991429 deg, deltaT: 9.814862 s, approachRate: -0.495167 m/s, LOS rate: 0.491791 deg/s, posRepo size: 4
2021-08-13T19:08:36.298Z,1628881716.298 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 54.900002 m,
      bearing: 14.991429 deg,
      approachRate: -0.495167 m/s,
      LOS rate: 0.491791 deg/s,
      cmd update: 1.475374 deg/s,
      cmd heading: 31.499702 deg,
      new cmd heading: 32.626344 deg.

2021-08-13T19:08:38.691Z,1628881718.691 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:08:39.030Z,1628881719.030 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:08:39.030Z,1628881719.030 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:08:39.030Z,1628881719.030 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:08:39.031Z,1628881719.031 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:08:39.465Z,1628881719.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0E3,000,00604,186,80,80,BD,FF
2021-08-13T19:08:39.465Z,1628881719.465 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:08:39.466Z,1628881719.466 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:08:39.467Z,1628881719.467 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:08:39.960Z,1628881719.960 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:08:40.361Z,1628881720.361 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,296,000,005E9,189,80,80,86,FF
2021-08-13T19:08:40.361Z,1628881720.361 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:08:40.785Z,1628881720.785 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190839.99*54

2021-08-13T19:08:40.808Z,1628881720.808 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.280003 m, bearing: 6.818788 deg, deltaT: 4.625172 s, approachRate: -0.350257 m/s, LOS rate: -1.766992 deg/s, posRepo size: 4
2021-08-13T19:08:40.810Z,1628881720.810 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 53.280003 m,
      bearing: 6.818788 deg,
      approachRate: -0.350257 m/s,
      LOS rate: -1.766992 deg/s,
      cmd update: -5.300975 deg/s,
      cmd heading: 38.317706 deg,
      new cmd heading: 38.860727 deg.

2021-08-13T19:08:41.609Z,1628881721.609 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T19:08:43.222Z,1628881723.222 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:08:43.586Z,1628881723.586 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:08:43.586Z,1628881723.586 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:08:43.587Z,1628881723.587 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:08:43.587Z,1628881723.587 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:08:43.999Z,1628881723.999 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
296,000,005E9,189,80,80,86,FF
2021-08-13T19:08:43.999Z,1628881723.999 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:08:43.999Z,1628881723.999 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:08:44.001Z,1628881724.001 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:08:44.424Z,1628881724.424 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:08:44.805Z,1628881724.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,30C,000,005C8,189,80,80,82,FF
2021-08-13T19:08:44.805Z,1628881724.805 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:08:45.253Z,1628881725.253 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190844.52*59

2021-08-13T19:08:45.333Z,1628881725.333 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.299995 m, bearing: 5.613053 deg, deltaT: 4.379208 s, approachRate: -0.452138 m/s, LOS rate: -0.275332 deg/s, posRepo size: 4
2021-08-13T19:08:45.335Z,1628881725.335 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 51.299995 m,
      bearing: 5.613053 deg,
      approachRate: -0.452138 m/s,
      LOS rate: -0.275332 deg/s,
      cmd update: -0.825995 deg/s,
      cmd heading: 15.082620 deg,
      new cmd heading: 12.379764 deg.

2021-08-13T19:08:45.634Z,1628881725.634 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-13T19:08:47.702Z,1628881727.702 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:08:48.033Z,1628881728.033 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:08:48.033Z,1628881728.033 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:08:48.033Z,1628881728.033 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:08:48.034Z,1628881728.034 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:08:48.449Z,1628881728.449 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
30C,000,005C8,189,80,80,82,FF
2021-08-13T19:08:48.449Z,1628881728.449 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:08:48.449Z,1628881728.449 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:08:48.451Z,1628881728.451 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:08:48.853Z,1628881728.853 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:08:49.251Z,1628881729.251 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,170,000,0059D,186,80,80,5F,FF
2021-08-13T19:08:49.253Z,1628881729.253 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:08:49.685Z,1628881729.685 [Micromodem](INFO): Nmea in: $SNTTA,0.045085,,,,190848.97*4E

2021-08-13T19:08:49.759Z,1628881729.759 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 48.720001 m, bearing: 12.831380 deg, deltaT: 4.513100 s, approachRate: -0.571668 m/s, LOS rate: 1.599417 deg/s, posRepo size: 4
2021-08-13T19:08:49.765Z,1628881729.765 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 48.720001 m,
      bearing: 12.831380 deg,
      approachRate: -0.571668 m/s,
      LOS rate: 1.599417 deg/s,
      cmd update: 4.798250 deg/s,
      cmd heading: 11.358249 deg,
      new cmd heading: 11.005375 deg.

2021-08-13T19:08:52.100Z,1628881732.100 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:08:52.481Z,1628881732.481 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:08:52.481Z,1628881732.481 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:08:52.481Z,1628881732.481 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:08:52.482Z,1628881732.482 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:08:52.886Z,1628881732.886 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
170,000,0059D,186,80,80,5F,FF
2021-08-13T19:08:52.886Z,1628881732.886 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:08:52.886Z,1628881732.886 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:08:52.889Z,1628881732.889 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:08:53.319Z,1628881733.319 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:08:53.689Z,1628881733.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,06C,000,0057C,186,80,80,6D,FF
2021-08-13T19:08:53.689Z,1628881733.689 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:08:54.150Z,1628881734.150 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190853.41*5D

2021-08-13T19:08:54.171Z,1628881734.171 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.739998 m, bearing: 14.439297 deg, deltaT: 4.419712 s, approachRate: -0.447994 m/s, LOS rate: 0.363806 deg/s, posRepo size: 4
2021-08-13T19:08:54.174Z,1628881734.174 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 46.739998 m,
      bearing: 14.439297 deg,
      approachRate: -0.447994 m/s,
      LOS rate: 0.363806 deg/s,
      cmd update: 1.091417 deg/s,
      cmd heading: 32.584765 deg,
      new cmd heading: 34.579652 deg.

2021-08-13T19:08:56.554Z,1628881736.554 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:08:56.933Z,1628881736.933 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:08:56.933Z,1628881736.933 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:08:56.933Z,1628881736.933 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:08:56.934Z,1628881736.934 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:08:57.365Z,1628881737.365 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
06C,000,0057C,186,80,80,6D,FF
2021-08-13T19:08:57.365Z,1628881737.365 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:08:57.365Z,1628881737.365 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:08:57.369Z,1628881737.369 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:08:57.737Z,1628881737.737 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:08:58.145Z,1628881738.145 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1EC,000,00555,186,80,80,7A,FF
2021-08-13T19:08:58.145Z,1628881738.145 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:08:58.559Z,1628881738.559 [Micromodem](INFO): Nmea in: $SNTTA,0.047550,,,,190857.89*40

2021-08-13T19:08:58.629Z,1628881738.629 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 44.400002 m, bearing: 5.612535 deg, deltaT: 4.410873 s, approachRate: -0.530506 m/s, LOS rate: -2.001137 deg/s, posRepo size: 4
2021-08-13T19:08:58.631Z,1628881738.631 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 44.400002 m,
      bearing: 5.612535 deg,
      approachRate: -0.530506 m/s,
      LOS rate: -2.001137 deg/s,
      cmd update: -6.003411 deg/s,
      cmd heading: 37.398976 deg,
      new cmd heading: 37.895708 deg.

2021-08-13T19:09:00.979Z,1628881740.979 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:09:01.462Z,1628881741.462 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:09:01.462Z,1628881741.462 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:09:01.462Z,1628881741.462 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:09:01.463Z,1628881741.463 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:09:01.766Z,1628881741.766 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1EC,000,00555,186,80,80,7A,FF
2021-08-13T19:09:01.766Z,1628881741.766 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:09:01.766Z,1628881741.766 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:09:01.780Z,1628881741.780 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:09:02.185Z,1628881742.185 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:09:02.574Z,1628881742.574 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,32B,000,00534,189,80,80,AC,FF
2021-08-13T19:09:02.574Z,1628881742.574 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:09:03.020Z,1628881743.020 [Micromodem](INFO): Nmea in: $SNTTA,0.048854,,,,190902.30*45

2021-08-13T19:09:03.053Z,1628881743.053 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.419998 m, bearing: 3.694868 deg, deltaT: 4.435048 s, approachRate: -0.446445 m/s, LOS rate: -0.432389 deg/s, posRepo size: 4
2021-08-13T19:09:03.055Z,1628881743.055 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 42.419998 m,
      bearing: 3.694868 deg,
      approachRate: -0.446445 m/s,
      LOS rate: -0.432389 deg/s,
      cmd update: -1.297168 deg/s,
      cmd heading: 10.773404 deg,
      new cmd heading: 8.067259 deg.

2021-08-13T19:09:05.525Z,1628881745.525 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:09:05.809Z,1628881745.809 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:09:05.809Z,1628881745.809 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:09:05.809Z,1628881745.809 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:09:05.810Z,1628881745.810 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:09:06.249Z,1628881746.249 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
32B,000,00534,189,80,80,AC,FF
2021-08-13T19:09:06.249Z,1628881746.249 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:09:06.249Z,1628881746.249 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:09:06.251Z,1628881746.251 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:09:06.621Z,1628881746.621 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:09:07.029Z,1628881747.029 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,203,000,00516,187,80,80,65,FF
2021-08-13T19:09:07.030Z,1628881747.030 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:09:07.471Z,1628881747.471 [Micromodem](INFO): Nmea in: $SNTTA,0.415229,0.415604,,,190906.77*52

2021-08-13T19:09:07.541Z,1628881747.541 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.620003 m, bearing: 8.749837 deg, deltaT: 4.472956 s, approachRate: -0.402417 m/s, LOS rate: 1.130118 deg/s, posRepo size: 4
2021-08-13T19:09:07.543Z,1628881747.543 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 40.620003 m,
      bearing: 8.749837 deg,
      approachRate: -0.402417 m/s,
      LOS rate: 1.130118 deg/s,
      cmd update: 3.390355 deg/s,
      cmd heading: 4.976494 deg,
      new cmd heading: 4.371685 deg.

2021-08-13T19:09:09.902Z,1628881749.902 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:09:10.288Z,1628881750.288 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:09:10.289Z,1628881750.289 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:09:10.289Z,1628881750.289 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:09:10.290Z,1628881750.290 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:09:10.658Z,1628881750.658 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
203,000,00516,187,80,80,65,FF
2021-08-13T19:09:10.658Z,1628881750.658 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:09:10.658Z,1628881750.658 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:09:10.661Z,1628881750.661 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:09:11.083Z,1628881751.083 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:09:11.465Z,1628881751.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,055,000,004F6,184,80,80,A2,FF
2021-08-13T19:09:11.465Z,1628881751.465 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:09:11.469Z,1628881751.469 [Micromodem](INFO): Nmea in: $SNTTA,0.208734,0.208596,,,190911.18*5C

2021-08-13T19:09:11.477Z,1628881751.477 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T19:09:11.917Z,1628881751.917 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.699997 m, bearing: 13.351223 deg, deltaT: 4.466841 s, approachRate: -0.429835 m/s, LOS rate: 1.030121 deg/s, posRepo size: 4
2021-08-13T19:09:11.918Z,1628881751.918 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 38.70 m.
2021-08-13T19:09:11.924Z,1628881751.924 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 38.699997 m,
      bearing: 13.351223 deg,
      approachRate: -0.429835 m/s,
      LOS rate: 1.030121 deg/s,
      cmd update: 3.090362 deg/s,
      cmd heading: 20.105666 deg,
      new cmd heading: 21.380474 deg.

2021-08-13T19:09:12.333Z,1628881752.333 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-13T19:09:12.333Z,1628881752.333 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T19:09:12.333Z,1628881752.333 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-13T19:09:12.334Z,1628881752.334 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-13T19:09:12.334Z,1628881752.334 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-13T19:09:12.334Z,1628881752.334 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-13T19:09:12.745Z,1628881752.745 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-13T19:09:12.745Z,1628881752.745 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T19:09:12.745Z,1628881752.745 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-13T19:09:12.745Z,1628881752.745 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T19:09:14.346Z,1628881754.346 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:09:14.701Z,1628881754.701 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:09:14.702Z,1628881754.702 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:09:14.702Z,1628881754.702 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:09:14.703Z,1628881754.703 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:09:15.106Z,1628881755.106 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
055,000,004F6,184,80,80,A2,FF
2021-08-13T19:09:15.107Z,1628881755.107 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:09:15.107Z,1628881755.107 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:09:15.114Z,1628881755.114 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:09:15.517Z,1628881755.517 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:09:15.915Z,1628881755.915 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0E6,000,004CF,186,80,80,A6,FF
2021-08-13T19:09:15.916Z,1628881755.916 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:09:15.969Z,1628881755.969 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T19:09:16.375Z,1628881756.375 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190915.63*5E

2021-08-13T19:09:16.436Z,1628881756.436 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.360001 m, bearing: 13.460369 deg, deltaT: 4.424555 s, approachRate: -0.528866 m/s, LOS rate: 0.024668 deg/s, posRepo size: 4
2021-08-13T19:09:16.437Z,1628881756.437 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 36.36 m.
2021-08-13T19:09:16.439Z,1628881756.439 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 36.360001 m,
      bearing: 13.460369 deg,
      approachRate: -0.528866 m/s,
      LOS rate: 0.024668 deg/s,
      cmd update: 0.074005 deg/s,
      cmd heading: 33.731903 deg,
      new cmd heading: 35.195711 deg.

2021-08-13T19:09:18.796Z,1628881758.796 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:09:19.143Z,1628881759.143 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:09:19.143Z,1628881759.143 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:09:19.143Z,1628881759.143 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:09:19.146Z,1628881759.146 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:09:19.553Z,1628881759.553 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0E6,000,004CF,186,80,80,A6,FF
2021-08-13T19:09:19.553Z,1628881759.553 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:09:19.553Z,1628881759.553 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:09:19.555Z,1628881759.555 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:09:19.967Z,1628881759.967 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:09:20.363Z,1628881760.363 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,284,000,004B1,189,80,80,84,FF
2021-08-13T19:09:20.363Z,1628881760.363 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:09:20.433Z,1628881760.433 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T19:09:20.801Z,1628881760.801 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190920.08*55

2021-08-13T19:09:20.849Z,1628881760.849 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.559998 m, bearing: 7.943183 deg, deltaT: 4.464299 s, approachRate: -0.403199 m/s, LOS rate: -1.235846 deg/s, posRepo size: 4
2021-08-13T19:09:20.850Z,1628881760.850 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 34.56 m.
2021-08-13T19:09:20.852Z,1628881760.852 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 34.559998 m,
      bearing: 7.943183 deg,
      approachRate: -0.403199 m/s,
      LOS rate: -1.235846 deg/s,
      cmd update: -3.707538 deg/s,
      cmd heading: 34.063036 deg,
      new cmd heading: 34.095028 deg.

2021-08-13T19:09:23.229Z,1628881763.229 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:09:23.585Z,1628881763.585 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:09:23.585Z,1628881763.585 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:09:23.585Z,1628881763.585 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:09:23.586Z,1628881763.586 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:09:23.989Z,1628881763.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
284,000,004B1,189,80,80,84,FF
2021-08-13T19:09:23.989Z,1628881763.989 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:09:23.990Z,1628881763.990 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:09:23.991Z,1628881763.991 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:09:24.411Z,1628881764.411 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:09:24.797Z,1628881764.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2D8,000,00494,189,80,80,7B,FF
2021-08-13T19:09:24.798Z,1628881764.798 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:09:24.866Z,1628881764.866 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T19:09:25.241Z,1628881765.241 [Micromodem](INFO): Nmea in: $SNTTA,0.058566,,,,190924.51*4B

2021-08-13T19:09:25.331Z,1628881765.331 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.820000 m, bearing: 3.877247 deg, deltaT: 4.433042 s, approachRate: -0.392507 m/s, LOS rate: -0.917189 deg/s, posRepo size: 4
2021-08-13T19:09:25.336Z,1628881765.336 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 32.82 m.
2021-08-13T19:09:25.338Z,1628881765.338 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 32.820000 m,
      bearing: 3.877247 deg,
      approachRate: -0.392507 m/s,
      LOS rate: -0.917189 deg/s,
      cmd update: -2.751566 deg/s,
      cmd heading: 17.621776 deg,
      new cmd heading: 15.842525 deg.

2021-08-13T19:09:27.694Z,1628881767.694 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:09:28.029Z,1628881768.029 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:09:28.029Z,1628881768.029 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:09:28.029Z,1628881768.029 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:09:28.030Z,1628881768.030 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:09:28.449Z,1628881768.449 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2D8,000,00494,189,80,80,7B,FF
2021-08-13T19:09:28.450Z,1628881768.450 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:09:28.450Z,1628881768.450 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:09:28.451Z,1628881768.451 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:09:28.845Z,1628881768.845 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:09:29.670Z,1628881769.670 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190928.97*5B

2021-08-13T19:09:30.062Z,1628881770.062 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,108,000,033C7,185,80,80,7B,FF
2021-08-13T19:09:30.062Z,1628881770.062 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:09:30.086Z,1628881770.086 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T19:09:30.502Z,1628881770.502 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 757.800049 m, bearing: 13.808884 deg, deltaT: 5.220281 s, approachRate: 138.877594 m/s, LOS rate: 1.902510 deg/s, posRepo size: 4
2021-08-13T19:09:30.521Z,1628881770.521 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 757.800049 m,
      bearing: 13.808884 deg,
      approachRate: 138.877594 m/s,
      LOS rate: 1.902510 deg/s,
      cmd update: 5.707530 deg/s,
      cmd heading: 3.226114 deg,
      new cmd heading: 2.073161 deg.

2021-08-13T19:09:30.903Z,1628881770.903 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-13T19:09:30.904Z,1628881770.904 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T19:09:30.905Z,1628881770.905 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-13T19:09:30.905Z,1628881770.905 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-13T19:09:30.906Z,1628881770.906 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-13T19:09:30.906Z,1628881770.906 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-13T19:09:31.334Z,1628881771.334 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-13T19:09:31.381Z,1628881771.381 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-13T19:09:31.382Z,1628881771.382 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T19:09:31.382Z,1628881771.382 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-13T19:09:31.383Z,1628881771.383 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T19:09:32.937Z,1628881772.937 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:09:33.299Z,1628881773.299 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:09:33.299Z,1628881773.299 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:09:33.300Z,1628881773.300 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:09:33.302Z,1628881773.302 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:09:33.337Z,1628881773.337 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T19:09:33.689Z,1628881773.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
108,000,033C7,185,80,80,7B,FF
2021-08-13T19:09:33.689Z,1628881773.690 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:09:33.690Z,1628881773.690 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:09:33.691Z,1628881773.691 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:09:34.099Z,1628881774.099 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:09:34.493Z,1628881774.493 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,00B,000,0044D,183,80,80,9C,FF
2021-08-13T19:09:34.494Z,1628881774.494 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:09:34.941Z,1628881774.941 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190934.21*5B

2021-08-13T19:09:34.963Z,1628881774.963 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.559998 m, bearing: 14.830289 deg, deltaT: 4.473909 s, approachRate: -162.998413 m/s, LOS rate: 0.228303 deg/s, posRepo size: 4
2021-08-13T19:09:34.964Z,1628881774.964 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 28.56 m.
2021-08-13T19:09:34.965Z,1628881774.965 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 28.56 m.
2021-08-13T19:09:34.965Z,1628881774.965 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-13T19:09:34.967Z,1628881774.967 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 28.559998 m,
      bearing: 14.830289 deg,
      approachRate: -162.998413 m/s,
      LOS rate: 0.228303 deg/s,
      cmd update: 0.684908 deg/s,
      cmd heading: 28.741472 deg,
      new cmd heading: 31.080617 deg.

2021-08-13T19:09:35.471Z,1628881775.471 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-13T19:09:35.471Z,1628881775.471 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T19:09:35.471Z,1628881775.471 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-13T19:09:35.472Z,1628881775.472 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-13T19:09:35.472Z,1628881775.472 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-13T19:09:35.472Z,1628881775.472 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-13T19:09:35.741Z,1628881775.741 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-13T19:09:35.742Z,1628881775.742 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T19:09:35.742Z,1628881775.742 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-13T19:09:35.742Z,1628881775.742 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T19:09:37.458Z,1628881777.458 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:09:37.737Z,1628881777.737 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:09:37.737Z,1628881777.737 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:09:37.737Z,1628881777.737 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:09:37.738Z,1628881777.738 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:09:38.133Z,1628881778.133 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
00B,000,0044D,183,80,80,9C,FF
2021-08-13T19:09:38.133Z,1628881778.133 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:09:38.134Z,1628881778.134 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:09:38.135Z,1628881778.135 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:09:38.536Z,1628881778.536 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:09:38.951Z,1628881778.951 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0FD,000,0042A,186,80,80,7F,FF
2021-08-13T19:09:38.951Z,1628881778.951 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:09:38.977Z,1628881778.977 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T19:09:39.460Z,1628881779.460 [DDM](ERROR): Could not parse whisker state
2021-08-13T19:09:39.485Z,1628881779.485 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190938.66*54

2021-08-13T19:09:39.556Z,1628881779.556 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.460001 m, bearing: 10.217808 deg, deltaT: 4.416684 s, approachRate: -0.475469 m/s, LOS rate: -1.044331 deg/s, posRepo size: 4
2021-08-13T19:09:39.558Z,1628881779.558 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 26.460001 m,
      bearing: 10.217808 deg,
      approachRate: -0.475469 m/s,
      LOS rate: -1.044331 deg/s,
      cmd update: -3.132993 deg/s,
      cmd heading: 31.765522 deg,
      new cmd heading: 32.167415 deg.

2021-08-13T19:09:41.419Z,1628881781.419 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T19:09:41.791Z,1628881781.791 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:09:42.174Z,1628881782.174 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:09:42.174Z,1628881782.174 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:09:42.174Z,1628881782.174 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:09:42.174Z,1628881782.174 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:09:42.572Z,1628881782.572 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0FD,000,0042A,186,80,80,7F,FF
2021-08-13T19:09:42.573Z,1628881782.573 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:09:42.573Z,1628881782.573 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:09:42.575Z,1628881782.575 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:09:42.977Z,1628881782.977 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:09:43.388Z,1628881783.388 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2D1,000,00413,189,80,80,68,FF
2021-08-13T19:09:43.390Z,1628881783.390 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:09:43.525Z,1628881783.525 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T19:09:43.826Z,1628881783.826 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190943.09*51

2021-08-13T19:09:43.848Z,1628881783.848 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.079998 m, bearing: 2.552439 deg, deltaT: 4.548013 s, approachRate: -0.303430 m/s, LOS rate: -1.685433 deg/s, posRepo size: 4
2021-08-13T19:09:43.850Z,1628881783.850 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 25.079998 m,
      bearing: 2.552439 deg,
      approachRate: -0.303430 m/s,
      LOS rate: -1.685433 deg/s,
      cmd update: -5.056298 deg/s,
      cmd heading: 17.567285 deg,
      new cmd heading: 16.480449 deg.

2021-08-13T19:09:46.231Z,1628881786.231 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:09:46.613Z,1628881786.613 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:09:46.613Z,1628881786.613 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:09:46.613Z,1628881786.613 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:09:46.614Z,1628881786.614 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:09:47.025Z,1628881787.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2D1,000,00413,189,80,80,68,FF
2021-08-13T19:09:47.026Z,1628881787.026 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:09:47.026Z,1628881787.026 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:09:47.027Z,1628881787.027 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:09:47.460Z,1628881787.460 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:09:47.821Z,1628881787.821 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,200,000,003EC,186,80,80,72,FF
2021-08-13T19:09:47.822Z,1628881787.822 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:09:47.921Z,1628881787.921 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T19:09:48.253Z,1628881788.253 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190947.55*5C

2021-08-13T19:09:48.300Z,1628881788.300 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.740000 m, bearing: 7.141339 deg, deltaT: 4.395832 s, approachRate: -0.532322 m/s, LOS rate: 1.043921 deg/s, posRepo size: 4
2021-08-13T19:09:48.302Z,1628881788.302 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 22.740000 m,
      bearing: 7.141339 deg,
      approachRate: -0.532322 m/s,
      LOS rate: 1.043921 deg/s,
      cmd update: 3.131762 deg/s,
      cmd heading: 355.253611 deg,
      new cmd heading: 353.422751 deg.

2021-08-13T19:09:50.692Z,1628881790.692 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:09:51.053Z,1628881791.053 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:09:51.053Z,1628881791.053 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:09:51.053Z,1628881791.053 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:09:51.054Z,1628881791.054 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:09:51.460Z,1628881791.460 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
200,000,003EC,186,80,80,72,FF
2021-08-13T19:09:51.460Z,1628881791.460 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:09:51.460Z,1628881791.460 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:09:51.462Z,1628881791.462 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:09:51.507Z,1628881791.507 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-13T19:09:51.881Z,1628881791.881 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:09:52.692Z,1628881792.692 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190951.98*5A

2021-08-13T19:09:53.542Z,1628881793.542 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:09:55.108Z,1628881795.108 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,186,80,80,72,FF
2021-08-13T19:09:55.109Z,1628881795.109 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,186,80,80,72,FF
2021-08-13T19:09:55.109Z,1628881795.109 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T19:09:56.381Z,1628881796.381 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:09:56.709Z,1628881796.709 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:09:56.709Z,1628881796.709 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:09:56.709Z,1628881796.709 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:09:56.710Z,1628881796.710 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:09:57.109Z,1628881797.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,186,80,80,72,FF
2021-08-13T19:09:57.109Z,1628881797.109 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:09:57.110Z,1628881797.110 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:09:57.112Z,1628881797.112 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:09:57.520Z,1628881797.520 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:09:57.925Z,1628881797.925 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,012,000,0039B,183,80,80,95,FF
2021-08-13T19:09:57.926Z,1628881797.926 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:09:57.945Z,1628881797.945 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T19:09:58.382Z,1628881798.382 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190957.63*58

2021-08-13T19:09:58.434Z,1628881798.434 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.879999 m, bearing: 9.541672 deg, deltaT: 10.024667 s, approachRate: -0.484804 m/s, LOS rate: 0.239443 deg/s, posRepo size: 4
2021-08-13T19:09:58.441Z,1628881798.441 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.879999 m,
      bearing: 9.541672 deg,
      approachRate: -0.484804 m/s,
      LOS rate: 0.239443 deg/s,
      cmd update: 0.718328 deg/s,
      cmd heading: 26.661310 deg,
      new cmd heading: 28.202137 deg.

2021-08-13T19:10:00.789Z,1628881800.789 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:10:01.165Z,1628881801.165 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:10:01.165Z,1628881801.165 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:10:01.165Z,1628881801.165 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:10:01.166Z,1628881801.166 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:10:01.554Z,1628881801.554 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
012,000,0039B,183,80,80,95,FF
2021-08-13T19:10:01.554Z,1628881801.554 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:10:01.554Z,1628881801.554 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:10:01.555Z,1628881801.555 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:10:01.965Z,1628881801.965 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:10:02.370Z,1628881802.370 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1F4,000,00378,187,80,80,83,FF
2021-08-13T19:10:02.371Z,1628881802.371 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:10:02.449Z,1628881802.449 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T19:10:02.809Z,1628881802.809 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191002.08*5D

2021-08-13T19:10:02.852Z,1628881802.852 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.779997 m, bearing: 5.031149 deg, deltaT: 4.503378 s, approachRate: -0.466317 m/s, LOS rate: -1.001587 deg/s, posRepo size: 4
2021-08-13T19:10:02.854Z,1628881802.854 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.779997 m,
      bearing: 5.031149 deg,
      approachRate: -0.466317 m/s,
      LOS rate: -1.001587 deg/s,
      cmd update: -3.004760 deg/s,
      cmd heading: 29.893282 deg,
      new cmd heading: 30.187836 deg.

2021-08-13T19:10:05.223Z,1628881805.223 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:10:05.597Z,1628881805.597 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:10:05.597Z,1628881805.597 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:10:05.597Z,1628881805.597 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:10:05.598Z,1628881805.598 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:10:06.001Z,1628881806.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1F4,000,00378,187,80,80,83,FF
2021-08-13T19:10:06.001Z,1628881806.001 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:10:06.001Z,1628881806.001 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:10:06.003Z,1628881806.003 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:10:06.445Z,1628881806.445 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:10:06.805Z,1628881806.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2FA,000,00363,188,80,80,BF,FF
2021-08-13T19:10:06.806Z,1628881806.806 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:10:06.826Z,1628881806.826 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T19:10:07.255Z,1628881807.255 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191006.52*56

2021-08-13T19:10:07.334Z,1628881807.334 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.520001 m, bearing: 2.855355 deg, deltaT: 4.377619 s, approachRate: -0.287827 m/s, LOS rate: -0.497027 deg/s, posRepo size: 4
2021-08-13T19:10:07.336Z,1628881807.336 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.520001 m,
      bearing: 2.855355 deg,
      approachRate: -0.287827 m/s,
      LOS rate: -0.497027 deg/s,
      cmd update: -1.491080 deg/s,
      cmd heading: 16.727506 deg,
      new cmd heading: 15.194372 deg.

2021-08-13T19:10:09.696Z,1628881809.696 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:10:10.049Z,1628881810.049 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:10:10.049Z,1628881810.049 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:10:10.049Z,1628881810.049 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:10:10.050Z,1628881810.050 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:10:10.457Z,1628881810.457 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2FA,000,00363,188,80,80,BF,FF
2021-08-13T19:10:10.457Z,1628881810.457 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:10:10.457Z,1628881810.457 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:10:10.459Z,1628881810.459 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:10:10.857Z,1628881810.857 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:10:11.261Z,1628881811.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,163,000,0034F,186,80,80,97,FF
2021-08-13T19:10:11.262Z,1628881811.262 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:10:11.356Z,1628881811.356 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-13T19:10:11.417Z,1628881811.417 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T19:10:11.694Z,1628881811.694 [Micromodem](INFO): Nmea in: $SNTTA,0.008670,,,,191010.98*40

2021-08-13T19:10:11.720Z,1628881811.720 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.319998 m, bearing: 9.510647 deg, deltaT: 4.590954 s, approachRate: -0.261384 m/s, LOS rate: 1.449653 deg/s, posRepo size: 4
2021-08-13T19:10:11.722Z,1628881811.722 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.319998 m,
      bearing: 9.510647 deg,
      approachRate: -0.261384 m/s,
      LOS rate: 1.449653 deg/s,
      cmd update: 4.348960 deg/s,
      cmd heading: 9.888718 deg,
      new cmd heading: 9.426386 deg.

2021-08-13T19:10:14.106Z,1628881814.106 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:10:14.489Z,1628881814.489 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:10:14.489Z,1628881814.489 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:10:14.489Z,1628881814.489 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:10:14.490Z,1628881814.490 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:10:14.898Z,1628881814.898 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
163,000,0034F,186,80,80,97,FF
2021-08-13T19:10:14.898Z,1628881814.898 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:10:14.898Z,1628881814.898 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:10:14.901Z,1628881814.901 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:10:15.326Z,1628881815.326 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:10:15.697Z,1628881815.697 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,07C,000,0031F,186,80,80,B3,FF
2021-08-13T19:10:15.697Z,1628881815.697 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:10:15.786Z,1628881815.786 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T19:10:16.145Z,1628881816.145 [Micromodem](INFO): Nmea in: $SNTTA,0.049752,,,,191015.42*46

2021-08-13T19:10:16.161Z,1628881816.161 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.439999 m, bearing: 5.558872 deg, deltaT: 4.368650 s, approachRate: -0.659242 m/s, LOS rate: -0.904576 deg/s, posRepo size: 4
2021-08-13T19:10:16.163Z,1628881816.163 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.439999 m,
      bearing: 5.558872 deg,
      approachRate: -0.659242 m/s,
      LOS rate: -0.904576 deg/s,
      cmd update: -2.713727 deg/s,
      cmd heading: 28.906724 deg,
      new cmd heading: 30.550044 deg.

2021-08-13T19:10:18.590Z,1628881818.590 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:10:18.945Z,1628881818.945 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:10:18.945Z,1628881818.945 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:10:18.946Z,1628881818.946 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:10:18.946Z,1628881818.946 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:10:19.365Z,1628881819.365 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
07C,000,0031F,186,80,80,B3,FF
2021-08-13T19:10:19.365Z,1628881819.365 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:10:19.365Z,1628881819.365 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:10:19.369Z,1628881819.369 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:10:19.825Z,1628881819.825 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:10:20.221Z,1628881820.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1AC,000,002FE,185,80,80,93,FF
2021-08-13T19:10:20.221Z,1628881820.221 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:10:20.243Z,1628881820.243 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T19:10:20.633Z,1628881820.633 [Micromodem](INFO): Nmea in: $SNTTA,0.034554,,,,191019.89*43

2021-08-13T19:10:20.680Z,1628881820.680 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.460000 m, bearing: 1.021462 deg, deltaT: 4.456627 s, approachRate: -0.444282 m/s, LOS rate: -1.018126 deg/s, posRepo size: 4
2021-08-13T19:10:20.682Z,1628881820.682 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.460000 m,
      bearing: 1.021462 deg,
      approachRate: -0.444282 m/s,
      LOS rate: -1.018126 deg/s,
      cmd update: -3.054379 deg/s,
      cmd heading: 16.814021 deg,
      new cmd heading: 15.671119 deg.

2021-08-13T19:10:23.079Z,1628881823.079 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:10:23.449Z,1628881823.449 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:10:23.449Z,1628881823.449 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:10:23.449Z,1628881823.449 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:10:23.450Z,1628881823.450 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:10:23.849Z,1628881823.849 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1AC,000,002FE,185,80,80,93,FF
2021-08-13T19:10:23.849Z,1628881823.849 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:10:23.850Z,1628881823.850 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:10:23.851Z,1628881823.851 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:10:24.268Z,1628881824.268 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:10:24.657Z,1628881824.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,210,000,002E3,187,80,80,9E,FF
2021-08-13T19:10:24.658Z,1628881824.658 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:10:24.725Z,1628881824.725 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T19:10:25.109Z,1628881825.109 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191024.37*55

2021-08-13T19:10:25.132Z,1628881825.132 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 6.839999 m, bearing: 5.613754 deg, deltaT: 4.482066 s, approachRate: -0.361441 m/s, LOS rate: 1.024593 deg/s, posRepo size: 4
2021-08-13T19:10:25.134Z,1628881825.134 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.839999 m,
      bearing: 5.613754 deg,
      approachRate: -0.361441 m/s,
      LOS rate: 1.024593 deg/s,
      cmd update: 3.073778 deg/s,
      cmd heading: 3.134491 deg,
      new cmd heading: 1.870194 deg.

2021-08-13T19:10:27.554Z,1628881827.554 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:10:27.890Z,1628881827.890 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:10:27.890Z,1628881827.890 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:10:27.891Z,1628881827.891 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:10:27.891Z,1628881827.891 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:10:28.301Z,1628881828.301 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
210,000,002E3,187,80,80,9E,FF
2021-08-13T19:10:28.301Z,1628881828.301 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:10:28.301Z,1628881828.301 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:10:28.303Z,1628881828.303 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:10:28.701Z,1628881828.701 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:10:29.106Z,1628881829.106 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,077,000,002CF,186,80,80,87,FF
2021-08-13T19:10:29.106Z,1628881829.106 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:10:29.131Z,1628881829.131 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T19:10:29.546Z,1628881829.546 [Micromodem](INFO): Nmea in: $SNTTA,0.040120,,,,191028.83*4F

2021-08-13T19:10:29.623Z,1628881829.623 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.639998 m, bearing: 10.687871 deg, deltaT: 4.406356 s, approachRate: -0.272334 m/s, LOS rate: 1.151545 deg/s, posRepo size: 4
2021-08-13T19:10:29.625Z,1628881829.625 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.639998 m,
      bearing: 10.687871 deg,
      approachRate: -0.272334 m/s,
      LOS rate: 1.151545 deg/s,
      cmd update: 3.454635 deg/s,
      cmd heading: 16.689254 deg,
      new cmd heading: 18.211229 deg.

2021-08-13T19:10:31.576Z,1628881831.576 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-13T19:10:31.955Z,1628881831.955 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:10:32.337Z,1628881832.337 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:10:32.337Z,1628881832.337 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:10:32.338Z,1628881832.338 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:10:32.339Z,1628881832.339 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:10:32.737Z,1628881832.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
077,000,002CF,186,80,80,87,FF
2021-08-13T19:10:32.737Z,1628881832.737 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:10:32.737Z,1628881832.737 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:10:32.739Z,1628881832.739 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:10:33.153Z,1628881833.153 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:10:33.553Z,1628881833.553 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EAD,000,002DB,187,80,80,3C,FF
2021-08-13T19:10:33.554Z,1628881833.554 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:10:33.561Z,1628881833.561 [Micromodem](INFO): Nmea in: $SNTTA,0.007267,0.169496,,,191033.26*52

2021-08-13T19:10:33.656Z,1628881833.656 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T19:10:33.988Z,1628881833.988 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 6.359998 m, bearing: 27.892064 deg, deltaT: 4.525119 s, approachRate: 0.159112 m/s, LOS rate: 3.801932 deg/s, posRepo size: 4
2021-08-13T19:10:33.990Z,1628881833.990 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.359998 m,
      bearing: 27.892064 deg,
      approachRate: 0.159112 m/s,
      LOS rate: 3.801932 deg/s,
      cmd update: 11.405795 deg/s,
      cmd heading: 32.295061 deg,
      new cmd heading: 33.480530 deg.

2021-08-13T19:10:36.442Z,1628881836.442 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:10:36.777Z,1628881836.777 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:10:36.777Z,1628881836.777 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:10:36.777Z,1628881836.777 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:10:36.778Z,1628881836.778 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:10:37.189Z,1628881837.189 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EAD,000,002DB,187,80,80,3C,FF
2021-08-13T19:10:37.189Z,1628881837.189 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:10:37.190Z,1628881837.190 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:10:37.191Z,1628881837.191 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:10:37.585Z,1628881837.585 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:10:37.997Z,1628881837.997 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0EE,000,002C4,185,80,80,A6,FF
2021-08-13T19:10:37.997Z,1628881837.997 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:10:38.018Z,1628881838.018 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T19:10:38.457Z,1628881838.457 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191037.71*55

2021-08-13T19:10:38.513Z,1628881838.513 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-08-13T19:10:38.513Z,1628881838.513 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-08-13T19:10:38.513Z,1628881838.513 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-08-13T19:10:38.513Z,1628881838.513 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-13T19:10:38.513Z,1628881838.513 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-08-13T19:10:38.514Z,1628881838.514 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.979999 m 
2021-08-13T19:10:38.514Z,1628881838.514 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-08-13T19:10:38.514Z,1628881838.514 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-08-13T19:10:38.514Z,1628881838.514 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-08-13T19:10:38.521Z,1628881838.521 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.979999 m, bearing: 19.123582 deg, deltaT: 4.361836 s, approachRate: -0.316380 m/s, LOS rate: -2.010273 deg/s, posRepo size: 4
2021-08-13T19:10:38.523Z,1628881838.523 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.979999 m,
      bearing: 19.123582 deg,
      approachRate: -0.316380 m/s,
      LOS rate: -2.010273 deg/s,
      cmd update: -6.030820 deg/s,
      cmd heading: 82.134281 deg,
      new cmd heading: 87.863982 deg.

2021-08-13T19:10:38.847Z,1628881838.847 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210813T191038: (41.552319, -70.708603)
2021-08-13T19:10:38.847Z,1628881838.847 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-08-13T19:10:38.847Z,1628881838.847 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-08-13T19:10:38.847Z,1628881838.847 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-13T19:10:38.847Z,1628881838.847 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-08-13T19:10:38.847Z,1628881838.847 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-13T19:10:38.848Z,1628881838.848 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-08-13T19:10:38.848Z,1628881838.848 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-08-13T19:10:38.848Z,1628881838.848 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-08-13T19:10:39.272Z,1628881839.272 [UniversalFixResidualReporter](INFO): Fix residual: 5.7 %DT, over the last 950.1 m. Residual distance 54.6 m at bearing 130.8 degrees. Fix at (41.5527, -70.7070) with 0.0 m made good.
2021-08-13T19:10:40.839Z,1628881840.839 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:10:41.236Z,1628881841.236 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:10:41.236Z,1628881841.236 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:10:41.236Z,1628881841.236 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:10:41.237Z,1628881841.237 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:10:41.633Z,1628881841.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0EE,000,002C4,185,80,80,A6,FF
2021-08-13T19:10:41.633Z,1628881841.633 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:10:41.633Z,1628881841.633 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:10:41.635Z,1628881841.635 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:10:42.040Z,1628881842.040 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:10:42.449Z,1628881842.449 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,05B,000,002E9,187,80,80,84,FF
2021-08-13T19:10:42.450Z,1628881842.450 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:10:42.485Z,1628881842.485 [PowerOnly](INFO): Powering down loadControl
2021-08-13T19:10:42.555Z,1628881842.555 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T19:10:42.882Z,1628881842.882 [Micromodem](INFO): Nmea in: $SNTTA,0.030086,,,,191042.16*45

2021-08-13T19:10:42.933Z,1628881842.933 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.199999 m, bearing: 33.801233 deg, deltaT: 4.537457 s, approachRate: 0.489261 m/s, LOS rate: 3.234775 deg/s, posRepo size: 4
2021-08-13T19:10:42.935Z,1628881842.935 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.199999 m,
      bearing: 33.801233 deg,
      approachRate: 0.489261 m/s,
      LOS rate: 3.234775 deg/s,
      cmd update: 9.704324 deg/s,
      cmd heading: 54.838996 deg,
      new cmd heading: 52.472496 deg.

2021-08-13T19:10:43.702Z,1628881843.702 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-13T19:10:45.381Z,1628881845.381 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:10:45.681Z,1628881845.681 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:10:45.681Z,1628881845.681 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:10:45.681Z,1628881845.681 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:10:45.682Z,1628881845.682 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:10:46.101Z,1628881846.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
05B,000,002E9,187,80,80,84,FF
2021-08-13T19:10:46.101Z,1628881846.101 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:10:46.101Z,1628881846.101 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:10:46.103Z,1628881846.103 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:10:46.489Z,1628881846.489 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:10:46.896Z,1628881846.896 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,06D,000,002D5,186,80,80,4B,FF
2021-08-13T19:10:46.897Z,1628881846.897 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:10:46.922Z,1628881846.922 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T19:10:47.337Z,1628881847.337 [Micromodem](INFO): Nmea in: $SNTTA,0.022473,,,,191046.62*4F

2021-08-13T19:10:47.430Z,1628881847.430 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.999998 m, bearing: 16.817181 deg, deltaT: 4.366323 s, approachRate: -0.274831 m/s, LOS rate: -3.889784 deg/s, posRepo size: 4
2021-08-13T19:10:47.437Z,1628881847.437 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.999998 m,
      bearing: 16.817181 deg,
      approachRate: -0.274831 m/s,
      LOS rate: -3.889784 deg/s,
      cmd update: -11.669351 deg/s,
      cmd heading: 97.322790 deg,
      new cmd heading: 102.293966 deg.

2021-08-13T19:10:49.469Z,1628881849.469 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:10:49.725Z,1628881849.725 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:10:49.725Z,1628881849.725 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:10:49.725Z,1628881849.725 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:10:49.726Z,1628881849.726 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:10:50.134Z,1628881850.134 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
06D,000,002D5,186,80,80,4B,FF
2021-08-13T19:10:50.134Z,1628881850.134 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:10:50.134Z,1628881850.134 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:10:50.137Z,1628881850.137 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:10:50.532Z,1628881850.532 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:10:50.951Z,1628881850.951 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EDF,000,002FE,186,80,80,39,FF
2021-08-13T19:10:50.951Z,1628881850.951 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:10:50.993Z,1628881850.993 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T19:10:51.409Z,1628881851.409 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191050.66*52

2021-08-13T19:10:51.482Z,1628881851.482 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.460000 m, bearing: 43.309697 deg, deltaT: 4.070974 s, approachRate: 0.604278 m/s, LOS rate: 6.507660 deg/s, posRepo size: 4
2021-08-13T19:10:51.488Z,1628881851.488 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.460000 m,
      bearing: 43.309697 deg,
      approachRate: 0.604278 m/s,
      LOS rate: 6.507660 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 50.045990 deg,
      new cmd heading: 44.065202 deg.

2021-08-13T19:10:53.777Z,1628881853.777 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:10:54.170Z,1628881854.170 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:10:54.170Z,1628881854.170 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:10:54.170Z,1628881854.170 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:10:54.171Z,1628881854.171 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:10:54.562Z,1628881854.562 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EDF,000,002FE,186,80,80,39,FF
2021-08-13T19:10:54.562Z,1628881854.562 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:10:54.562Z,1628881854.562 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:10:54.564Z,1628881854.564 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:10:54.974Z,1628881854.974 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:10:55.376Z,1628881855.376 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F81,000,00323,187,80,80,B0,FF
2021-08-13T19:10:55.377Z,1628881855.377 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:10:55.401Z,1628881855.401 [Micromodem](INFO): Nmea in: $SNTTA,0.259304,0.258991,,,191055.08*58

2021-08-13T19:10:55.494Z,1628881855.494 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T19:10:55.826Z,1628881855.826 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.680000 m, bearing: 50.746912 deg, deltaT: 4.501603 s, approachRate: 0.493158 m/s, LOS rate: 1.652126 deg/s, posRepo size: 4
2021-08-13T19:10:55.828Z,1628881855.828 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.680000 m,
      bearing: 50.746912 deg,
      approachRate: 0.493158 m/s,
      LOS rate: 1.652126 deg/s,
      cmd update: 4.956378 deg/s,
      cmd heading: 104.306200 deg,
      new cmd heading: 108.324052 deg.

2021-08-13T19:10:58.233Z,1628881858.233 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:10:58.601Z,1628881858.601 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:10:58.601Z,1628881858.601 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:10:58.601Z,1628881858.601 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:10:58.602Z,1628881858.602 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:10:59.005Z,1628881859.005 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F81,000,00323,187,80,80,B0,FF
2021-08-13T19:10:59.005Z,1628881859.005 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:10:59.005Z,1628881859.005 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:10:59.007Z,1628881859.007 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:10:59.445Z,1628881859.445 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:10:59.823Z,1628881859.823 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E8E,000,00320,186,80,80,57,FF
2021-08-13T19:10:59.825Z,1628881859.825 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:10:59.855Z,1628881859.855 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T19:11:00.253Z,1628881860.253 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191059.53*5D

2021-08-13T19:11:00.272Z,1628881860.272 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.500002 m, bearing: 82.314093 deg, deltaT: 4.361419 s, approachRate: -0.041271 m/s, LOS rate: 7.237823 deg/s, posRepo size: 4
2021-08-13T19:11:00.274Z,1628881860.274 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.500002 m,
      bearing: 82.314093 deg,
      approachRate: -0.041271 m/s,
      LOS rate: 7.237823 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 125.910238 deg,
      new cmd heading: 127.999614 deg.

2021-08-13T19:11:01.493Z,1628881861.493 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-13T19:11:02.686Z,1628881862.686 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:11:03.045Z,1628881863.045 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:11:03.045Z,1628881863.045 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:11:03.045Z,1628881863.045 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:11:03.046Z,1628881863.046 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:11:03.461Z,1628881863.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E8E,000,00320,186,80,80,57,FF
2021-08-13T19:11:03.461Z,1628881863.461 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:11:03.462Z,1628881863.462 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:11:03.463Z,1628881863.463 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:11:03.852Z,1628881863.852 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:11:04.257Z,1628881864.257 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,BB5,000,00352,189,80,80,4A,FF
2021-08-13T19:11:04.257Z,1628881864.257 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:11:04.345Z,1628881864.345 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T19:11:04.686Z,1628881864.686 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191103.99*55

2021-08-13T19:11:04.766Z,1628881864.766 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.500002 m, bearing: 139.125107 deg, deltaT: 4.489455 s, approachRate: 0.668233 m/s, LOS rate: 12.654323 deg/s, posRepo size: 4
2021-08-13T19:11:04.767Z,1628881864.767 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.654323 deg/s. Setting heading cmd to target bearing of 139.125107deg and heading rate command to 0 deg/s.
2021-08-13T19:11:07.119Z,1628881867.119 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:11:07.493Z,1628881867.493 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:11:07.493Z,1628881867.493 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:11:07.493Z,1628881867.493 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:11:07.494Z,1628881867.494 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:11:07.902Z,1628881867.902 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
BB5,000,00352,189,80,80,4A,FF
2021-08-13T19:11:07.902Z,1628881867.902 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:11:07.902Z,1628881867.902 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:11:07.905Z,1628881867.905 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:11:08.301Z,1628881868.301 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:11:08.710Z,1628881868.710 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E35,000,00342,187,80,80,9E,FF
2021-08-13T19:11:08.710Z,1628881868.710 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:11:08.823Z,1628881868.823 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T19:11:09.142Z,1628881869.142 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191108.43*59

2021-08-13T19:11:09.164Z,1628881869.164 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.540001 m, bearing: 125.359339 deg, deltaT: 4.477586 s, approachRate: -0.214401 m/s, LOS rate: -3.074373 deg/s, posRepo size: 4
2021-08-13T19:11:09.166Z,1628881869.166 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.540001 m,
      bearing: 125.359339 deg,
      approachRate: -0.214401 m/s,
      LOS rate: -3.074373 deg/s,
      cmd update: -9.223119 deg/s,
      cmd heading: 139.125107 deg,
      new cmd heading: 139.125107 deg.

2021-08-13T19:11:11.582Z,1628881871.582 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:11:11.937Z,1628881871.937 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:11:11.937Z,1628881871.937 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:11:11.937Z,1628881871.937 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:11:11.938Z,1628881871.938 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:11:12.343Z,1628881872.343 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E35,000,00342,187,80,80,9E,FF
2021-08-13T19:11:12.343Z,1628881872.343 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:11:12.343Z,1628881872.343 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:11:12.345Z,1628881872.345 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:11:12.740Z,1628881872.740 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:11:13.145Z,1628881873.145 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E53,000,00348,185,80,80,7E,FF
2021-08-13T19:11:13.146Z,1628881873.146 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:11:13.170Z,1628881873.170 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T19:11:13.597Z,1628881873.597 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191112.87*5A

2021-08-13T19:11:13.689Z,1628881873.689 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.899998 m, bearing: 145.163704 deg, deltaT: 4.347511 s, approachRate: 0.082805 m/s, LOS rate: 4.555334 deg/s, posRepo size: 4
2021-08-13T19:11:13.691Z,1628881873.691 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.899998 m,
      bearing: 145.163704 deg,
      approachRate: 0.082805 m/s,
      LOS rate: 4.555334 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 98.984757 deg,
      new cmd heading: 94.213195 deg.

2021-08-13T19:11:16.002Z,1628881876.002 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:11:16.429Z,1628881876.429 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:11:16.429Z,1628881876.429 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:11:16.429Z,1628881876.429 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:11:16.430Z,1628881876.430 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:11:16.792Z,1628881876.792 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E53,000,00348,185,80,80,7E,FF
2021-08-13T19:11:16.792Z,1628881876.792 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:11:16.792Z,1628881876.792 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:11:16.794Z,1628881876.794 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:11:17.189Z,1628881877.189 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:11:17.597Z,1628881877.597 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E10,000,00368,187,80,80,6E,FF
2021-08-13T19:11:17.598Z,1628881877.598 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:11:17.714Z,1628881877.714 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T19:11:18.029Z,1628881878.029 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191117.31*52

2021-08-13T19:11:18.067Z,1628881878.067 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.820001 m, bearing: 152.901298 deg, deltaT: 4.543431 s, approachRate: 0.422589 m/s, LOS rate: 1.703029 deg/s, posRepo size: 4
2021-08-13T19:11:18.069Z,1628881878.069 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.820001 m,
      bearing: 152.901298 deg,
      approachRate: 0.422589 m/s,
      LOS rate: 1.703029 deg/s,
      cmd update: 5.109086 deg/s,
      cmd heading: 153.374110 deg,
      new cmd heading: 157.783067 deg.

2021-08-13T19:11:20.481Z,1628881880.481 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:11:20.821Z,1628881880.821 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:11:20.821Z,1628881880.821 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:11:20.821Z,1628881880.821 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:11:20.822Z,1628881880.822 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:11:21.239Z,1628881881.239 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E10,000,00368,187,80,80,6E,FF
2021-08-13T19:11:21.240Z,1628881881.240 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:11:21.240Z,1628881881.240 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:11:21.242Z,1628881881.242 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:11:21.641Z,1628881881.641 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:11:22.029Z,1628881882.029 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F14,000,00367,187,80,80,64,FF
2021-08-13T19:11:22.030Z,1628881882.030 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:11:22.095Z,1628881882.095 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T19:11:22.489Z,1628881882.489 [Micromodem](INFO): Nmea in: $SNTTA,0.035795,,,,191121.76*47

2021-08-13T19:11:22.531Z,1628881882.531 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.759997 m, bearing: 128.901639 deg, deltaT: 4.380894 s, approachRate: -0.013697 m/s, LOS rate: -5.478256 deg/s, posRepo size: 4
2021-08-13T19:11:22.534Z,1628881882.534 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.759997 m,
      bearing: 128.901639 deg,
      approachRate: -0.013697 m/s,
      LOS rate: -5.478256 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 175.791881 deg,
      new cmd heading: 178.059053 deg.

2021-08-13T19:11:24.905Z,1628881884.905 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:11:25.284Z,1628881885.284 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:11:25.284Z,1628881885.284 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:11:25.285Z,1628881885.285 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:11:25.286Z,1628881885.286 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:11:25.669Z,1628881885.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F14,000,00367,187,80,80,64,FF
2021-08-13T19:11:25.669Z,1628881885.669 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:11:25.669Z,1628881885.669 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:11:25.671Z,1628881885.671 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:11:26.077Z,1628881886.077 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:11:26.485Z,1628881886.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E58,000,0038D,185,80,80,62,FF
2021-08-13T19:11:26.485Z,1628881886.485 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:11:26.494Z,1628881886.494 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T19:11:26.531Z,1628881886.531 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T19:11:26.921Z,1628881886.921 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191126.19*5A

2021-08-13T19:11:26.955Z,1628881886.955 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.039999 m, bearing: 151.435293 deg, deltaT: 4.436060 s, approachRate: 0.513970 m/s, LOS rate: 5.079655 deg/s, posRepo size: 4
2021-08-13T19:11:26.958Z,1628881886.958 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.039999 m,
      bearing: 151.435293 deg,
      approachRate: 0.513970 m/s,
      LOS rate: 5.079655 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 122.758192 deg,
      new cmd heading: 117.378964 deg.

2021-08-13T19:11:29.447Z,1628881889.447 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:11:29.709Z,1628881889.709 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:11:29.709Z,1628881889.709 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:11:29.709Z,1628881889.709 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:11:29.710Z,1628881889.710 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:11:30.121Z,1628881890.121 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E58,000,0038D,185,80,80,62,FF
2021-08-13T19:11:30.121Z,1628881890.121 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:11:30.121Z,1628881890.121 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:11:30.123Z,1628881890.123 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:11:30.521Z,1628881890.521 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:11:30.930Z,1628881890.930 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EC7,000,003A9,187,80,80,4F,FF
2021-08-13T19:11:30.930Z,1628881890.930 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:11:30.933Z,1628881890.933 [Micromodem](INFO): Nmea in: $SNTTA,0.191879,0.162754,,,191130.64*5B

2021-08-13T19:11:30.952Z,1628881890.952 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T19:11:31.482Z,1628881891.482 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.719999 m, bearing: 158.668013 deg, deltaT: 4.421724 s, approachRate: 0.379942 m/s, LOS rate: 1.635724 deg/s, posRepo size: 4
2021-08-13T19:11:31.488Z,1628881891.488 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.719999 m,
      bearing: 158.668013 deg,
      approachRate: 0.379942 m/s,
      LOS rate: 1.635724 deg/s,
      cmd update: 4.907172 deg/s,
      cmd heading: 176.056242 deg,
      new cmd heading: 182.451630 deg.

2021-08-13T19:11:33.770Z,1628881893.770 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:11:34.153Z,1628881894.153 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:11:34.153Z,1628881894.153 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:11:34.153Z,1628881894.153 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:11:34.154Z,1628881894.154 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:11:34.565Z,1628881894.565 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EC7,000,003A9,187,80,80,4F,FF
2021-08-13T19:11:34.565Z,1628881894.565 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:11:34.566Z,1628881894.566 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:11:34.567Z,1628881894.567 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:11:34.965Z,1628881894.965 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:11:35.385Z,1628881895.385 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DF5,000,003C1,187,80,80,3A,FF
2021-08-13T19:11:35.387Z,1628881895.387 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:11:35.425Z,1628881895.425 [Micromodem](INFO): Nmea in: $SNTTA,0.032532,0.296516,,,191135.09*53

2021-08-13T19:11:35.491Z,1628881895.491 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T19:11:35.800Z,1628881895.800 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.160000 m, bearing: 157.093436 deg, deltaT: 4.538303 s, approachRate: 0.317299 m/s, LOS rate: -0.346953 deg/s, posRepo size: 4
2021-08-13T19:11:35.802Z,1628881895.802 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 20.160000 m,
      bearing: 157.093436 deg,
      approachRate: 0.317299 m/s,
      LOS rate: -0.346953 deg/s,
      cmd update: -1.040859 deg/s,
      cmd heading: 198.330149 deg,
      new cmd heading: 199.860696 deg.

2021-08-13T19:11:36.606Z,1628881896.606 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T19:11:38.211Z,1628881898.211 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:11:38.605Z,1628881898.605 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:11:38.605Z,1628881898.605 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:11:38.605Z,1628881898.605 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:11:38.606Z,1628881898.606 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:11:39.001Z,1628881899.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DF5,000,003C1,187,80,80,3A,FF
2021-08-13T19:11:39.001Z,1628881899.001 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:11:39.001Z,1628881899.001 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:11:39.003Z,1628881899.003 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:11:39.436Z,1628881899.436 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:11:39.813Z,1628881899.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E7A,000,003E0,186,80,80,5F,FF
2021-08-13T19:11:39.813Z,1628881899.813 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:11:39.838Z,1628881899.838 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T19:11:40.245Z,1628881900.245 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191139.52*5B

2021-08-13T19:11:40.279Z,1628881900.279 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.020000 m, bearing: 162.886256 deg, deltaT: 4.347010 s, approachRate: 0.427880 m/s, LOS rate: 1.332599 deg/s, posRepo size: 4
2021-08-13T19:11:40.280Z,1628881900.280 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 22.02 m. Rolling out.
2021-08-13T19:11:40.280Z,1628881900.280 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-08-13T19:11:40.649Z,1628881900.649 [ElevatorOffsetCalculator](INFO): Removing expired estimator for commanded vars: speed 1.00 m/s, pitch 30.00 deg, mass-position -26.00 mm.
2021-08-13T19:11:40.657Z,1628881900.657 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2021-08-13T19:11:40.657Z,1628881900.657 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-13T19:11:40.657Z,1628881900.657 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2021-08-13T19:11:40.657Z,1628881900.657 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2021-08-13T19:11:40.657Z,1628881900.657 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2021-08-13T19:11:40.657Z,1628881900.657 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2021-08-13T19:11:40.657Z,1628881900.657 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-08-13T19:11:42.656Z,1628881902.656 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T19:11:42.686Z,1628881902.686 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:11:43.041Z,1628881903.041 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:11:43.041Z,1628881903.041 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:11:43.041Z,1628881903.041 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:11:43.042Z,1628881903.042 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:11:43.461Z,1628881903.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E7A,000,003E0,186,80,80,5F,FF
2021-08-13T19:11:43.461Z,1628881903.461 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:11:43.461Z,1628881903.461 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:11:43.462Z,1628881903.462 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:11:43.849Z,1628881903.849 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:11:44.257Z,1628881904.257 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F21,000,003F6,187,80,80,4B,FF
2021-08-13T19:11:44.257Z,1628881904.257 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:11:44.321Z,1628881904.321 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T19:11:44.689Z,1628881904.689 [Micromodem](INFO): Nmea in: $SNTTA,0.031918,,,,191143.98*4C

2021-08-13T19:11:44.736Z,1628881904.736 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.339998 m, bearing: 171.129406 deg, deltaT: 4.483314 s, approachRate: 0.294425 m/s, LOS rate: 1.838629 deg/s, posRepo size: 4
2021-08-13T19:11:46.703Z,1628881906.703 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T19:11:47.114Z,1628881907.114 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:11:47.485Z,1628881907.485 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:11:47.485Z,1628881907.485 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:11:47.485Z,1628881907.485 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:11:47.486Z,1628881907.486 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:11:47.906Z,1628881907.906 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F21,000,003F6,187,80,80,4B,FF
2021-08-13T19:11:47.906Z,1628881907.906 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:11:47.906Z,1628881907.906 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:11:47.909Z,1628881907.909 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:11:48.305Z,1628881908.305 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:11:48.709Z,1628881908.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB5,000,00406,186,80,80,60,FF
2021-08-13T19:11:48.709Z,1628881908.709 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:11:48.759Z,1628881908.759 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T19:11:49.121Z,1628881909.121 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191148.43*5D

2021-08-13T19:11:49.155Z,1628881909.155 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.300001 m, bearing: 187.297666 deg, deltaT: 4.438453 s, approachRate: 0.216292 m/s, LOS rate: 3.642769 deg/s, posRepo size: 4
2021-08-13T19:11:51.578Z,1628881911.578 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:11:51.949Z,1628881911.949 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:11:51.949Z,1628881911.949 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:11:51.949Z,1628881911.949 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:11:51.950Z,1628881911.950 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:11:52.345Z,1628881912.345 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EB5,000,00406,186,80,80,60,FF
2021-08-13T19:11:52.345Z,1628881912.345 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:11:52.345Z,1628881912.345 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:11:52.347Z,1628881912.347 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:11:52.427Z,1628881912.427 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T19:11:52.753Z,1628881912.753 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:11:53.149Z,1628881913.149 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F63,000,00414,187,80,80,48,FF
2021-08-13T19:11:53.149Z,1628881913.149 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:11:53.169Z,1628881913.169 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T19:11:53.589Z,1628881913.589 [Micromodem](INFO): Nmea in: $SNTTA,0.406807,,,,191152.87*4D

2021-08-13T19:11:53.654Z,1628881913.654 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.140001 m, bearing: 188.496952 deg, deltaT: 4.409025 s, approachRate: 0.190518 m/s, LOS rate: 0.272007 deg/s, posRepo size: 4
2021-08-13T19:11:56.002Z,1628881916.002 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:11:56.429Z,1628881916.429 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:11:56.429Z,1628881916.429 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:11:56.430Z,1628881916.430 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:11:56.431Z,1628881916.431 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:11:56.785Z,1628881916.785 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F63,000,00414,187,80,80,48,FF
2021-08-13T19:11:56.785Z,1628881916.785 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:11:56.785Z,1628881916.785 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:11:56.787Z,1628881916.787 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:11:57.204Z,1628881917.204 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:11:57.593Z,1628881917.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F8D,000,0041B,186,80,80,7C,FF
2021-08-13T19:11:57.593Z,1628881917.593 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:11:57.667Z,1628881917.667 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T19:11:57.682Z,1628881917.682 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T19:11:58.037Z,1628881918.037 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.560001 m, bearing: 190.832617 deg, deltaT: 4.513379 s, approachRate: 0.093057 m/s, LOS rate: 0.517498 deg/s, posRepo size: 4
2021-08-13T19:12:00.492Z,1628881920.492 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:12:00.833Z,1628881920.833 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:12:00.833Z,1628881920.833 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:12:00.833Z,1628881920.833 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:12:00.834Z,1628881920.834 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:12:01.235Z,1628881921.235 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F8D,000,0041B,186,80,80,7C,FF
2021-08-13T19:12:01.235Z,1628881921.235 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:12:01.236Z,1628881921.236 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:12:01.238Z,1628881921.238 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:12:01.645Z,1628881921.645 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:12:01.720Z,1628881921.720 [RDI_PathfinderUp](ERROR): DVL uart error: serial timeout
2021-08-13T19:12:01.720Z,1628881921.720 [RDI_PathfinderUp] Communications Fault, FailCount= 1
2021-08-13T19:12:01.720Z,1628881921.720 [RDI_PathfinderUp](ERROR): Communications Fault
2021-08-13T19:12:01.849Z,1628881921.849 [CBIT](ERROR): Communications Fault in component: RDI_PathfinderUp
2021-08-13T19:12:02.045Z,1628881922.045 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F97,000,0041E,187,80,80,3F,FF
2021-08-13T19:12:02.045Z,1628881922.045 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:12:02.144Z,1628881922.144 [RDI_PathfinderUp](INFO): Powering down
2021-08-13T19:12:02.171Z,1628881922.171 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T19:12:02.474Z,1628881922.474 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191201.76*55

2021-08-13T19:12:02.489Z,1628881922.489 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.740000 m, bearing: 192.950973 deg, deltaT: 4.488567 s, approachRate: 0.040102 m/s, LOS rate: 0.471945 deg/s, posRepo size: 4
2021-08-13T19:12:02.996Z,1628881922.996 [CBIT](INFO): Clearing failed state for component RDI_PathfinderUp
2021-08-13T19:12:02.996Z,1628881922.996 [RDI_PathfinderUp] No Fault, FailCount= 1
2021-08-13T19:12:04.899Z,1628881924.899 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:12:05.292Z,1628881925.292 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:12:05.292Z,1628881925.292 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:12:05.293Z,1628881925.293 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:12:05.294Z,1628881925.294 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:12:05.685Z,1628881925.685 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F97,000,0041E,187,80,80,3F,FF
2021-08-13T19:12:05.685Z,1628881925.685 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:12:05.685Z,1628881925.685 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:12:05.687Z,1628881925.687 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:12:06.101Z,1628881926.101 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:12:06.497Z,1628881926.497 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E68,000,0042C,186,80,80,41,FF
2021-08-13T19:12:06.498Z,1628881926.498 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:12:06.539Z,1628881926.539 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T19:12:06.921Z,1628881926.921 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191206.21*50

2021-08-13T19:12:06.941Z,1628881926.941 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.580002 m, bearing: 209.242572 deg, deltaT: 4.369324 s, approachRate: 0.192250 m/s, LOS rate: 3.728631 deg/s, posRepo size: 4
2021-08-13T19:12:09.390Z,1628881929.390 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:12:09.721Z,1628881929.721 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:12:09.721Z,1628881929.721 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:12:09.721Z,1628881929.721 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:12:09.722Z,1628881929.722 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:12:10.118Z,1628881930.118 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E68,000,0042C,186,80,80,41,FF
2021-08-13T19:12:10.118Z,1628881930.118 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:12:10.118Z,1628881930.118 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:12:10.120Z,1628881930.120 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:12:10.540Z,1628881930.540 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:12:10.933Z,1628881930.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,00C,000,0042B,183,80,80,78,FF
2021-08-13T19:12:10.933Z,1628881930.933 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:12:11.063Z,1628881931.063 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T19:12:11.390Z,1628881931.390 [Micromodem](INFO): Nmea in: $SNTTA,0.044584,,,,191210.64*41

2021-08-13T19:12:11.454Z,1628881931.454 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.519999 m, bearing: 189.218042 deg, deltaT: 4.523064 s, approachRate: -0.013266 m/s, LOS rate: -4.427205 deg/s, posRepo size: 4
2021-08-13T19:12:13.787Z,1628881933.787 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:12:14.161Z,1628881934.161 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:12:14.161Z,1628881934.161 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:12:14.161Z,1628881934.161 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:12:14.162Z,1628881934.162 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:12:14.574Z,1628881934.574 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
00C,000,0042B,183,80,80,78,FF
2021-08-13T19:12:14.574Z,1628881934.574 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:12:14.574Z,1628881934.574 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:12:14.577Z,1628881934.577 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:12:14.969Z,1628881934.969 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:12:15.382Z,1628881935.382 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0F8,000,00436,186,80,80,5D,FF
2021-08-13T19:12:15.383Z,1628881935.383 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:12:15.387Z,1628881935.387 [Micromodem](INFO): Nmea in: $SNTTA,0.041888,0.252429,,,191215.10*57

2021-08-13T19:12:15.454Z,1628881935.454 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T19:12:15.801Z,1628881935.801 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.180000 m, bearing: 177.606461 deg, deltaT: 4.390951 s, approachRate: 0.150310 m/s, LOS rate: -2.644434 deg/s, posRepo size: 4
2021-08-13T19:12:18.217Z,1628881938.217 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:12:18.598Z,1628881938.598 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:12:18.598Z,1628881938.598 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:12:18.598Z,1628881938.598 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:12:18.599Z,1628881938.599 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:12:19.005Z,1628881939.005 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0F8,000,00436,186,80,80,5D,FF
2021-08-13T19:12:19.006Z,1628881939.006 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:12:19.006Z,1628881939.006 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:12:19.008Z,1628881939.008 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:12:19.438Z,1628881939.438 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:12:19.818Z,1628881939.818 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D6F,000,0043C,18A,80,80,60,FF
2021-08-13T19:12:19.818Z,1628881939.818 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:12:19.842Z,1628881939.842 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T19:12:20.254Z,1628881940.254 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191219.53*5B

2021-08-13T19:12:20.296Z,1628881940.296 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.539997 m, bearing: 222.915190 deg, deltaT: 4.388073 s, approachRate: 0.082040 m/s, LOS rate: 10.325427 deg/s, posRepo size: 4
2021-08-13T19:12:21.523Z,1628881941.523 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-13T19:12:22.712Z,1628881942.712 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:12:23.049Z,1628881943.049 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:12:23.049Z,1628881943.049 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:12:23.049Z,1628881943.049 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:12:23.050Z,1628881943.050 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:12:23.450Z,1628881943.450 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D6F,000,0043C,18A,80,80,60,FF
2021-08-13T19:12:23.451Z,1628881943.451 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:12:23.451Z,1628881943.451 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:12:23.470Z,1628881943.470 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:12:23.857Z,1628881943.857 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:12:24.263Z,1628881944.263 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE3,000,00443,186,80,80,68,FF
2021-08-13T19:12:24.265Z,1628881944.265 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:12:24.294Z,1628881944.294 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T19:12:24.690Z,1628881944.690 [Micromodem](INFO): Nmea in: $SNTTA,0.035997,,,,191223.99*4B

2021-08-13T19:12:24.723Z,1628881944.723 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.959997 m, bearing: 204.576883 deg, deltaT: 4.451679 s, approachRate: 0.094346 m/s, LOS rate: -4.119413 deg/s, posRepo size: 4
2021-08-13T19:12:27.112Z,1628881947.112 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:12:27.489Z,1628881947.489 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:12:27.489Z,1628881947.489 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:12:27.489Z,1628881947.489 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:12:27.490Z,1628881947.490 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:12:27.894Z,1628881947.894 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE3,000,00443,186,80,80,68,FF
2021-08-13T19:12:27.894Z,1628881947.894 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:12:27.894Z,1628881947.894 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:12:27.897Z,1628881947.897 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:12:28.305Z,1628881948.305 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:12:28.716Z,1628881948.716 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EFF,000,0044D,187,80,80,6B,FF
2021-08-13T19:12:28.717Z,1628881948.717 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:12:28.746Z,1628881948.746 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T19:12:29.142Z,1628881949.142 [Micromodem](INFO): Nmea in: $SNTTA,0.027997,,,,191228.42*45

2021-08-13T19:12:29.166Z,1628881949.166 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.559998 m, bearing: 203.261088 deg, deltaT: 4.452535 s, approachRate: 0.134755 m/s, LOS rate: -0.295516 deg/s, posRepo size: 4
2021-08-13T19:12:31.565Z,1628881951.565 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-13T19:12:31.632Z,1628881951.632 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:12:31.945Z,1628881951.945 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:12:31.945Z,1628881951.945 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:12:31.945Z,1628881951.945 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:12:31.946Z,1628881951.946 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:12:32.337Z,1628881952.337 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EFF,000,0044D,187,80,80,6B,FF
2021-08-13T19:12:32.337Z,1628881952.337 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:12:32.337Z,1628881952.337 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:12:32.339Z,1628881952.339 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:12:32.744Z,1628881952.744 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:12:33.145Z,1628881953.145 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EFE,000,00457,186,80,80,8B,FF
2021-08-13T19:12:33.145Z,1628881953.145 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:12:33.169Z,1628881953.169 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T19:12:33.581Z,1628881953.581 [Micromodem](INFO): Nmea in: $SNTTA,0.037247,,,,191232.86*41

2021-08-13T19:12:33.648Z,1628881953.648 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.160002 m, bearing: 203.162816 deg, deltaT: 4.422763 s, approachRate: 0.135663 m/s, LOS rate: -0.022220 deg/s, posRepo size: 4
2021-08-13T19:12:35.990Z,1628881955.990 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:12:36.390Z,1628881956.390 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:12:36.391Z,1628881956.391 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:12:36.391Z,1628881956.391 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:12:36.397Z,1628881956.397 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:12:36.813Z,1628881956.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EFE,000,00457,186,80,80,8B,FF
2021-08-13T19:12:36.813Z,1628881956.813 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:12:36.813Z,1628881956.813 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:12:36.814Z,1628881956.814 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:12:37.205Z,1628881957.205 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:12:37.609Z,1628881957.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ECA,000,00460,186,80,80,45,FF
2021-08-13T19:12:37.610Z,1628881957.610 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:12:37.679Z,1628881957.679 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T19:12:38.037Z,1628881958.037 [Micromodem](INFO): Nmea in: $SNTTA,0.096938,,,,191237.33*42

2021-08-13T19:12:38.094Z,1628881958.094 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.699997 m, bearing: 205.044027 deg, deltaT: 4.514393 s, approachRate: 0.119616 m/s, LOS rate: 0.416714 deg/s, posRepo size: 4
2021-08-13T19:12:40.506Z,1628881960.506 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:12:40.837Z,1628881960.837 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:12:40.837Z,1628881960.837 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:12:40.837Z,1628881960.837 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:12:40.838Z,1628881960.838 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:12:41.237Z,1628881961.237 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ECA,000,00460,186,80,80,45,FF
2021-08-13T19:12:41.237Z,1628881961.237 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:12:41.237Z,1628881961.237 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:12:41.239Z,1628881961.239 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:12:41.645Z,1628881961.645 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:12:42.045Z,1628881962.045 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E5D,000,00471,186,80,80,7E,FF
2021-08-13T19:12:42.045Z,1628881962.045 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:12:42.065Z,1628881962.065 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T19:12:42.491Z,1628881962.491 [Micromodem](INFO): Nmea in: $SNTTA,0.062303,,,,191241.76*4B

2021-08-13T19:12:42.517Z,1628881962.517 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.720001 m, bearing: 209.813357 deg, deltaT: 4.381556 s, approachRate: 0.232795 m/s, LOS rate: 1.088501 deg/s, posRepo size: 4
2021-08-13T19:12:44.919Z,1628881964.919 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:12:45.284Z,1628881965.284 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:12:45.285Z,1628881965.285 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:12:45.285Z,1628881965.285 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:12:45.287Z,1628881965.287 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:12:45.677Z,1628881965.677 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E5D,000,00471,186,80,80,7E,FF
2021-08-13T19:12:45.677Z,1628881965.677 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:12:45.677Z,1628881965.677 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:12:45.679Z,1628881965.679 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:12:46.094Z,1628881966.094 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:12:46.489Z,1628881966.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EEC,000,00477,186,80,80,94,FF
2021-08-13T19:12:46.489Z,1628881966.489 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:12:46.538Z,1628881966.538 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T19:12:46.926Z,1628881966.926 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191246.20*55

2021-08-13T19:12:46.942Z,1628881966.942 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.080000 m, bearing: 201.779538 deg, deltaT: 4.473041 s, approachRate: 0.080482 m/s, LOS rate: -1.796053 deg/s, posRepo size: 4
2021-08-13T19:12:49.479Z,1628881969.479 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:12:49.721Z,1628881969.721 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:12:49.721Z,1628881969.721 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:12:49.721Z,1628881969.721 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:12:49.722Z,1628881969.722 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:12:50.133Z,1628881970.133 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EEC,000,00477,186,80,80,94,FF
2021-08-13T19:12:50.133Z,1628881970.133 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:12:50.133Z,1628881970.133 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:12:50.135Z,1628881970.135 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:12:50.533Z,1628881970.533 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:12:51.381Z,1628881971.381 [Micromodem](INFO): Nmea in: $SNTTA,0.057795,,,,191250.65*44

2021-08-13T19:12:52.173Z,1628881972.173 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:12:53.761Z,1628881973.761 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
7,186,80,80,94,FF
2021-08-13T19:12:53.762Z,1628881973.762 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
7,186,80,80,94,FF
2021-08-13T19:12:53.762Z,1628881973.762 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T19:12:54.993Z,1628881974.993 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:12:55.382Z,1628881975.382 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:12:55.382Z,1628881975.382 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:12:55.383Z,1628881975.383 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:12:55.384Z,1628881975.384 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:12:55.777Z,1628881975.777 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
7,186,80,80,94,FF
2021-08-13T19:12:55.777Z,1628881975.777 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:12:55.777Z,1628881975.777 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:12:55.779Z,1628881975.779 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:12:56.196Z,1628881976.196 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:12:56.585Z,1628881976.585 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F0C,000,00492,186,80,80,5F,FF
2021-08-13T19:12:56.586Z,1628881976.586 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:12:56.639Z,1628881976.639 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T19:12:57.022Z,1628881977.022 [Micromodem](INFO): Nmea in: $SNTTA,0.054650,,,,191256.30*49

2021-08-13T19:12:57.038Z,1628881977.038 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.699997 m, bearing: 199.784604 deg, deltaT: 10.101821 s, approachRate: 0.160367 m/s, LOS rate: -0.197483 deg/s, posRepo size: 4
2021-08-13T19:12:59.497Z,1628881979.497 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:12:59.817Z,1628881979.817 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:12:59.817Z,1628881979.817 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:12:59.817Z,1628881979.817 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:12:59.818Z,1628881979.818 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:13:00.217Z,1628881980.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F0C,000,00492,186,80,80,5F,FF
2021-08-13T19:13:00.218Z,1628881980.218 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:13:00.218Z,1628881980.218 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:13:00.219Z,1628881980.219 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:13:00.634Z,1628881980.634 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:13:01.025Z,1628881981.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F26,000,0049E,186,80,80,65,FF
2021-08-13T19:13:01.026Z,1628881981.026 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:13:01.082Z,1628881981.082 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T19:13:01.497Z,1628881981.497 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191300.74*57

2021-08-13T19:13:01.575Z,1628881981.575 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 33.419998 m, bearing: 198.201872 deg, deltaT: 4.442082 s, approachRate: 0.162086 m/s, LOS rate: -0.356304 deg/s, posRepo size: 4
2021-08-13T19:13:03.884Z,1628881983.884 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:13:04.272Z,1628881984.272 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:13:04.273Z,1628881984.273 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:13:04.273Z,1628881984.273 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:13:04.274Z,1628881984.274 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:13:04.669Z,1628881984.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F26,000,0049E,186,80,80,65,FF
2021-08-13T19:13:04.669Z,1628881984.669 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:13:04.669Z,1628881984.669 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:13:04.671Z,1628881984.671 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:13:05.088Z,1628881985.088 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:13:05.477Z,1628881985.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE2,000,004B6,185,80,80,59,FF
2021-08-13T19:13:05.478Z,1628881985.478 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:13:05.605Z,1628881985.605 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T19:13:05.921Z,1628881985.921 [Micromodem](INFO): Nmea in: $SNTTA,0.047360,,,,191305.19*41

2021-08-13T19:13:05.956Z,1628881985.956 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.859997 m, bearing: 188.872994 deg, deltaT: 4.523392 s, approachRate: 0.318345 m/s, LOS rate: -2.062363 deg/s, posRepo size: 4
2021-08-13T19:13:08.330Z,1628881988.330 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:13:08.717Z,1628881988.717 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:13:08.717Z,1628881988.717 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:13:08.717Z,1628881988.717 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:13:08.718Z,1628881988.718 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:13:09.113Z,1628881989.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE2,000,004B6,185,80,80,59,FF
2021-08-13T19:13:09.113Z,1628881989.113 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:13:09.113Z,1628881989.113 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:13:09.115Z,1628881989.115 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:13:09.540Z,1628881989.540 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:13:09.933Z,1628881989.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FCD,000,004B7,185,80,80,57,FF
2021-08-13T19:13:09.934Z,1628881989.934 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:13:09.986Z,1628881989.986 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T19:13:10.385Z,1628881990.385 [Micromodem](INFO): Nmea in: $SNTTA,0.045975,,,,191309.64*4B

2021-08-13T19:13:10.434Z,1628881990.434 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.920002 m, bearing: 190.307266 deg, deltaT: 4.380799 s, approachRate: 0.013697 m/s, LOS rate: 0.327400 deg/s, posRepo size: 4
2021-08-13T19:13:12.792Z,1628881992.792 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:13:13.165Z,1628881993.165 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:13:13.165Z,1628881993.165 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:13:13.165Z,1628881993.165 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:13:13.166Z,1628881993.166 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:13:13.569Z,1628881993.569 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FCD,000,004B7,185,80,80,57,FF
2021-08-13T19:13:13.569Z,1628881993.569 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:13:13.569Z,1628881993.569 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:13:13.571Z,1628881993.571 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:13:13.982Z,1628881993.982 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:13:14.378Z,1628881994.378 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A5,000,004C7,186,80,80,7A,FF
2021-08-13T19:13:14.379Z,1628881994.379 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:13:14.473Z,1628881994.473 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T19:13:14.825Z,1628881994.825 [Micromodem](INFO): Nmea in: $SNTTA,0.035160,,,,191314.09*47

2021-08-13T19:13:14.848Z,1628881994.848 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.880001 m, bearing: 180.336269 deg, deltaT: 4.487076 s, approachRate: 0.213948 m/s, LOS rate: -2.222159 deg/s, posRepo size: 4
2021-08-13T19:13:17.235Z,1628881997.235 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:13:17.609Z,1628881997.609 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:13:17.609Z,1628881997.609 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:13:17.609Z,1628881997.609 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:13:17.610Z,1628881997.610 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:13:18.017Z,1628881998.017 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0A5,000,004C7,186,80,80,7A,FF
2021-08-13T19:13:18.017Z,1628881998.017 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:13:18.017Z,1628881998.017 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:13:18.019Z,1628881998.019 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:13:18.453Z,1628881998.453 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:13:18.821Z,1628881998.821 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,031,000,004CF,184,80,80,52,FF
2021-08-13T19:13:18.821Z,1628881998.821 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:13:18.868Z,1628881998.868 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T19:13:19.292Z,1628881999.292 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191318.54*5C

2021-08-13T19:13:19.363Z,1628881999.363 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.360001 m, bearing: 186.808201 deg, deltaT: 4.395268 s, approachRate: 0.109208 m/s, LOS rate: 1.472477 deg/s, posRepo size: 4
2021-08-13T19:13:21.722Z,1628882001.722 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:13:22.053Z,1628882002.053 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:13:22.053Z,1628882002.053 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:13:22.053Z,1628882002.053 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:13:22.054Z,1628882002.054 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:13:22.466Z,1628882002.466 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
031,000,004CF,184,80,80,52,FF
2021-08-13T19:13:22.466Z,1628882002.466 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:13:22.466Z,1628882002.466 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:13:22.468Z,1628882002.468 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:13:22.865Z,1628882002.865 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:13:23.285Z,1628882003.285 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,064,000,004DD,186,80,80,4B,FF
2021-08-13T19:13:23.287Z,1628882003.287 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:13:23.419Z,1628882003.419 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T19:13:23.712Z,1628882003.712 [Micromodem](INFO): Nmea in: $SNTTA,,0.346155,,,191322.99*4A

2021-08-13T19:13:23.737Z,1628882003.737 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.200001 m, bearing: 184.774662 deg, deltaT: 4.550760 s, approachRate: 0.184585 m/s, LOS rate: -0.446857 deg/s, posRepo size: 4
2021-08-13T19:13:26.127Z,1628882006.127 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:13:26.517Z,1628882006.517 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:13:26.517Z,1628882006.517 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:13:26.517Z,1628882006.517 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:13:26.518Z,1628882006.518 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:13:26.917Z,1628882006.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
064,000,004DD,186,80,80,4B,FF
2021-08-13T19:13:26.917Z,1628882006.917 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:13:26.917Z,1628882006.917 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:13:26.919Z,1628882006.919 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:13:27.387Z,1628882007.387 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:13:27.721Z,1628882007.721 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,104,000,004ED,186,80,80,6E,FF
2021-08-13T19:13:27.721Z,1628882007.721 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:13:27.740Z,1628882007.740 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T19:13:28.139Z,1628882008.139 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.159996 m, bearing: 177.562351 deg, deltaT: 4.321172 s, approachRate: 0.222161 m/s, LOS rate: -1.669064 deg/s, posRepo size: 4
2021-08-13T19:13:30.591Z,1628882010.591 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:13:30.961Z,1628882010.961 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:13:30.961Z,1628882010.961 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:13:30.961Z,1628882010.961 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:13:30.962Z,1628882010.962 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:13:31.375Z,1628882011.375 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
104,000,004ED,186,80,80,6E,FF
2021-08-13T19:13:31.376Z,1628882011.376 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:13:31.377Z,1628882011.377 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:13:31.382Z,1628882011.382 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:13:31.778Z,1628882011.778 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:13:32.165Z,1628882012.165 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,157,000,004FB,186,80,80,4E,FF
2021-08-13T19:13:32.165Z,1628882012.165 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:13:32.246Z,1628882012.246 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T19:13:32.601Z,1628882012.601 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191331.90*5F

2021-08-13T19:13:32.634Z,1628882012.634 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.999996 m, bearing: 174.297685 deg, deltaT: 4.505927 s, approachRate: 0.186421 m/s, LOS rate: -0.724527 deg/s, posRepo size: 4
2021-08-13T19:13:35.026Z,1628882015.026 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:13:35.413Z,1628882015.413 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:13:35.413Z,1628882015.413 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:13:35.413Z,1628882015.413 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:13:35.414Z,1628882015.414 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:13:35.810Z,1628882015.810 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
157,000,004FB,186,80,80,4E,FF
2021-08-13T19:13:35.810Z,1628882015.810 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:13:35.810Z,1628882015.810 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:13:35.813Z,1628882015.813 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:13:36.209Z,1628882016.209 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:13:36.621Z,1628882016.621 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,094,000,00503,186,80,80,6C,FF
2021-08-13T19:13:36.622Z,1628882016.622 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:13:36.683Z,1628882016.683 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T19:13:37.049Z,1628882017.049 [Micromodem](INFO): Nmea in: $SNTTA,0.036009,,,,191336.33*43

2021-08-13T19:13:37.081Z,1628882017.081 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.480003 m, bearing: 184.667169 deg, deltaT: 4.436610 s, approachRate: 0.108192 m/s, LOS rate: 2.337254 deg/s, posRepo size: 4
2021-08-13T19:13:39.544Z,1628882019.544 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:13:39.849Z,1628882019.849 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:13:39.850Z,1628882019.850 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:13:39.850Z,1628882019.850 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:13:39.851Z,1628882019.851 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:13:40.249Z,1628882020.249 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
094,000,00503,186,80,80,6C,FF
2021-08-13T19:13:40.250Z,1628882020.250 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:13:40.250Z,1628882020.250 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:13:40.251Z,1628882020.251 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:13:40.659Z,1628882020.659 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:13:41.049Z,1628882021.049 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D5A,000,00513,189,80,80,73,FF
2021-08-13T19:13:41.050Z,1628882021.050 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:13:41.074Z,1628882021.074 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T19:13:41.513Z,1628882021.513 [Micromodem](INFO): Nmea in: $SNTTA,0.454474,0.026301,,,191340.77*54

2021-08-13T19:13:41.570Z,1628882021.570 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.439999 m, bearing: 225.741714 deg, deltaT: 4.390921 s, approachRate: 0.218632 m/s, LOS rate: 9.354426 deg/s, posRepo size: 4
2021-08-13T19:13:41.913Z,1628882021.913 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-13T19:13:41.913Z,1628882021.913 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T19:13:41.914Z,1628882021.914 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-13T19:13:41.914Z,1628882021.914 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-13T19:13:41.914Z,1628882021.914 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-13T19:13:41.914Z,1628882021.914 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-13T19:13:42.327Z,1628882022.327 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-13T19:13:42.327Z,1628882022.327 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T19:13:42.327Z,1628882022.327 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-13T19:13:42.327Z,1628882022.327 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T19:13:43.939Z,1628882023.939 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:13:44.285Z,1628882024.285 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:13:44.285Z,1628882024.285 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:13:44.285Z,1628882024.285 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:13:44.286Z,1628882024.286 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:13:44.689Z,1628882024.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D5A,000,00513,189,80,80,73,FF
2021-08-13T19:13:44.689Z,1628882024.689 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:13:44.690Z,1628882024.690 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:13:44.691Z,1628882024.691 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:13:45.100Z,1628882025.100 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:13:45.501Z,1628882025.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D6F,000,00521,189,80,80,8A,FF
2021-08-13T19:13:45.501Z,1628882025.501 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:13:45.949Z,1628882025.949 [Micromodem](INFO): Nmea in: $SNTTA,0.066992,,,,191345.21*4A

2021-08-13T19:13:45.971Z,1628882025.971 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 41.279999 m, bearing: 224.505217 deg, deltaT: 4.532087 s, approachRate: 0.185345 m/s, LOS rate: -0.272832 deg/s, posRepo size: 4
2021-08-13T19:13:48.346Z,1628882028.346 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:13:48.729Z,1628882028.729 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:13:48.729Z,1628882028.729 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:13:48.729Z,1628882028.729 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:13:48.730Z,1628882028.730 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:13:49.137Z,1628882029.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D6F,000,00521,189,80,80,8A,FF
2021-08-13T19:13:49.137Z,1628882029.137 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:13:49.137Z,1628882029.137 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:13:49.139Z,1628882029.139 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:13:49.541Z,1628882029.541 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:13:49.953Z,1628882029.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E4E,000,0052D,186,80,80,8B,FF
2021-08-13T19:13:49.953Z,1628882029.953 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:13:50.398Z,1628882030.398 [Micromodem](INFO): Nmea in: $SNTTA,0.039933,,,,191349.66*44

2021-08-13T19:13:50.477Z,1628882030.477 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.000000 m, bearing: 212.398488 deg, deltaT: 4.394423 s, approachRate: 0.163844 m/s, LOS rate: -2.755021 deg/s, posRepo size: 4
2021-08-13T19:13:52.802Z,1628882032.802 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:13:53.181Z,1628882033.181 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:13:53.181Z,1628882033.181 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:13:53.181Z,1628882033.181 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:13:53.182Z,1628882033.182 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:13:53.582Z,1628882033.582 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E4E,000,0052D,186,80,80,8B,FF
2021-08-13T19:13:53.583Z,1628882033.583 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:13:53.583Z,1628882033.583 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:13:53.585Z,1628882033.585 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:13:53.988Z,1628882033.988 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:13:54.818Z,1628882034.818 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191354.10*54

2021-08-13T19:13:55.657Z,1628882035.657 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:13:57.213Z,1628882037.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,186,80,80,8B,FF
2021-08-13T19:13:57.213Z,1628882037.213 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,186,80,80,8B,FF
2021-08-13T19:13:57.213Z,1628882037.213 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T19:13:58.488Z,1628882038.488 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:13:58.829Z,1628882038.829 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:13:58.829Z,1628882038.829 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:13:58.829Z,1628882038.829 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:13:58.830Z,1628882038.830 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:13:59.242Z,1628882039.242 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,186,80,80,8B,FF
2021-08-13T19:13:59.242Z,1628882039.242 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:13:59.242Z,1628882039.242 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:13:59.244Z,1628882039.244 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:13:59.640Z,1628882039.640 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:14:00.037Z,1628882040.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E49,000,00547,186,80,80,3D,FF
2021-08-13T19:14:00.038Z,1628882040.038 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:14:00.509Z,1628882040.509 [Micromodem](INFO): Nmea in: $SNTTA,0.043989,,,,191359.77*49

2021-08-13T19:14:00.550Z,1628882040.550 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.559998 m, bearing: 211.938694 deg, deltaT: 10.084995 s, approachRate: 0.154685 m/s, LOS rate: -0.045592 deg/s, posRepo size: 4
2021-08-13T19:14:02.893Z,1628882042.893 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:14:03.296Z,1628882043.296 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:14:03.297Z,1628882043.297 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:14:03.297Z,1628882043.297 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:14:03.298Z,1628882043.298 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:14:03.685Z,1628882043.685 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E49,000,00547,186,80,80,3D,FF
2021-08-13T19:14:03.685Z,1628882043.685 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:14:03.686Z,1628882043.686 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:14:03.687Z,1628882043.687 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:14:04.084Z,1628882044.084 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:14:04.497Z,1628882044.497 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F22,000,0055B,186,80,80,50,FF
2021-08-13T19:14:04.497Z,1628882044.497 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:14:04.929Z,1628882044.929 [Micromodem](INFO): Nmea in: $SNTTA,0.077840,,,,191404.21*46

2021-08-13T19:14:04.952Z,1628882044.952 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 44.759998 m, bearing: 200.692227 deg, deltaT: 4.440703 s, approachRate: 0.270228 m/s, LOS rate: -2.532587 deg/s, posRepo size: 4
2021-08-13T19:14:07.503Z,1628882047.503 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:14:07.749Z,1628882047.749 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:14:07.750Z,1628882047.750 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:14:07.750Z,1628882047.750 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:14:07.751Z,1628882047.751 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:14:08.149Z,1628882048.149 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F22,000,0055B,186,80,80,50,FF
2021-08-13T19:14:08.149Z,1628882048.149 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:14:08.149Z,1628882048.149 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:14:08.151Z,1628882048.151 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:14:08.557Z,1628882048.557 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:14:08.959Z,1628882048.959 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E6B,000,00567,186,80,80,6B,FF
2021-08-13T19:14:08.959Z,1628882048.959 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:14:09.421Z,1628882049.421 [Micromodem](INFO): Nmea in: $SNTTA,0.029971,,,,191408.67*40

2021-08-13T19:14:09.513Z,1628882049.513 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.479996 m, bearing: 209.801350 deg, deltaT: 4.451395 s, approachRate: 0.161746 m/s, LOS rate: 2.046352 deg/s, posRepo size: 4
2021-08-13T19:14:11.556Z,1628882051.556 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:14:11.809Z,1628882051.809 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:14:11.809Z,1628882051.809 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:14:11.810Z,1628882051.810 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:14:11.810Z,1628882051.810 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:14:12.213Z,1628882052.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E6B,000,00567,186,80,80,6B,FF
2021-08-13T19:14:12.213Z,1628882052.213 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:14:12.213Z,1628882052.213 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:14:12.215Z,1628882052.215 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:14:12.631Z,1628882052.631 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:14:13.021Z,1628882053.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FDD,000,00574,185,80,80,7C,FF
2021-08-13T19:14:13.021Z,1628882053.021 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:14:13.477Z,1628882053.477 [Micromodem](INFO): Nmea in: $SNTTA,0.063059,,,,191412.74*44

2021-08-13T19:14:13.545Z,1628882053.545 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.259998 m, bearing: 191.247441 deg, deltaT: 4.095554 s, approachRate: 0.190451 m/s, LOS rate: -4.530256 deg/s, posRepo size: 4
2021-08-13T19:14:15.875Z,1628882055.875 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:14:16.249Z,1628882056.249 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:14:16.249Z,1628882056.249 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:14:16.249Z,1628882056.249 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:14:16.250Z,1628882056.250 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:14:16.657Z,1628882056.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FDD,000,00574,185,80,80,7C,FF
2021-08-13T19:14:16.657Z,1628882056.657 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:14:16.657Z,1628882056.657 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:14:16.659Z,1628882056.659 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:14:17.069Z,1628882057.069 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:14:17.465Z,1628882057.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD5,000,00582,184,80,80,8F,FF
2021-08-13T19:14:17.466Z,1628882057.466 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:14:17.489Z,1628882057.489 [Micromodem](INFO): Nmea in: $SNTTA,0.054658,0.250242,,,191417.18*55

2021-08-13T19:14:17.922Z,1628882057.922 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.100002 m, bearing: 191.769787 deg, deltaT: 4.500050 s, approachRate: 0.186665 m/s, LOS rate: 0.116076 deg/s, posRepo size: 4
2021-08-13T19:14:20.323Z,1628882060.323 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:14:20.697Z,1628882060.697 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:14:20.697Z,1628882060.697 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:14:20.697Z,1628882060.697 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:14:20.698Z,1628882060.698 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:14:21.101Z,1628882061.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD5,000,00582,184,80,80,8F,FF
2021-08-13T19:14:21.101Z,1628882061.101 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:14:21.101Z,1628882061.101 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:14:21.103Z,1628882061.103 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:14:21.519Z,1628882061.519 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:14:21.913Z,1628882061.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F67,000,0058F,187,80,80,77,FF
2021-08-13T19:14:21.913Z,1628882061.913 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:14:22.341Z,1628882062.341 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191421.62*54

2021-08-13T19:14:22.409Z,1628882062.409 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.880001 m, bearing: 197.101911 deg, deltaT: 4.420299 s, approachRate: 0.176458 m/s, LOS rate: 1.206281 deg/s, posRepo size: 4
2021-08-13T19:14:24.780Z,1628882064.780 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:14:25.145Z,1628882065.145 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:14:25.145Z,1628882065.145 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:14:25.145Z,1628882065.145 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:14:25.146Z,1628882065.146 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:14:25.561Z,1628882065.561 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F67,000,0058F,187,80,80,77,FF
2021-08-13T19:14:25.562Z,1628882065.562 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:14:25.562Z,1628882065.562 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:14:25.563Z,1628882065.563 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:14:25.961Z,1628882065.961 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:14:26.361Z,1628882066.361 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F3A,000,0059C,186,80,80,5E,FF
2021-08-13T19:14:26.362Z,1628882066.362 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:14:26.790Z,1628882066.790 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191426.08*5F

2021-08-13T19:14:26.815Z,1628882066.815 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 48.660000 m, bearing: 199.721971 deg, deltaT: 4.435465 s, approachRate: 0.175855 m/s, LOS rate: 0.590707 deg/s, posRepo size: 4
2021-08-13T19:14:29.209Z,1628882069.209 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:14:29.593Z,1628882069.593 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:14:29.593Z,1628882069.593 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:14:29.593Z,1628882069.593 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:14:29.594Z,1628882069.594 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:14:29.993Z,1628882069.993 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F3A,000,0059C,186,80,80,5E,FF
2021-08-13T19:14:29.993Z,1628882069.993 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:14:29.993Z,1628882069.993 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:14:29.995Z,1628882069.995 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:14:30.419Z,1628882070.419 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:14:30.801Z,1628882070.801 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F22,000,005AF,186,80,80,95,FF
2021-08-13T19:14:30.802Z,1628882070.802 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:14:31.237Z,1628882071.237 [Micromodem](INFO): Nmea in: $SNTTA,,0.032592,,,191430.52*46

2021-08-13T19:14:31.322Z,1628882071.322 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.800003 m, bearing: 200.930928 deg, deltaT: 4.391118 s, approachRate: 0.259616 m/s, LOS rate: 0.275319 deg/s, posRepo size: 4
2021-08-13T19:14:33.708Z,1628882073.708 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:14:34.029Z,1628882074.029 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:14:34.029Z,1628882074.029 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:14:34.029Z,1628882074.029 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:14:34.030Z,1628882074.030 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:14:34.449Z,1628882074.449 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F22,000,005AF,186,80,80,95,FF
2021-08-13T19:14:34.449Z,1628882074.449 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:14:34.449Z,1628882074.449 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:14:34.451Z,1628882074.451 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:14:34.853Z,1628882074.853 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:14:35.647Z,1628882075.647 [Micromodem](INFO): Nmea in: $SNTTA,0.355451,0.354908,,,191434.97*5A

2021-08-13T19:14:36.493Z,1628882076.493 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:14:38.069Z,1628882078.069 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
F,186,80,80,95,FF
2021-08-13T19:14:38.069Z,1628882078.069 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
F,186,80,80,95,FF
2021-08-13T19:14:38.070Z,1628882078.070 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T19:14:39.363Z,1628882079.363 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:14:39.685Z,1628882079.685 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:14:39.685Z,1628882079.685 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:14:39.685Z,1628882079.685 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:14:39.686Z,1628882079.686 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:14:40.089Z,1628882080.089 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
F,186,80,80,95,FF
2021-08-13T19:14:40.089Z,1628882080.089 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:14:40.089Z,1628882080.089 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:14:40.091Z,1628882080.091 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:14:40.505Z,1628882080.505 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:14:40.898Z,1628882080.898 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F57,000,005D0,186,80,80,68,FF
2021-08-13T19:14:40.898Z,1628882080.898 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:14:41.417Z,1628882081.417 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191440.61*50

2021-08-13T19:14:41.472Z,1628882081.472 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.779999 m, bearing: 199.289484 deg, deltaT: 10.136967 s, approachRate: 0.195324 m/s, LOS rate: -0.161927 deg/s, posRepo size: 4
2021-08-13T19:14:43.754Z,1628882083.754 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:14:44.129Z,1628882084.129 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:14:44.129Z,1628882084.129 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:14:44.129Z,1628882084.129 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:14:44.130Z,1628882084.130 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:14:44.537Z,1628882084.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F57,000,005D0,186,80,80,68,FF
2021-08-13T19:14:44.538Z,1628882084.538 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:14:44.538Z,1628882084.538 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:14:44.539Z,1628882084.539 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:14:44.949Z,1628882084.949 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:14:45.356Z,1628882085.356 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD6,000,005DB,184,80,80,8A,FF
2021-08-13T19:14:45.357Z,1628882085.357 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:14:45.794Z,1628882085.794 [Micromodem](INFO): Nmea in: $SNTTA,0.041441,,,,191445.06*4E

2021-08-13T19:14:45.819Z,1628882085.819 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.440002 m, bearing: 192.971969 deg, deltaT: 4.523423 s, approachRate: 0.145908 m/s, LOS rate: -1.396623 deg/s, posRepo size: 4
2021-08-13T19:14:48.210Z,1628882088.210 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:14:48.569Z,1628882088.569 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:14:48.569Z,1628882088.569 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:14:48.570Z,1628882088.570 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:14:48.571Z,1628882088.571 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:14:48.985Z,1628882088.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD6,000,005DB,184,80,80,8A,FF
2021-08-13T19:14:48.985Z,1628882088.985 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:14:48.985Z,1628882088.985 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:14:48.987Z,1628882088.987 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:14:49.417Z,1628882089.417 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:14:49.807Z,1628882089.807 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,004,000,00A91,183,80,80,B7,FF
2021-08-13T19:14:49.807Z,1628882089.807 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:14:50.228Z,1628882090.228 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 124.800003 m, bearing: 190.582290 deg, deltaT: 4.345576 s, approachRate: 16.651417 m/s, LOS rate: -0.549911 deg/s, posRepo size: 4
2021-08-13T19:14:52.649Z,1628882092.649 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:14:53.021Z,1628882093.021 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:14:53.021Z,1628882093.021 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:14:53.021Z,1628882093.021 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:14:53.022Z,1628882093.022 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:14:53.461Z,1628882093.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
004,000,00A91,183,80,80,B7,FF
2021-08-13T19:14:53.461Z,1628882093.461 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:14:53.461Z,1628882093.461 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:14:53.463Z,1628882093.463 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:14:53.865Z,1628882093.865 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:14:54.702Z,1628882094.702 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191453.98*54

2021-08-13T19:14:55.539Z,1628882095.539 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:14:57.093Z,1628882097.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
1,183,80,80,B7,FF
2021-08-13T19:14:57.093Z,1628882097.093 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
1,183,80,80,B7,FF
2021-08-13T19:14:57.094Z,1628882097.094 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T19:14:57.544Z,1628882097.544 [RDI_PathfinderUp](ERROR): only read 0 of 4 data items
2021-08-13T19:14:58.345Z,1628882098.345 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:14:58.713Z,1628882098.713 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:14:58.713Z,1628882098.713 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:14:58.713Z,1628882098.713 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:14:58.714Z,1628882098.714 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:14:59.113Z,1628882099.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
1,183,80,80,B7,FF
2021-08-13T19:14:59.113Z,1628882099.113 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:14:59.113Z,1628882099.113 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:14:59.115Z,1628882099.115 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:14:59.538Z,1628882099.538 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:14:59.929Z,1628882099.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,022,000,0067D,185,80,80,9B,FF
2021-08-13T19:14:59.930Z,1628882099.930 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:15:00.361Z,1628882100.361 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 62.160004 m, bearing: 188.397190 deg, deltaT: 10.142410 s, approachRate: -6.176047 m/s, LOS rate: -0.215442 deg/s, posRepo size: 4
2021-08-13T19:15:02.792Z,1628882102.792 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:15:03.153Z,1628882103.153 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:15:03.153Z,1628882103.153 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:15:03.153Z,1628882103.153 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:15:03.154Z,1628882103.154 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:15:03.573Z,1628882103.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
022,000,0067D,185,80,80,9B,FF
2021-08-13T19:15:03.573Z,1628882103.573 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:15:03.574Z,1628882103.574 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:15:03.575Z,1628882103.575 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:15:03.988Z,1628882103.988 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:15:04.819Z,1628882104.819 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191504.10*57

2021-08-13T19:15:05.671Z,1628882105.671 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:15:07.225Z,1628882107.225 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,185,80,80,9B,FF
2021-08-13T19:15:07.226Z,1628882107.226 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,185,80,80,9B,FF
2021-08-13T19:15:07.226Z,1628882107.226 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T19:15:08.490Z,1628882108.490 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:15:08.837Z,1628882108.837 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:15:08.838Z,1628882108.838 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:15:08.838Z,1628882108.838 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:15:08.839Z,1628882108.839 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:15:09.245Z,1628882109.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,185,80,80,9B,FF
2021-08-13T19:15:09.245Z,1628882109.245 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:15:09.245Z,1628882109.245 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:15:09.271Z,1628882109.271 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:15:09.653Z,1628882109.653 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:15:10.478Z,1628882110.478 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191509.79*55

2021-08-13T19:15:11.373Z,1628882111.373 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:15:12.890Z,1628882112.890 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,185,80,80,9B,FF
2021-08-13T19:15:12.890Z,1628882112.890 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,185,80,80,9B,FF
2021-08-13T19:15:12.890Z,1628882112.890 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T19:15:13.725Z,1628882113.725 [CTD_Seabird](ERROR): Failed to parse device response: 6.40,24.0002,
2021-08-13T19:15:14.137Z,1628882114.137 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:15:14.505Z,1628882114.505 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:15:14.505Z,1628882114.505 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:15:14.505Z,1628882114.505 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:15:14.506Z,1628882114.506 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:15:14.925Z,1628882114.925 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,185,80,80,9B,FF
2021-08-13T19:15:14.925Z,1628882114.925 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:15:14.925Z,1628882114.925 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:15:14.927Z,1628882114.927 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:15:15.368Z,1628882115.368 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:15:15.396Z,1628882115.396 [Micromodem](INFO): Nmea in: V,191515,COPROC,0.20.0.39330*73

2021-08-13T19:15:15.398Z,1628882115.398 [Micromodem](ERROR): Response from modem failed NMEA checksum: V,191515,COPROC,0.20.0.39330*73
 expected 0
2021-08-13T19:15:16.639Z,1628882116.639 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:15:16.972Z,1628882116.972 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F5D,000,0390B,186,80,80,61,FF
2021-08-13T19:15:16.972Z,1628882116.972 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:15:17.472Z,1628882117.472 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 838.679993 m, bearing: 197.556624 deg, deltaT: 17.022211 s, approachRate: 45.618046 m/s, LOS rate: 0.538087 deg/s, posRepo size: 4
2021-08-13T19:15:19.493Z,1628882119.493 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:15:19.817Z,1628882119.817 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:15:19.817Z,1628882119.817 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:15:19.817Z,1628882119.817 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:15:19.818Z,1628882119.818 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:15:20.213Z,1628882120.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F5D,000,0390B,186,80,80,61,FF
2021-08-13T19:15:20.214Z,1628882120.214 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:15:20.214Z,1628882120.214 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:15:20.216Z,1628882120.216 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:15:20.620Z,1628882120.620 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:15:21.017Z,1628882121.017 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,046,000,00656,185,80,80,8A,FF
2021-08-13T19:15:21.018Z,1628882121.018 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:15:21.457Z,1628882121.457 [Micromodem](INFO): Nmea in: $SNTTA,0.046645,0.472680,,,191520.74*59

2021-08-13T19:15:21.577Z,1628882121.577 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 59.820000 m, bearing: 185.954796 deg, deltaT: 4.046160 s, approachRate: -192.493622 m/s, LOS rate: -2.867367 deg/s, posRepo size: 4
2021-08-13T19:15:23.881Z,1628882123.881 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:15:24.245Z,1628882124.245 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:15:24.245Z,1628882124.245 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:15:24.245Z,1628882124.245 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:15:24.246Z,1628882124.246 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:15:24.665Z,1628882124.665 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
046,000,00656,185,80,80,8A,FF
2021-08-13T19:15:24.665Z,1628882124.665 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:15:24.665Z,1628882124.665 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:15:24.667Z,1628882124.667 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:15:25.065Z,1628882125.065 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:15:25.897Z,1628882125.897 [Micromodem](INFO): Nmea in: $SNTTA,,0.246518,,,191525.19*4F

2021-08-13T19:15:26.704Z,1628882126.704 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:15:28.285Z,1628882128.285 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,185,80,80,8A,FF
2021-08-13T19:15:28.285Z,1628882128.285 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,185,80,80,8A,FF
2021-08-13T19:15:28.285Z,1628882128.285 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T19:15:29.578Z,1628882129.578 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:15:29.913Z,1628882129.913 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:15:29.913Z,1628882129.913 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:15:29.913Z,1628882129.913 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:15:29.914Z,1628882129.914 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:15:30.314Z,1628882130.314 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,185,80,80,8A,FF
2021-08-13T19:15:30.314Z,1628882130.314 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:15:30.314Z,1628882130.314 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:15:30.341Z,1628882130.341 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:15:30.712Z,1628882130.712 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:15:31.118Z,1628882131.118 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,194,000,00674,185,80,80,66,FF
2021-08-13T19:15:31.119Z,1628882131.119 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:15:31.543Z,1628882131.543 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191530.86*5F

2021-08-13T19:15:31.643Z,1628882131.643 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 61.619995 m, bearing: 169.353243 deg, deltaT: 10.107981 s, approachRate: 0.178077 m/s, LOS rate: -1.642420 deg/s, posRepo size: 4
2021-08-13T19:15:33.986Z,1628882133.986 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:15:34.345Z,1628882134.345 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:15:34.345Z,1628882134.345 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:15:34.346Z,1628882134.346 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:15:34.347Z,1628882134.347 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:15:34.749Z,1628882134.749 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
194,000,00674,185,80,80,66,FF
2021-08-13T19:15:34.749Z,1628882134.749 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:15:34.750Z,1628882134.750 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:15:34.751Z,1628882134.751 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:15:35.163Z,1628882135.163 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:15:35.562Z,1628882135.562 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,231,000,00682,189,80,80,79,FF
2021-08-13T19:15:35.562Z,1628882135.562 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:15:36.007Z,1628882136.007 [Micromodem](INFO): Nmea in: $SNTTA,0.078806,,,,191535.27*4E

2021-08-13T19:15:36.051Z,1628882136.051 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 62.459999 m, bearing: 161.542717 deg, deltaT: 4.491842 s, approachRate: 0.187007 m/s, LOS rate: -1.738825 deg/s, posRepo size: 4
2021-08-13T19:15:38.454Z,1628882138.454 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:15:38.797Z,1628882138.797 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:15:38.797Z,1628882138.797 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:15:38.797Z,1628882138.797 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:15:38.798Z,1628882138.798 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:15:39.196Z,1628882139.196 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
231,000,00682,189,80,80,79,FF
2021-08-13T19:15:39.196Z,1628882139.196 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:15:39.196Z,1628882139.196 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:15:39.216Z,1628882139.216 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:15:39.605Z,1628882139.605 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:15:40.001Z,1628882140.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1C6,000,0068D,186,80,80,8C,FF
2021-08-13T19:15:40.001Z,1628882140.001 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:15:40.457Z,1628882140.457 [Micromodem](INFO): Nmea in: $SNTTA,0.074281,,,,191539.74*4D

2021-08-13T19:15:40.485Z,1628882140.485 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 63.119999 m, bearing: 167.069651 deg, deltaT: 4.428541 s, approachRate: 0.149033 m/s, LOS rate: 1.248026 deg/s, posRepo size: 4
2021-08-13T19:15:42.930Z,1628882142.930 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:15:43.293Z,1628882143.293 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:15:43.293Z,1628882143.293 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:15:43.294Z,1628882143.294 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:15:43.295Z,1628882143.295 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:15:43.681Z,1628882143.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1C6,000,0068D,186,80,80,8C,FF
2021-08-13T19:15:43.682Z,1628882143.682 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:15:43.682Z,1628882143.682 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:15:43.683Z,1628882143.683 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:15:44.095Z,1628882144.095 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:15:44.495Z,1628882144.495 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,161,000,006A3,186,80,80,77,FF
2021-08-13T19:15:44.495Z,1628882144.495 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:15:44.941Z,1628882144.941 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191544.20*50

2021-08-13T19:15:44.972Z,1628882144.972 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 64.440002 m, bearing: 172.541698 deg, deltaT: 4.459800 s, approachRate: 0.295978 m/s, LOS rate: 1.226971 deg/s, posRepo size: 4
2021-08-13T19:15:47.476Z,1628882147.476 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:15:47.735Z,1628882147.735 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:15:47.735Z,1628882147.735 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:15:47.735Z,1628882147.735 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:15:47.736Z,1628882147.736 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:15:48.127Z,1628882148.127 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
161,000,006A3,186,80,80,77,FF
2021-08-13T19:15:48.127Z,1628882148.127 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:15:48.128Z,1628882148.128 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:15:48.134Z,1628882148.134 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:15:48.537Z,1628882148.537 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:15:48.954Z,1628882148.954 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,224,000,006AD,188,80,80,74,FF
2021-08-13T19:15:48.955Z,1628882148.955 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:15:49.396Z,1628882149.396 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191548.65*5D

2021-08-13T19:15:49.482Z,1628882149.482 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 65.040001 m, bearing: 163.335122 deg, deltaT: 4.487653 s, approachRate: 0.133700 m/s, LOS rate: -2.051535 deg/s, posRepo size: 4
2021-08-13T19:15:51.782Z,1628882151.782 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:15:52.173Z,1628882152.173 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:15:52.173Z,1628882152.173 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:15:52.173Z,1628882152.173 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:15:52.174Z,1628882152.174 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:15:52.573Z,1628882152.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
224,000,006AD,188,80,80,74,FF
2021-08-13T19:15:52.573Z,1628882152.573 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:15:52.573Z,1628882152.573 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:15:52.575Z,1628882152.575 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:15:53.005Z,1628882153.005 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:15:53.412Z,1628882153.412 [Micromodem](INFO): Nmea in: $SNTTA,0.253119,0.252982,,,191553.09*56

2021-08-13T19:15:54.625Z,1628882154.625 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:15:56.209Z,1628882156.209 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,188,80,80,74,FF
2021-08-13T19:15:56.209Z,1628882156.209 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,188,80,80,74,FF
2021-08-13T19:15:56.209Z,1628882156.209 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T19:15:57.525Z,1628882157.525 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:15:57.821Z,1628882157.821 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:15:57.821Z,1628882157.821 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:15:57.822Z,1628882157.822 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:15:57.822Z,1628882157.822 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:15:58.229Z,1628882158.229 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,188,80,80,74,FF
2021-08-13T19:15:58.229Z,1628882158.229 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:15:58.229Z,1628882158.229 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:15:58.231Z,1628882158.231 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:15:58.633Z,1628882158.633 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:15:59.029Z,1628882159.029 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,112,000,006D2,186,80,80,63,FF
2021-08-13T19:15:59.030Z,1628882159.030 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:15:59.477Z,1628882159.477 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191558.75*5D

2021-08-13T19:15:59.575Z,1628882159.575 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 67.260002 m, bearing: 177.011825 deg, deltaT: 10.069237 s, approachRate: 0.220474 m/s, LOS rate: 1.358266 deg/s, posRepo size: 4
2021-08-13T19:16:01.891Z,1628882161.891 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:16:02.261Z,1628882162.261 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:16:02.261Z,1628882162.261 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:16:02.261Z,1628882162.261 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:16:02.262Z,1628882162.262 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:16:02.661Z,1628882162.661 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
112,000,006D2,186,80,80,63,FF
2021-08-13T19:16:02.662Z,1628882162.662 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:16:02.662Z,1628882162.662 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:16:02.664Z,1628882162.664 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:16:03.069Z,1628882163.069 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:16:03.473Z,1628882163.473 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,24D,000,006DF,189,80,80,7D,FF
2021-08-13T19:16:03.474Z,1628882163.474 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:16:03.477Z,1628882163.477 [Micromodem](INFO): Nmea in: $SNTTA,0.206501,0.205970,,,191603.19*53

2021-08-13T19:16:03.928Z,1628882163.928 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 68.040001 m, bearing: 161.581799 deg, deltaT: 4.502433 s, approachRate: 0.173239 m/s, LOS rate: -3.427042 deg/s, posRepo size: 4
2021-08-13T19:16:06.329Z,1628882166.329 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:16:06.705Z,1628882166.705 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:16:06.705Z,1628882166.705 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:16:06.705Z,1628882166.705 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:16:06.706Z,1628882166.706 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:16:07.114Z,1628882167.114 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
24D,000,006DF,189,80,80,7D,FF
2021-08-13T19:16:07.114Z,1628882167.114 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:16:07.114Z,1628882167.114 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:16:07.116Z,1628882167.116 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:16:07.525Z,1628882167.525 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:16:07.917Z,1628882167.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1DF,000,006EC,186,80,80,9B,FF
2021-08-13T19:16:07.918Z,1628882167.918 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:16:08.366Z,1628882168.366 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191607.64*54

2021-08-13T19:16:08.446Z,1628882168.446 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 68.820007 m, bearing: 167.625014 deg, deltaT: 4.352019 s, approachRate: 0.179229 m/s, LOS rate: 1.388600 deg/s, posRepo size: 4
2021-08-13T19:16:10.797Z,1628882170.797 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:16:11.149Z,1628882171.149 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:16:11.149Z,1628882171.149 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:16:11.149Z,1628882171.149 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:16:11.150Z,1628882171.150 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:16:11.568Z,1628882171.568 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1DF,000,006EC,186,80,80,9B,FF
2021-08-13T19:16:11.568Z,1628882171.568 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:16:11.569Z,1628882171.569 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:16:11.570Z,1628882171.570 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:16:11.960Z,1628882171.960 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:16:12.372Z,1628882172.372 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,25F,000,006FD,189,80,80,6B,FF
2021-08-13T19:16:12.374Z,1628882172.374 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:16:12.789Z,1628882172.789 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191612.10*53

2021-08-13T19:16:12.815Z,1628882172.815 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 69.840004 m, bearing: 162.062248 deg, deltaT: 4.506940 s, approachRate: 0.226317 m/s, LOS rate: -1.234267 deg/s, posRepo size: 4
2021-08-13T19:16:15.210Z,1628882175.210 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:16:15.597Z,1628882175.597 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:16:15.597Z,1628882175.597 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:16:15.597Z,1628882175.597 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:16:15.598Z,1628882175.598 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:16:15.997Z,1628882175.997 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
25F,000,006FD,189,80,80,6B,FF
2021-08-13T19:16:15.997Z,1628882175.997 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:16:15.997Z,1628882175.997 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:16:15.999Z,1628882175.999 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:16:16.421Z,1628882176.421 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:16:16.805Z,1628882176.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,21D,000,0070A,189,80,80,88,FF
2021-08-13T19:16:16.805Z,1628882176.805 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:16:17.234Z,1628882177.234 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191616.52*51

2021-08-13T19:16:17.329Z,1628882177.329 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 70.620003 m, bearing: 165.919297 deg, deltaT: 4.381380 s, approachRate: 0.178026 m/s, LOS rate: 0.880327 deg/s, posRepo size: 4
2021-08-13T19:16:19.325Z,1628882179.325 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:16:19.641Z,1628882179.641 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:16:19.641Z,1628882179.641 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:16:19.641Z,1628882179.641 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:16:19.642Z,1628882179.642 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:16:20.051Z,1628882180.051 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
21D,000,0070A,189,80,80,88,FF
2021-08-13T19:16:20.051Z,1628882180.051 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:16:20.052Z,1628882180.052 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:16:20.053Z,1628882180.053 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:16:20.456Z,1628882180.456 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:16:20.845Z,1628882180.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,201,000,00718,186,80,80,7C,FF
2021-08-13T19:16:20.846Z,1628882180.846 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:16:21.301Z,1628882181.301 [Micromodem](INFO): Nmea in: $SNTTA,0.056184,,,,191620.57*41

2021-08-13T19:16:21.387Z,1628882181.387 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 71.460007 m, bearing: 167.464477 deg, deltaT: 4.039898 s, approachRate: 0.207927 m/s, LOS rate: 0.382480 deg/s, posRepo size: 4
2021-08-13T19:16:23.728Z,1628882183.728 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:16:24.091Z,1628882184.091 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:16:24.091Z,1628882184.091 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:16:24.091Z,1628882184.091 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:16:24.091Z,1628882184.091 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:16:24.481Z,1628882184.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
201,000,00718,186,80,80,7C,FF
2021-08-13T19:16:24.481Z,1628882184.481 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:16:24.482Z,1628882184.482 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:16:24.483Z,1628882184.483 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:16:24.894Z,1628882184.894 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:16:25.321Z,1628882185.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1E7,000,00726,187,80,80,74,FF
2021-08-13T19:16:25.321Z,1628882185.321 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:16:25.734Z,1628882185.734 [Micromodem](INFO): Nmea in: $SNTTA,0.335725,0.336018,,,191625.01*5D

2021-08-13T19:16:25.778Z,1628882185.778 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 72.300003 m, bearing: 169.505556 deg, deltaT: 4.620356 s, approachRate: 0.181803 m/s, LOS rate: 0.441758 deg/s, posRepo size: 4
2021-08-13T19:16:28.170Z,1628882188.170 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:16:28.545Z,1628882188.545 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:16:28.545Z,1628882188.545 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:16:28.545Z,1628882188.545 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:16:28.546Z,1628882188.546 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:16:28.953Z,1628882188.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1E7,000,00726,187,80,80,74,FF
2021-08-13T19:16:28.953Z,1628882188.953 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:16:28.953Z,1628882188.953 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:16:28.955Z,1628882188.955 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:16:29.396Z,1628882189.396 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:16:29.751Z,1628882189.751 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1DF,000,00736,186,80,80,7B,FF
2021-08-13T19:16:29.751Z,1628882189.751 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:16:30.179Z,1628882190.180 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 73.260002 m, bearing: 170.697684 deg, deltaT: 4.284999 s, approachRate: 0.224037 m/s, LOS rate: 0.278210 deg/s, posRepo size: 4
2021-08-13T19:16:32.621Z,1628882192.621 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:16:32.981Z,1628882192.981 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:16:32.981Z,1628882192.981 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:16:32.982Z,1628882192.982 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:16:32.983Z,1628882192.983 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:16:33.409Z,1628882193.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1DF,000,00736,186,80,80,7B,FF
2021-08-13T19:16:33.409Z,1628882193.409 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:16:33.409Z,1628882193.409 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:16:33.411Z,1628882193.411 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:16:33.816Z,1628882193.816 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:16:34.213Z,1628882194.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,205,000,00746,187,80,80,7D,FF
2021-08-13T19:16:34.214Z,1628882194.214 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:16:34.645Z,1628882194.645 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191633.93*5B

2021-08-13T19:16:34.683Z,1628882194.683 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 74.220001 m, bearing: 169.535786 deg, deltaT: 4.504305 s, approachRate: 0.213129 m/s, LOS rate: -0.257953 deg/s, posRepo size: 4
2021-08-13T19:16:35.477Z,1628882195.477 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-13T19:16:37.070Z,1628882197.070 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:16:37.453Z,1628882197.453 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:16:37.453Z,1628882197.453 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:16:37.453Z,1628882197.453 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:16:37.454Z,1628882197.454 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:16:37.853Z,1628882197.853 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
205,000,00746,187,80,80,7D,FF
2021-08-13T19:16:37.853Z,1628882197.853 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:16:37.853Z,1628882197.853 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:16:37.855Z,1628882197.855 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:16:38.249Z,1628882198.249 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:16:38.653Z,1628882198.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F6E,000,00755,187,80,80,6D,FF
2021-08-13T19:16:38.653Z,1628882198.653 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:16:39.113Z,1628882199.113 [Micromodem](INFO): Nmea in: $SNTTA,0.051817,,,,191638.38*45

2021-08-13T19:16:39.136Z,1628882199.136 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 75.120003 m, bearing: 203.025023 deg, deltaT: 4.437022 s, approachRate: 0.202839 m/s, LOS rate: 7.547683 deg/s, posRepo size: 4
2021-08-13T19:16:41.538Z,1628882201.538 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:16:41.890Z,1628882201.890 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:16:41.890Z,1628882201.890 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:16:41.890Z,1628882201.890 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:16:41.891Z,1628882201.891 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:16:42.289Z,1628882202.289 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F6E,000,00755,187,80,80,6D,FF
2021-08-13T19:16:42.289Z,1628882202.289 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:16:42.289Z,1628882202.289 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:16:42.291Z,1628882202.291 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:16:42.705Z,1628882202.705 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:16:43.097Z,1628882203.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB7,000,00763,184,80,80,6C,FF
2021-08-13T19:16:43.098Z,1628882203.098 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:16:43.516Z,1628882203.516 [Micromodem](INFO): Nmea in: $SNTTA,0.434921,0.434915,,,191642.81*59

2021-08-13T19:16:43.582Z,1628882203.582 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 75.959999 m, bearing: 199.597771 deg, deltaT: 4.409202 s, approachRate: 0.190510 m/s, LOS rate: -0.777295 deg/s, posRepo size: 4
2021-08-13T19:16:45.955Z,1628882205.955 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:16:46.333Z,1628882206.333 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:16:46.333Z,1628882206.333 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:16:46.334Z,1628882206.334 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:16:46.334Z,1628882206.334 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:16:46.744Z,1628882206.744 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB7,000,00763,184,80,80,6C,FF
2021-08-13T19:16:46.744Z,1628882206.744 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:16:46.745Z,1628882206.745 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:16:46.746Z,1628882206.746 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:16:47.156Z,1628882207.156 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:16:47.555Z,1628882207.555 [Micromodem](INFO): Nmea in: $SNTTA,0.166362,0.166362,,,191647.27*57

2021-08-13T19:16:48.785Z,1628882208.785 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:16:50.388Z,1628882210.388 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
3,184,80,80,6C,FF
2021-08-13T19:16:50.389Z,1628882210.389 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
3,184,80,80,6C,FF
2021-08-13T19:16:50.389Z,1628882210.389 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T19:16:51.687Z,1628882211.687 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:16:51.989Z,1628882211.989 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:16:51.989Z,1628882211.989 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:16:51.989Z,1628882211.989 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:16:51.990Z,1628882211.990 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:16:52.405Z,1628882212.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
3,184,80,80,6C,FF
2021-08-13T19:16:52.405Z,1628882212.405 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:16:52.406Z,1628882212.406 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:16:52.417Z,1628882212.417 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:16:52.836Z,1628882212.836 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:16:53.234Z,1628882213.234 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1CF,000,00783,187,80,80,91,FF
2021-08-13T19:16:53.234Z,1628882213.234 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:16:53.673Z,1628882213.673 [Micromodem](INFO): Nmea in: $SNTTA,,0.371291,,,191652.94*4A

2021-08-13T19:16:53.733Z,1628882213.733 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 77.880005 m, bearing: 173.101446 deg, deltaT: 10.201014 s, approachRate: 0.188217 m/s, LOS rate: -2.597421 deg/s, posRepo size: 4
2021-08-13T19:16:56.078Z,1628882216.078 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:16:56.477Z,1628882216.477 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:16:56.477Z,1628882216.477 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:16:56.477Z,1628882216.477 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:16:56.478Z,1628882216.478 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:16:56.876Z,1628882216.876 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1CF,000,00783,187,80,80,91,FF
2021-08-13T19:16:56.876Z,1628882216.876 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:16:56.876Z,1628882216.876 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:16:56.879Z,1628882216.879 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:16:57.314Z,1628882217.314 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:16:57.681Z,1628882217.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,200,000,00793,187,80,80,8C,FF
2021-08-13T19:16:57.681Z,1628882217.681 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:16:58.113Z,1628882218.113 [Micromodem](INFO): Nmea in: $SNTTA,0.059743,,,,191657.40*45

2021-08-13T19:16:58.159Z,1628882218.159 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 78.840004 m, bearing: 171.025492 deg, deltaT: 4.413079 s, approachRate: 0.217535 m/s, LOS rate: -0.470409 deg/s, posRepo size: 4
2021-08-13T19:17:00.549Z,1628882220.549 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:17:00.916Z,1628882220.916 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:17:00.916Z,1628882220.916 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:17:00.916Z,1628882220.916 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:17:00.917Z,1628882220.917 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:17:01.349Z,1628882221.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
200,000,00793,187,80,80,8C,FF
2021-08-13T19:17:01.349Z,1628882221.349 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:17:01.349Z,1628882221.349 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:17:01.356Z,1628882221.356 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:17:01.874Z,1628882221.874 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:17:02.269Z,1628882222.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,20D,000,007A0,187,80,80,8B,FF
2021-08-13T19:17:02.269Z,1628882222.269 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:17:02.713Z,1628882222.713 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 79.620003 m, bearing: 170.775876 deg, deltaT: 4.602401 s, approachRate: 0.169476 m/s, LOS rate: -0.054236 deg/s, posRepo size: 4
2021-08-13T19:17:05.110Z,1628882225.110 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:17:05.497Z,1628882225.497 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:17:05.497Z,1628882225.497 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:17:05.497Z,1628882225.497 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:17:05.498Z,1628882225.498 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:17:05.910Z,1628882225.910 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
20D,000,007A0,187,80,80,8B,FF
2021-08-13T19:17:05.910Z,1628882225.910 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:17:05.910Z,1628882225.910 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:17:05.912Z,1628882225.912 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:17:06.317Z,1628882226.317 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:17:06.717Z,1628882226.717 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2A2,000,007AD,18A,80,80,64,FF
2021-08-13T19:17:06.717Z,1628882226.717 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:17:07.149Z,1628882227.149 [Micromodem](INFO): Nmea in: $SNTTA,0.053095,,,,191706.43*45

2021-08-13T19:17:07.179Z,1628882227.179 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 80.399994 m, bearing: 163.848110 deg, deltaT: 4.433792 s, approachRate: 0.175920 m/s, LOS rate: -1.562492 deg/s, posRepo size: 4
2021-08-13T19:17:09.599Z,1628882229.599 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:17:09.953Z,1628882229.953 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:17:09.953Z,1628882229.953 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:17:09.953Z,1628882229.953 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:17:09.954Z,1628882229.954 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:17:10.347Z,1628882230.347 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2A2,000,007AD,18A,80,80,64,FF
2021-08-13T19:17:10.348Z,1628882230.348 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:17:10.348Z,1628882230.348 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:17:10.350Z,1628882230.350 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:17:10.760Z,1628882230.760 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:17:11.153Z,1628882231.153 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1BD,000,007BB,186,80,80,8C,FF
2021-08-13T19:17:11.154Z,1628882231.154 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:17:11.581Z,1628882231.581 [Micromodem](INFO): Nmea in: $SNTTA,0.060674,0.403784,,,191710.87*51

2021-08-13T19:17:11.669Z,1628882231.669 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 81.239998 m, bearing: 175.920838 deg, deltaT: 4.423299 s, approachRate: 0.189904 m/s, LOS rate: 2.729349 deg/s, posRepo size: 4
2021-08-13T19:17:14.001Z,1628882234.001 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:17:14.401Z,1628882234.401 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:17:14.401Z,1628882234.401 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:17:14.402Z,1628882234.402 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:17:14.403Z,1628882234.403 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:17:14.789Z,1628882234.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1BD,000,007BB,186,80,80,8C,FF
2021-08-13T19:17:14.789Z,1628882234.789 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:17:14.789Z,1628882234.789 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:17:14.791Z,1628882234.791 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:17:15.205Z,1628882235.205 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:17:16.030Z,1628882236.030 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191715.31*56

2021-08-13T19:17:16.813Z,1628882236.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,188,000,03A09,186,80,80,8B,FF
2021-08-13T19:17:16.813Z,1628882236.813 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:17:17.322Z,1628882237.322 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 853.920044 m, bearing: 179.547792 deg, deltaT: 5.713169 s, approachRate: 135.245438 m/s, LOS rate: 0.634841 deg/s, posRepo size: 4
2021-08-13T19:17:19.693Z,1628882239.693 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:17:20.034Z,1628882240.034 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:17:20.034Z,1628882240.034 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:17:20.035Z,1628882240.035 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:17:20.036Z,1628882240.036 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:17:20.465Z,1628882240.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
188,000,03A09,186,80,80,8B,FF
2021-08-13T19:17:20.465Z,1628882240.465 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:17:20.465Z,1628882240.465 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:17:20.467Z,1628882240.467 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:17:20.861Z,1628882240.861 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:17:21.300Z,1628882241.300 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,154,000,007DE,185,80,80,8E,FF
2021-08-13T19:17:21.300Z,1628882241.300 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:17:21.729Z,1628882241.729 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191720.99*52

2021-08-13T19:17:21.755Z,1628882241.755 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 83.340004 m, bearing: 182.781627 deg, deltaT: 4.440048 s, approachRate: -173.552185 m/s, LOS rate: 0.728333 deg/s, posRepo size: 4
2021-08-13T19:17:24.102Z,1628882244.102 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:17:24.485Z,1628882244.485 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:17:24.485Z,1628882244.485 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:17:24.485Z,1628882244.485 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:17:24.486Z,1628882244.486 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:17:24.898Z,1628882244.898 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
154,000,007DE,185,80,80,8E,FF
2021-08-13T19:17:24.898Z,1628882244.898 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:17:24.898Z,1628882244.898 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:17:24.901Z,1628882244.901 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:17:25.362Z,1628882245.362 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:17:25.717Z,1628882245.717 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,077,000,007EC,187,80,80,86,FF
2021-08-13T19:17:25.718Z,1628882245.718 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:17:25.721Z,1628882245.721 [Micromodem](INFO): Nmea in: CAREV,191725,COPROC,0.20.0.39330*72

2021-08-13T19:17:25.721Z,1628882245.721 [Micromodem](ERROR): Response from modem failed NMEA checksum: CAREV,191725,COPROC,0.20.0.39330*72
 expected 0
2021-08-13T19:17:26.143Z,1628882246.143 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 84.180000 m, bearing: 194.575178 deg, deltaT: 4.410627 s, approachRate: 0.190448 m/s, LOS rate: 2.673894 deg/s, posRepo size: 4
2021-08-13T19:17:28.585Z,1628882248.585 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:17:28.957Z,1628882248.957 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:17:28.957Z,1628882248.957 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:17:28.957Z,1628882248.957 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:17:28.958Z,1628882248.958 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:17:29.365Z,1628882249.365 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
077,000,007EC,187,80,80,86,FF
2021-08-13T19:17:29.365Z,1628882249.365 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:17:29.365Z,1628882249.365 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:17:29.371Z,1628882249.371 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:17:29.776Z,1628882249.776 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:17:30.598Z,1628882250.598 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191729.89*5A

2021-08-13T19:17:31.457Z,1628882251.457 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:17:33.001Z,1628882253.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,187,80,80,86,FF
2021-08-13T19:17:33.001Z,1628882253.001 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,187,80,80,86,FF
2021-08-13T19:17:33.001Z,1628882253.001 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T19:17:34.229Z,1628882254.229 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:17:34.617Z,1628882254.617 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:17:34.617Z,1628882254.617 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:17:34.617Z,1628882254.617 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:17:34.618Z,1628882254.618 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:17:35.025Z,1628882255.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,187,80,80,86,FF
2021-08-13T19:17:35.026Z,1628882255.026 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:17:35.026Z,1628882255.026 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:17:35.027Z,1628882255.027 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:17:35.464Z,1628882255.464 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:17:36.248Z,1628882256.248 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191735.55*56

2021-08-13T19:17:36.649Z,1628882256.649 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-13T19:17:37.071Z,1628882257.071 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:17:38.657Z,1628882258.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,187,80,80,86,FF
2021-08-13T19:17:38.657Z,1628882258.657 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,187,80,80,86,FF
2021-08-13T19:17:38.658Z,1628882258.658 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T19:17:39.903Z,1628882259.903 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:17:40.277Z,1628882260.277 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:17:40.277Z,1628882260.277 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:17:40.277Z,1628882260.277 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:17:40.278Z,1628882260.278 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:17:40.673Z,1628882260.673 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,187,80,80,86,FF
2021-08-13T19:17:40.673Z,1628882260.673 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:17:40.674Z,1628882260.674 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:17:40.677Z,1628882260.677 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:17:41.104Z,1628882261.104 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:17:41.930Z,1628882261.930 [Micromodem](INFO): Nmea in: $SNTTA,0.242333,,,,191741.20*4E

2021-08-13T19:17:42.741Z,1628882262.741 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:17:44.317Z,1628882264.317 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,187,80,80,86,FF
2021-08-13T19:17:44.318Z,1628882264.318 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,187,80,80,86,FF
2021-08-13T19:17:44.318Z,1628882264.318 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T19:17:45.583Z,1628882265.583 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:17:45.937Z,1628882265.937 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:17:45.937Z,1628882265.937 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:17:45.937Z,1628882265.937 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:17:45.938Z,1628882265.938 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:17:46.334Z,1628882266.334 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,187,80,80,86,FF
2021-08-13T19:17:46.334Z,1628882266.334 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:17:46.334Z,1628882266.334 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:17:46.335Z,1628882266.335 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:17:46.795Z,1628882266.795 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:17:47.559Z,1628882267.559 [Micromodem](INFO): Nmea in: $SNTTA,0.372399,,,,191746.85*44

2021-08-13T19:17:48.431Z,1628882268.431 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:17:49.974Z,1628882269.974 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,187,80,80,86,FF
2021-08-13T19:17:49.975Z,1628882269.975 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,187,80,80,86,FF
2021-08-13T19:17:49.975Z,1628882269.975 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T19:17:51.203Z,1628882271.203 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:17:51.594Z,1628882271.594 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:17:51.594Z,1628882271.594 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:17:51.594Z,1628882271.594 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:17:51.595Z,1628882271.595 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:17:51.986Z,1628882271.986 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,187,80,80,86,FF
2021-08-13T19:17:51.986Z,1628882271.986 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:17:51.986Z,1628882271.986 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:17:51.988Z,1628882271.988 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:17:52.436Z,1628882272.436 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:17:53.249Z,1628882273.249 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191752.51*53

2021-08-13T19:17:53.253Z,1628882273.253 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CAREV,1973
 expected 64
2021-08-13T19:17:54.006Z,1628882274.006 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,037,000,03A65,184,80,80,A7,FF
2021-08-13T19:17:54.007Z,1628882274.007 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:17:54.501Z,1628882274.501 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 859.440002 m, bearing: 201.593757 deg, deltaT: 28.312028 s, approachRate: 27.382708 m/s, LOS rate: 0.247901 deg/s, posRepo size: 4
2021-08-13T19:17:56.850Z,1628882276.850 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:17:57.261Z,1628882277.261 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:17:57.261Z,1628882277.261 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:17:57.262Z,1628882277.262 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:17:57.263Z,1628882277.263 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:17:57.641Z,1628882277.641 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
037,000,03A65,184,80,80,A7,FF
2021-08-13T19:17:57.641Z,1628882277.641 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:17:57.642Z,1628882277.642 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:17:57.644Z,1628882277.644 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:17:58.063Z,1628882278.063 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:17:58.473Z,1628882278.473 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,01A,000,0085B,183,80,80,9C,FF
2021-08-13T19:17:58.474Z,1628882278.474 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:17:58.892Z,1628882278.892 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191758.16*5A

2021-08-13T19:17:58.915Z,1628882278.915 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 90.840004 m, bearing: 203.477086 deg, deltaT: 4.432381 s, approachRate: -173.405670 m/s, LOS rate: 0.424902 deg/s, posRepo size: 4
2021-08-13T19:18:01.393Z,1628882281.393 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:18:01.699Z,1628882281.699 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:18:01.710Z,1628882281.710 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:18:01.710Z,1628882281.710 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:18:01.736Z,1628882281.736 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:18:02.095Z,1628882282.095 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
01A,000,0085B,183,80,80,9C,FF
2021-08-13T19:18:02.095Z,1628882282.095 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:18:02.095Z,1628882282.095 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:18:02.098Z,1628882282.098 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:18:02.509Z,1628882282.509 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:18:03.342Z,1628882283.342 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191802.62*59

2021-08-13T19:18:04.129Z,1628882284.129 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:18:05.721Z,1628882285.721 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
B,183,80,80,9C,FF
2021-08-13T19:18:05.721Z,1628882285.721 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
B,183,80,80,9C,FF
2021-08-13T19:18:05.721Z,1628882285.721 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T19:18:06.970Z,1628882286.970 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:18:07.355Z,1628882287.355 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:18:07.355Z,1628882287.355 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:18:07.356Z,1628882287.356 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:18:07.357Z,1628882287.357 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:18:07.741Z,1628882287.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
B,183,80,80,9C,FF
2021-08-13T19:18:07.741Z,1628882287.741 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:18:07.741Z,1628882287.741 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:18:07.743Z,1628882287.743 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:18:08.148Z,1628882288.148 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:18:08.553Z,1628882288.553 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FDB,000,0087D,184,80,80,A7,FF
2021-08-13T19:18:08.553Z,1628882288.553 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:18:08.985Z,1628882288.985 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191808.26*53

2021-08-13T19:18:09.016Z,1628882289.016 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 92.880005 m, bearing: 208.027632 deg, deltaT: 10.118054 s, approachRate: 0.201620 m/s, LOS rate: 0.449745 deg/s, posRepo size: 4
2021-08-13T19:18:11.453Z,1628882291.453 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:18:11.788Z,1628882291.788 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:18:11.789Z,1628882291.789 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:18:11.789Z,1628882291.789 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:18:11.790Z,1628882291.790 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:18:12.189Z,1628882292.189 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FDB,000,0087D,184,80,80,A7,FF
2021-08-13T19:18:12.189Z,1628882292.189 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:18:12.189Z,1628882292.189 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:18:12.191Z,1628882292.191 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:18:12.597Z,1628882292.597 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:18:13.005Z,1628882293.005 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FAD,000,0088C,184,80,80,A9,FF
2021-08-13T19:18:13.005Z,1628882293.005 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:18:13.450Z,1628882293.450 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191812.71*5A

2021-08-13T19:18:13.547Z,1628882293.547 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 93.780006 m, bearing: 211.042655 deg, deltaT: 4.403913 s, approachRate: 0.204364 m/s, LOS rate: 0.684624 deg/s, posRepo size: 4
2021-08-13T19:18:15.854Z,1628882295.854 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:18:16.229Z,1628882296.229 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:18:16.229Z,1628882296.229 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:18:16.229Z,1628882296.229 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:18:16.230Z,1628882296.230 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:18:16.633Z,1628882296.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FAD,000,0088C,184,80,80,A9,FF
2021-08-13T19:18:16.633Z,1628882296.633 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:18:16.633Z,1628882296.633 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:18:16.635Z,1628882296.635 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:18:17.044Z,1628882297.044 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:18:17.457Z,1628882297.457 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,015,000,0089D,183,80,80,AD,FF
2021-08-13T19:18:17.458Z,1628882297.458 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:18:17.894Z,1628882297.894 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191817.15*5D

2021-08-13T19:18:17.932Z,1628882297.932 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 94.800003 m, bearing: 206.470280 deg, deltaT: 4.550844 s, approachRate: 0.224134 m/s, LOS rate: -1.004731 deg/s, posRepo size: 4
2021-08-13T19:18:20.310Z,1628882300.310 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:18:20.677Z,1628882300.677 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:18:20.677Z,1628882300.677 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:18:20.677Z,1628882300.677 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:18:20.678Z,1628882300.678 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:18:21.081Z,1628882301.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
015,000,0089D,183,80,80,AD,FF
2021-08-13T19:18:21.082Z,1628882301.082 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:18:21.082Z,1628882301.082 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:18:21.084Z,1628882301.084 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:18:21.484Z,1628882301.484 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:18:21.894Z,1628882301.894 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB6,000,008A9,185,80,80,9C,FF
2021-08-13T19:18:21.895Z,1628882301.895 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:18:22.325Z,1628882302.325 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191821.61*5B

2021-08-13T19:18:22.366Z,1628882302.366 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 95.520004 m, bearing: 211.036029 deg, deltaT: 4.367923 s, approachRate: 0.164838 m/s, LOS rate: 1.045291 deg/s, posRepo size: 4
2021-08-13T19:18:24.755Z,1628882304.755 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:18:25.121Z,1628882305.121 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:18:25.121Z,1628882305.121 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:18:25.121Z,1628882305.121 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:18:25.122Z,1628882305.122 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:18:25.521Z,1628882305.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB6,000,008A9,185,80,80,9C,FF
2021-08-13T19:18:25.521Z,1628882305.521 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:18:25.521Z,1628882305.521 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:18:25.523Z,1628882305.523 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:18:25.965Z,1628882305.965 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:18:26.365Z,1628882306.365 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FBC,000,008B5,184,80,80,B9,FF
2021-08-13T19:18:26.365Z,1628882306.365 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:18:26.809Z,1628882306.809 [Micromodem](INFO): Nmea in: $SNTTA,0.087758,,,,191826.05*45

2021-08-13T19:18:26.835Z,1628882306.835 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 96.240005 m, bearing: 210.915490 deg, deltaT: 4.493710 s, approachRate: 0.160224 m/s, LOS rate: -0.026824 deg/s, posRepo size: 4
2021-08-13T19:18:29.209Z,1628882309.209 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:18:29.585Z,1628882309.585 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:18:29.585Z,1628882309.585 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:18:29.585Z,1628882309.585 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:18:29.586Z,1628882309.586 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:18:29.989Z,1628882309.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FBC,000,008B5,184,80,80,B9,FF
2021-08-13T19:18:29.989Z,1628882309.989 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:18:29.989Z,1628882309.989 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:18:29.991Z,1628882309.991 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:18:30.417Z,1628882310.417 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:18:31.226Z,1628882311.226 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191830.51*58

2021-08-13T19:18:32.006Z,1628882312.006 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F9C,000,03AB8,186,80,80,A8,FF
2021-08-13T19:18:32.006Z,1628882312.006 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:18:32.474Z,1628882312.474 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 864.419983 m, bearing: 212.951720 deg, deltaT: 5.613959 s, approachRate: 136.833923 m/s, LOS rate: 0.362708 deg/s, posRepo size: 4
2021-08-13T19:18:34.850Z,1628882314.850 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:18:35.245Z,1628882315.245 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:18:35.246Z,1628882315.246 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:18:35.246Z,1628882315.246 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:18:35.248Z,1628882315.248 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:18:35.653Z,1628882315.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F9C,000,03AB8,186,80,80,A8,FF
2021-08-13T19:18:35.653Z,1628882315.653 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:18:35.653Z,1628882315.653 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:18:35.655Z,1628882315.655 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:18:36.057Z,1628882316.057 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:18:36.457Z,1628882316.457 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F83,000,008D9,187,80,80,A1,FF
2021-08-13T19:18:36.457Z,1628882316.457 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:18:36.898Z,1628882316.898 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191836.18*53

2021-08-13T19:18:36.933Z,1628882316.933 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 98.400002 m, bearing: 214.445769 deg, deltaT: 4.436073 s, approachRate: -172.679749 m/s, LOS rate: 0.336795 deg/s, posRepo size: 4
2021-08-13T19:18:39.335Z,1628882319.335 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:18:39.690Z,1628882319.690 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:18:39.690Z,1628882319.690 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:18:39.690Z,1628882319.690 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:18:39.691Z,1628882319.691 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:18:40.085Z,1628882320.085 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F83,000,008D9,187,80,80,A1,FF
2021-08-13T19:18:40.085Z,1628882320.085 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:18:40.086Z,1628882320.086 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:18:40.087Z,1628882320.087 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:18:40.493Z,1628882320.493 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:18:40.902Z,1628882320.902 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FAF,000,008E5,184,80,80,A2,FF
2021-08-13T19:18:40.903Z,1628882320.903 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:18:41.372Z,1628882321.372 [Micromodem](INFO): Nmea in: $SNTTA,0.092130,,,,191840.61*4B

2021-08-13T19:18:41.475Z,1628882321.475 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 99.120003 m, bearing: 212.550296 deg, deltaT: 4.437542 s, approachRate: 0.162252 m/s, LOS rate: -0.427145 deg/s, posRepo size: 4
2021-08-13T19:18:43.457Z,1628882323.457 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:18:43.725Z,1628882323.725 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:18:43.725Z,1628882323.725 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:18:43.725Z,1628882323.725 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:18:43.726Z,1628882323.726 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:18:44.129Z,1628882324.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FAF,000,008E5,184,80,80,A2,FF
2021-08-13T19:18:44.129Z,1628882324.129 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:18:44.129Z,1628882324.129 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:18:44.131Z,1628882324.131 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:18:44.553Z,1628882324.553 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:18:44.945Z,1628882324.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F98,000,008F5,186,80,80,AC,FF
2021-08-13T19:18:44.946Z,1628882324.946 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:18:45.373Z,1628882325.373 [Micromodem](INFO): Nmea in: $SNTTA,0.074721,0.474212,,,191844.65*5D

2021-08-13T19:18:45.458Z,1628882325.458 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 100.080002 m, bearing: 213.743653 deg, deltaT: 4.060819 s, approachRate: 0.236405 m/s, LOS rate: 0.293871 deg/s, posRepo size: 4
2021-08-13T19:18:47.782Z,1628882327.782 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:18:48.169Z,1628882328.169 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:18:48.169Z,1628882328.169 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:18:48.169Z,1628882328.169 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:18:48.170Z,1628882328.170 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:18:48.578Z,1628882328.578 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F98,000,008F5,186,80,80,AC,FF
2021-08-13T19:18:48.578Z,1628882328.578 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:18:48.578Z,1628882328.578 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:18:48.580Z,1628882328.580 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:18:48.992Z,1628882328.992 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:18:49.424Z,1628882329.424 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB8,000,00904,185,80,80,B3,FF
2021-08-13T19:18:49.425Z,1628882329.425 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:18:49.428Z,1628882329.428 [Micromodem](INFO): Nmea in: $SNTTA,0.163981,0.287841,,,191849.10*57

2021-08-13T19:18:49.831Z,1628882329.831 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 100.980003 m, bearing: 211.995685 deg, deltaT: 4.518501 s, approachRate: 0.199181 m/s, LOS rate: -0.386847 deg/s, posRepo size: 4
2021-08-13T19:18:52.229Z,1628882332.229 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:18:52.617Z,1628882332.617 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:18:52.618Z,1628882332.618 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:18:52.618Z,1628882332.618 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:18:52.619Z,1628882332.619 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:18:53.013Z,1628882333.013 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB8,000,00904,185,80,80,B3,FF
2021-08-13T19:18:53.013Z,1628882333.013 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:18:53.014Z,1628882333.014 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:18:53.015Z,1628882333.015 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:18:53.453Z,1628882333.453 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:18:53.834Z,1628882333.834 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA2,000,00913,186,80,80,AA,FF
2021-08-13T19:18:53.835Z,1628882333.835 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:18:54.265Z,1628882334.265 [Micromodem](INFO): Nmea in: $SNTTA,0.072776,,,,191853.54*45

2021-08-13T19:18:54.288Z,1628882334.288 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 101.879997 m, bearing: 213.304663 deg, deltaT: 4.349775 s, approachRate: 0.206906 m/s, LOS rate: 0.300930 deg/s, posRepo size: 4
2021-08-13T19:18:56.680Z,1628882336.680 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:18:57.057Z,1628882337.057 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:18:57.057Z,1628882337.057 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:18:57.057Z,1628882337.057 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:18:57.058Z,1628882337.058 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:18:57.457Z,1628882337.457 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA2,000,00913,186,80,80,AA,FF
2021-08-13T19:18:57.457Z,1628882337.457 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:18:57.458Z,1628882337.458 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:18:57.459Z,1628882337.459 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:18:57.869Z,1628882337.869 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:18:58.269Z,1628882338.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F69,000,00922,186,80,80,A0,FF
2021-08-13T19:18:58.269Z,1628882338.269 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:18:58.709Z,1628882338.709 [Micromodem](INFO): Nmea in: $SNTTA,0.068017,,,,191857.98*4A

2021-08-13T19:18:58.760Z,1628882338.760 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 102.780006 m, bearing: 216.592648 deg, deltaT: 4.435591 s, approachRate: 0.202906 m/s, LOS rate: 0.741273 deg/s, posRepo size: 4
2021-08-13T19:19:01.136Z,1628882341.136 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:19:01.513Z,1628882341.513 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:19:01.513Z,1628882341.513 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:19:01.513Z,1628882341.513 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:19:01.514Z,1628882341.514 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:19:01.910Z,1628882341.910 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F69,000,00922,186,80,80,A0,FF
2021-08-13T19:19:01.910Z,1628882341.910 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:19:01.910Z,1628882341.910 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:19:01.916Z,1628882341.916 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:19:02.313Z,1628882342.313 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:19:02.713Z,1628882342.713 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F57,000,00932,186,80,80,8A,FF
2021-08-13T19:19:02.713Z,1628882342.713 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:19:03.169Z,1628882343.169 [Micromodem](INFO): Nmea in: $SNTTA,0.355806,,,,191902.44*4F

2021-08-13T19:19:03.211Z,1628882343.211 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 103.739998 m, bearing: 218.013068 deg, deltaT: 4.505509 s, approachRate: 0.213071 m/s, LOS rate: 0.315263 deg/s, posRepo size: 4
2021-08-13T19:19:05.611Z,1628882345.611 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:19:05.949Z,1628882345.949 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:19:05.949Z,1628882345.949 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:19:05.949Z,1628882345.949 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:19:05.950Z,1628882345.950 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:19:06.350Z,1628882346.350 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F57,000,00932,186,80,80,8A,FF
2021-08-13T19:19:06.350Z,1628882346.350 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:19:06.351Z,1628882346.351 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:19:06.356Z,1628882346.356 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:19:06.777Z,1628882346.777 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:19:07.162Z,1628882347.162 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F80,000,00940,187,80,80,94,FF
2021-08-13T19:19:07.162Z,1628882347.162 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:19:07.577Z,1628882347.577 [Micromodem](INFO): Nmea in: $SNTTA,0.071605,0.361834,,,191906.88*56

2021-08-13T19:19:07.634Z,1628882347.634 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 104.580002 m, bearing: 216.196606 deg, deltaT: 4.410803 s, approachRate: 0.190442 m/s, LOS rate: -0.411821 deg/s, posRepo size: 4
2021-08-13T19:19:10.010Z,1628882350.010 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:19:10.417Z,1628882350.417 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:19:10.417Z,1628882350.417 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:19:10.417Z,1628882350.417 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:19:10.418Z,1628882350.418 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:19:10.797Z,1628882350.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F80,000,00940,187,80,80,94,FF
2021-08-13T19:19:10.797Z,1628882350.797 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:19:10.797Z,1628882350.797 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:19:10.799Z,1628882350.799 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:19:11.218Z,1628882351.218 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:19:11.607Z,1628882351.607 [Micromodem](INFO): Nmea in: $SNTTA,0.178406,0.178531,,,191911.32*5A

2021-08-13T19:19:12.858Z,1628882352.858 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:19:14.460Z,1628882354.460 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
0,187,80,80,94,FF
2021-08-13T19:19:14.461Z,1628882354.461 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
0,187,80,80,94,FF
2021-08-13T19:19:14.461Z,1628882354.461 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T19:19:15.703Z,1628882355.703 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:19:16.057Z,1628882356.057 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:19:16.057Z,1628882356.057 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:19:16.057Z,1628882356.057 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:19:16.058Z,1628882356.058 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:19:16.461Z,1628882356.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
0,187,80,80,94,FF
2021-08-13T19:19:16.461Z,1628882356.461 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:19:16.461Z,1628882356.461 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:19:16.463Z,1628882356.463 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:19:16.884Z,1628882356.884 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:19:17.687Z,1628882357.687 [Micromodem](INFO): Nmea in: $SNTTA,0.079714,,,,191916.99*4B

2021-08-13T19:19:18.481Z,1628882358.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F4F,000,03B1F,186,80,80,5B,FF
2021-08-13T19:19:18.482Z,1628882358.482 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:19:18.916Z,1628882358.916 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 870.600098 m, bearing: 219.554874 deg, deltaT: 11.329382 s, approachRate: 67.613579 m/s, LOS rate: 0.296421 deg/s, posRepo size: 4
2021-08-13T19:19:21.424Z,1628882361.424 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:19:21.706Z,1628882361.706 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:19:21.706Z,1628882361.706 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:19:21.706Z,1628882361.706 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:19:21.707Z,1628882361.707 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:19:22.114Z,1628882362.114 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F4F,000,03B1F,186,80,80,5B,FF
2021-08-13T19:19:22.114Z,1628882362.114 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:19:22.114Z,1628882362.114 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:19:22.116Z,1628882362.116 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:19:22.519Z,1628882362.519 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:19:22.917Z,1628882362.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F44,000,00975,186,80,80,78,FF
2021-08-13T19:19:22.918Z,1628882362.918 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:19:23.377Z,1628882363.377 [Micromodem](INFO): Nmea in: $SNTTA,0.080982,,,,191922.64*49

2021-08-13T19:19:23.454Z,1628882363.454 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 107.760002 m, bearing: 220.905352 deg, deltaT: 4.401942 s, approachRate: -173.296265 m/s, LOS rate: 0.306792 deg/s, posRepo size: 4
2021-08-13T19:19:25.463Z,1628882365.463 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:19:25.738Z,1628882365.738 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:19:25.739Z,1628882365.739 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:19:25.739Z,1628882365.739 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:19:25.740Z,1628882365.740 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:19:26.146Z,1628882366.146 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F44,000,00975,186,80,80,78,FF
2021-08-13T19:19:26.146Z,1628882366.146 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:19:26.146Z,1628882366.146 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:19:26.148Z,1628882366.148 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:19:26.563Z,1628882366.563 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:19:26.953Z,1628882366.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F85,000,00981,186,80,80,6B,FF
2021-08-13T19:19:26.954Z,1628882366.954 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:19:27.421Z,1628882367.421 [Micromodem](INFO): Nmea in: $SNTTA,0.464613,,,,191926.67*47

2021-08-13T19:19:27.497Z,1628882367.497 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 108.479996 m, bearing: 218.585260 deg, deltaT: 4.063060 s, approachRate: 0.177205 m/s, LOS rate: -0.571021 deg/s, posRepo size: 4
2021-08-13T19:19:29.809Z,1628882369.809 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:19:30.193Z,1628882370.193 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:19:30.193Z,1628882370.193 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:19:30.194Z,1628882370.194 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:19:30.194Z,1628882370.194 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:19:30.589Z,1628882370.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F85,000,00981,186,80,80,6B,FF
2021-08-13T19:19:30.589Z,1628882370.589 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:19:30.590Z,1628882370.590 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:19:30.593Z,1628882370.593 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:19:31.000Z,1628882371.000 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:19:31.414Z,1628882371.414 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F36,000,0098D,187,80,80,79,FF
2021-08-13T19:19:31.415Z,1628882371.415 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:19:31.869Z,1628882371.869 [Micromodem](INFO): Nmea in: $SNTTA,0.241721,,,,191931.12*42

2021-08-13T19:19:31.917Z,1628882371.917 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 109.200005 m, bearing: 223.249487 deg, deltaT: 4.523561 s, approachRate: 0.159169 m/s, LOS rate: 1.031096 deg/s, posRepo size: 4
2021-08-13T19:19:34.246Z,1628882374.246 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:19:34.629Z,1628882374.629 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:19:34.629Z,1628882374.629 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:19:34.629Z,1628882374.629 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:19:34.630Z,1628882374.630 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:19:35.042Z,1628882375.042 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F36,000,0098D,187,80,80,79,FF
2021-08-13T19:19:35.042Z,1628882375.042 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:19:35.042Z,1628882375.042 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:19:35.044Z,1628882375.044 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:19:35.478Z,1628882375.478 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:19:37.075Z,1628882377.075 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:19:37.459Z,1628882377.459 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EEE,000,055F7,186,80,80,94,FF
2021-08-13T19:19:37.459Z,1628882377.459 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:19:37.910Z,1628882377.910 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1282.920044 m, bearing: 226.797333 deg, deltaT: 6.013024 s, approachRate: 195.196304 m/s, LOS rate: 0.590027 deg/s, posRepo size: 4
2021-08-13T19:19:40.310Z,1628882380.310 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:19:40.701Z,1628882380.701 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:19:40.702Z,1628882380.702 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:19:40.702Z,1628882380.702 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:19:40.703Z,1628882380.703 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:19:41.101Z,1628882381.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EEE,000,055F7,186,80,80,94,FF
2021-08-13T19:19:41.101Z,1628882381.101 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:19:41.101Z,1628882381.101 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:19:41.103Z,1628882381.103 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:19:41.505Z,1628882381.505 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:19:41.913Z,1628882381.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E94,000,009AF,186,80,80,7B,FF
2021-08-13T19:19:41.914Z,1628882381.914 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:19:42.337Z,1628882382.337 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191941.62*5F

2021-08-13T19:19:42.364Z,1628882382.364 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 111.240005 m, bearing: 232.374456 deg, deltaT: 4.398904 s, approachRate: -266.357269 m/s, LOS rate: 1.267844 deg/s, posRepo size: 4
2021-08-13T19:19:44.812Z,1628882384.812 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:19:45.133Z,1628882385.133 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:19:45.133Z,1628882385.133 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:19:45.133Z,1628882385.133 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:19:45.134Z,1628882385.134 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:19:45.537Z,1628882385.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E94,000,009AF,186,80,80,7B,FF
2021-08-13T19:19:45.537Z,1628882385.537 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:19:45.537Z,1628882385.537 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:19:45.539Z,1628882385.539 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:19:45.959Z,1628882385.959 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:19:46.794Z,1628882386.794 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191946.06*5A

2021-08-13T19:19:47.623Z,1628882387.623 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:19:49.181Z,1628882389.181 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
F,186,80,80,7B,FF
2021-08-13T19:19:49.181Z,1628882389.181 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
F,186,80,80,7B,FF
2021-08-13T19:19:49.181Z,1628882389.181 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T19:19:50.442Z,1628882390.442 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:19:50.795Z,1628882390.795 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:19:50.795Z,1628882390.795 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:19:50.795Z,1628882390.795 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:19:50.800Z,1628882390.800 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:19:51.205Z,1628882391.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
F,186,80,80,7B,FF
2021-08-13T19:19:51.205Z,1628882391.205 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:19:51.205Z,1628882391.205 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:19:51.207Z,1628882391.207 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:19:51.614Z,1628882391.614 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:19:52.450Z,1628882392.450 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191951.73*5E

2021-08-13T19:19:53.296Z,1628882393.296 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:19:54.844Z,1628882394.844 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
F,186,80,80,7B,FF
2021-08-13T19:19:54.845Z,1628882394.845 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
F,186,80,80,7B,FF
2021-08-13T19:19:54.845Z,1628882394.845 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T19:19:56.070Z,1628882396.070 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:19:56.457Z,1628882396.457 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:19:56.457Z,1628882396.457 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:19:56.457Z,1628882396.457 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:19:56.458Z,1628882396.458 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:19:56.853Z,1628882396.853 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
F,186,80,80,7B,FF
2021-08-13T19:19:56.853Z,1628882396.853 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:19:56.854Z,1628882396.854 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:19:56.855Z,1628882396.855 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:19:57.293Z,1628882397.293 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:19:58.086Z,1628882398.086 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191957.38*57

2021-08-13T19:19:58.911Z,1628882398.911 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:20:00.498Z,1628882400.498 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
F,186,80,80,7B,FF
2021-08-13T19:20:00.498Z,1628882400.498 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
F,186,80,80,7B,FF
2021-08-13T19:20:00.498Z,1628882400.498 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T19:20:01.478Z,1628882401.478 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:20:01.697Z,1628882401.697 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:20:01.697Z,1628882401.697 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:20:01.698Z,1628882401.698 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:20:01.699Z,1628882401.699 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:20:02.113Z,1628882402.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
F,186,80,80,7B,FF
2021-08-13T19:20:02.114Z,1628882402.114 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:20:02.114Z,1628882402.114 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:20:02.115Z,1628882402.115 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:20:02.513Z,1628882402.513 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:20:03.357Z,1628882403.357 [Micromodem](INFO): Nmea in: $SNTTA,,0.480049,,,192002.64*4B

2021-08-13T19:20:04.142Z,1628882404.142 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:20:05.777Z,1628882405.777 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
F,186,80,80,7B,FF
2021-08-13T19:20:05.777Z,1628882405.777 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
F,186,80,80,7B,FF
2021-08-13T19:20:05.778Z,1628882405.778 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T19:20:07.006Z,1628882407.006 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:20:07.365Z,1628882407.365 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:20:07.365Z,1628882407.365 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:20:07.365Z,1628882407.365 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:20:07.366Z,1628882407.366 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:20:07.757Z,1628882407.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
F,186,80,80,7B,FF
2021-08-13T19:20:07.757Z,1628882407.757 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:20:07.758Z,1628882407.758 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:20:07.759Z,1628882407.759 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:20:08.172Z,1628882408.172 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:20:08.986Z,1628882408.986 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192008.28*56

2021-08-13T19:20:09.802Z,1628882409.802 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:20:11.419Z,1628882411.419 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
F,186,80,80,7B,FF
2021-08-13T19:20:11.419Z,1628882411.419 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
F,186,80,80,7B,FF
2021-08-13T19:20:11.419Z,1628882411.419 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T19:20:12.655Z,1628882412.655 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:20:13.016Z,1628882413.016 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:20:13.016Z,1628882413.016 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:20:13.016Z,1628882413.016 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:20:13.017Z,1628882413.017 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:20:13.453Z,1628882413.453 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
F,186,80,80,7B,FF
2021-08-13T19:20:13.454Z,1628882413.454 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:20:13.454Z,1628882413.454 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:20:13.456Z,1628882413.456 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:20:13.832Z,1628882413.832 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:20:14.650Z,1628882414.650 [Micromodem](INFO): Nmea in: $SNTTA,0.078076,,,,192013.98*47

2021-08-13T19:20:15.513Z,1628882415.513 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:20:17.057Z,1628882417.057 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
F,186,80,80,7B,FF
2021-08-13T19:20:17.058Z,1628882417.058 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
F,186,80,80,7B,FF
2021-08-13T19:20:17.058Z,1628882417.058 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T19:20:18.286Z,1628882418.286 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:20:18.669Z,1628882418.669 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:20:18.669Z,1628882418.669 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:20:18.669Z,1628882418.669 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:20:18.670Z,1628882418.670 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:20:19.069Z,1628882419.069 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
F,186,80,80,7B,FF
2021-08-13T19:20:19.070Z,1628882419.070 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:20:19.070Z,1628882419.070 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:20:19.071Z,1628882419.071 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:20:19.481Z,1628882419.481 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:20:19.887Z,1628882419.887 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F3B,000,00A2F,186,80,80,8E,FF
2021-08-13T19:20:19.887Z,1628882419.887 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:20:20.317Z,1628882420.317 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192019.60*5A

2021-08-13T19:20:20.348Z,1628882420.348 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 118.920006 m, bearing: 224.145321 deg, deltaT: 38.002043 s, approachRate: 0.202094 m/s, LOS rate: -0.216545 deg/s, posRepo size: 4
2021-08-13T19:20:22.746Z,1628882422.746 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:20:23.121Z,1628882423.121 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:20:23.121Z,1628882423.121 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:20:23.121Z,1628882423.121 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:20:23.122Z,1628882423.122 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:20:23.521Z,1628882423.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F3B,000,00A2F,186,80,80,8E,FF
2021-08-13T19:20:23.521Z,1628882423.521 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:20:23.521Z,1628882423.521 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:20:23.523Z,1628882423.523 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:20:23.947Z,1628882423.947 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:20:24.762Z,1628882424.762 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192024.05*57

2021-08-13T19:20:25.603Z,1628882425.603 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:20:27.157Z,1628882427.157 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
F,186,80,80,8E,FF
2021-08-13T19:20:27.157Z,1628882427.157 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
F,186,80,80,8E,FF
2021-08-13T19:20:27.158Z,1628882427.158 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T19:20:28.421Z,1628882428.421 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:20:28.773Z,1628882428.773 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:20:28.773Z,1628882428.773 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:20:28.773Z,1628882428.773 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:20:28.774Z,1628882428.774 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:20:29.181Z,1628882429.181 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
F,186,80,80,8E,FF
2021-08-13T19:20:29.181Z,1628882429.181 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:20:29.181Z,1628882429.181 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:20:29.184Z,1628882429.184 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:20:29.585Z,1628882429.585 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:20:29.641Z,1628882429.641 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T19:20:30.422Z,1628882430.422 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192029.70*58

2021-08-13T19:20:31.217Z,1628882431.217 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:20:32.817Z,1628882432.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
F,186,80,80,8E,FF
2021-08-13T19:20:32.817Z,1628882432.817 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
F,186,80,80,8E,FF
2021-08-13T19:20:32.818Z,1628882432.818 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T19:20:34.055Z,1628882434.055 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:20:34.456Z,1628882434.456 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:20:34.457Z,1628882434.457 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:20:34.457Z,1628882434.457 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:20:34.458Z,1628882434.458 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:20:34.841Z,1628882434.841 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
F,186,80,80,8E,FF
2021-08-13T19:20:34.842Z,1628882434.842 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:20:34.842Z,1628882434.842 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:20:34.843Z,1628882434.843 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:20:35.240Z,1628882435.240 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:20:35.657Z,1628882435.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F5C,000,00A63,186,80,80,A9,FF
2021-08-13T19:20:35.657Z,1628882435.657 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:20:36.077Z,1628882436.077 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192035.36*57

2021-08-13T19:20:36.111Z,1628882436.111 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 122.040009 m, bearing: 222.752017 deg, deltaT: 15.804416 s, approachRate: 0.197413 m/s, LOS rate: -0.088159 deg/s, posRepo size: 4
2021-08-13T19:20:38.506Z,1628882438.506 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:20:38.878Z,1628882438.878 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:20:38.878Z,1628882438.878 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:20:38.878Z,1628882438.878 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:20:38.879Z,1628882438.879 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:20:39.297Z,1628882439.297 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F5C,000,00A63,186,80,80,A9,FF
2021-08-13T19:20:39.297Z,1628882439.297 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:20:39.298Z,1628882439.298 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:20:39.311Z,1628882439.311 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:20:39.704Z,1628882439.704 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:20:40.086Z,1628882440.086 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F3F,000,00A71,186,80,80,7B,FF
2021-08-13T19:20:40.087Z,1628882440.087 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:20:40.518Z,1628882440.518 [Micromodem](INFO): Nmea in: $SNTTA,0.111661,,,,192039.83*4B

2021-08-13T19:20:40.553Z,1628882440.553 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 122.879997 m, bearing: 224.452679 deg, deltaT: 4.403700 s, approachRate: 0.190746 m/s, LOS rate: 0.386189 deg/s, posRepo size: 4
2021-08-13T19:20:42.953Z,1628882442.953 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:20:43.357Z,1628882443.357 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:20:43.358Z,1628882443.358 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:20:43.358Z,1628882443.358 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:20:43.359Z,1628882443.359 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:20:43.737Z,1628882443.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F3F,000,00A71,186,80,80,7B,FF
2021-08-13T19:20:43.737Z,1628882443.737 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:20:43.737Z,1628882443.737 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:20:43.739Z,1628882443.739 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:20:44.138Z,1628882444.138 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:20:44.542Z,1628882444.542 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,30C,000,00A81,18A,80,80,21,FF
2021-08-13T19:20:44.542Z,1628882444.542 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:20:44.969Z,1628882444.969 [Micromodem](INFO): Nmea in: $SNTTA,0.096022,,,,192044.26*41

2021-08-13T19:20:44.991Z,1628882444.991 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 123.840004 m, bearing: 176.447105 deg, deltaT: 4.465692 s, approachRate: 0.214974 m/s, LOS rate: -10.749862 deg/s, posRepo size: 4
2021-08-13T19:20:47.472Z,1628882447.472 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:20:47.773Z,1628882447.773 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:20:47.774Z,1628882447.774 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:20:47.774Z,1628882447.774 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:20:47.775Z,1628882447.775 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:20:48.165Z,1628882448.165 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
30C,000,00A81,18A,80,80,21,FF
2021-08-13T19:20:48.165Z,1628882448.165 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:20:48.165Z,1628882448.165 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:20:48.167Z,1628882448.167 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:20:48.573Z,1628882448.573 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:20:48.982Z,1628882448.982 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F1E,000,00A92,186,80,80,89,FF
2021-08-13T19:20:48.982Z,1628882448.982 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:20:49.425Z,1628882449.425 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192048.69*57

2021-08-13T19:20:49.479Z,1628882449.479 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 124.860001 m, bearing: 227.229083 deg, deltaT: 4.389903 s, approachRate: 0.232351 m/s, LOS rate: 11.567905 deg/s, posRepo size: 4
2021-08-13T19:20:51.885Z,1628882451.885 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:20:52.213Z,1628882452.213 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:20:52.213Z,1628882452.213 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:20:52.213Z,1628882452.213 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:20:52.214Z,1628882452.214 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:20:52.627Z,1628882452.627 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F1E,000,00A92,186,80,80,89,FF
2021-08-13T19:20:52.627Z,1628882452.627 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:20:52.627Z,1628882452.627 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:20:52.631Z,1628882452.631 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:20:53.029Z,1628882453.029 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:20:53.457Z,1628882453.457 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F04,000,00A9F,186,80,80,9A,FF
2021-08-13T19:20:53.458Z,1628882453.458 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:20:53.463Z,1628882453.463 [Micromodem](INFO): Nmea in: $SNTTA,0.221473,0.223535,,,192053.15*57

2021-08-13T19:20:53.863Z,1628882453.863 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 125.639999 m, bearing: 229.355239 deg, deltaT: 4.543791 s, approachRate: 0.171663 m/s, LOS rate: 0.467926 deg/s, posRepo size: 4
2021-08-13T19:20:56.282Z,1628882456.282 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:20:56.649Z,1628882456.649 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:20:56.649Z,1628882456.649 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:20:56.649Z,1628882456.649 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:20:56.650Z,1628882456.650 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:20:57.049Z,1628882457.049 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F04,000,00A9F,186,80,80,9A,FF
2021-08-13T19:20:57.049Z,1628882457.049 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:20:57.049Z,1628882457.049 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:20:57.051Z,1628882457.051 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:20:57.461Z,1628882457.461 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:20:57.878Z,1628882457.878 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E84,000,00AAC,186,80,80,9C,FF
2021-08-13T19:20:57.878Z,1628882457.878 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:20:58.337Z,1628882458.337 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 126.419998 m, bearing: 236.148764 deg, deltaT: 4.380376 s, approachRate: 0.178067 m/s, LOS rate: 1.550900 deg/s, posRepo size: 4
2021-08-13T19:21:00.741Z,1628882460.741 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:21:01.093Z,1628882461.093 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:21:01.093Z,1628882461.093 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:21:01.093Z,1628882461.093 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:21:01.094Z,1628882461.094 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:21:01.497Z,1628882461.497 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E84,000,00AAC,186,80,80,9C,FF
2021-08-13T19:21:01.497Z,1628882461.497 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:21:01.497Z,1628882461.497 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:21:01.499Z,1628882461.499 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:21:01.914Z,1628882461.914 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:21:02.313Z,1628882462.313 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E70,000,00AB9,186,80,80,9C,FF
2021-08-13T19:21:02.313Z,1628882462.313 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:21:02.745Z,1628882462.745 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192102.02*55

2021-08-13T19:21:02.780Z,1628882462.780 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 127.200005 m, bearing: 238.460455 deg, deltaT: 4.503308 s, approachRate: 0.173207 m/s, LOS rate: 0.513332 deg/s, posRepo size: 4
2021-08-13T19:21:05.150Z,1628882465.150 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:21:05.537Z,1628882465.537 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:21:05.537Z,1628882465.537 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:21:05.537Z,1628882465.537 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:21:05.538Z,1628882465.538 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:21:05.949Z,1628882465.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E70,000,00AB9,186,80,80,9C,FF
2021-08-13T19:21:05.949Z,1628882465.949 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:21:05.949Z,1628882465.949 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:21:05.951Z,1628882465.951 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:21:06.421Z,1628882466.421 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:21:06.753Z,1628882466.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E4F,000,00AC7,186,80,80,9F,FF
2021-08-13T19:21:06.753Z,1628882466.753 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:21:07.181Z,1628882467.181 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192106.47*50

2021-08-13T19:21:07.210Z,1628882467.210 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 128.039993 m, bearing: 241.046610 deg, deltaT: 4.372896 s, approachRate: 0.192090 m/s, LOS rate: 0.591406 deg/s, posRepo size: 4
2021-08-13T19:21:09.638Z,1628882469.638 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:21:09.981Z,1628882469.981 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:21:09.981Z,1628882469.981 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:21:09.981Z,1628882469.981 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:21:09.982Z,1628882469.982 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:21:10.410Z,1628882470.410 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E4F,000,00AC7,186,80,80,9F,FF
2021-08-13T19:21:10.410Z,1628882470.410 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:21:10.410Z,1628882470.410 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:21:10.412Z,1628882470.412 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:21:10.793Z,1628882470.793 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:21:11.205Z,1628882471.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E7D,000,00AD7,186,80,80,9A,FF
2021-08-13T19:21:11.206Z,1628882471.205 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:21:11.611Z,1628882471.611 [Micromodem](INFO): Nmea in: $SNTTA,0.101508,,,,192110.93*4D

2021-08-13T19:21:11.671Z,1628882471.671 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 129.000000 m, bearing: 239.099023 deg, deltaT: 4.423140 s, approachRate: 0.217042 m/s, LOS rate: -0.440318 deg/s, posRepo size: 4
2021-08-13T19:21:14.062Z,1628882474.062 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:21:14.449Z,1628882474.449 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:21:14.449Z,1628882474.449 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:21:14.449Z,1628882474.449 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:21:14.450Z,1628882474.450 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:21:14.825Z,1628882474.825 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E7D,000,00AD7,186,80,80,9A,FF
2021-08-13T19:21:14.825Z,1628882474.825 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:21:14.826Z,1628882474.826 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:21:14.827Z,1628882474.827 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:21:15.236Z,1628882475.236 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:21:15.646Z,1628882475.646 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E56,000,00AEB,186,80,80,A9,FF
2021-08-13T19:21:15.646Z,1628882475.646 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:21:15.649Z,1628882475.649 [Micromodem](INFO): Nmea in: $SNTTA,0.166338,0.166300,,,192115.35*5C

2021-08-13T19:21:16.077Z,1628882476.077 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 130.199997 m, bearing: 240.740481 deg, deltaT: 4.497216 s, approachRate: 0.266831 m/s, LOS rate: 0.364994 deg/s, posRepo size: 4
2021-08-13T19:21:18.501Z,1628882478.501 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:21:18.869Z,1628882478.869 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:21:18.869Z,1628882478.869 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:21:18.869Z,1628882478.869 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:21:18.870Z,1628882478.870 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:21:19.292Z,1628882479.292 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E56,000,00AEB,186,80,80,A9,FF
2021-08-13T19:21:19.293Z,1628882479.293 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:21:19.293Z,1628882479.293 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:21:19.299Z,1628882479.299 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:21:19.738Z,1628882479.738 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:21:20.126Z,1628882480.126 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E49,000,00AF9,185,80,80,A2,FF
2021-08-13T19:21:20.126Z,1628882480.126 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:21:20.565Z,1628882480.565 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192119.82*57

2021-08-13T19:21:20.591Z,1628882480.591 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 131.040009 m, bearing: 240.839546 deg, deltaT: 4.456315 s, approachRate: 0.188499 m/s, LOS rate: 0.022230 deg/s, posRepo size: 4
2021-08-13T19:21:22.987Z,1628882482.987 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:21:23.393Z,1628882483.393 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:21:23.394Z,1628882483.394 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:21:23.394Z,1628882483.394 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:21:23.400Z,1628882483.400 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:21:23.773Z,1628882483.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E49,000,00AF9,185,80,80,A2,FF
2021-08-13T19:21:23.773Z,1628882483.773 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:21:23.773Z,1628882483.773 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:21:23.775Z,1628882483.775 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:21:24.177Z,1628882484.177 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:21:24.581Z,1628882484.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E3C,000,00B04,187,80,80,99,FF
2021-08-13T19:21:24.582Z,1628882484.582 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:21:25.013Z,1628882485.013 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192124.30*50

2021-08-13T19:21:25.055Z,1628882485.055 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 131.700012 m, bearing: 241.187503 deg, deltaT: 4.432580 s, approachRate: 0.148898 m/s, LOS rate: 0.078500 deg/s, posRepo size: 4
2021-08-13T19:21:27.469Z,1628882487.469 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:21:27.813Z,1628882487.813 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:21:27.813Z,1628882487.813 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:21:27.814Z,1628882487.814 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:21:27.815Z,1628882487.815 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:21:28.209Z,1628882488.209 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E3C,000,00B04,187,80,80,99,FF
2021-08-13T19:21:28.209Z,1628882488.209 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:21:28.209Z,1628882488.209 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:21:28.211Z,1628882488.211 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:21:28.617Z,1628882488.617 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:21:29.029Z,1628882489.029 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E6A,000,00B11,186,80,80,A0,FF
2021-08-13T19:21:29.030Z,1628882489.030 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:21:29.465Z,1628882489.465 [Micromodem](INFO): Nmea in: $SNTTA,0.104099,0.473452,,,192128.73*5D

2021-08-13T19:21:29.544Z,1628882489.544 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 132.479996 m, bearing: 238.961955 deg, deltaT: 4.438592 s, approachRate: 0.175728 m/s, LOS rate: -0.501409 deg/s, posRepo size: 4
2021-08-13T19:21:31.903Z,1628882491.903 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:21:32.253Z,1628882492.253 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:21:32.253Z,1628882492.253 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:21:32.253Z,1628882492.253 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:21:32.254Z,1628882492.254 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:21:32.657Z,1628882492.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E6A,000,00B11,186,80,80,A0,FF
2021-08-13T19:21:32.657Z,1628882492.657 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:21:32.657Z,1628882492.657 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:21:32.659Z,1628882492.659 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:21:33.065Z,1628882493.065 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:21:33.468Z,1628882493.468 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E3C,000,00B20,186,80,80,94,FF
2021-08-13T19:21:33.469Z,1628882493.469 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:21:33.472Z,1628882493.472 [Micromodem](INFO): Nmea in: $SNTTA,0.090971,0.250775,,,192133.18*58

2021-08-13T19:21:33.910Z,1628882493.910 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 133.380005 m, bearing: 241.770474 deg, deltaT: 4.499802 s, approachRate: 0.200011 m/s, LOS rate: 0.624143 deg/s, posRepo size: 4
2021-08-13T19:21:36.306Z,1628882496.306 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:21:36.693Z,1628882496.693 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:21:36.693Z,1628882496.693 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:21:36.693Z,1628882496.693 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:21:36.694Z,1628882496.694 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:21:37.101Z,1628882497.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E3C,000,00B20,186,80,80,94,FF
2021-08-13T19:21:37.101Z,1628882497.101 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:21:37.101Z,1628882497.101 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:21:37.103Z,1628882497.103 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:21:37.516Z,1628882497.516 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:21:37.910Z,1628882497.910 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E44,000,00B2F,186,80,80,A3,FF
2021-08-13T19:21:37.910Z,1628882497.910 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:21:38.346Z,1628882498.346 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192137.62*55

2021-08-13T19:21:38.366Z,1628882498.366 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 134.279999 m, bearing: 241.996744 deg, deltaT: 4.412488 s, approachRate: 0.203965 m/s, LOS rate: 0.051280 deg/s, posRepo size: 4
2021-08-13T19:21:40.770Z,1628882500.770 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:21:41.137Z,1628882501.137 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:21:41.137Z,1628882501.137 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:21:41.137Z,1628882501.137 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:21:41.138Z,1628882501.138 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:21:41.545Z,1628882501.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E44,000,00B2F,186,80,80,A3,FF
2021-08-13T19:21:41.545Z,1628882501.545 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:21:41.545Z,1628882501.545 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:21:41.547Z,1628882501.547 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:21:41.965Z,1628882501.965 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:21:42.361Z,1628882502.361 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E46,000,00B3F,185,80,80,A3,FF
2021-08-13T19:21:42.362Z,1628882502.362 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:21:42.793Z,1628882502.793 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192142.07*54

2021-08-13T19:21:42.819Z,1628882502.819 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 135.240005 m, bearing: 242.140096 deg, deltaT: 4.476532 s, approachRate: 0.214453 m/s, LOS rate: 0.032023 deg/s, posRepo size: 4
2021-08-13T19:21:45.202Z,1628882505.202 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:21:45.574Z,1628882505.574 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:21:45.574Z,1628882505.574 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:21:45.575Z,1628882505.575 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:21:45.576Z,1628882505.576 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:21:45.991Z,1628882505.991 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E46,000,00B3F,185,80,80,A3,FF
2021-08-13T19:21:45.991Z,1628882505.991 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:21:45.991Z,1628882505.991 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:21:45.993Z,1628882505.993 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:21:46.415Z,1628882506.415 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:21:47.218Z,1628882507.218 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192146.51*53

2021-08-13T19:21:48.042Z,1628882508.042 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:21:49.633Z,1628882509.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
F,185,80,80,A3,FF
2021-08-13T19:21:49.633Z,1628882509.633 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
F,185,80,80,A3,FF
2021-08-13T19:21:49.633Z,1628882509.633 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T19:21:50.859Z,1628882510.859 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:21:51.237Z,1628882511.237 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:21:51.237Z,1628882511.237 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:21:51.237Z,1628882511.237 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:21:51.238Z,1628882511.238 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:21:51.653Z,1628882511.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
F,185,80,80,A3,FF
2021-08-13T19:21:51.653Z,1628882511.653 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:21:51.653Z,1628882511.653 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:21:51.655Z,1628882511.655 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:21:52.049Z,1628882512.049 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:21:52.461Z,1628882512.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E51,000,00B63,186,80,80,9F,FF
2021-08-13T19:21:52.462Z,1628882512.462 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:21:52.899Z,1628882512.899 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192152.18*5B

2021-08-13T19:21:52.919Z,1628882512.919 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 137.399994 m, bearing: 242.622444 deg, deltaT: 10.095941 s, approachRate: 0.213946 m/s, LOS rate: 0.047776 deg/s, posRepo size: 4
2021-08-13T19:21:55.384Z,1628882515.384 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:21:55.677Z,1628882515.677 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:21:55.677Z,1628882515.677 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:21:55.677Z,1628882515.677 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:21:55.678Z,1628882515.678 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:21:56.094Z,1628882516.094 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E51,000,00B63,186,80,80,9F,FF
2021-08-13T19:21:56.094Z,1628882516.094 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:21:56.094Z,1628882516.094 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:21:56.095Z,1628882516.095 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:21:56.501Z,1628882516.501 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:21:56.925Z,1628882516.925 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EBF,000,00C9E,186,80,80,A2,FF
2021-08-13T19:21:56.926Z,1628882516.926 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:21:57.361Z,1628882517.361 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192156.62*52

2021-08-13T19:21:57.457Z,1628882517.457 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 156.300003 m, bearing: 237.535265 deg, deltaT: 4.410934 s, approachRate: 4.284809 m/s, LOS rate: -1.153311 deg/s, posRepo size: 4
2021-08-13T19:21:59.449Z,1628882519.449 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:21:59.729Z,1628882519.729 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:21:59.730Z,1628882519.730 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:21:59.730Z,1628882519.730 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:21:59.731Z,1628882519.731 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:22:00.133Z,1628882520.133 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EBF,000,00C9E,186,80,80,A2,FF
2021-08-13T19:22:00.133Z,1628882520.133 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:22:00.133Z,1628882520.133 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:22:00.135Z,1628882520.135 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:22:00.536Z,1628882520.536 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:22:00.949Z,1628882520.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ECA,000,00B78,186,80,80,9B,FF
2021-08-13T19:22:00.950Z,1628882520.950 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:22:01.381Z,1628882521.381 [Micromodem](INFO): Nmea in: $SNTTA,0.094793,,,,192200.66*48

2021-08-13T19:22:01.487Z,1628882521.487 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 138.660004 m, bearing: 237.490131 deg, deltaT: 4.023847 s, approachRate: -4.383864 m/s, LOS rate: -0.011217 deg/s, posRepo size: 4
2021-08-13T19:22:03.778Z,1628882523.778 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:22:04.169Z,1628882524.169 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:22:04.169Z,1628882524.169 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:22:04.170Z,1628882524.170 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:22:04.171Z,1628882524.171 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:22:04.573Z,1628882524.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ECA,000,00B78,186,80,80,9B,FF
2021-08-13T19:22:04.573Z,1628882524.573 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:22:04.574Z,1628882524.574 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:22:04.575Z,1628882524.575 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:22:04.983Z,1628882524.983 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:22:05.417Z,1628882525.417 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ECF,000,00B98,185,80,80,A2,FF
2021-08-13T19:22:05.417Z,1628882525.417 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:22:05.421Z,1628882525.421 [Micromodem](INFO): Nmea in: $SNTTA,0.290966,0.291029,,,192205.10*51

2021-08-13T19:22:05.827Z,1628882525.827 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 140.580002 m, bearing: 238.015044 deg, deltaT: 4.554680 s, approachRate: 0.421544 m/s, LOS rate: 0.115247 deg/s, posRepo size: 4
2021-08-13T19:22:08.226Z,1628882528.226 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:22:08.612Z,1628882528.612 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:22:08.612Z,1628882528.612 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:22:08.613Z,1628882528.613 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:22:08.613Z,1628882528.613 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:22:09.021Z,1628882529.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ECF,000,00B98,185,80,80,A2,FF
2021-08-13T19:22:09.021Z,1628882529.021 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:22:09.021Z,1628882529.021 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:22:09.023Z,1628882529.023 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:22:09.449Z,1628882529.449 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:22:10.225Z,1628882530.225 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E72,000,00F26,186,80,80,9B,FF
2021-08-13T19:22:10.225Z,1628882530.225 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:22:10.691Z,1628882530.691 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 195.179993 m, bearing: 243.574163 deg, deltaT: 4.721169 s, approachRate: 11.564930 m/s, LOS rate: 1.177488 deg/s, posRepo size: 4
2021-08-13T19:22:13.087Z,1628882533.087 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:22:13.457Z,1628882533.457 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:22:13.457Z,1628882533.457 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:22:13.457Z,1628882533.457 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:22:13.458Z,1628882533.458 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:22:13.878Z,1628882533.878 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E72,000,00F26,186,80,80,9B,FF
2021-08-13T19:22:13.878Z,1628882533.878 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:22:13.878Z,1628882533.878 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:22:13.928Z,1628882533.928 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:22:14.269Z,1628882534.269 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:22:14.533Z,1628882534.533 [CTD_Seabird](ERROR): Failed to parse device response: 6.16.69
2021-08-13T19:22:15.082Z,1628882535.082 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E6D,000,00BAA,186,80,80,72,FF
2021-08-13T19:22:15.082Z,1628882535.082 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:22:15.506Z,1628882535.506 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192214.53*55

2021-08-13T19:22:15.579Z,1628882535.579 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 141.660004 m, bearing: 244.355700 deg, deltaT: 4.856893 s, approachRate: -11.019388 m/s, LOS rate: 0.160913 deg/s, posRepo size: 4
2021-08-13T19:22:17.942Z,1628882537.942 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:22:18.305Z,1628882538.305 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:22:18.305Z,1628882538.305 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:22:18.306Z,1628882538.306 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:22:18.306Z,1628882538.306 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:22:18.718Z,1628882538.718 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E6D,000,00BAA,186,80,80,72,FF
2021-08-13T19:22:18.718Z,1628882538.718 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:22:18.718Z,1628882538.718 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:22:18.721Z,1628882538.721 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:22:19.117Z,1628882539.117 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:22:19.525Z,1628882539.525 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EC1,000,00BB8,186,80,80,9E,FF
2021-08-13T19:22:19.526Z,1628882539.526 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:22:19.531Z,1628882539.531 [Micromodem](INFO): Nmea in: $SNTTA,0.178391,0.178748,,,192219.24*58

2021-08-13T19:22:19.959Z,1628882539.959 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 142.500000 m, bearing: 240.395857 deg, deltaT: 4.532456 s, approachRate: 0.185329 m/s, LOS rate: -0.873664 deg/s, posRepo size: 4
2021-08-13T19:22:22.399Z,1628882542.399 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:22:22.761Z,1628882542.761 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:22:22.761Z,1628882542.761 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:22:22.762Z,1628882542.762 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:22:22.763Z,1628882542.763 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:22:23.153Z,1628882543.153 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EC1,000,00BB8,186,80,80,9E,FF
2021-08-13T19:22:23.153Z,1628882543.153 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:22:23.153Z,1628882543.153 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:22:23.155Z,1628882543.155 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:22:23.563Z,1628882543.563 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:22:23.969Z,1628882543.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EC7,000,00BC7,185,80,80,A1,FF
2021-08-13T19:22:23.970Z,1628882543.970 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:22:24.400Z,1628882544.400 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192223.67*56

2021-08-13T19:22:24.447Z,1628882544.447 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 143.400009 m, bearing: 240.278159 deg, deltaT: 4.354675 s, approachRate: 0.206677 m/s, LOS rate: -0.027028 deg/s, posRepo size: 4
2021-08-13T19:22:26.843Z,1628882546.843 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:22:27.193Z,1628882547.193 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:22:27.193Z,1628882547.193 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:22:27.193Z,1628882547.193 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:22:27.194Z,1628882547.194 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:22:27.606Z,1628882547.606 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EC7,000,00BC7,185,80,80,A1,FF
2021-08-13T19:22:27.606Z,1628882547.606 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:22:27.606Z,1628882547.606 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:22:27.609Z,1628882547.609 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:22:28.009Z,1628882548.009 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:22:28.434Z,1628882548.434 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EBC,000,00BD6,186,80,80,92,FF
2021-08-13T19:22:28.435Z,1628882548.435 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:22:28.837Z,1628882548.837 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192228.13*5E

2021-08-13T19:22:28.863Z,1628882548.863 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 144.300003 m, bearing: 241.336948 deg, deltaT: 4.524824 s, approachRate: 0.198901 m/s, LOS rate: 0.233996 deg/s, posRepo size: 4
2021-08-13T19:22:31.311Z,1628882551.311 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:22:31.637Z,1628882551.637 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:22:31.637Z,1628882551.637 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:22:31.637Z,1628882551.637 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:22:31.638Z,1628882551.638 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:22:32.041Z,1628882552.041 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EBC,000,00BD6,186,80,80,92,FF
2021-08-13T19:22:32.041Z,1628882552.041 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:22:32.041Z,1628882552.041 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:22:32.052Z,1628882552.052 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:22:32.461Z,1628882552.461 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:22:32.858Z,1628882552.858 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E58,000,00BEA,186,80,80,32,FF
2021-08-13T19:22:32.858Z,1628882552.858 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:22:33.293Z,1628882553.293 [Micromodem](INFO): Nmea in: $SNTTA,,0.128294,,,192232.57*4F

2021-08-13T19:22:33.413Z,1628882553.413 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 145.500000 m, bearing: 247.041303 deg, deltaT: 4.367610 s, approachRate: 0.274749 m/s, LOS rate: 1.306059 deg/s, posRepo size: 4
2021-08-13T19:22:35.391Z,1628882555.391 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:22:35.685Z,1628882555.685 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:22:35.685Z,1628882555.685 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:22:35.685Z,1628882555.685 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:22:35.686Z,1628882555.686 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:22:36.085Z,1628882556.085 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E58,000,00BEA,186,80,80,32,FF
2021-08-13T19:22:36.085Z,1628882556.085 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:22:36.085Z,1628882556.085 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:22:36.087Z,1628882556.087 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:22:36.496Z,1628882556.496 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:22:36.898Z,1628882556.898 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E81,000,00BF6,186,80,80,88,FF
2021-08-13T19:22:36.899Z,1628882556.899 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:22:37.361Z,1628882557.361 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192236.61*54

2021-08-13T19:22:37.449Z,1628882557.449 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 146.220001 m, bearing: 245.137675 deg, deltaT: 4.085808 s, approachRate: 0.176220 m/s, LOS rate: -0.465912 deg/s, posRepo size: 4
2021-08-13T19:22:39.734Z,1628882559.734 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:22:40.130Z,1628882560.130 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:22:40.130Z,1628882560.130 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:22:40.131Z,1628882560.131 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:22:40.132Z,1628882560.132 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:22:40.525Z,1628882560.525 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E81,000,00BF6,186,80,80,88,FF
2021-08-13T19:22:40.525Z,1628882560.525 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:22:40.525Z,1628882560.525 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:22:40.527Z,1628882560.527 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:22:40.940Z,1628882560.940 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:22:41.356Z,1628882561.356 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E9B,000,00C02,185,80,80,83,FF
2021-08-13T19:22:41.356Z,1628882561.356 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:22:41.773Z,1628882561.773 [Micromodem](INFO): Nmea in: $SNTTA,0.113168,,,,192241.05*44

2021-08-13T19:22:41.809Z,1628882561.809 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 146.940002 m, bearing: 243.939168 deg, deltaT: 4.540884 s, approachRate: 0.158560 m/s, LOS rate: -0.263937 deg/s, posRepo size: 4
2021-08-13T19:22:44.182Z,1628882564.182 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:22:44.565Z,1628882564.565 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:22:44.565Z,1628882564.565 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:22:44.565Z,1628882564.565 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:22:44.566Z,1628882564.566 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:22:44.981Z,1628882564.981 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E9B,000,00C02,185,80,80,83,FF
2021-08-13T19:22:44.981Z,1628882564.981 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:22:44.981Z,1628882564.981 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:22:44.983Z,1628882564.983 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:22:45.409Z,1628882565.409 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:22:47.009Z,1628882567.009 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:22:48.609Z,1628882568.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
2,185,80,80,83,FF
2021-08-13T19:22:48.610Z,1628882568.610 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
2,185,80,80,83,FF
2021-08-13T19:22:48.610Z,1628882568.610 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T19:22:49.520Z,1628882569.520 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:22:49.818Z,1628882569.818 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:22:49.819Z,1628882569.819 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:22:49.819Z,1628882569.819 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:22:49.820Z,1628882569.820 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:22:50.218Z,1628882570.218 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
2,185,80,80,83,FF
2021-08-13T19:22:50.218Z,1628882570.218 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:22:50.218Z,1628882570.218 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:22:50.245Z,1628882570.245 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:22:50.629Z,1628882570.629 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:22:51.455Z,1628882571.455 [Micromodem](INFO): Nmea in: $SNTTA,0.456355,0.416979,,,192250.76*52

2021-08-13T19:22:52.258Z,1628882572.258 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:22:53.866Z,1628882573.866 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
2,185,80,80,83,FF
2021-08-13T19:22:53.866Z,1628882573.866 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
2,185,80,80,83,FF
2021-08-13T19:22:53.866Z,1628882573.866 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T19:22:55.086Z,1628882575.086 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:22:55.481Z,1628882575.481 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:22:55.481Z,1628882575.481 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:22:55.482Z,1628882575.482 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:22:55.483Z,1628882575.483 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:22:55.878Z,1628882575.878 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
2,185,80,80,83,FF
2021-08-13T19:22:55.878Z,1628882575.878 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:22:55.878Z,1628882575.878 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:22:55.881Z,1628882575.881 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:22:56.338Z,1628882576.338 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:22:57.114Z,1628882577.114 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192256.40*51

2021-08-13T19:22:57.917Z,1628882577.917 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:22:59.517Z,1628882579.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
2,185,80,80,83,FF
2021-08-13T19:22:59.517Z,1628882579.517 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
2,185,80,80,83,FF
2021-08-13T19:22:59.517Z,1628882579.517 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T19:23:00.772Z,1628882580.772 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:23:01.138Z,1628882581.138 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:23:01.138Z,1628882581.138 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:23:01.138Z,1628882581.138 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:23:01.139Z,1628882581.139 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:23:01.533Z,1628882581.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
2,185,80,80,83,FF
2021-08-13T19:23:01.533Z,1628882581.533 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:23:01.534Z,1628882581.534 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:23:01.535Z,1628882581.535 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:23:02.017Z,1628882582.017 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:23:02.766Z,1628882582.766 [Micromodem](INFO): Nmea in: $SNTTA,0.112531,,,,192302.06*48

2021-08-13T19:23:03.627Z,1628882583.627 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:23:05.169Z,1628882585.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
2,185,80,80,83,FF
2021-08-13T19:23:05.169Z,1628882585.169 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
2,185,80,80,83,FF
2021-08-13T19:23:05.170Z,1628882585.170 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T19:23:06.442Z,1628882586.442 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:23:06.801Z,1628882586.801 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:23:06.801Z,1628882586.801 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:23:06.801Z,1628882586.801 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:23:06.803Z,1628882586.803 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:23:07.189Z,1628882587.189 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
2,185,80,80,83,FF
2021-08-13T19:23:07.190Z,1628882587.190 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:23:07.190Z,1628882587.190 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:23:07.191Z,1628882587.191 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:23:07.593Z,1628882587.593 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:23:08.442Z,1628882588.442 [Micromodem](INFO): Nmea in: $SNTTA,0.111650,,,,192307.71*4A

2021-08-13T19:23:09.252Z,1628882589.252 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:23:10.837Z,1628882590.837 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
2,185,80,80,83,FF
2021-08-13T19:23:10.838Z,1628882590.838 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
2,185,80,80,83,FF
2021-08-13T19:23:10.838Z,1628882590.838 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T19:23:12.058Z,1628882592.058 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:23:12.453Z,1628882592.453 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:23:12.453Z,1628882592.453 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:23:12.453Z,1628882592.453 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:23:12.454Z,1628882592.454 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:23:12.865Z,1628882592.865 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
2,185,80,80,83,FF
2021-08-13T19:23:12.865Z,1628882592.865 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:23:12.865Z,1628882592.865 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:23:12.867Z,1628882592.867 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:23:13.265Z,1628882593.265 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:23:13.653Z,1628882593.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FCB,000,0E4
2,185,80,80,83,FF
2021-08-13T19:23:13.654Z,1628882593.654 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,FCB,000,0E4
2,185,80,80,83,FF
2021-08-13T19:23:14.069Z,1628882594.069 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192313.39*5F

2021-08-13T19:23:14.890Z,1628882594.890 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:23:17.411Z,1628882597.411 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:23:18.512Z,1628882598.512 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.057943
2021-08-13T19:23:20.149Z,1628882600.149 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:23:20.521Z,1628882600.521 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:23:20.521Z,1628882600.521 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:23:20.521Z,1628882600.521 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:23:20.522Z,1628882600.522 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:23:20.933Z,1628882600.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FCB,000,0E4
2,185,80,80,83,FF
2021-08-13T19:23:20.933Z,1628882600.933 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:23:20.934Z,1628882600.934 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:23:20.935Z,1628882600.935 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:23:21.357Z,1628882601.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:23:22.158Z,1628882602.158 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192321.45*55

2021-08-13T19:23:22.977Z,1628882602.977 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:23:24.566Z,1628882604.566 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
2,185,80,80,83,FF
2021-08-13T19:23:24.566Z,1628882604.566 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
2,185,80,80,83,FF
2021-08-13T19:23:24.566Z,1628882604.566 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T19:23:25.790Z,1628882605.790 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:23:26.185Z,1628882606.185 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:23:26.185Z,1628882606.185 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:23:26.186Z,1628882606.186 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:23:26.186Z,1628882606.186 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:23:26.581Z,1628882606.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
2,185,80,80,83,FF
2021-08-13T19:23:26.581Z,1628882606.581 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:23:26.582Z,1628882606.582 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:23:26.583Z,1628882606.583 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:23:27.013Z,1628882607.013 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:23:27.416Z,1628882607.416 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,206,000,00C9B,187,80,80,53,FF
2021-08-13T19:23:27.417Z,1628882607.417 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:23:27.830Z,1628882607.830 [Micromodem](INFO): Nmea in: $SNTTA,,0.286601,,,192327.11*47

2021-08-13T19:23:27.850Z,1628882607.850 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 156.119995 m, bearing: 204.543962 deg, deltaT: 45.990109 s, approachRate: 0.199608 m/s, LOS rate: -0.856602 deg/s, posRepo size: 4
2021-08-13T19:23:30.249Z,1628882610.249 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:23:30.621Z,1628882610.621 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:23:30.621Z,1628882610.621 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:23:30.621Z,1628882610.621 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:23:30.622Z,1628882610.622 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:23:31.033Z,1628882611.033 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
206,000,00C9B,187,80,80,53,FF
2021-08-13T19:23:31.033Z,1628882611.033 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:23:31.033Z,1628882611.033 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:23:31.035Z,1628882611.035 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:23:31.457Z,1628882611.457 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:23:33.078Z,1628882613.078 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:23:34.661Z,1628882614.661 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
B,187,80,80,53,FF
2021-08-13T19:23:34.661Z,1628882614.661 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
B,187,80,80,53,FF
2021-08-13T19:23:34.661Z,1628882614.661 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T19:23:35.925Z,1628882615.925 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:23:36.277Z,1628882616.277 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:23:36.277Z,1628882616.277 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:23:36.278Z,1628882616.278 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:23:36.279Z,1628882616.279 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:23:36.689Z,1628882616.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
B,187,80,80,53,FF
2021-08-13T19:23:36.689Z,1628882616.689 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:23:36.690Z,1628882616.690 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:23:36.691Z,1628882616.691 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:23:37.088Z,1628882617.088 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:23:37.501Z,1628882617.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FAE,000,00CC8,185,80,80,53,FF
2021-08-13T19:23:37.502Z,1628882617.502 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:23:37.506Z,1628882617.506 [Micromodem](INFO): Nmea in: $SNTTA,0.232970,0.232845,,,192337.21*57

2021-08-13T19:23:37.932Z,1628882617.932 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 158.819992 m, bearing: 235.198083 deg, deltaT: 10.100296 s, approachRate: 0.267319 m/s, LOS rate: 3.034973 deg/s, posRepo size: 4
2021-08-13T19:23:40.338Z,1628882620.338 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:23:40.738Z,1628882620.738 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:23:40.738Z,1628882620.738 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:23:40.738Z,1628882620.738 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:23:40.739Z,1628882620.739 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:23:41.134Z,1628882621.134 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FAE,000,00CC8,185,80,80,53,FF
2021-08-13T19:23:41.134Z,1628882621.134 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:23:41.134Z,1628882621.134 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:23:41.136Z,1628882621.136 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:23:41.608Z,1628882621.608 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:23:42.438Z,1628882622.438 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192341.70*55

2021-08-13T19:23:43.242Z,1628882623.242 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:23:44.833Z,1628882624.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
8,185,80,80,53,FF
2021-08-13T19:23:44.833Z,1628882624.833 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
8,185,80,80,53,FF
2021-08-13T19:23:44.833Z,1628882624.833 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T19:23:46.058Z,1628882626.058 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:23:46.460Z,1628882626.460 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:23:46.461Z,1628882626.461 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:23:46.461Z,1628882626.461 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:23:46.462Z,1628882626.462 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:23:46.841Z,1628882626.841 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
8,185,80,80,53,FF
2021-08-13T19:23:46.841Z,1628882626.841 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:23:46.842Z,1628882626.842 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:23:46.843Z,1628882626.843 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:23:47.260Z,1628882627.260 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:23:47.679Z,1628882627.679 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2F9,000,00CDB,189,80,80,94,FF
2021-08-13T19:23:47.679Z,1628882627.679 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:23:47.829Z,1628882627.829 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-08-13T19:23:47.829Z,1628882627.829 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-08-13T19:23:47.829Z,1628882627.829 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-08-13T19:23:47.829Z,1628882627.829 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-13T19:23:47.829Z,1628882627.829 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-08-13T19:23:48.229Z,1628882628.229 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192347.36*51

2021-08-13T19:23:48.424Z,1628882628.424 [Micromodem](INFO): Outgoing frame #1, 64 bytes: B2AB1661150000005D000004003E0000000000000000151D80030C5669C08C7A97395E5DD59A6FD570D9AA6400B7A0578CB6D3A0B5EA8C19E40D884D40B9CD8F
2021-08-13T19:23:48.425Z,1628882628.425 [Micromodem](INFO): Outgoing frame #2, 18 bytes: 8E557F3591416BB45B961FD8B329D96EB800
2021-08-13T19:23:48.425Z,1628882628.425 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,2*6A

2021-08-13T19:23:48.499Z,1628882628.499 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 159.960007 m, bearing: 192.630883 deg, deltaT: 10.227048 s, approachRate: 0.111471 m/s, LOS rate: -4.162218 deg/s, posRepo size: 4
2021-08-13T19:23:49.469Z,1628882629.469 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,2*68

2021-08-13T19:23:49.841Z,1628882629.841 [Micromodem](INFO): Nmea in: $CADRQ,192348,1,10,0,64,1*73

2021-08-13T19:23:49.841Z,1628882629.841 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,B2AB1661150000005D000004003E0000000000000000151D80030C5669C08C7A97395E5DD59A6FD570D9AA6400B7A0578CB6D3A0B5EA8C19E40D884D40B9CD8F*4F

2021-08-13T19:23:50.242Z,1628882630.242 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-08-13T19:23:50.638Z,1628882630.638 [Micromodem](INFO): Nmea in: $CADRQ,192350,1,10,0,64,2*79

2021-08-13T19:23:50.639Z,1628882630.639 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,8E557F3591416BB45B961FD8B329D96EB800*31

2021-08-13T19:23:50.741Z,1628882630.741 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:23:51.044Z,1628882631.044 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:23:51.045Z,1628882631.045 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:23:51.045Z,1628882631.045 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:23:51.046Z,1628882631.046 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:23:51.054Z,1628882631.054 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,18*42

2021-08-13T19:23:51.461Z,1628882631.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2F9,000,00CDB,189,80,80,94,FF
2021-08-13T19:23:51.461Z,1628882631.461 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:23:51.461Z,1628882631.461 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:23:51.463Z,1628882631.463 [Micromodem](INFO): Nmea in: $CATXP,82*78

2021-08-13T19:23:51.463Z,1628882631.463 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:23:53.529Z,1628882633.529 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:23:53.866Z,1628882633.866 [Micromodem](INFO): Nmea in: $CATXF,82*6E

2021-08-13T19:23:53.867Z,1628882633.867 [Micromodem](ERROR): Response from modem unexpected: $CATXF,82*6E

2021-08-13T19:23:54.267Z,1628882634.267 [Micromodem](INFO): Nmea in: $CAXST,7,20210813,192351.146976,3,0,200,4000,14500,1,1,10,1,2,2,3,82,14500*59

2021-08-13T19:23:54.286Z,1628882634.286 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210813,192351.146976,3,0,200,4000,14500,1,1,10,1,2,2,3,82,14500*59

2021-08-13T19:23:56.587Z,1628882636.587 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:23:56.706Z,1628882636.706 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-08-13T19:23:57.116Z,1628882637.116 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.070359
2021-08-13T19:23:57.118Z,1628882637.118 [Micromodem](INFO): Nmea in: $CAACK,10,1,2,1*78

2021-08-13T19:23:57.118Z,1628882637.118 [Micromodem](INFO): Sent 74 bytes from file Logs/20210813T172818/Courier0021.lzma.parts
2021-08-13T19:23:57.119Z,1628882637.119 [Micromodem](INFO): Packets left to send: 0
2021-08-13T19:23:57.506Z,1628882637.506 [Micromodem](INFO): Nmea in: $CACST,6,0,20210813192355.998930,06,11811,40,0177,0150,74,01,01,00,01,1,010,001,0,4,1,0,150,10.3,4.37,11,-1.37,-01,0.20,49,14500,4000*6E

2021-08-13T19:23:57.506Z,1628882637.506 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210813192355.998930,06,11811,40,0177,0150,74,01,01,00,01,1,010,001,0,4,1,0,150,10.3,4.37,11,-1.37,-01,0.20,49,14500,4000*6E

2021-08-13T19:23:57.763Z,1628882637.763 [lineCaptureDepth:MicromodemComms] Stopped
2021-08-13T19:23:57.763Z,1628882637.763 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-08-13T19:23:57.763Z,1628882637.763 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-08-13T19:23:57.764Z,1628882637.764 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-13T19:23:57.765Z,1628882637.765 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-08-13T19:23:59.163Z,1628882639.163 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:23:59.529Z,1628882639.529 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:23:59.529Z,1628882639.529 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:23:59.529Z,1628882639.529 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:23:59.530Z,1628882639.530 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:23:59.929Z,1628882639.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2F9,000,00CDB,189,80,80,94,FF
2021-08-13T19:23:59.929Z,1628882639.929 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:23:59.930Z,1628882639.930 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:24:01.688Z,1628882641.688 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:24:02.839Z,1628882642.839 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:24:03.266Z,1628882643.266 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:24:03.648Z,1628882643.648 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FBE,000,00D1F,189,80,80,94,FF
2021-08-13T19:24:03.648Z,1628882643.648 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:24:04.105Z,1628882644.105 [Micromodem](INFO): Nmea in: $SNTTA,0.160543,,,,192403.36*4D

2021-08-13T19:24:04.128Z,1628882644.128 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 164.040009 m, bearing: 233.416934 deg, deltaT: 15.908130 s, approachRate: 0.256473 m/s, LOS rate: 2.563850 deg/s, posRepo size: 4
2021-08-13T19:24:06.518Z,1628882646.518 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:24:06.884Z,1628882646.884 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:24:06.884Z,1628882646.884 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:24:06.885Z,1628882646.885 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:24:06.886Z,1628882646.886 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:24:07.315Z,1628882647.315 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FBE,000,00D1F,189,80,80,94,FF
2021-08-13T19:24:07.315Z,1628882647.315 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:24:07.315Z,1628882647.315 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:24:07.317Z,1628882647.317 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:24:07.737Z,1628882647.737 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:24:08.137Z,1628882648.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F2E,000,00D20,186,80,80,94,FF
2021-08-13T19:24:08.138Z,1628882648.138 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:24:08.569Z,1628882648.569 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192407.84*5B

2021-08-13T19:24:08.616Z,1628882648.616 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 164.099991 m, bearing: 239.902690 deg, deltaT: 4.426788 s, approachRate: 0.013550 m/s, LOS rate: 1.465116 deg/s, posRepo size: 4
2021-08-13T19:24:10.982Z,1628882650.982 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:24:11.375Z,1628882651.375 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:24:11.377Z,1628882651.377 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:24:11.377Z,1628882651.377 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:24:11.379Z,1628882651.379 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:24:11.781Z,1628882651.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F2E,000,00D20,186,80,80,94,FF
2021-08-13T19:24:11.781Z,1628882651.781 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:24:11.781Z,1628882651.781 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:24:11.783Z,1628882651.783 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:24:12.181Z,1628882652.181 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:24:12.582Z,1628882652.582 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F1C,000,00D20,186,80,80,94,FF
2021-08-13T19:24:12.582Z,1628882652.582 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:24:13.013Z,1628882653.013 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192412.30*50

2021-08-13T19:24:13.054Z,1628882653.054 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 164.099991 m, bearing: 240.323211 deg, deltaT: 4.483984 s, approachRate: 0.000000 m/s, LOS rate: 0.093783 deg/s, posRepo size: 4
2021-08-13T19:24:15.504Z,1628882655.504 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:24:15.817Z,1628882655.817 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:24:15.817Z,1628882655.817 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:24:15.817Z,1628882655.817 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:24:15.818Z,1628882655.818 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:24:16.217Z,1628882656.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F1C,000,00D20,186,80,80,94,FF
2021-08-13T19:24:16.217Z,1628882656.217 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:24:16.217Z,1628882656.217 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:24:16.219Z,1628882656.219 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:24:16.621Z,1628882656.621 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:24:17.463Z,1628882657.463 [Micromodem](INFO): Nmea in: $SNTTA,0.470027,0.469496,,,192416.74*52

2021-08-13T19:24:18.258Z,1628882658.258 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:24:19.857Z,1628882659.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
0,186,80,80,94,FF
2021-08-13T19:24:19.857Z,1628882659.857 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
0,186,80,80,94,FF
2021-08-13T19:24:19.857Z,1628882659.857 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T19:24:21.109Z,1628882661.109 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:24:21.473Z,1628882661.473 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:24:21.473Z,1628882661.473 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:24:21.473Z,1628882661.473 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:24:21.474Z,1628882661.474 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:24:21.873Z,1628882661.873 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
0,186,80,80,94,FF
2021-08-13T19:24:21.874Z,1628882661.874 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:24:21.874Z,1628882661.874 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:24:21.877Z,1628882661.877 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:24:22.284Z,1628882662.284 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:24:23.107Z,1628882663.107 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192422.40*54

2021-08-13T19:24:23.898Z,1628882663.898 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2D7,000,03DB3,189,80,80,62,FF
2021-08-13T19:24:23.898Z,1628882663.898 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:24:24.340Z,1628882664.340 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 910.200012 m, bearing: 192.559179 deg, deltaT: 11.312861 s, approachRate: 65.951492 m/s, LOS rate: -4.222100 deg/s, posRepo size: 4
2021-08-13T19:24:26.760Z,1628882666.760 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:24:27.133Z,1628882667.133 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:24:27.133Z,1628882667.133 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:24:27.133Z,1628882667.133 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:24:27.134Z,1628882667.134 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:24:27.529Z,1628882667.529 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2D7,000,03DB3,189,80,80,62,FF
2021-08-13T19:24:27.529Z,1628882667.529 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:24:27.530Z,1628882667.530 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:24:27.531Z,1628882667.531 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:24:27.952Z,1628882667.952 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:24:28.345Z,1628882668.345 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E30,000,00D65,189,80,80,62,FF
2021-08-13T19:24:28.346Z,1628882668.346 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:24:28.786Z,1628882668.786 [Micromodem](INFO): Nmea in: $SNTTA,0.121531,,,,192428.05*44

2021-08-13T19:24:28.812Z,1628882668.812 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 168.240005 m, bearing: 251.865575 deg, deltaT: 4.476180 s, approachRate: -165.757416 m/s, LOS rate: 13.249332 deg/s, posRepo size: 4
2021-08-13T19:24:31.214Z,1628882671.214 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:24:31.565Z,1628882671.565 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:24:31.565Z,1628882671.565 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:24:31.566Z,1628882671.566 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:24:31.567Z,1628882671.567 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:24:31.573Z,1628882671.573 [NAL9602](INFO): Not Powering down - fast GPS
2021-08-13T19:24:31.985Z,1628882671.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E30,000,00D65,189,80,80,62,FF
2021-08-13T19:24:31.985Z,1628882671.985 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:24:31.985Z,1628882671.985 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:24:31.987Z,1628882671.987 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:24:32.399Z,1628882672.399 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:24:32.789Z,1628882672.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E0C,000,00D65,189,80,80,62,FF
2021-08-13T19:24:32.789Z,1628882672.789 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:24:33.239Z,1628882673.239 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 168.240005 m, bearing: 254.066235 deg, deltaT: 4.380295 s, approachRate: 0.000000 m/s, LOS rate: 0.502400 deg/s, posRepo size: 4
2021-08-13T19:24:35.674Z,1628882675.674 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:24:36.018Z,1628882676.018 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:24:36.018Z,1628882676.018 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:24:36.018Z,1628882676.018 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:24:36.019Z,1628882676.019 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:24:36.445Z,1628882676.445 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E0C,000,00D65,189,80,80,62,FF
2021-08-13T19:24:36.445Z,1628882676.445 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:24:36.445Z,1628882676.445 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:24:36.447Z,1628882676.447 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:24:36.846Z,1628882676.846 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:24:37.639Z,1628882677.639 [Micromodem](INFO): Nmea in: $SNTTA,0.126073,0.354801,,,192436.97*51

2021-08-13T19:24:38.487Z,1628882678.487 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:24:40.061Z,1628882680.061 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
5,189,80,80,62,FF
2021-08-13T19:24:40.061Z,1628882680.061 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
5,189,80,80,62,FF
2021-08-13T19:24:40.061Z,1628882680.061 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T19:24:41.354Z,1628882681.354 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:24:41.687Z,1628882681.687 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:24:41.687Z,1628882681.687 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:24:41.687Z,1628882681.687 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:24:41.688Z,1628882681.688 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:24:42.105Z,1628882682.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
5,189,80,80,62,FF
2021-08-13T19:24:42.105Z,1628882682.105 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:24:42.105Z,1628882682.105 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:24:42.107Z,1628882682.107 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:24:42.496Z,1628882682.496 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:24:43.345Z,1628882683.345 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0CC,000,00D94,186,80,80,2E,FF
2021-08-13T19:24:43.345Z,1628882683.345 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:24:43.348Z,1628882683.348 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192442.63*53

2021-08-13T19:24:43.723Z,1628882683.723 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 171.059998 m, bearing: 219.844528 deg, deltaT: 10.664310 s, approachRate: 0.264433 m/s, LOS rate: -3.208994 deg/s, posRepo size: 4
2021-08-13T19:24:46.153Z,1628882686.153 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:24:46.533Z,1628882686.533 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:24:46.533Z,1628882686.533 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:24:46.533Z,1628882686.533 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:24:46.534Z,1628882686.534 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:24:46.933Z,1628882686.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0CC,000,00D94,186,80,80,2E,FF
2021-08-13T19:24:46.933Z,1628882686.933 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:24:46.933Z,1628882686.933 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:24:46.935Z,1628882686.935 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:24:47.359Z,1628882687.359 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:24:48.158Z,1628882688.158 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192447.46*51

2021-08-13T19:24:48.978Z,1628882688.978 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:24:50.576Z,1628882690.576 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
4,186,80,80,2E,FF
2021-08-13T19:24:50.577Z,1628882690.577 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
4,186,80,80,2E,FF
2021-08-13T19:24:50.577Z,1628882690.577 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T19:24:51.483Z,1628882691.483 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:24:51.773Z,1628882691.773 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:24:51.774Z,1628882691.774 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:24:51.774Z,1628882691.774 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:24:51.775Z,1628882691.775 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:24:52.186Z,1628882692.186 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
4,186,80,80,2E,FF
2021-08-13T19:24:52.186Z,1628882692.186 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:24:52.186Z,1628882692.186 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:24:52.221Z,1628882692.221 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:24:52.587Z,1628882692.587 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:24:53.416Z,1628882693.416 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192452.74*54

2021-08-13T19:24:54.210Z,1628882694.210 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:24:55.809Z,1628882695.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
4,186,80,80,2E,FF
2021-08-13T19:24:55.809Z,1628882695.809 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
4,186,80,80,2E,FF
2021-08-13T19:24:55.809Z,1628882695.809 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T19:24:57.084Z,1628882697.084 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:24:57.449Z,1628882697.449 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:24:57.449Z,1628882697.449 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:24:57.449Z,1628882697.449 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:24:57.450Z,1628882697.450 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:24:57.842Z,1628882697.842 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
4,186,80,80,2E,FF
2021-08-13T19:24:57.842Z,1628882697.842 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:24:57.842Z,1628882697.842 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:24:57.845Z,1628882697.845 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:24:58.248Z,1628882698.248 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:24:59.062Z,1628882699.062 [Micromodem](INFO): Nmea in: $SNTTA,0.158376,,,,192458.37*49

2021-08-13T19:24:59.896Z,1628882699.896 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:25:01.477Z,1628882701.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
4,186,80,80,2E,FF
2021-08-13T19:25:01.477Z,1628882701.477 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
4,186,80,80,2E,FF
2021-08-13T19:25:01.477Z,1628882701.477 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T19:25:02.750Z,1628882702.750 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:25:03.089Z,1628882703.089 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:25:03.089Z,1628882703.089 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:25:03.089Z,1628882703.089 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:25:03.090Z,1628882703.090 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:25:03.479Z,1628882703.479 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
4,186,80,80,2E,FF
2021-08-13T19:25:03.479Z,1628882703.479 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:25:03.479Z,1628882703.479 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:25:03.481Z,1628882703.481 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:25:03.902Z,1628882703.902 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:25:04.315Z,1628882704.315 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0D6,000,00DDD,186,80,80,2E,FF
2021-08-13T19:25:04.315Z,1628882704.315 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:25:04.737Z,1628882704.737 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192504.00*55

2021-08-13T19:25:04.763Z,1628882704.763 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 175.439987 m, bearing: 219.987839 deg, deltaT: 20.935487 s, approachRate: 0.209214 m/s, LOS rate: 0.006845 deg/s, posRepo size: 4
2021-08-13T19:25:07.150Z,1628882707.150 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:25:07.525Z,1628882707.525 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:25:07.525Z,1628882707.525 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:25:07.525Z,1628882707.525 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:25:07.526Z,1628882707.526 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:25:07.934Z,1628882707.934 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0D6,000,00DDD,186,80,80,2E,FF
2021-08-13T19:25:07.934Z,1628882707.934 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:25:07.934Z,1628882707.934 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:25:07.935Z,1628882707.935 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:25:08.341Z,1628882708.341 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:25:09.166Z,1628882709.166 [Micromodem](INFO): Nmea in: $SNTTA,0.124399,,,,192508.46*41

2021-08-13T19:25:09.970Z,1628882709.970 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:25:11.574Z,1628882711.574 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,186,80,80,2E,FF
2021-08-13T19:25:11.574Z,1628882711.574 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,186,80,80,2E,FF
2021-08-13T19:25:11.574Z,1628882711.574 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T19:25:12.809Z,1628882712.809 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:25:13.193Z,1628882713.193 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:25:13.193Z,1628882713.193 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:25:13.193Z,1628882713.193 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:25:13.194Z,1628882713.194 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:25:13.585Z,1628882713.585 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,186,80,80,2E,FF
2021-08-13T19:25:13.585Z,1628882713.585 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:25:13.585Z,1628882713.585 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:25:13.587Z,1628882713.587 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:25:13.996Z,1628882713.996 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:25:14.818Z,1628882714.818 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192514.11*54

2021-08-13T19:25:15.669Z,1628882715.669 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:25:17.233Z,1628882717.233 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,186,80,80,2E,FF
2021-08-13T19:25:17.233Z,1628882717.233 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,186,80,80,2E,FF
2021-08-13T19:25:17.233Z,1628882717.233 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T19:25:18.504Z,1628882718.504 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:25:18.841Z,1628882718.841 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:25:18.841Z,1628882718.841 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:25:18.841Z,1628882718.841 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:25:18.842Z,1628882718.842 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:25:19.269Z,1628882719.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,186,80,80,2E,FF
2021-08-13T19:25:19.269Z,1628882719.269 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:25:19.270Z,1628882719.270 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:25:19.279Z,1628882719.279 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:25:19.656Z,1628882719.656 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:25:20.459Z,1628882720.459 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E35,000,00E13,187,80,80,35,FF
2021-08-13T19:25:20.460Z,1628882720.460 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:25:20.466Z,1628882720.466 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192519.80*51

2021-08-13T19:25:20.920Z,1628882720.920 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 178.679993 m, bearing: 252.851226 deg, deltaT: 16.124256 s, approachRate: 0.200940 m/s, LOS rate: 2.038134 deg/s, posRepo size: 4
2021-08-13T19:25:23.411Z,1628882723.411 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:25:23.685Z,1628882723.685 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:25:23.685Z,1628882723.685 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:25:23.685Z,1628882723.685 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:25:23.686Z,1628882723.686 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:25:24.095Z,1628882724.095 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E35,000,00E13,187,80,80,35,FF
2021-08-13T19:25:24.095Z,1628882724.095 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:25:24.095Z,1628882724.095 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:25:24.097Z,1628882724.097 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:25:24.501Z,1628882724.501 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:25:25.367Z,1628882725.367 [Micromodem](INFO): Nmea in: $SNTTA,0.127422,0.490589,,,192524.62*5A

2021-08-13T19:25:26.126Z,1628882726.126 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:25:27.729Z,1628882727.729 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
3,187,80,80,35,FF
2021-08-13T19:25:27.729Z,1628882727.729 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
3,187,80,80,35,FF
2021-08-13T19:25:27.729Z,1628882727.729 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T19:25:28.966Z,1628882728.966 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:25:29.356Z,1628882729.356 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:25:29.356Z,1628882729.356 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:25:29.357Z,1628882729.357 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:25:29.358Z,1628882729.358 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:25:29.753Z,1628882729.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
3,187,80,80,35,FF
2021-08-13T19:25:29.753Z,1628882729.753 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:25:29.753Z,1628882729.753 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:25:29.755Z,1628882729.755 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:25:30.168Z,1628882730.168 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:25:30.562Z,1628882730.562 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E5,80,63,E4
3,187,80,80,35,FF
2021-08-13T19:25:30.562Z,1628882730.562 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,E5,80,63,E4
3,187,80,80,35,FF
2021-08-13T19:25:30.986Z,1628882730.986 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192530.27*57

2021-08-13T19:25:31.471Z,1628882731.471 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:25:34.206Z,1628882734.206 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:25:35.460Z,1628882735.460 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.102457
2021-08-13T19:25:37.042Z,1628882737.042 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:25:37.469Z,1628882737.469 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:25:37.469Z,1628882737.469 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:25:37.470Z,1628882737.470 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:25:37.470Z,1628882737.470 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:25:37.837Z,1628882737.837 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E5,80,63,E4
3,187,80,80,35,FF
2021-08-13T19:25:37.837Z,1628882737.837 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:25:37.838Z,1628882737.838 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:25:37.839Z,1628882737.839 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:25:38.240Z,1628882738.240 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:25:39.065Z,1628882739.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E60,000,00E4A,186,80,80,85,FF
2021-08-13T19:25:39.065Z,1628882739.065 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:25:39.068Z,1628882739.068 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192538.36*5F

2021-08-13T19:25:39.549Z,1628882739.549 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 181.979996 m, bearing: 249.844577 deg, deltaT: 18.572705 s, approachRate: 0.177680 m/s, LOS rate: -0.161885 deg/s, posRepo size: 4
2021-08-13T19:25:41.930Z,1628882741.930 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:25:42.273Z,1628882742.273 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:25:42.273Z,1628882742.273 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:25:42.273Z,1628882742.273 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:25:42.274Z,1628882742.274 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:25:42.673Z,1628882742.673 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E60,000,00E4A,186,80,80,85,FF
2021-08-13T19:25:42.673Z,1628882742.673 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:25:42.673Z,1628882742.673 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:25:42.675Z,1628882742.675 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:25:43.085Z,1628882743.085 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:25:43.502Z,1628882743.502 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E7A,000,00E4A,186,80,80,85,FF
2021-08-13T19:25:43.503Z,1628882743.503 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:25:43.507Z,1628882743.507 [Micromodem](INFO): Nmea in: $SNTTA,0.200390,0.200071,,,192543.20*58

2021-08-13T19:25:43.927Z,1628882743.927 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 181.979996 m, bearing: 248.603313 deg, deltaT: 4.487464 s, approachRate: 0.000000 m/s, LOS rate: -0.276607 deg/s, posRepo size: 4
2021-08-13T19:25:46.334Z,1628882746.334 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:25:46.720Z,1628882746.720 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:25:46.720Z,1628882746.720 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:25:46.720Z,1628882746.720 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:25:46.721Z,1628882746.721 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:25:47.149Z,1628882747.149 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E7A,000,00E4A,186,80,80,85,FF
2021-08-13T19:25:47.149Z,1628882747.149 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:25:47.149Z,1628882747.149 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:25:47.151Z,1628882747.151 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:25:47.527Z,1628882747.527 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:25:48.330Z,1628882748.330 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E84,000,00E6D,186,80,80,89,FF
2021-08-13T19:25:48.331Z,1628882748.331 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:25:48.338Z,1628882748.338 [Micromodem](INFO): Nmea in: $SNTTA,0.137490,,,,192547.67*45

2021-08-13T19:25:48.770Z,1628882748.770 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 184.079987 m, bearing: 247.715498 deg, deltaT: 4.833496 s, approachRate: 0.434466 m/s, LOS rate: -0.183680 deg/s, posRepo size: 4
2021-08-13T19:25:51.189Z,1628882751.189 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:25:51.569Z,1628882751.569 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:25:51.569Z,1628882751.569 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:25:51.569Z,1628882751.569 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:25:51.570Z,1628882751.570 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:25:51.974Z,1628882751.974 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E84,000,00E6D,186,80,80,89,FF
2021-08-13T19:25:51.975Z,1628882751.975 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:25:51.975Z,1628882751.975 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:25:51.977Z,1628882751.977 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:25:52.413Z,1628882752.413 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:25:53.197Z,1628882753.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E87,000,00E7E,185,80,80,86,FF
2021-08-13T19:25:53.197Z,1628882753.197 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:25:53.200Z,1628882753.200 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192552.50*53

2021-08-13T19:25:53.666Z,1628882753.666 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 185.099991 m, bearing: 246.985514 deg, deltaT: 4.787346 s, approachRate: 0.213063 m/s, LOS rate: -0.152482 deg/s, posRepo size: 4
2021-08-13T19:25:56.030Z,1628882756.030 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:25:56.445Z,1628882756.445 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:25:56.445Z,1628882756.445 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:25:56.445Z,1628882756.445 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:25:56.446Z,1628882756.446 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:25:56.826Z,1628882756.826 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E87,000,00E7E,185,80,80,86,FF
2021-08-13T19:25:56.826Z,1628882756.826 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:25:56.827Z,1628882756.827 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:25:56.828Z,1628882756.828 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:25:57.232Z,1628882757.232 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:25:58.057Z,1628882758.057 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E94,000,00E90,186,80,80,8C,FF
2021-08-13T19:25:58.057Z,1628882758.057 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:25:58.060Z,1628882758.060 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192557.35*55

2021-08-13T19:25:58.514Z,1628882758.514 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 186.180008 m, bearing: 246.419701 deg, deltaT: 4.879888 s, approachRate: 0.221320 m/s, LOS rate: -0.115948 deg/s, posRepo size: 4
2021-08-13T19:26:00.875Z,1628882760.875 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:26:01.305Z,1628882761.305 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:26:01.305Z,1628882761.305 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:26:01.306Z,1628882761.306 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:26:01.307Z,1628882761.307 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:26:01.669Z,1628882761.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E94,000,00E90,186,80,80,8C,FF
2021-08-13T19:26:01.669Z,1628882761.669 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:26:01.669Z,1628882761.669 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:26:01.671Z,1628882761.671 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:26:02.077Z,1628882762.077 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:26:02.913Z,1628882762.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EAE,000,00E9F,185,80,80,9F,FF
2021-08-13T19:26:02.913Z,1628882762.913 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:26:02.917Z,1628882762.917 [Micromodem](INFO): Nmea in: $SNTTA,0.127407,,,,192602.19*41

2021-08-13T19:26:03.417Z,1628882763.417 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 187.080002 m, bearing: 245.497571 deg, deltaT: 4.859899 s, approachRate: 0.185188 m/s, LOS rate: -0.189743 deg/s, posRepo size: 4
2021-08-13T19:26:05.464Z,1628882765.464 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:26:05.717Z,1628882765.717 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:26:05.717Z,1628882765.717 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:26:05.717Z,1628882765.717 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:26:05.718Z,1628882765.718 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:26:06.133Z,1628882766.133 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EAE,000,00E9F,185,80,80,9F,FF
2021-08-13T19:26:06.133Z,1628882766.133 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:26:06.133Z,1628882766.133 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:26:06.135Z,1628882766.135 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:26:06.524Z,1628882766.524 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:26:07.365Z,1628882767.365 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EBA,000,00EAC,186,80,80,8B,FF
2021-08-13T19:26:07.366Z,1628882767.366 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:26:07.372Z,1628882767.372 [Micromodem](INFO): Nmea in: $SNTTA,0.128994,,,,192606.66*45

2021-08-13T19:26:07.778Z,1628882767.778 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 187.860001 m, bearing: 244.264777 deg, deltaT: 4.518429 s, approachRate: 0.172626 m/s, LOS rate: -0.272837 deg/s, posRepo size: 4
2021-08-13T19:26:10.191Z,1628882770.191 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:26:10.565Z,1628882770.565 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:26:10.565Z,1628882770.565 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:26:10.565Z,1628882770.565 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:26:10.566Z,1628882770.566 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:26:10.969Z,1628882770.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EBA,000,00EAC,186,80,80,8B,FF
2021-08-13T19:26:10.969Z,1628882770.969 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:26:10.969Z,1628882770.969 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:26:10.971Z,1628882770.971 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:26:11.385Z,1628882771.385 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:26:12.197Z,1628882772.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EAD,000,00EBE,186,80,80,8C,FF
2021-08-13T19:26:12.197Z,1628882772.197 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:26:12.200Z,1628882772.200 [Micromodem](INFO): Nmea in: $SNTTA,,0.052351,,,192611.49*41

2021-08-13T19:26:12.638Z,1628882772.638 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 188.939987 m, bearing: 244.203933 deg, deltaT: 4.741437 s, approachRate: 0.227776 m/s, LOS rate: -0.012832 deg/s, posRepo size: 4
2021-08-13T19:26:15.041Z,1628882775.041 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:26:15.429Z,1628882775.429 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:26:15.429Z,1628882775.429 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:26:15.429Z,1628882775.429 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:26:15.430Z,1628882775.430 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:26:15.818Z,1628882775.818 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EAD,000,00EBE,186,80,80,8C,FF
2021-08-13T19:26:15.818Z,1628882775.818 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:26:15.818Z,1628882775.818 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:26:15.821Z,1628882775.821 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:26:16.225Z,1628882776.225 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:26:17.038Z,1628882777.038 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192616.34*52

2021-08-13T19:26:17.850Z,1628882777.850 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:26:19.453Z,1628882779.453 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
E,186,80,80,8C,FF
2021-08-13T19:26:19.454Z,1628882779.454 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
E,186,80,80,8C,FF
2021-08-13T19:26:19.454Z,1628882779.454 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T19:26:20.711Z,1628882780.711 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:26:21.061Z,1628882781.061 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:26:21.061Z,1628882781.061 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:26:21.061Z,1628882781.061 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:26:21.062Z,1628882781.062 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:26:21.473Z,1628882781.473 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
E,186,80,80,8C,FF
2021-08-13T19:26:21.473Z,1628882781.473 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:26:21.474Z,1628882781.474 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:26:21.477Z,1628882781.477 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:26:21.872Z,1628882781.872 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:26:22.690Z,1628882782.690 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E3F,000,00EE1,186,80,80,8E,FF
2021-08-13T19:26:22.690Z,1628882782.690 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:26:22.733Z,1628882782.733 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192622.00*52

2021-08-13T19:26:23.127Z,1628882783.127 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 191.040009 m, bearing: 249.794115 deg, deltaT: 10.566174 s, approachRate: 0.198749 m/s, LOS rate: 0.529064 deg/s, posRepo size: 4
2021-08-13T19:26:25.575Z,1628882785.575 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:26:25.906Z,1628882785.906 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:26:25.906Z,1628882785.906 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:26:25.907Z,1628882785.907 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:26:25.908Z,1628882785.908 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:26:26.313Z,1628882786.313 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E3F,000,00EE1,186,80,80,8E,FF
2021-08-13T19:26:26.314Z,1628882786.314 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:26:26.314Z,1628882786.314 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:26:26.317Z,1628882786.317 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:26:26.721Z,1628882786.721 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:26:27.141Z,1628882787.141 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E5D,000,00EE1,186,80,80,8E,FF
2021-08-13T19:26:27.142Z,1628882787.142 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:26:27.541Z,1628882787.541 [Micromodem](INFO): Nmea in: $SNTTA,0.420085,0.420154,,,192626.84*57

2021-08-13T19:26:27.608Z,1628882787.608 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 191.040009 m, bearing: 247.912344 deg, deltaT: 4.413856 s, approachRate: 0.000000 m/s, LOS rate: -0.426333 deg/s, posRepo size: 4
2021-08-13T19:26:29.994Z,1628882789.994 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:26:30.349Z,1628882790.349 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:26:30.350Z,1628882790.350 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:26:30.351Z,1628882790.351 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:26:30.362Z,1628882790.362 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:26:30.760Z,1628882790.760 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E5D,000,00EE1,186,80,80,8E,FF
2021-08-13T19:26:30.761Z,1628882790.761 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:26:30.761Z,1628882790.761 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:26:30.763Z,1628882790.763 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:26:31.165Z,1628882791.165 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:26:31.989Z,1628882791.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E32,000,00EFE,187,80,80,3C,FF
2021-08-13T19:26:31.989Z,1628882791.989 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:26:31.992Z,1628882791.992 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192631.28*5A

2021-08-13T19:26:32.435Z,1628882792.435 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 192.779999 m, bearing: 250.169776 deg, deltaT: 4.820556 s, approachRate: 0.360952 m/s, LOS rate: 0.468293 deg/s, posRepo size: 4
2021-08-13T19:26:34.822Z,1628882794.822 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:26:35.201Z,1628882795.201 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:26:35.201Z,1628882795.201 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:26:35.201Z,1628882795.201 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:26:35.202Z,1628882795.202 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:26:35.617Z,1628882795.617 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E32,000,00EFE,187,80,80,3C,FF
2021-08-13T19:26:35.617Z,1628882795.617 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:26:35.617Z,1628882795.617 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:26:35.619Z,1628882795.619 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:26:36.020Z,1628882796.020 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:26:36.509Z,1628882796.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E39,000,00F10,186,80,80,5F,FF
2021-08-13T19:26:36.510Z,1628882796.510 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:26:36.845Z,1628882796.845 [Micromodem](INFO): Nmea in: $SNTTA,0.131627,,,,192636.14*4C

2021-08-13T19:26:36.906Z,1628882796.906 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 193.859985 m, bearing: 250.016506 deg, deltaT: 4.519966 s, approachRate: 0.238937 m/s, LOS rate: -0.033909 deg/s, posRepo size: 4
2021-08-13T19:26:39.343Z,1628882799.343 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:26:39.649Z,1628882799.649 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:26:39.649Z,1628882799.649 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:26:39.649Z,1628882799.649 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:26:39.650Z,1628882799.650 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:26:40.049Z,1628882800.049 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E39,000,00F10,186,80,80,5F,FF
2021-08-13T19:26:40.049Z,1628882800.049 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:26:40.049Z,1628882800.049 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:26:40.051Z,1628882800.051 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:26:40.461Z,1628882800.461 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:26:41.308Z,1628882801.308 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E08,000,00F22,187,80,80,40,FF
2021-08-13T19:26:41.309Z,1628882801.309 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:26:41.313Z,1628882801.313 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192640.57*54

2021-08-13T19:26:41.713Z,1628882801.713 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 194.940002 m, bearing: 252.501520 deg, deltaT: 4.886796 s, approachRate: 0.221007 m/s, LOS rate: 0.508516 deg/s, posRepo size: 4
2021-08-13T19:26:41.714Z,1628882801.714 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 194.94 m. Resuming terminal guidance.
2021-08-13T19:26:41.714Z,1628882801.714 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-13T19:26:42.103Z,1628882802.103 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-08-13T19:26:42.103Z,1628882802.103 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-13T19:26:42.103Z,1628882802.103 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-08-13T19:26:42.103Z,1628882802.103 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-08-13T19:26:42.103Z,1628882802.103 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2021-08-13T19:26:42.104Z,1628882802.104 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-08-13T19:26:42.104Z,1628882802.104 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-08-13T19:26:44.131Z,1628882804.131 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:26:44.497Z,1628882804.497 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:26:44.497Z,1628882804.497 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:26:44.497Z,1628882804.497 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:26:44.498Z,1628882804.498 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:26:44.906Z,1628882804.906 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E08,000,00F22,187,80,80,40,FF
2021-08-13T19:26:44.906Z,1628882804.906 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:26:44.906Z,1628882804.906 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:26:44.910Z,1628882804.910 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:26:45.360Z,1628882805.360 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:26:46.113Z,1628882806.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E47,000,00F2C,186,80,80,99,FF
2021-08-13T19:26:46.114Z,1628882806.114 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:26:46.555Z,1628882806.555 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 195.539993 m, bearing: 249.725131 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-13T19:26:46.555Z,1628882806.555 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 249.725131deg and heading rate command to 0 deg/s.
2021-08-13T19:26:48.995Z,1628882808.995 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:26:49.383Z,1628882809.383 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:26:49.385Z,1628882809.385 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:26:49.386Z,1628882809.386 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:26:49.387Z,1628882809.387 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:26:49.789Z,1628882809.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E47,000,00F2C,186,80,80,99,FF
2021-08-13T19:26:49.789Z,1628882809.789 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:26:49.790Z,1628882809.790 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:26:49.791Z,1628882809.791 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:26:50.193Z,1628882810.193 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:26:51.021Z,1628882811.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F12,000,00F4C,186,80,80,93,FF
2021-08-13T19:26:51.021Z,1628882811.021 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:26:51.024Z,1628882811.024 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192650.31*55

2021-08-13T19:26:51.475Z,1628882811.475 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 197.459976 m, bearing: 236.263675 deg, deltaT: 4.946638 s, approachRate: 0.388139 m/s, LOS rate: -2.721334 deg/s, posRepo size: 2
2021-08-13T19:26:51.478Z,1628882811.478 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 197.459976 m,
      bearing: 236.263675 deg,
      approachRate: 0.388139 m/s,
      LOS rate: -2.721334 deg/s,
      cmd update: -8.164003 deg/s,
      cmd heading: 249.725131 deg,
      new cmd heading: 249.725131 deg.

2021-08-13T19:26:53.854Z,1628882813.854 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:26:54.225Z,1628882814.225 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:26:54.225Z,1628882814.225 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:26:54.225Z,1628882814.225 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:26:54.226Z,1628882814.226 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:26:54.637Z,1628882814.637 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F12,000,00F4C,186,80,80,93,FF
2021-08-13T19:26:54.637Z,1628882814.637 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:26:54.637Z,1628882814.637 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:26:54.639Z,1628882814.639 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:26:55.113Z,1628882815.113 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:26:55.510Z,1628882815.510 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF8,000,00F83,186,80,80,93,FF
2021-08-13T19:26:55.510Z,1628882815.510 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:26:55.925Z,1628882815.925 [Micromodem](INFO): Nmea in: $SNTTA,,0.218418,,,192655.16*4D

2021-08-13T19:26:55.947Z,1628882815.947 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 200.759995 m, bearing: 240.291710 deg, deltaT: 4.543394 s, approachRate: 0.726333 m/s, LOS rate: 0.886570 deg/s, posRepo size: 3
2021-08-13T19:26:55.970Z,1628882815.970 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 200.759995 m,
      bearing: 240.291710 deg,
      approachRate: 0.726333 m/s,
      LOS rate: 0.886570 deg/s,
      cmd update: 2.659709 deg/s,
      cmd heading: 212.666892 deg,
      new cmd heading: 209.936025 deg.

2021-08-13T19:26:58.365Z,1628882818.365 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:26:58.741Z,1628882818.741 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:26:58.741Z,1628882818.741 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:26:58.741Z,1628882818.741 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:26:58.742Z,1628882818.742 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:26:59.145Z,1628882819.145 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF8,000,00F83,186,80,80,93,FF
2021-08-13T19:26:59.145Z,1628882819.145 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:26:59.145Z,1628882819.145 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:26:59.147Z,1628882819.147 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:26:59.558Z,1628882819.558 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:27:00.397Z,1628882820.397 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB3,000,00FBE,186,80,80,A1,FF
2021-08-13T19:27:00.398Z,1628882820.398 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:27:00.409Z,1628882820.409 [Micromodem](INFO): Nmea in: $SNTTA,,0.005051,,,192659.67*40

2021-08-13T19:27:00.825Z,1628882820.825 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 204.299988 m, bearing: 247.704569 deg, deltaT: 4.876916 s, approachRate: 0.725867 m/s, LOS rate: 1.519989 deg/s, posRepo size: 4
2021-08-13T19:27:00.827Z,1628882820.827 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 204.299988 m,
      bearing: 247.704569 deg,
      approachRate: 0.725867 m/s,
      LOS rate: 1.519989 deg/s,
      cmd update: 4.559967 deg/s,
      cmd heading: 225.649540 deg,
      new cmd heading: 226.484077 deg.

2021-08-13T19:27:03.199Z,1628882823.199 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:27:03.585Z,1628882823.585 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:27:03.585Z,1628882823.585 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:27:03.585Z,1628882823.585 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:27:03.586Z,1628882823.586 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:27:03.989Z,1628882823.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EB3,000,00FBE,186,80,80,A1,FF
2021-08-13T19:27:03.989Z,1628882823.989 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:27:03.989Z,1628882823.989 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:27:03.991Z,1628882823.991 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:27:04.416Z,1628882824.416 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:27:05.226Z,1628882825.226 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F49,000,01003,186,80,80,AC,FF
2021-08-13T19:27:05.227Z,1628882825.227 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:27:05.278Z,1628882825.278 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192704.51*53

2021-08-13T19:27:05.683Z,1628882825.683 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 208.439987 m, bearing: 233.535205 deg, deltaT: 4.857287 s, approachRate: 0.852328 m/s, LOS rate: -2.917135 deg/s, posRepo size: 4
2021-08-13T19:27:05.690Z,1628882825.690 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 208.439987 m,
      bearing: 233.535205 deg,
      approachRate: 0.852328 m/s,
      LOS rate: -2.917135 deg/s,
      cmd update: -8.751406 deg/s,
      cmd heading: 247.761080 deg,
      new cmd heading: 249.312062 deg.

2021-08-13T19:27:08.052Z,1628882828.052 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:27:08.453Z,1628882828.453 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:27:08.453Z,1628882828.453 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:27:08.453Z,1628882828.453 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:27:08.454Z,1628882828.454 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:27:08.849Z,1628882828.849 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F49,000,01003,186,80,80,AC,FF
2021-08-13T19:27:08.849Z,1628882828.849 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:27:08.849Z,1628882828.849 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:27:08.851Z,1628882828.851 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:27:09.250Z,1628882829.250 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:27:10.074Z,1628882830.074 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192709.37*5E

2021-08-13T19:27:10.858Z,1628882830.858 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F4D,000,03FB7,186,80,80,3F,FF
2021-08-13T19:27:10.858Z,1628882830.858 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:27:11.338Z,1628882831.338 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 941.160034 m, bearing: 250.215156 deg, deltaT: 5.530070 s, approachRate: 132.497421 m/s, LOS rate: 3.016228 deg/s, posRepo size: 4
2021-08-13T19:27:11.345Z,1628882831.345 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 941.160034 m,
      bearing: 250.215156 deg,
      approachRate: 132.497421 m/s,
      LOS rate: 3.016228 deg/s,
      cmd update: 9.048683 deg/s,
      cmd heading: 199.281555 deg,
      new cmd heading: 195.296444 deg.

2021-08-13T19:27:13.391Z,1628882833.391 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:27:13.693Z,1628882833.693 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:27:13.693Z,1628882833.693 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:27:13.693Z,1628882833.693 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:27:13.694Z,1628882833.694 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:27:14.097Z,1628882834.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F4D,000,03FB7,186,80,80,3F,FF
2021-08-13T19:27:14.097Z,1628882834.097 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:27:14.097Z,1628882834.097 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:27:14.099Z,1628882834.099 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:27:14.511Z,1628882834.511 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:27:15.345Z,1628882835.345 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,265,000,01092,189,80,80,93,FF
2021-08-13T19:27:15.345Z,1628882835.345 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:27:15.348Z,1628882835.348 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192714.62*52

2021-08-13T19:27:15.751Z,1628882835.751 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 217.019989 m, bearing: 201.304936 deg, deltaT: 4.592856 s, approachRate: -157.666611 m/s, LOS rate: -10.649196 deg/s, posRepo size: 4
2021-08-13T19:27:15.770Z,1628882835.770 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 217.019989 m,
      bearing: 201.304936 deg,
      approachRate: -157.666611 m/s,
      LOS rate: -10.649196 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 240.829543 deg,
      new cmd heading: 243.335513 deg.

2021-08-13T19:27:18.159Z,1628882838.159 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:27:18.537Z,1628882838.537 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:27:18.537Z,1628882838.537 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:27:18.538Z,1628882838.538 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:27:18.539Z,1628882838.539 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:27:18.953Z,1628882838.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
265,000,01092,189,80,80,93,FF
2021-08-13T19:27:18.953Z,1628882838.953 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:27:18.953Z,1628882838.953 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:27:18.955Z,1628882838.955 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:27:19.359Z,1628882839.359 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:27:20.178Z,1628882840.178 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192719.47*58

2021-08-13T19:27:20.961Z,1628882840.961 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E53,000,0400F,186,80,80,8E,FF
2021-08-13T19:27:20.962Z,1628882840.962 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:27:21.453Z,1628882841.453 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 946.440063 m, bearing: 248.714809 deg, deltaT: 5.505250 s, approachRate: 132.495346 m/s, LOS rate: 8.611757 deg/s, posRepo size: 4
2021-08-13T19:27:21.455Z,1628882841.455 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 946.440063 m,
      bearing: 248.714809 deg,
      approachRate: 132.495346 m/s,
      LOS rate: 8.611757 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 174.718888 deg,
      new cmd heading: 169.087672 deg.

2021-08-13T19:27:23.819Z,1628882843.819 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:27:24.193Z,1628882844.193 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:27:24.193Z,1628882844.193 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:27:24.193Z,1628882844.193 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:27:24.194Z,1628882844.194 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:27:24.601Z,1628882844.601 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E53,000,0400F,186,80,80,8E,FF
2021-08-13T19:27:24.601Z,1628882844.601 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:27:24.601Z,1628882844.601 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:27:24.603Z,1628882844.603 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:27:25.001Z,1628882845.001 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:27:25.427Z,1628882845.427 [Micromodem](INFO): Nmea in: $SNTTA,0.152513,0.236312,,,192725.12*51

2021-08-13T19:27:26.635Z,1628882846.635 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:27:28.233Z,1628882848.233 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
F,186,80,80,8E,FF
2021-08-13T19:27:28.233Z,1628882848.233 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
F,186,80,80,8E,FF
2021-08-13T19:27:28.233Z,1628882848.233 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T19:27:29.513Z,1628882849.513 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:27:29.849Z,1628882849.849 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:27:29.849Z,1628882849.849 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:27:29.850Z,1628882849.850 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:27:29.851Z,1628882849.851 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:27:30.249Z,1628882850.249 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
F,186,80,80,8E,FF
2021-08-13T19:27:30.249Z,1628882850.249 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:27:30.249Z,1628882850.249 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:27:30.251Z,1628882850.251 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:27:30.661Z,1628882850.661 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:27:31.473Z,1628882851.473 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1E9,000,0118A,186,80,80,67,FF
2021-08-13T19:27:31.473Z,1628882851.473 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:27:31.477Z,1628882851.477 [Micromodem](INFO): Nmea in: $SNTTA,0.412669,0.412788,,,192730.77*5E

2021-08-13T19:27:31.922Z,1628882851.922 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 231.899994 m, bearing: 191.873647 deg, deltaT: 10.581711 s, approachRate: -67.525948 m/s, LOS rate: -5.371642 deg/s, posRepo size: 4
2021-08-13T19:27:31.929Z,1628882851.929 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 231.899994 m,
      bearing: 191.873647 deg,
      approachRate: -67.525948 m/s,
      LOS rate: -5.371642 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 301.662944 deg,
      new cmd heading: 305.982776 deg.

2021-08-13T19:27:34.306Z,1628882854.306 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:27:34.705Z,1628882854.705 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:27:34.705Z,1628882854.705 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:27:34.705Z,1628882854.705 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:27:34.706Z,1628882854.706 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:27:35.101Z,1628882855.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1E9,000,0118A,186,80,80,67,FF
2021-08-13T19:27:35.101Z,1628882855.101 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:27:35.101Z,1628882855.101 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:27:35.103Z,1628882855.103 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:27:35.519Z,1628882855.519 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:27:36.342Z,1628882856.342 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192735.62*51

2021-08-13T19:27:37.128Z,1628882857.128 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:27:38.733Z,1628882858.733 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
A,186,80,80,67,FF
2021-08-13T19:27:38.733Z,1628882858.733 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
A,186,80,80,67,FF
2021-08-13T19:27:38.733Z,1628882858.733 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T19:27:39.995Z,1628882859.995 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:27:40.350Z,1628882860.350 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:27:40.350Z,1628882860.350 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:27:40.351Z,1628882860.351 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:27:40.365Z,1628882860.365 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:27:40.762Z,1628882860.762 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
A,186,80,80,67,FF
2021-08-13T19:27:40.762Z,1628882860.762 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:27:40.762Z,1628882860.762 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:27:40.763Z,1628882860.763 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:27:41.164Z,1628882861.164 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:27:41.578Z,1628882861.578 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-13T19:27:42.001Z,1628882862.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ECF,000,0121C,186,80,80,3E,FF
2021-08-13T19:27:42.001Z,1628882862.001 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:27:42.004Z,1628882862.004 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192741.28*5C

2021-08-13T19:27:42.435Z,1628882862.435 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 240.660004 m, bearing: 265.035054 deg, deltaT: 10.454071 s, approachRate: 0.837952 m/s, LOS rate: 6.998365 deg/s, posRepo size: 4
2021-08-13T19:27:42.438Z,1628882862.438 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 240.660004 m,
      bearing: 265.035054 deg,
      approachRate: 0.837952 m/s,
      LOS rate: 6.998365 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 176.177392 deg,
      new cmd heading: 171.186363 deg.

2021-08-13T19:27:44.812Z,1628882864.812 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:27:45.202Z,1628882865.202 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:27:45.202Z,1628882865.202 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:27:45.202Z,1628882865.202 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:27:45.203Z,1628882865.203 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:27:45.601Z,1628882865.601 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ECF,000,0121C,186,80,80,3E,FF
2021-08-13T19:27:45.601Z,1628882865.601 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:27:45.601Z,1628882865.601 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:27:45.603Z,1628882865.603 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:27:46.021Z,1628882866.021 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:27:46.829Z,1628882866.829 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F84,000,01250,187,80,80,93,FF
2021-08-13T19:27:46.830Z,1628882866.830 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:27:46.833Z,1628882866.833 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192746.12*52

2021-08-13T19:27:47.322Z,1628882867.322 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 243.779984 m, bearing: 242.673971 deg, deltaT: 4.895848 s, approachRate: 0.637271 m/s, LOS rate: -4.567356 deg/s, posRepo size: 4
2021-08-13T19:27:47.329Z,1628882867.329 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 243.779984 m,
      bearing: 242.673971 deg,
      approachRate: 0.637271 m/s,
      LOS rate: -4.567356 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 234.868794 deg,
      new cmd heading: 239.811090 deg.

2021-08-13T19:27:49.722Z,1628882869.722 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:27:50.049Z,1628882870.049 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:27:50.049Z,1628882870.049 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:27:50.049Z,1628882870.049 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:27:50.050Z,1628882870.050 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:27:50.457Z,1628882870.457 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F84,000,01250,187,80,80,93,FF
2021-08-13T19:27:50.457Z,1628882870.457 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:27:50.457Z,1628882870.457 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:27:50.459Z,1628882870.459 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:27:50.870Z,1628882870.870 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:27:51.693Z,1628882871.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FAB,000,0129F,184,80,80,85,FF
2021-08-13T19:27:51.694Z,1628882871.694 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:27:51.697Z,1628882871.697 [Micromodem](INFO): Nmea in: $SNTTA,,0.309257,,,192750.98*43

2021-08-13T19:27:52.122Z,1628882872.122 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 248.519989 m, bearing: 227.835535 deg, deltaT: 4.807233 s, approachRate: 0.986015 m/s, LOS rate: -3.086689 deg/s, posRepo size: 4
2021-08-13T19:27:52.124Z,1628882872.124 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 248.519989 m,
      bearing: 227.835535 deg,
      approachRate: 0.986015 m/s,
      LOS rate: -3.086689 deg/s,
      cmd update: -9.260068 deg/s,
      cmd heading: 177.123041 deg,
      new cmd heading: 172.356701 deg.

2021-08-13T19:27:54.538Z,1628882874.538 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:27:54.910Z,1628882874.910 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:27:54.910Z,1628882874.910 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:27:54.910Z,1628882874.910 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:27:54.911Z,1628882874.911 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:27:55.341Z,1628882875.341 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FAB,000,0129F,184,80,80,85,FF
2021-08-13T19:27:55.341Z,1628882875.341 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:27:55.341Z,1628882875.341 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:27:55.343Z,1628882875.343 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:27:55.780Z,1628882875.780 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:27:56.593Z,1628882876.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,169,000,012E7,186,80,80,39,FF
2021-08-13T19:27:56.593Z,1628882876.593 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:27:56.597Z,1628882876.597 [Micromodem](INFO): Nmea in: $SNTTA,0.172996,,,,192755.86*41

2021-08-13T19:27:57.047Z,1628882877.047 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 252.839996 m, bearing: 195.768330 deg, deltaT: 4.932211 s, approachRate: 0.875876 m/s, LOS rate: -6.501588 deg/s, posRepo size: 4
2021-08-13T19:27:57.049Z,1628882877.049 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 252.839996 m,
      bearing: 195.768330 deg,
      approachRate: 0.875876 m/s,
      LOS rate: -6.501588 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 131.488739 deg,
      new cmd heading: 127.961125 deg.

2021-08-13T19:27:59.512Z,1628882879.512 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:27:59.813Z,1628882879.813 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:27:59.813Z,1628882879.813 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:27:59.813Z,1628882879.813 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:27:59.814Z,1628882879.814 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:28:00.225Z,1628882880.225 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
169,000,012E7,186,80,80,39,FF
2021-08-13T19:28:00.226Z,1628882880.226 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:28:00.226Z,1628882880.226 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:28:00.228Z,1628882880.228 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:28:00.628Z,1628882880.628 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:28:01.461Z,1628882881.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DAA,000,01326,189,80,80,76,FF
2021-08-13T19:28:01.461Z,1628882881.461 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:28:01.464Z,1628882881.464 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192800.75*5E

2021-08-13T19:28:01.878Z,1628882881.878 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 256.619995 m, bearing: 224.553466 deg, deltaT: 4.908256 s, approachRate: 0.770131 m/s, LOS rate: 5.864636 deg/s, posRepo size: 4
2021-08-13T19:28:01.881Z,1628882881.881 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 256.619995 m,
      bearing: 224.553466 deg,
      approachRate: 0.770131 m/s,
      LOS rate: 5.864636 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 72.591033 deg,
      new cmd heading: 68.777373 deg.

2021-08-13T19:28:04.283Z,1628882884.283 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:28:04.665Z,1628882884.665 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:28:04.665Z,1628882884.665 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:28:04.665Z,1628882884.665 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:28:04.666Z,1628882884.666 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:28:05.074Z,1628882885.074 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DAA,000,01326,189,80,80,76,FF
2021-08-13T19:28:05.074Z,1628882885.074 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:28:05.074Z,1628882885.074 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:28:05.076Z,1628882885.076 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:28:05.494Z,1628882885.494 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:28:06.305Z,1628882886.305 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,366,000,01362,189,80,80,65,FF
2021-08-13T19:28:06.306Z,1628882886.306 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:28:06.729Z,1628882886.729 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 260.219971 m, bearing: 135.986047 deg, deltaT: 4.795799 s, approachRate: 0.750652 m/s, LOS rate: -18.467708 deg/s, posRepo size: 4
2021-08-13T19:28:06.730Z,1628882886.730 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -18.467708 deg/s. Setting heading cmd to target bearing of 135.986047deg and heading rate command to 0 deg/s.
2021-08-13T19:28:09.135Z,1628882889.135 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:28:09.521Z,1628882889.521 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:28:09.521Z,1628882889.521 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:28:09.521Z,1628882889.521 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:28:09.522Z,1628882889.522 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:28:09.929Z,1628882889.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
366,000,01362,189,80,80,65,FF
2021-08-13T19:28:09.929Z,1628882889.929 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:28:09.929Z,1628882889.929 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:28:09.931Z,1628882889.931 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:28:10.332Z,1628882890.332 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:28:11.165Z,1628882891.165 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,13D,000,01395,186,80,80,63,FF
2021-08-13T19:28:11.165Z,1628882891.165 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:28:11.169Z,1628882891.169 [Micromodem](INFO): Nmea in: $SNTTA,0.177863,,,,192810.45*4E

2021-08-13T19:28:11.603Z,1628882891.603 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 263.279968 m, bearing: 148.147527 deg, deltaT: 4.825604 s, approachRate: 0.634117 m/s, LOS rate: 2.520199 deg/s, posRepo size: 4
2021-08-13T19:28:11.606Z,1628882891.606 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 263.279968 m,
      bearing: 148.147527 deg,
      approachRate: 0.634117 m/s,
      LOS rate: 2.520199 deg/s,
      cmd update: 7.560596 deg/s,
      cmd heading: 135.986047 deg,
      new cmd heading: 135.986047 deg.

2021-08-13T19:28:13.986Z,1628882893.986 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:28:14.391Z,1628882894.391 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:28:14.392Z,1628882894.392 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:28:14.393Z,1628882894.393 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:28:14.394Z,1628882894.394 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:28:14.769Z,1628882894.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
13D,000,01395,186,80,80,63,FF
2021-08-13T19:28:14.769Z,1628882894.769 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:28:14.769Z,1628882894.769 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:28:14.771Z,1628882894.771 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:28:15.186Z,1628882895.186 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:28:16.001Z,1628882896.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,02F,000,013C4,185,80,80,2F,FF
2021-08-13T19:28:16.001Z,1628882896.001 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:28:16.004Z,1628882896.004 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192815.29*53

2021-08-13T19:28:16.455Z,1628882896.455 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 266.099976 m, bearing: 147.211559 deg, deltaT: 4.885041 s, approachRate: 0.577274 m/s, LOS rate: -0.191599 deg/s, posRepo size: 4
2021-08-13T19:28:16.461Z,1628882896.461 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 266.099976 m,
      bearing: 147.211559 deg,
      approachRate: 0.577274 m/s,
      LOS rate: -0.191599 deg/s,
      cmd update: -0.574796 deg/s,
      cmd heading: 172.850303 deg,
      new cmd heading: 175.835166 deg.

2021-08-13T19:28:18.839Z,1628882898.839 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:28:19.235Z,1628882899.235 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:28:19.236Z,1628882899.236 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:28:19.236Z,1628882899.236 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:28:19.237Z,1628882899.237 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:28:19.613Z,1628882899.613 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
02F,000,013C4,185,80,80,2F,FF
2021-08-13T19:28:19.613Z,1628882899.613 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:28:19.613Z,1628882899.613 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:28:19.615Z,1628882899.615 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:28:20.037Z,1628882900.037 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:28:20.861Z,1628882900.861 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2FE,000,013DE,189,80,80,80,FF
2021-08-13T19:28:20.861Z,1628882900.861 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:28:20.864Z,1628882900.864 [Micromodem](INFO): Nmea in: $SNTTA,0.180289,,,,192820.14*4F

2021-08-13T19:28:21.315Z,1628882901.315 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 267.659973 m, bearing: 124.467739 deg, deltaT: 4.816506 s, approachRate: 0.323886 m/s, LOS rate: -4.722058 deg/s, posRepo size: 4
2021-08-13T19:28:21.325Z,1628882901.325 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 267.659973 m,
      bearing: 124.467739 deg,
      approachRate: 0.323886 m/s,
      LOS rate: -4.722058 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 170.078084 deg,
      new cmd heading: 169.830161 deg.

2021-08-13T19:28:23.714Z,1628882903.714 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:28:24.062Z,1628882904.062 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:28:24.062Z,1628882904.062 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:28:24.062Z,1628882904.062 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:28:24.063Z,1628882904.063 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:28:24.473Z,1628882904.473 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2FE,000,013DE,189,80,80,80,FF
2021-08-13T19:28:24.473Z,1628882904.473 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:28:24.473Z,1628882904.473 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:28:24.475Z,1628882904.475 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:28:24.876Z,1628882904.876 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:28:25.677Z,1628882905.677 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,277,000,0140E,189,80,80,90,FF
2021-08-13T19:28:25.678Z,1628882905.678 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:28:25.683Z,1628882905.683 [Micromodem](INFO): Nmea in: $SNTTA,0.338523,0.337404,,,192825.00*50

2021-08-13T19:28:26.134Z,1628882906.134 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 270.539978 m, bearing: 143.117967 deg, deltaT: 4.883825 s, approachRate: 0.589703 m/s, LOS rate: 3.818775 deg/s, posRepo size: 4
2021-08-13T19:28:26.136Z,1628882906.136 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 270.539978 m,
      bearing: 143.117967 deg,
      approachRate: 0.589703 m/s,
      LOS rate: 3.818775 deg/s,
      cmd update: 11.456324 deg/s,
      cmd heading: 111.487806 deg,
      new cmd heading: 107.067738 deg.

2021-08-13T19:28:28.536Z,1628882908.536 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:28:28.906Z,1628882908.906 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:28:28.906Z,1628882908.907 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:28:28.907Z,1628882908.907 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:28:28.908Z,1628882908.908 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:28:29.357Z,1628882909.357 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
277,000,0140E,189,80,80,90,FF
2021-08-13T19:28:29.357Z,1628882909.357 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:28:29.357Z,1628882909.357 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:28:29.359Z,1628882909.359 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:28:29.731Z,1628882909.731 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:28:30.541Z,1628882910.541 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,174,000,01440,185,80,80,77,FF
2021-08-13T19:28:30.542Z,1628882910.542 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:28:30.550Z,1628882910.550 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192829.88*57

2021-08-13T19:28:30.972Z,1628882910.972 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 273.539978 m, bearing: 141.254295 deg, deltaT: 4.856539 s, approachRate: 0.617724 m/s, LOS rate: -0.383745 deg/s, posRepo size: 4
2021-08-13T19:28:30.974Z,1628882910.974 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 273.539978 m,
      bearing: 141.254295 deg,
      approachRate: 0.617724 m/s,
      LOS rate: -0.383745 deg/s,
      cmd update: -1.151235 deg/s,
      cmd heading: 167.125444 deg,
      new cmd heading: 171.128456 deg.

2021-08-13T19:28:33.444Z,1628882913.444 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:28:33.757Z,1628882913.757 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:28:33.757Z,1628882913.757 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:28:33.757Z,1628882913.757 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:28:33.758Z,1628882913.758 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:28:34.169Z,1628882914.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
174,000,01440,185,80,80,77,FF
2021-08-13T19:28:34.169Z,1628882914.169 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:28:34.169Z,1628882914.169 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:28:34.171Z,1628882914.171 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:28:34.564Z,1628882914.564 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:28:35.393Z,1628882915.393 [Micromodem](INFO): Nmea in: $SNTTA,0.451482,0.451357,,,192834.69*5B

2021-08-13T19:28:36.219Z,1628882916.219 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:28:37.801Z,1628882917.801 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
0,185,80,80,77,FF
2021-08-13T19:28:37.801Z,1628882917.801 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
0,185,80,80,77,FF
2021-08-13T19:28:37.801Z,1628882917.801 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T19:28:39.031Z,1628882919.031 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:28:39.449Z,1628882919.449 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:28:39.449Z,1628882919.449 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:28:39.449Z,1628882919.449 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:28:39.450Z,1628882919.450 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:28:39.829Z,1628882919.829 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
0,185,80,80,77,FF
2021-08-13T19:28:39.829Z,1628882919.829 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:28:39.830Z,1628882919.830 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:28:39.831Z,1628882919.831 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:28:40.229Z,1628882920.229 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:28:41.061Z,1628882921.061 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,26A,000,01499,189,80,80,87,FF
2021-08-13T19:28:41.061Z,1628882921.061 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:28:41.064Z,1628882921.064 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192840.35*5E

2021-08-13T19:28:41.531Z,1628882921.531 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 278.880005 m, bearing: 136.223315 deg, deltaT: 10.453360 s, approachRate: 0.510843 m/s, LOS rate: -0.481279 deg/s, posRepo size: 4
2021-08-13T19:28:41.533Z,1628882921.533 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 278.880005 m,
      bearing: 136.223315 deg,
      approachRate: 0.510843 m/s,
      LOS rate: -0.481279 deg/s,
      cmd update: -1.443836 deg/s,
      cmd heading: 155.086503 deg,
      new cmd heading: 154.567510 deg.

2021-08-13T19:28:43.902Z,1628882923.902 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:28:44.265Z,1628882924.265 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:28:44.265Z,1628882924.265 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:28:44.265Z,1628882924.265 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:28:44.266Z,1628882924.266 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:28:44.678Z,1628882924.678 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
26A,000,01499,189,80,80,87,FF
2021-08-13T19:28:44.678Z,1628882924.678 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:28:44.678Z,1628882924.678 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:28:44.679Z,1628882924.679 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:28:45.081Z,1628882925.081 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:28:45.911Z,1628882925.911 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192845.20*5F

2021-08-13T19:28:46.697Z,1628882926.697 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,237,000,038B1,188,80,80,4F,FF
2021-08-13T19:28:46.698Z,1628882926.698 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:28:47.144Z,1628882927.144 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 833.279968 m, bearing: 134.139629 deg, deltaT: 5.698575 s, approachRate: 97.287476 m/s, LOS rate: -0.365650 deg/s, posRepo size: 4
2021-08-13T19:28:47.146Z,1628882927.146 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 833.279968 m,
      bearing: 134.139629 deg,
      approachRate: 97.287476 m/s,
      LOS rate: -0.365650 deg/s,
      cmd update: -1.096951 deg/s,
      cmd heading: 146.860446 deg,
      new cmd heading: 146.331203 deg.

2021-08-13T19:28:47.510Z,1628882927.510 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T19:28:49.590Z,1628882929.590 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:28:49.929Z,1628882929.929 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:28:49.929Z,1628882929.929 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:28:49.929Z,1628882929.929 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:28:49.930Z,1628882929.930 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:28:50.329Z,1628882930.329 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
237,000,038B1,188,80,80,4F,FF
2021-08-13T19:28:50.329Z,1628882930.329 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:28:50.329Z,1628882930.329 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:28:50.331Z,1628882930.331 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:28:50.750Z,1628882930.750 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:28:51.561Z,1628882931.561 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,217,000,014FA,187,80,80,68,FF
2021-08-13T19:28:51.561Z,1628882931.561 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:28:51.565Z,1628882931.565 [Micromodem](INFO): Nmea in: $SNTTA,0.411280,,,,192850.85*44

2021-08-13T19:28:51.987Z,1628882931.987 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 284.699982 m, bearing: 127.800776 deg, deltaT: 4.905936 s, approachRate: -111.819633 m/s, LOS rate: -1.292078 deg/s, posRepo size: 4
2021-08-13T19:28:52.009Z,1628882932.009 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 284.699982 m,
      bearing: 127.800776 deg,
      approachRate: -111.819633 m/s,
      LOS rate: -1.292078 deg/s,
      cmd update: -3.876234 deg/s,
      cmd heading: 141.484437 deg,
      new cmd heading: 141.144904 deg.

2021-08-13T19:28:54.431Z,1628882934.431 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:28:54.777Z,1628882934.777 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:28:54.777Z,1628882934.777 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:28:54.777Z,1628882934.777 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:28:54.778Z,1628882934.778 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:28:55.173Z,1628882935.173 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
217,000,014FA,187,80,80,68,FF
2021-08-13T19:28:55.173Z,1628882935.173 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:28:55.173Z,1628882935.173 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:28:55.175Z,1628882935.175 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:28:55.594Z,1628882935.594 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:28:56.426Z,1628882936.426 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192855.70*5B

2021-08-13T19:28:57.219Z,1628882937.219 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:28:58.809Z,1628882938.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
A,187,80,80,68,FF
2021-08-13T19:28:58.809Z,1628882938.809 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
A,187,80,80,68,FF
2021-08-13T19:28:58.809Z,1628882938.809 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T19:29:00.047Z,1628882940.047 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:29:00.449Z,1628882940.449 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:29:00.449Z,1628882940.449 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:29:00.449Z,1628882940.449 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:29:00.450Z,1628882940.450 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:29:00.833Z,1628882940.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
A,187,80,80,68,FF
2021-08-13T19:29:00.833Z,1628882940.833 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:29:00.833Z,1628882940.833 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:29:00.835Z,1628882940.835 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:29:01.260Z,1628882941.260 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:29:02.074Z,1628882942.074 [Micromodem](INFO): Nmea in: $SNTTA,0.158613,,,,192901.36*4F

2021-08-13T19:29:02.887Z,1628882942.887 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:29:04.066Z,1628882944.066 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,450,000,07296,189,80,80,74,FF
2021-08-13T19:29:04.066Z,1628882944.066 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:29:04.506Z,1628882944.506 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1722.540039 m, bearing: 63.927961 deg, deltaT: 12.403252 s, approachRate: 115.924446 m/s, LOS rate: -5.149683 deg/s, posRepo size: 4
2021-08-13T19:29:04.508Z,1628882944.508 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 1722.540039 m,
      bearing: 63.927961 deg,
      approachRate: 115.924446 m/s,
      LOS rate: -5.149683 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 93.382105 deg,
      new cmd heading: 91.761354 deg.

2021-08-13T19:29:06.940Z,1628882946.940 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:29:07.361Z,1628882947.361 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:29:07.361Z,1628882947.361 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:29:07.361Z,1628882947.361 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:29:07.362Z,1628882947.362 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:29:07.403Z,1628882947.403 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T19:29:07.702Z,1628882947.702 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
450,000,07296,189,80,80,74,FF
2021-08-13T19:29:07.702Z,1628882947.702 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:29:07.702Z,1628882947.702 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:29:07.703Z,1628882947.703 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:29:08.105Z,1628882948.105 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:29:08.925Z,1628882948.925 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0154D,189,80,80,88,FF
2021-08-13T19:29:08.926Z,1628882948.926 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:29:08.929Z,1628882948.929 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192908.22*55

2021-08-13T19:29:09.462Z,1628882949.462 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 289.679993 m, bearing: 37.682437 deg, deltaT: 4.856767 s, approachRate: -295.023438 m/s, LOS rate: -5.403909 deg/s, posRepo size: 4
2021-08-13T19:29:09.468Z,1628882949.468 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 289.679993 m,
      bearing: 37.682437 deg,
      approachRate: -295.023438 m/s,
      LOS rate: -5.403909 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 35.101679 deg,
      new cmd heading: 28.888343 deg.

2021-08-13T19:29:11.457Z,1628882951.457 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:29:11.737Z,1628882951.737 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:29:11.737Z,1628882951.737 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:29:11.737Z,1628882951.737 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:29:11.738Z,1628882951.738 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:29:12.141Z,1628882952.141 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0154D,189,80,80,88,FF
2021-08-13T19:29:12.141Z,1628882952.141 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:29:12.141Z,1628882952.141 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:29:12.143Z,1628882952.143 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:29:12.561Z,1628882952.561 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:29:13.399Z,1628882953.399 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192912.66*5E

2021-08-13T19:29:13.762Z,1628882953.762 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3DF,000,02E00,189,80,80,87,FF
2021-08-13T19:29:13.762Z,1628882953.762 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:29:14.191Z,1628882954.191 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 669.059998 m, bearing: 35.712583 deg, deltaT: 4.834959 s, approachRate: 78.466026 m/s, LOS rate: -0.407419 deg/s, posRepo size: 4
2021-08-13T19:29:14.194Z,1628882954.194 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 669.059998 m,
      bearing: 35.712583 deg,
      approachRate: 78.466026 m/s,
      LOS rate: -0.407419 deg/s,
      cmd update: -1.222257 deg/s,
      cmd heading: 337.081689 deg,
      new cmd heading: 332.134185 deg.

2021-08-13T19:29:16.629Z,1628882956.629 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:29:16.993Z,1628882956.993 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:29:16.993Z,1628882956.993 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:29:16.993Z,1628882956.993 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:29:16.994Z,1628882956.994 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:29:17.409Z,1628882957.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3DF,000,02E00,189,80,80,87,FF
2021-08-13T19:29:17.409Z,1628882957.409 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:29:17.409Z,1628882957.409 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:29:17.411Z,1628882957.411 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:29:17.449Z,1628882957.449 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T19:29:17.800Z,1628882957.800 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:29:18.619Z,1628882958.619 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192917.93*51

2021-08-13T19:29:19.449Z,1628882959.449 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,245,000,043F3,188,80,80,61,FF
2021-08-13T19:29:19.449Z,1628882959.449 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:29:19.848Z,1628882959.848 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1006.200073 m, bearing: 35.471689 deg, deltaT: 5.745431 s, approachRate: 58.679684 m/s, LOS rate: -0.041928 deg/s, posRepo size: 4
2021-08-13T19:29:19.850Z,1628882959.850 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 1006.200073 m,
      bearing: 35.471689 deg,
      approachRate: 58.679684 m/s,
      LOS rate: -0.041928 deg/s,
      cmd update: -0.125784 deg/s,
      cmd heading: 330.069289 deg,
      new cmd heading: 329.664266 deg.

2021-08-13T19:29:22.299Z,1628882962.299 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:29:22.649Z,1628882962.649 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:29:22.649Z,1628882962.649 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:29:22.649Z,1628882962.649 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:29:22.650Z,1628882962.650 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:29:23.054Z,1628882963.054 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
245,000,043F3,188,80,80,61,FF
2021-08-13T19:29:23.054Z,1628882963.054 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:29:23.054Z,1628882963.054 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:29:23.056Z,1628882963.056 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:29:23.461Z,1628882963.461 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:29:24.290Z,1628882964.290 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192923.58*51

2021-08-13T19:29:25.069Z,1628882965.069 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,085,000,043F0,186,80,80,48,FF
2021-08-13T19:29:25.070Z,1628882965.070 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:29:25.543Z,1628882965.543 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1006.020081 m, bearing: 36.959503 deg, deltaT: 5.586314 s, approachRate: -0.032220 m/s, LOS rate: 0.266332 deg/s, posRepo size: 4
2021-08-13T19:29:25.546Z,1628882965.546 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 1006.020081 m,
      bearing: 36.959503 deg,
      approachRate: -0.032220 m/s,
      LOS rate: 0.266332 deg/s,
      cmd update: 0.798996 deg/s,
      cmd heading: 329.368619 deg,
      new cmd heading: 329.311194 deg.

2021-08-13T19:29:27.522Z,1628882967.522 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-13T19:29:27.923Z,1628882967.923 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:29:28.301Z,1628882968.301 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:29:28.301Z,1628882968.301 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:29:28.301Z,1628882968.301 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:29:28.302Z,1628882968.302 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:29:28.705Z,1628882968.705 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
085,000,043F0,186,80,80,48,FF
2021-08-13T19:29:28.705Z,1628882968.705 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:29:28.705Z,1628882968.705 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:29:28.707Z,1628882968.707 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:29:29.122Z,1628882969.122 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:29:29.937Z,1628882969.937 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F15,000,014CD,187,80,80,4A,FF
2021-08-13T19:29:29.937Z,1628882969.937 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:29:29.940Z,1628882969.940 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192929.23*57

2021-08-13T19:29:30.414Z,1628882970.414 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 282.000000 m, bearing: 35.475528 deg, deltaT: 4.889884 s, approachRate: -148.064880 m/s, LOS rate: -0.303479 deg/s, posRepo size: 4
2021-08-13T19:29:30.420Z,1628882970.420 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 282.000000 m,
      bearing: 35.475528 deg,
      approachRate: -148.064880 m/s,
      LOS rate: -0.303479 deg/s,
      cmd update: -0.910436 deg/s,
      cmd heading: 333.278943 deg,
      new cmd heading: 333.624994 deg.

2021-08-13T19:29:32.786Z,1628882972.786 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:29:33.161Z,1628882973.161 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:29:33.161Z,1628882973.161 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:29:33.161Z,1628882973.161 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:29:33.162Z,1628882973.162 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:29:33.549Z,1628882973.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F15,000,014CD,187,80,80,4A,FF
2021-08-13T19:29:33.549Z,1628882973.549 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:29:33.549Z,1628882973.549 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:29:33.551Z,1628882973.551 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:29:33.980Z,1628882973.980 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:29:34.789Z,1628882974.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D71,000,014AC,189,80,80,6E,FF
2021-08-13T19:29:34.789Z,1628882974.789 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:29:34.793Z,1628882974.793 [Micromodem](INFO): Nmea in: $SNTTA,0.192464,,,,192934.07*4F

2021-08-13T19:29:35.211Z,1628882975.211 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 280.019989 m, bearing: 35.358674 deg, deltaT: 4.857574 s, approachRate: -0.407613 m/s, LOS rate: -0.024056 deg/s, posRepo size: 4
2021-08-13T19:29:35.214Z,1628882975.214 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 280.019989 m,
      bearing: 35.358674 deg,
      approachRate: -0.407613 m/s,
      LOS rate: -0.024056 deg/s,
      cmd update: -0.072168 deg/s,
      cmd heading: 328.845601 deg,
      new cmd heading: 328.516896 deg.

2021-08-13T19:29:37.641Z,1628882977.641 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:29:38.005Z,1628882978.005 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:29:38.005Z,1628882978.005 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:29:38.005Z,1628882978.005 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:29:38.006Z,1628882978.006 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:29:38.445Z,1628882978.445 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D71,000,014AC,189,80,80,6E,FF
2021-08-13T19:29:38.445Z,1628882978.445 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:29:38.445Z,1628882978.445 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:29:38.447Z,1628882978.447 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:29:38.821Z,1628882978.821 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:29:39.625Z,1628882979.625 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192938.97*58

2021-08-13T19:29:40.502Z,1628882980.502 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:29:42.049Z,1628882982.049 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,189,80,80,6E,FF
2021-08-13T19:29:42.050Z,1628882982.050 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,189,80,80,6E,FF
2021-08-13T19:29:42.050Z,1628882982.050 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T19:29:43.331Z,1628882983.331 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:29:43.669Z,1628882983.669 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:29:43.669Z,1628882983.669 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:29:43.670Z,1628882983.670 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:29:43.671Z,1628882983.671 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:29:44.057Z,1628882984.057 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,189,80,80,6E,FF
2021-08-13T19:29:44.057Z,1628882984.057 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:29:44.057Z,1628882984.057 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:29:44.059Z,1628882984.059 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:29:44.486Z,1628882984.486 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:29:45.325Z,1628882985.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,0148A,189,80,80,86,FF
2021-08-13T19:29:45.326Z,1628882985.326 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:29:45.329Z,1628882985.329 [Micromodem](INFO): Nmea in: $SNTTA,0.187201,,,,192944.58*43

2021-08-13T19:29:45.745Z,1628882985.745 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 277.979980 m, bearing: 26.474979 deg, deltaT: 10.576242 s, approachRate: -0.192886 m/s, LOS rate: -0.839967 deg/s, posRepo size: 4
2021-08-13T19:29:45.747Z,1628882985.747 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 277.979980 m,
      bearing: 26.474979 deg,
      approachRate: -0.192886 m/s,
      LOS rate: -0.839967 deg/s,
      cmd update: -2.519901 deg/s,
      cmd heading: 328.082056 deg,
      new cmd heading: 328.059352 deg.

2021-08-13T19:29:47.421Z,1628882987.421 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-13T19:29:48.123Z,1628882988.123 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:29:48.510Z,1628882988.510 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:29:48.510Z,1628882988.510 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:29:48.510Z,1628882988.510 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:29:48.510Z,1628882988.510 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:29:48.910Z,1628882988.910 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,0148A,189,80,80,86,FF
2021-08-13T19:29:48.910Z,1628882988.910 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:29:48.910Z,1628882988.910 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:29:48.912Z,1628882988.912 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:29:49.362Z,1628882989.362 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:29:50.138Z,1628882990.138 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,01488,189,80,80,78,FF
2021-08-13T19:29:50.138Z,1628882990.138 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:29:50.143Z,1628882990.143 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192949.43*57

2021-08-13T19:29:50.562Z,1628882990.562 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 277.860016 m, bearing: 24.908465 deg, deltaT: 4.762850 s, approachRate: -0.025188 m/s, LOS rate: -0.328903 deg/s, posRepo size: 4
2021-08-13T19:29:50.580Z,1628882990.580 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 277.860016 m,
      bearing: 24.908465 deg,
      approachRate: -0.025188 m/s,
      LOS rate: -0.328903 deg/s,
      cmd update: -0.986708 deg/s,
      cmd heading: 316.081494 deg,
      new cmd heading: 315.151418 deg.

2021-08-13T19:29:52.995Z,1628882992.995 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:29:53.365Z,1628882993.365 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:29:53.365Z,1628882993.365 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:29:53.365Z,1628882993.365 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:29:53.366Z,1628882993.366 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:29:53.753Z,1628882993.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,01488,189,80,80,78,FF
2021-08-13T19:29:53.753Z,1628882993.753 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:29:53.753Z,1628882993.753 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:29:53.755Z,1628882993.755 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:29:54.165Z,1628882994.165 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:29:54.994Z,1628882994.994 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,0148D,189,80,80,54,FF
2021-08-13T19:29:54.994Z,1628882994.994 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:29:54.999Z,1628882994.999 [Micromodem](INFO): Nmea in: $SNTTA,0.187806,,,,192954.28*48

2021-08-13T19:29:55.471Z,1628882995.471 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 278.159973 m, bearing: 16.015909 deg, deltaT: 4.867813 s, approachRate: 0.061621 m/s, LOS rate: -1.826807 deg/s, posRepo size: 4
2021-08-13T19:29:55.474Z,1628882995.474 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 278.159973 m,
      bearing: 16.015909 deg,
      approachRate: 0.061621 m/s,
      LOS rate: -1.826807 deg/s,
      cmd update: -5.480422 deg/s,
      cmd heading: 311.289792 deg,
      new cmd heading: 310.873181 deg.

2021-08-13T19:29:57.445Z,1628882997.445 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-13T19:29:57.831Z,1628882997.831 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:29:58.197Z,1628882998.197 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:29:58.197Z,1628882998.197 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:29:58.197Z,1628882998.197 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:29:58.198Z,1628882998.198 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:29:58.601Z,1628882998.601 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,0148D,189,80,80,54,FF
2021-08-13T19:29:58.601Z,1628882998.601 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:29:58.601Z,1628882998.601 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:29:58.603Z,1628882998.603 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:29:59.009Z,1628882999.009 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:29:59.837Z,1628882999.837 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,293,000,014A5,189,80,80,4E,FF
2021-08-13T19:29:59.837Z,1628882999.837 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:29:59.840Z,1628882999.840 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192959.13*53

2021-08-13T19:30:00.254Z,1628883000.254 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 279.600006 m, bearing: 270.641055 deg, deltaT: 4.832221 s, approachRate: 0.298006 m/s, LOS rate: -21.806714 deg/s, posRepo size: 4
2021-08-13T19:30:00.255Z,1628883000.255 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -21.806714 deg/s. Setting heading cmd to target bearing of 270.641055deg and heading rate command to 0 deg/s.
2021-08-13T19:30:02.673Z,1628883002.673 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:30:03.045Z,1628883003.045 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:30:03.045Z,1628883003.045 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:30:03.045Z,1628883003.045 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:30:03.046Z,1628883003.046 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:30:03.457Z,1628883003.457 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
293,000,014A5,189,80,80,4E,FF
2021-08-13T19:30:03.457Z,1628883003.457 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:30:03.457Z,1628883003.457 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:30:03.459Z,1628883003.459 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:30:03.861Z,1628883003.861 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:30:04.693Z,1628883004.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B47,000,014C0,189,80,80,3C,FF
2021-08-13T19:30:04.693Z,1628883004.693 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:30:04.696Z,1628883004.696 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193003.98*57

2021-08-13T19:30:05.122Z,1628883005.122 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 281.219971 m, bearing: 345.448975 deg, deltaT: 4.860621 s, approachRate: 0.333283 m/s, LOS rate: 15.390610 deg/s, posRepo size: 4
2021-08-13T19:30:05.122Z,1628883005.122 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 15.390610 deg/s. Setting heading cmd to target bearing of 345.448975deg and heading rate command to 0 deg/s.
2021-08-13T19:30:07.525Z,1628883007.525 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-13T19:30:07.551Z,1628883007.551 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:30:07.894Z,1628883007.894 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:30:07.894Z,1628883007.894 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:30:07.895Z,1628883007.895 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:30:07.896Z,1628883007.896 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:30:08.303Z,1628883008.303 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B47,000,014C0,189,80,80,3C,FF
2021-08-13T19:30:08.303Z,1628883008.303 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:30:08.303Z,1628883008.303 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:30:08.316Z,1628883008.316 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:30:08.713Z,1628883008.713 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:30:09.535Z,1628883009.535 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C19,000,014EA,189,80,80,27,FF
2021-08-13T19:30:09.535Z,1628883009.535 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:30:09.538Z,1628883009.538 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193008.84*51

2021-08-13T19:30:09.959Z,1628883009.959 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 283.739990 m, bearing: 325.490589 deg, deltaT: 4.895927 s, approachRate: 0.514718 m/s, LOS rate: -4.076529 deg/s, posRepo size: 4
2021-08-13T19:30:09.962Z,1628883009.962 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 283.739990 m,
      bearing: 325.490589 deg,
      approachRate: 0.514718 m/s,
      LOS rate: -4.076529 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 345.448975 deg,
      new cmd heading: 345.448975 deg.

2021-08-13T19:30:12.443Z,1628883012.443 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:30:12.753Z,1628883012.753 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:30:12.753Z,1628883012.753 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:30:12.753Z,1628883012.753 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:30:12.754Z,1628883012.754 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:30:13.149Z,1628883013.149 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C19,000,014EA,189,80,80,27,FF
2021-08-13T19:30:13.149Z,1628883013.149 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:30:13.149Z,1628883013.149 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:30:13.151Z,1628883013.151 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:30:13.569Z,1628883013.569 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:30:14.409Z,1628883014.409 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193013.67*56

2021-08-13T19:30:15.193Z,1628883015.193 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:30:16.781Z,1628883016.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
A,189,80,80,27,FF
2021-08-13T19:30:16.782Z,1628883016.782 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
A,189,80,80,27,FF
2021-08-13T19:30:16.782Z,1628883016.782 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T19:30:18.018Z,1628883018.018 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:30:18.414Z,1628883018.414 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:30:18.414Z,1628883018.414 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:30:18.415Z,1628883018.415 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:30:18.417Z,1628883018.417 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:30:18.797Z,1628883018.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
A,189,80,80,27,FF
2021-08-13T19:30:18.797Z,1628883018.797 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:30:18.798Z,1628883018.798 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:30:18.799Z,1628883018.799 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:30:19.208Z,1628883019.208 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:30:19.624Z,1628883019.624 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T19:30:20.037Z,1628883020.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E22,000,01526,186,80,80,71,FF
2021-08-13T19:30:20.038Z,1628883020.038 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:30:20.040Z,1628883020.040 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193019.32*5C

2021-08-13T19:30:20.482Z,1628883020.482 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 287.339996 m, bearing: 335.376905 deg, deltaT: 10.403188 s, approachRate: 0.346048 m/s, LOS rate: 0.950316 deg/s, posRepo size: 4
2021-08-13T19:30:20.504Z,1628883020.504 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 287.339996 m,
      bearing: 335.376905 deg,
      approachRate: 0.346048 m/s,
      LOS rate: 0.950316 deg/s,
      cmd update: 2.850948 deg/s,
      cmd heading: 220.480672 deg,
      new cmd heading: 215.378596 deg.

2021-08-13T19:30:22.859Z,1628883022.859 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:30:23.248Z,1628883023.248 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:30:23.248Z,1628883023.248 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:30:23.249Z,1628883023.249 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:30:23.250Z,1628883023.250 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:30:23.653Z,1628883023.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E22,000,01526,186,80,80,71,FF
2021-08-13T19:30:23.653Z,1628883023.653 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:30:23.654Z,1628883023.654 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:30:23.655Z,1628883023.655 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:30:24.057Z,1628883024.057 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:30:24.878Z,1628883024.878 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,33A,000,01537,18A,80,80,34,FF
2021-08-13T19:30:24.878Z,1628883024.878 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:30:24.882Z,1628883024.882 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193024.18*5A

2021-08-13T19:30:25.343Z,1628883025.343 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 288.359985 m, bearing: 256.385084 deg, deltaT: 4.881102 s, approachRate: 0.208967 m/s, LOS rate: -16.183194 deg/s, posRepo size: 4
2021-08-13T19:30:25.345Z,1628883025.345 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -16.183194 deg/s. Setting heading cmd to target bearing of 256.385084deg and heading rate command to 0 deg/s.
2021-08-13T19:30:27.718Z,1628883027.718 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:30:28.097Z,1628883028.097 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:30:28.097Z,1628883028.097 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:30:28.098Z,1628883028.098 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:30:28.099Z,1628883028.099 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:30:28.501Z,1628883028.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
33A,000,01537,18A,80,80,34,FF
2021-08-13T19:30:28.501Z,1628883028.501 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:30:28.501Z,1628883028.501 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:30:28.503Z,1628883028.503 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:30:28.906Z,1628883028.906 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:30:29.729Z,1628883029.729 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E61,000,01563,186,80,80,48,FF
2021-08-13T19:30:29.729Z,1628883029.729 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:30:29.733Z,1628883029.733 [Micromodem](INFO): Nmea in: $SNTTA,,0.326414,,,193029.02*44

2021-08-13T19:30:30.151Z,1628883030.151 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 291.000000 m, bearing: 297.865315 deg, deltaT: 4.848347 s, approachRate: 0.544519 m/s, LOS rate: 8.555541 deg/s, posRepo size: 4
2021-08-13T19:30:30.154Z,1628883030.154 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 291.000000 m,
      bearing: 297.865315 deg,
      approachRate: 0.544519 m/s,
      LOS rate: 8.555541 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 256.385084 deg,
      new cmd heading: 256.385084 deg.

2021-08-13T19:30:32.565Z,1628883032.565 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:30:32.949Z,1628883032.949 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:30:32.949Z,1628883032.949 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:30:32.949Z,1628883032.949 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:30:32.950Z,1628883032.950 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:30:33.365Z,1628883033.365 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E61,000,01563,186,80,80,48,FF
2021-08-13T19:30:33.365Z,1628883033.365 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:30:33.365Z,1628883033.365 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:30:33.367Z,1628883033.367 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:30:33.816Z,1628883033.816 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:30:34.626Z,1628883034.626 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193033.89*54

2021-08-13T19:30:35.084Z,1628883035.084 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:30:37.041Z,1628883037.041 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
3,186,80,80,48,FF
2021-08-13T19:30:37.041Z,1628883037.041 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
3,186,80,80,48,FF
2021-08-13T19:30:37.041Z,1628883037.041 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T19:30:37.902Z,1628883037.902 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:30:38.257Z,1628883038.257 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:30:38.257Z,1628883038.257 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:30:38.257Z,1628883038.257 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:30:38.258Z,1628883038.258 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:30:38.673Z,1628883038.673 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
3,186,80,80,48,FF
2021-08-13T19:30:38.673Z,1628883038.673 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:30:38.673Z,1628883038.673 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:30:38.675Z,1628883038.675 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:30:39.072Z,1628883039.072 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:30:39.886Z,1628883039.886 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA4,000,015D1,186,80,80,7F,FF
2021-08-13T19:30:39.887Z,1628883039.887 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:30:39.914Z,1628883039.914 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193039.19*57

2021-08-13T19:30:40.304Z,1628883040.304 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 297.599976 m, bearing: 289.750066 deg, deltaT: 10.163825 s, approachRate: 0.649359 m/s, LOS rate: -0.798444 deg/s, posRepo size: 4
2021-08-13T19:30:40.306Z,1628883040.306 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 297.599976 m,
      bearing: 289.750066 deg,
      approachRate: 0.649359 m/s,
      LOS rate: -0.798444 deg/s,
      cmd update: -2.395333 deg/s,
      cmd heading: 18.351599 deg,
      new cmd heading: 22.645343 deg.

2021-08-13T19:30:42.746Z,1628883042.746 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:30:43.105Z,1628883043.105 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:30:43.105Z,1628883043.105 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:30:43.105Z,1628883043.105 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:30:43.106Z,1628883043.106 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:30:43.517Z,1628883043.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EA4,000,015D1,186,80,80,7F,FF
2021-08-13T19:30:43.517Z,1628883043.517 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:30:43.517Z,1628883043.517 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:30:43.519Z,1628883043.519 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:30:43.920Z,1628883043.920 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:30:44.733Z,1628883044.733 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,258,000,015FB,189,80,80,40,FF
2021-08-13T19:30:44.733Z,1628883044.733 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:30:44.736Z,1628883044.736 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193044.04*51

2021-08-13T19:30:45.149Z,1628883045.149 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 300.119995 m, bearing: 263.923373 deg, deltaT: 4.831985 s, approachRate: 0.521529 m/s, LOS rate: -5.344945 deg/s, posRepo size: 4
2021-08-13T19:30:45.151Z,1628883045.151 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 300.119995 m,
      bearing: 263.923373 deg,
      approachRate: 0.521529 m/s,
      LOS rate: -5.344945 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 6.816215 deg,
      new cmd heading: 5.888570 deg.

2021-08-13T19:30:47.609Z,1628883047.609 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:30:47.957Z,1628883047.957 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:30:47.957Z,1628883047.957 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:30:47.957Z,1628883047.957 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:30:47.958Z,1628883047.958 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:30:48.367Z,1628883048.367 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
258,000,015FB,189,80,80,40,FF
2021-08-13T19:30:48.367Z,1628883048.367 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:30:48.367Z,1628883048.367 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:30:48.371Z,1628883048.371 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:30:48.760Z,1628883048.760 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:30:49.574Z,1628883049.574 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DC4,000,01614,189,80,80,8E,FF
2021-08-13T19:30:49.574Z,1628883049.574 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:30:49.577Z,1628883049.577 [Micromodem](INFO): Nmea in: $SNTTA,0.392026,0.392264,,,193048.89*5C

2021-08-13T19:30:50.012Z,1628883050.012 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 301.619995 m, bearing: 344.398710 deg, deltaT: 4.872299 s, approachRate: 0.307863 m/s, LOS rate: 16.516912 deg/s, posRepo size: 4
2021-08-13T19:30:50.013Z,1628883050.013 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 16.516912 deg/s. Setting heading cmd to target bearing of 344.398710deg and heading rate command to 0 deg/s.
2021-08-13T19:30:52.468Z,1628883052.468 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:30:52.797Z,1628883052.797 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:30:52.797Z,1628883052.797 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:30:52.797Z,1628883052.797 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:30:52.798Z,1628883052.798 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:30:53.201Z,1628883053.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DC4,000,01614,189,80,80,8E,FF
2021-08-13T19:30:53.201Z,1628883053.201 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:30:53.201Z,1628883053.201 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:30:53.203Z,1628883053.203 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:30:53.623Z,1628883053.623 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:30:54.456Z,1628883054.456 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,0161A,189,80,80,56,FF
2021-08-13T19:30:54.457Z,1628883054.457 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:30:54.460Z,1628883054.460 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193053.73*57

2021-08-13T19:30:54.842Z,1628883054.842 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 301.979980 m, bearing: 32.788344 deg, deltaT: 4.830633 s, approachRate: 0.074521 m/s, LOS rate: 10.017246 deg/s, posRepo size: 4
2021-08-13T19:30:54.844Z,1628883054.844 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 301.979980 m,
      bearing: 32.788344 deg,
      approachRate: 0.074521 m/s,
      LOS rate: 10.017246 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 344.398710 deg,
      new cmd heading: 344.398710 deg.

2021-08-13T19:30:57.320Z,1628883057.320 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:30:57.641Z,1628883057.641 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:30:57.641Z,1628883057.641 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:30:57.641Z,1628883057.641 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:30:57.642Z,1628883057.642 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:30:58.049Z,1628883058.049 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,0161A,189,80,80,56,FF
2021-08-13T19:30:58.049Z,1628883058.049 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:30:58.050Z,1628883058.050 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:30:58.051Z,1628883058.051 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:30:58.457Z,1628883058.457 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:30:59.312Z,1628883059.312 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,01621,189,80,80,A8,FF
2021-08-13T19:30:59.313Z,1628883059.313 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:30:59.315Z,1628883059.315 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193058.57*5A

2021-08-13T19:30:59.711Z,1628883059.711 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 302.399994 m, bearing: 34.048302 deg, deltaT: 4.953370 s, approachRate: 0.084793 m/s, LOS rate: 0.254364 deg/s, posRepo size: 4
2021-08-13T19:30:59.718Z,1628883059.718 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 302.399994 m,
      bearing: 34.048302 deg,
      approachRate: 0.084793 m/s,
      LOS rate: 0.254364 deg/s,
      cmd update: 0.763091 deg/s,
      cmd heading: 43.772780 deg,
      new cmd heading: 47.109800 deg.

2021-08-13T19:31:02.129Z,1628883062.129 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:31:02.489Z,1628883062.489 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:31:02.489Z,1628883062.489 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:31:02.489Z,1628883062.489 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:31:02.490Z,1628883062.490 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:31:02.898Z,1628883062.898 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,01621,189,80,80,A8,FF
2021-08-13T19:31:02.898Z,1628883062.898 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:31:02.898Z,1628883062.898 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:31:02.901Z,1628883062.901 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:31:03.344Z,1628883063.344 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:31:04.137Z,1628883064.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B06,000,0161F,189,80,80,B2,FF
2021-08-13T19:31:04.137Z,1628883064.137 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:31:04.141Z,1628883064.141 [Micromodem](INFO): Nmea in: $SNTTA,0.201206,,,,193103.42*48

2021-08-13T19:31:04.550Z,1628883064.550 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 302.279999 m, bearing: 53.288767 deg, deltaT: 4.747929 s, approachRate: -0.025273 m/s, LOS rate: 4.052391 deg/s, posRepo size: 4
2021-08-13T19:31:04.552Z,1628883064.552 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 302.279999 m,
      bearing: 53.288767 deg,
      approachRate: -0.025273 m/s,
      LOS rate: 4.052391 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 47.400089 deg,
      new cmd heading: 47.676923 deg.

2021-08-13T19:31:06.959Z,1628883066.959 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:31:07.368Z,1628883067.368 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:31:07.368Z,1628883067.368 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:31:07.375Z,1628883067.375 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:31:07.376Z,1628883067.376 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:31:07.757Z,1628883067.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B06,000,0161F,189,80,80,B2,FF
2021-08-13T19:31:07.757Z,1628883067.757 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:31:07.758Z,1628883067.758 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:31:07.759Z,1628883067.759 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:31:08.164Z,1628883068.164 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:31:08.560Z,1628883068.560 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T19:31:08.989Z,1628883068.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,154,000,0160D,186,80,80,8D,FF
2021-08-13T19:31:08.990Z,1628883068.990 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:31:08.993Z,1628883068.993 [Micromodem](INFO): Nmea in: $SNTTA,0.200530,,,,193108.28*4C

2021-08-13T19:31:09.458Z,1628883069.458 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 301.199982 m, bearing: 356.217779 deg, deltaT: 4.852061 s, approachRate: -0.222589 m/s, LOS rate: -11.762218 deg/s, posRepo size: 4
2021-08-13T19:31:09.459Z,1628883069.459 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -11.762218 deg/s. Setting heading cmd to target bearing of 356.217779deg and heading rate command to 0 deg/s.
2021-08-13T19:31:11.807Z,1628883071.807 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:31:12.197Z,1628883072.197 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:31:12.197Z,1628883072.197 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:31:12.197Z,1628883072.197 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:31:12.198Z,1628883072.198 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:31:12.593Z,1628883072.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
154,000,0160D,186,80,80,8D,FF
2021-08-13T19:31:12.593Z,1628883072.593 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:31:12.594Z,1628883072.594 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:31:12.595Z,1628883072.595 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:31:12.645Z,1628883072.645 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T19:31:13.013Z,1628883073.013 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:31:13.451Z,1628883073.451 [Micromodem](INFO): Nmea in: $SNTTA,0.278769,0.279144,,,193113.12*5D

2021-08-13T19:31:13.841Z,1628883073.841 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F29,000,015F0,186,80,80,65,FF
2021-08-13T19:31:13.841Z,1628883073.841 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:31:14.267Z,1628883074.267 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 299.459991 m, bearing: 48.479771 deg, deltaT: 4.819916 s, approachRate: -0.361000 m/s, LOS rate: 10.842928 deg/s, posRepo size: 4
2021-08-13T19:31:14.269Z,1628883074.269 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 299.459991 m,
      bearing: 48.479771 deg,
      approachRate: -0.361000 m/s,
      LOS rate: 10.842928 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 356.217779 deg,
      new cmd heading: 356.217779 deg.

2021-08-13T19:31:16.677Z,1628883076.677 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:31:17.057Z,1628883077.057 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:31:17.057Z,1628883077.057 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:31:17.058Z,1628883077.058 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:31:17.059Z,1628883077.059 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:31:17.466Z,1628883077.466 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F29,000,015F0,186,80,80,65,FF
2021-08-13T19:31:17.466Z,1628883077.466 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:31:17.466Z,1628883077.466 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:31:17.468Z,1628883077.468 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:31:17.868Z,1628883077.868 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:31:18.693Z,1628883078.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0D8,000,015D0,186,80,80,6F,FF
2021-08-13T19:31:18.694Z,1628883078.694 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:31:18.697Z,1628883078.697 [Micromodem](INFO): Nmea in: $SNTTA,0.200449,,,,193117.99*47

2021-08-13T19:31:19.102Z,1628883079.102 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 297.540009 m, bearing: 47.686072 deg, deltaT: 4.888628 s, approachRate: -0.392745 m/s, LOS rate: -0.162356 deg/s, posRepo size: 4
2021-08-13T19:31:19.104Z,1628883079.104 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 297.540009 m,
      bearing: 47.686072 deg,
      approachRate: -0.392745 m/s,
      LOS rate: -0.162356 deg/s,
      cmd update: -0.487068 deg/s,
      cmd heading: 54.880956 deg,
      new cmd heading: 59.135376 deg.

2021-08-13T19:31:21.570Z,1628883081.570 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:31:21.911Z,1628883081.911 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:31:21.911Z,1628883081.911 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:31:21.911Z,1628883081.911 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:31:21.913Z,1628883081.913 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:31:22.297Z,1628883082.297 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0D8,000,015D0,186,80,80,6F,FF
2021-08-13T19:31:22.297Z,1628883082.297 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:31:22.298Z,1628883082.298 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:31:22.299Z,1628883082.299 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:31:22.718Z,1628883082.718 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:31:22.737Z,1628883082.737 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T19:31:23.532Z,1628883083.532 [Micromodem](INFO): Nmea in: $SNTTA,0.388469,,,,193122.82*48

2021-08-13T19:31:24.361Z,1628883084.361 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:31:25.943Z,1628883085.943 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
0,186,80,80,6F,FF
2021-08-13T19:31:25.943Z,1628883085.943 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
0,186,80,80,6F,FF
2021-08-13T19:31:25.943Z,1628883085.943 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T19:31:27.159Z,1628883087.159 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:31:27.543Z,1628883087.543 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:31:27.543Z,1628883087.543 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:31:27.543Z,1628883087.543 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:31:27.552Z,1628883087.552 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:31:27.953Z,1628883087.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
0,186,80,80,6F,FF
2021-08-13T19:31:27.953Z,1628883087.953 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:31:27.953Z,1628883087.953 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:31:27.955Z,1628883087.955 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:31:28.363Z,1628883088.363 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:31:29.193Z,1628883089.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,001,000,01581,182,80,80,62,FF
2021-08-13T19:31:29.194Z,1628883089.194 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:31:29.198Z,1628883089.198 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193128.48*52

2021-08-13T19:31:29.661Z,1628883089.661 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 292.799988 m, bearing: 46.538959 deg, deltaT: 10.562476 s, approachRate: -0.448760 m/s, LOS rate: -0.108603 deg/s, posRepo size: 4
2021-08-13T19:31:29.663Z,1628883089.663 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 292.799988 m,
      bearing: 46.538959 deg,
      approachRate: -0.448760 m/s,
      LOS rate: -0.108603 deg/s,
      cmd update: -0.325808 deg/s,
      cmd heading: 49.759250 deg,
      new cmd heading: 49.567134 deg.

2021-08-13T19:31:32.030Z,1628883092.030 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:31:32.458Z,1628883092.458 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:31:32.458Z,1628883092.458 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:31:32.458Z,1628883092.458 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:31:32.459Z,1628883092.459 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:31:32.498Z,1628883092.498 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T19:31:32.797Z,1628883092.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
001,000,01581,182,80,80,62,FF
2021-08-13T19:31:32.797Z,1628883092.797 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:31:32.797Z,1628883092.797 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:31:32.799Z,1628883092.799 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:31:33.202Z,1628883093.202 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:31:34.017Z,1628883094.017 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FBB,000,01553,184,80,80,51,FF
2021-08-13T19:31:34.018Z,1628883094.018 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:31:34.497Z,1628883094.497 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 290.040009 m, bearing: 48.629793 deg, deltaT: 4.821975 s, approachRate: -0.572375 m/s, LOS rate: 0.433605 deg/s, posRepo size: 4
2021-08-13T19:31:34.499Z,1628883094.499 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 290.040009 m,
      bearing: 48.629793 deg,
      approachRate: -0.572375 m/s,
      LOS rate: 0.433605 deg/s,
      cmd update: 1.300816 deg/s,
      cmd heading: 48.172872 deg,
      new cmd heading: 48.059171 deg.

2021-08-13T19:31:36.855Z,1628883096.855 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:31:37.242Z,1628883097.242 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:31:37.243Z,1628883097.243 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:31:37.243Z,1628883097.243 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:31:37.245Z,1628883097.245 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:31:37.653Z,1628883097.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FBB,000,01553,184,80,80,51,FF
2021-08-13T19:31:37.653Z,1628883097.653 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:31:37.654Z,1628883097.654 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:31:37.655Z,1628883097.655 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:31:38.053Z,1628883098.053 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:31:38.879Z,1628883098.879 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD6,000,01538,185,80,80,62,FF
2021-08-13T19:31:38.880Z,1628883098.880 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:31:38.885Z,1628883098.885 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193138.17*59

2021-08-13T19:31:39.321Z,1628883099.321 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 288.419983 m, bearing: 46.933334 deg, deltaT: 4.835982 s, approachRate: -0.334994 m/s, LOS rate: -0.350799 deg/s, posRepo size: 4
2021-08-13T19:31:39.323Z,1628883099.323 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 288.419983 m,
      bearing: 46.933334 deg,
      approachRate: -0.334994 m/s,
      LOS rate: -0.350799 deg/s,
      cmd update: -1.052398 deg/s,
      cmd heading: 54.457352 deg,
      new cmd heading: 54.922859 deg.

2021-08-13T19:31:41.723Z,1628883101.723 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:31:42.089Z,1628883102.089 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:31:42.089Z,1628883102.089 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:31:42.089Z,1628883102.089 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:31:42.090Z,1628883102.090 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:31:42.493Z,1628883102.493 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD6,000,01538,185,80,80,62,FF
2021-08-13T19:31:42.493Z,1628883102.493 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:31:42.493Z,1628883102.493 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:31:42.495Z,1628883102.495 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:31:42.515Z,1628883102.515 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T19:31:42.909Z,1628883102.909 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:31:43.725Z,1628883103.725 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,02D,000,01512,184,80,80,81,FF
2021-08-13T19:31:43.725Z,1628883103.725 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:31:43.729Z,1628883103.729 [Micromodem](INFO): Nmea in: $SNTTA,0.192881,,,,193143.02*44

2021-08-13T19:31:44.140Z,1628883104.140 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 286.139984 m, bearing: 46.157896 deg, deltaT: 4.851958 s, approachRate: -0.469913 m/s, LOS rate: -0.159820 deg/s, posRepo size: 4
2021-08-13T19:31:44.142Z,1628883104.142 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 286.139984 m,
      bearing: 46.157896 deg,
      approachRate: -0.469913 m/s,
      LOS rate: -0.159820 deg/s,
      cmd update: -0.479459 deg/s,
      cmd heading: 49.357767 deg,
      new cmd heading: 49.009078 deg.

2021-08-13T19:31:46.561Z,1628883106.561 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:31:46.953Z,1628883106.953 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:31:46.953Z,1628883106.953 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:31:46.953Z,1628883106.953 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:31:46.954Z,1628883106.954 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:31:47.363Z,1628883107.363 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
02D,000,01512,184,80,80,81,FF
2021-08-13T19:31:47.363Z,1628883107.363 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:31:47.363Z,1628883107.363 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:31:47.365Z,1628883107.365 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:31:47.505Z,1628883107.505 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T19:31:47.801Z,1628883107.801 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:31:48.567Z,1628883108.567 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA9,000,014E2,184,80,80,59,FF
2021-08-13T19:31:48.568Z,1628883108.568 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:31:48.573Z,1628883108.573 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193147.89*56

2021-08-13T19:31:49.008Z,1628883109.008 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 283.259979 m, bearing: 49.410480 deg, deltaT: 4.814516 s, approachRate: -0.598192 m/s, LOS rate: 0.675579 deg/s, posRepo size: 4
2021-08-13T19:31:49.010Z,1628883109.010 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 283.259979 m,
      bearing: 49.410480 deg,
      approachRate: -0.598192 m/s,
      LOS rate: 0.675579 deg/s,
      cmd update: 2.026736 deg/s,
      cmd heading: 47.045970 deg,
      new cmd heading: 46.865007 deg.

2021-08-13T19:31:51.456Z,1628883111.456 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:31:51.793Z,1628883111.793 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:31:51.793Z,1628883111.793 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:31:51.793Z,1628883111.793 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:31:51.794Z,1628883111.794 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:31:52.197Z,1628883112.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA9,000,014E2,184,80,80,59,FF
2021-08-13T19:31:52.198Z,1628883112.198 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:31:52.198Z,1628883112.198 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:31:52.199Z,1628883112.199 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:31:52.597Z,1628883112.597 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:31:53.453Z,1628883113.453 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA1,000,014CD,187,80,80,5D,FF
2021-08-13T19:31:53.453Z,1628883113.453 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:31:53.456Z,1628883113.456 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193152.72*56

2021-08-13T19:31:53.849Z,1628883113.849 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 282.000000 m, bearing: 49.356607 deg, deltaT: 4.952537 s, approachRate: -0.254411 m/s, LOS rate: -0.010878 deg/s, posRepo size: 4
2021-08-13T19:31:53.851Z,1628883113.851 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 282.000000 m,
      bearing: 49.356607 deg,
      approachRate: -0.254411 m/s,
      LOS rate: -0.010878 deg/s,
      cmd update: -0.032634 deg/s,
      cmd heading: 57.054730 deg,
      new cmd heading: 57.621914 deg.

2021-08-13T19:31:56.258Z,1628883116.258 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:31:56.645Z,1628883116.645 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:31:56.645Z,1628883116.645 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:31:56.645Z,1628883116.645 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:31:56.646Z,1628883116.646 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:31:57.037Z,1628883117.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA1,000,014CD,187,80,80,5D,FF
2021-08-13T19:31:57.037Z,1628883117.037 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:31:57.038Z,1628883117.038 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:31:57.039Z,1628883117.039 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:31:57.473Z,1628883117.473 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:31:58.278Z,1628883118.278 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193157.56*55

2021-08-13T19:31:59.095Z,1628883119.095 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:32:00.673Z,1628883120.673 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,187,80,80,5D,FF
2021-08-13T19:32:00.673Z,1628883120.673 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,187,80,80,5D,FF
2021-08-13T19:32:00.673Z,1628883120.673 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T19:32:01.927Z,1628883121.927 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:32:02.289Z,1628883122.289 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:32:02.289Z,1628883122.289 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:32:02.289Z,1628883122.289 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:32:02.290Z,1628883122.290 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:32:02.701Z,1628883122.701 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,187,80,80,5D,FF
2021-08-13T19:32:02.701Z,1628883122.701 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:32:02.701Z,1628883122.701 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:32:02.703Z,1628883122.703 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:32:02.750Z,1628883122.750 [RDI_PathfinderUp](ERROR): only read 1 of 4 data items
2021-08-13T19:32:03.096Z,1628883123.096 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:32:03.934Z,1628883123.934 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193203.22*54

2021-08-13T19:32:04.758Z,1628883124.758 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:32:06.329Z,1628883126.329 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,187,80,80,5D,FF
2021-08-13T19:32:06.329Z,1628883126.329 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,187,80,80,5D,FF
2021-08-13T19:32:06.329Z,1628883126.329 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T19:32:07.586Z,1628883127.586 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-13T19:32:07.602Z,1628883127.602 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:32:07.949Z,1628883127.949 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:32:07.949Z,1628883127.949 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:32:07.949Z,1628883127.949 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:32:07.950Z,1628883127.950 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:32:08.346Z,1628883128.346 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,187,80,80,5D,FF
2021-08-13T19:32:08.346Z,1628883128.346 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:32:08.346Z,1628883128.346 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:32:08.348Z,1628883128.348 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:32:08.757Z,1628883128.757 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:32:09.581Z,1628883129.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,025,000,0142F,185,80,80,5D,FF
2021-08-13T19:32:09.582Z,1628883129.582 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:32:09.585Z,1628883129.585 [Micromodem](INFO): Nmea in: $SNTTA,0.183801,,,,193208.87*4D

2021-08-13T19:32:10.004Z,1628883130.004 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 272.519989 m, bearing: 51.146150 deg, deltaT: 16.091535 s, approachRate: -0.589130 m/s, LOS rate: 0.111210 deg/s, posRepo size: 4
2021-08-13T19:32:10.006Z,1628883130.006 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 272.519989 m,
      bearing: 51.146150 deg,
      approachRate: -0.589130 m/s,
      LOS rate: 0.111210 deg/s,
      cmd update: 0.333631 deg/s,
      cmd heading: 56.529142 deg,
      new cmd heading: 56.518397 deg.

2021-08-13T19:32:12.464Z,1628883132.464 [RDI_PathfinderUp](ERROR): DVL uart error: serial timeout
2021-08-13T19:32:12.464Z,1628883132.464 [RDI_PathfinderUp] Communications Fault, FailCount= 1
2021-08-13T19:32:12.464Z,1628883132.464 [RDI_PathfinderUp](ERROR): Communications Fault
2021-08-13T19:32:12.506Z,1628883132.506 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:32:12.616Z,1628883132.616 [CBIT](ERROR): Communications Fault in component: RDI_PathfinderUp
2021-08-13T19:32:12.793Z,1628883132.793 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:32:12.793Z,1628883132.793 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:32:12.793Z,1628883132.793 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:32:12.794Z,1628883132.794 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:32:12.888Z,1628883132.888 [RDI_PathfinderUp](INFO): Powering down
2021-08-13T19:32:13.198Z,1628883133.198 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
025,000,0142F,185,80,80,5D,FF
2021-08-13T19:32:13.198Z,1628883133.198 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:32:13.198Z,1628883133.198 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:32:13.200Z,1628883133.200 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:32:13.601Z,1628883133.601 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:32:13.785Z,1628883133.785 [CBIT](INFO): Clearing failed state for component RDI_PathfinderUp
2021-08-13T19:32:13.785Z,1628883133.785 [RDI_PathfinderUp] No Fault, FailCount= 1
2021-08-13T19:32:14.005Z,1628883134.005 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,010,000,0142F,185,80,80,5D,FF
2021-08-13T19:32:14.006Z,1628883134.006 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:32:14.449Z,1628883134.449 [Micromodem](INFO): Nmea in: $SNTTA,0.120190,,,,193213.72*45

2021-08-13T19:32:14.471Z,1628883134.471 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 272.519989 m, bearing: 52.700138 deg, deltaT: 4.392519 s, approachRate: 0.000000 m/s, LOS rate: 0.353781 deg/s, posRepo size: 4
2021-08-13T19:32:14.474Z,1628883134.474 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 272.519989 m,
      bearing: 52.700138 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.353781 deg/s,
      cmd update: 1.061341 deg/s,
      cmd heading: 57.995949 deg,
      new cmd heading: 58.129608 deg.

2021-08-13T19:32:16.866Z,1628883136.866 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:32:17.237Z,1628883137.237 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:32:17.237Z,1628883137.237 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:32:17.237Z,1628883137.237 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:32:17.238Z,1628883137.238 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:32:17.641Z,1628883137.641 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
010,000,0142F,185,80,80,5D,FF
2021-08-13T19:32:17.641Z,1628883137.641 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:32:17.641Z,1628883137.641 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:32:17.643Z,1628883137.643 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:32:18.049Z,1628883138.049 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:32:18.875Z,1628883138.875 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193218.16*59

2021-08-13T19:32:19.708Z,1628883139.708 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:32:21.313Z,1628883141.313 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
F,185,80,80,5D,FF
2021-08-13T19:32:21.313Z,1628883141.313 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
F,185,80,80,5D,FF
2021-08-13T19:32:21.313Z,1628883141.313 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T19:32:22.514Z,1628883142.514 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:32:22.893Z,1628883142.893 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:32:22.894Z,1628883142.894 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:32:22.894Z,1628883142.894 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:32:22.895Z,1628883142.895 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:32:23.342Z,1628883143.342 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
F,185,80,80,5D,FF
2021-08-13T19:32:23.342Z,1628883143.342 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:32:23.342Z,1628883143.342 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:32:23.344Z,1628883143.344 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:32:23.717Z,1628883143.717 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:32:24.515Z,1628883144.515 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0E8,000,013B6,185,80,80,66,FF
2021-08-13T19:32:24.516Z,1628883144.516 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:32:24.523Z,1628883144.523 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193223.86*58

2021-08-13T19:32:24.950Z,1628883144.950 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 265.259979 m, bearing: 48.572067 deg, deltaT: 10.512068 s, approachRate: -0.690636 m/s, LOS rate: -0.392698 deg/s, posRepo size: 4
2021-08-13T19:32:24.969Z,1628883144.969 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 265.259979 m,
      bearing: 48.572067 deg,
      approachRate: -0.690636 m/s,
      LOS rate: -0.392698 deg/s,
      cmd update: -1.178095 deg/s,
      cmd heading: 69.148568 deg,
      new cmd heading: 69.542729 deg.

2021-08-13T19:32:27.433Z,1628883147.433 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:32:27.745Z,1628883147.745 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:32:27.745Z,1628883147.745 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:32:27.745Z,1628883147.745 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:32:27.746Z,1628883147.746 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:32:28.165Z,1628883148.165 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0E8,000,013B6,185,80,80,66,FF
2021-08-13T19:32:28.165Z,1628883148.165 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:32:28.165Z,1628883148.165 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:32:28.167Z,1628883148.167 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:32:28.561Z,1628883148.561 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:32:29.370Z,1628883149.370 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193228.69*52

2021-08-13T19:32:30.220Z,1628883150.220 [RDI_PathfinderUp](ERROR): only read 0 of 4 data items
2021-08-13T19:32:30.236Z,1628883150.236 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:32:31.793Z,1628883151.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,185,80,80,66,FF
2021-08-13T19:32:31.793Z,1628883151.793 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,185,80,80,66,FF
2021-08-13T19:32:31.793Z,1628883151.793 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T19:32:33.014Z,1628883153.014 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:32:33.397Z,1628883153.397 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:32:33.397Z,1628883153.397 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:32:33.397Z,1628883153.397 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:32:33.398Z,1628883153.398 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:32:33.806Z,1628883153.806 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,185,80,80,66,FF
2021-08-13T19:32:33.806Z,1628883153.806 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:32:33.806Z,1628883153.806 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:32:33.808Z,1628883153.808 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:32:34.231Z,1628883154.231 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:32:35.041Z,1628883155.041 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0B2,000,01366,186,80,80,61,FF
2021-08-13T19:32:35.041Z,1628883155.041 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:32:35.044Z,1628883155.044 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193234.33*50

2021-08-13T19:32:35.479Z,1628883155.479 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 260.459991 m, bearing: 49.150957 deg, deltaT: 10.476438 s, approachRate: -0.458170 m/s, LOS rate: 0.055256 deg/s, posRepo size: 4
2021-08-13T19:32:35.482Z,1628883155.482 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 260.459991 m,
      bearing: 49.150957 deg,
      approachRate: -0.458170 m/s,
      LOS rate: 0.055256 deg/s,
      cmd update: 0.165769 deg/s,
      cmd heading: 56.801541 deg,
      new cmd heading: 56.306839 deg.

2021-08-13T19:32:37.875Z,1628883157.875 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:32:38.253Z,1628883158.253 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:32:38.253Z,1628883158.253 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:32:38.253Z,1628883158.253 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:32:38.254Z,1628883158.254 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:32:38.653Z,1628883158.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0B2,000,01366,186,80,80,61,FF
2021-08-13T19:32:38.653Z,1628883158.653 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:32:38.654Z,1628883158.654 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:32:38.655Z,1628883158.655 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:32:39.073Z,1628883159.073 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:32:39.455Z,1628883159.455 [Micromodem](INFO): Nmea in: $SNTTA,0.250843,0.250862,,,193239.18*57

2021-08-13T19:32:39.878Z,1628883159.878 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,055,000,01341,184,80,80,75,FF
2021-08-13T19:32:39.878Z,1628883159.878 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:32:40.309Z,1628883160.309 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 258.239990 m, bearing: 50.283446 deg, deltaT: 4.873646 s, approachRate: -0.455511 m/s, LOS rate: 0.232370 deg/s, posRepo size: 4
2021-08-13T19:32:40.311Z,1628883160.311 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 258.239990 m,
      bearing: 50.283446 deg,
      approachRate: -0.455511 m/s,
      LOS rate: 0.232370 deg/s,
      cmd update: 0.697110 deg/s,
      cmd heading: 57.608034 deg,
      new cmd heading: 57.671850 deg.

2021-08-13T19:32:42.715Z,1628883162.715 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:32:43.116Z,1628883163.116 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:32:43.116Z,1628883163.116 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:32:43.116Z,1628883163.116 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:32:43.117Z,1628883163.117 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:32:43.501Z,1628883163.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
055,000,01341,184,80,80,75,FF
2021-08-13T19:32:43.501Z,1628883163.501 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:32:43.501Z,1628883163.501 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:32:43.503Z,1628883163.503 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:32:43.926Z,1628883163.926 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:32:44.737Z,1628883164.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,053,000,01319,184,80,80,91,FF
2021-08-13T19:32:44.737Z,1628883164.737 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:32:44.740Z,1628883164.740 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193244.02*55

2021-08-13T19:32:45.183Z,1628883165.183 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 255.839981 m, bearing: 49.954323 deg, deltaT: 4.853139 s, approachRate: -0.494527 m/s, LOS rate: -0.067817 deg/s, posRepo size: 4
2021-08-13T19:32:45.185Z,1628883165.185 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 255.839981 m,
      bearing: 49.954323 deg,
      approachRate: -0.494527 m/s,
      LOS rate: -0.067817 deg/s,
      cmd update: -0.203450 deg/s,
      cmd heading: 60.997092 deg,
      new cmd heading: 61.273641 deg.

2021-08-13T19:32:47.611Z,1628883167.611 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:32:47.957Z,1628883167.957 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:32:47.957Z,1628883167.957 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:32:47.957Z,1628883167.957 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:32:47.958Z,1628883167.958 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:32:48.349Z,1628883168.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
053,000,01319,184,80,80,91,FF
2021-08-13T19:32:48.349Z,1628883168.349 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:32:48.349Z,1628883168.349 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:32:48.351Z,1628883168.351 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:32:48.763Z,1628883168.763 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:32:49.571Z,1628883169.571 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,086,000,012F3,186,80,80,95,FF
2021-08-13T19:32:49.572Z,1628883169.572 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:32:49.577Z,1628883169.577 [Micromodem](INFO): Nmea in: $SNTTA,0.400406,0.361643,,,193248.87*57

2021-08-13T19:32:49.997Z,1628883169.997 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 253.559998 m, bearing: 49.546349 deg, deltaT: 4.865671 s, approachRate: -0.468586 m/s, LOS rate: -0.083847 deg/s, posRepo size: 4
2021-08-13T19:32:49.999Z,1628883169.999 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 253.559998 m,
      bearing: 49.546349 deg,
      approachRate: -0.468586 m/s,
      LOS rate: -0.083847 deg/s,
      cmd update: -0.251542 deg/s,
      cmd heading: 60.007985 deg,
      new cmd heading: 59.936970 deg.

2021-08-13T19:32:52.422Z,1628883172.422 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:32:52.791Z,1628883172.791 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:32:52.791Z,1628883172.791 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:32:52.791Z,1628883172.791 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:32:52.793Z,1628883172.793 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:32:53.205Z,1628883173.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
086,000,012F3,186,80,80,95,FF
2021-08-13T19:32:53.205Z,1628883173.205 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:32:53.205Z,1628883173.205 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:32:53.207Z,1628883173.207 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:32:53.621Z,1628883173.621 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:32:54.427Z,1628883174.427 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,089,000,012CE,186,80,80,A0,FF
2021-08-13T19:32:54.427Z,1628883174.427 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:32:54.431Z,1628883174.431 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193253.73*55

2021-08-13T19:32:54.840Z,1628883174.840 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 251.339996 m, bearing: 49.274484 deg, deltaT: 4.869438 s, approachRate: -0.455905 m/s, LOS rate: -0.055831 deg/s, posRepo size: 4
2021-08-13T19:32:54.842Z,1628883174.842 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 251.339996 m,
      bearing: 49.274484 deg,
      approachRate: -0.455905 m/s,
      LOS rate: -0.055831 deg/s,
      cmd update: -0.167493 deg/s,
      cmd heading: 58.784212 deg,
      new cmd heading: 58.702046 deg.

2021-08-13T19:32:57.337Z,1628883177.337 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:32:57.642Z,1628883177.642 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:32:57.642Z,1628883177.642 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:32:57.643Z,1628883177.643 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:32:57.644Z,1628883177.644 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:32:58.041Z,1628883178.041 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
089,000,012CE,186,80,80,A0,FF
2021-08-13T19:32:58.041Z,1628883178.041 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:32:58.041Z,1628883178.041 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:32:58.043Z,1628883178.043 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:32:58.453Z,1628883178.453 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:32:59.314Z,1628883179.314 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,067,000,012A6,186,80,80,B4,FF
2021-08-13T19:32:59.314Z,1628883179.314 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:32:59.323Z,1628883179.323 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193258.56*59

2021-08-13T19:32:59.701Z,1628883179.701 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 248.940002 m, bearing: 49.591493 deg, deltaT: 4.884500 s, approachRate: -0.491349 m/s, LOS rate: 0.064901 deg/s, posRepo size: 4
2021-08-13T19:32:59.703Z,1628883179.703 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 248.940002 m,
      bearing: 49.591493 deg,
      approachRate: -0.491349 m/s,
      LOS rate: 0.064901 deg/s,
      cmd update: 0.194703 deg/s,
      cmd heading: 57.964687 deg,
      new cmd heading: 57.915296 deg.

2021-08-13T19:33:02.108Z,1628883182.108 [lineCaptureDepth](INFO): Timed out from 2021-08-13T17:33:01.8Z
2021-08-13T19:33:02.108Z,1628883182.108 [MissionManager](INFO): lineCaptureDepth is completed.
2021-08-13T19:33:02.109Z,1628883182.109 [MissionManager](INFO): Uninitializing Mission lineCaptureDepth
2021-08-13T19:33:02.109Z,1628883182.109 [lineCaptureDepth] Stopped
2021-08-13T19:33:02.109Z,1628883182.109 [lineCaptureDepth](DEBUG): Aggregate::uninitialize lineCaptureDepth
2021-08-13T19:33:02.109Z,1628883182.109 [lineCaptureDepth:Science] Stopped
2021-08-13T19:33:02.109Z,1628883182.109 [lineCaptureDepth:Science](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science
2021-08-13T19:33:02.109Z,1628883182.109 [lineCaptureDepth:Science:B] Stopped
2021-08-13T19:33:02.109Z,1628883182.109 [lineCaptureDepth:Science:C] Stopped
2021-08-13T19:33:02.109Z,1628883182.109 [lineCaptureDepth:Science:Read_Oil] Stopped
2021-08-13T19:33:02.109Z,1628883182.109 [lineCaptureDepth:Science:OceanCurrent] Stopped
2021-08-13T19:33:02.109Z,1628883182.109 [lineCaptureDepth:Science:OceanCurrent](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:OceanCurrent
2021-08-13T19:33:02.110Z,1628883182.110 [lineCaptureDepth:Science:OceanCurrent:A.] Stopped
2021-08-13T19:33:02.110Z,1628883182.110 [lineCaptureDepth:StandardEnvelopes] Stopped
2021-08-13T19:33:02.110Z,1628883182.110 [lineCaptureDepth:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureDepth:StandardEnvelopes
2021-08-13T19:33:02.110Z,1628883182.110 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2021-08-13T19:33:02.110Z,1628883182.110 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2021-08-13T19:33:02.110Z,1628883182.110 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope] Stopped
2021-08-13T19:33:02.110Z,1628883182.110 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2021-08-13T19:33:02.110Z,1628883182.110 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2021-08-13T19:33:02.110Z,1628883182.110 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2021-08-13T19:33:02.110Z,1628883182.110 [lineCaptureDepth:TrackAC.] Stopped
2021-08-13T19:33:02.110Z,1628883182.110 [lineCaptureDepth:LineCapture] Stopped
2021-08-13T19:33:02.111Z,1628883182.111 [lineCaptureDepth:LineCapture](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture
2021-08-13T19:33:02.111Z,1628883182.111 [lineCaptureDepth:LineCapture:StandardEnvelopes] Stopped
2021-08-13T19:33:02.111Z,1628883182.111 [lineCaptureDepth:LineCapture:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:StandardEnvelopes
2021-08-13T19:33:02.111Z,1628883182.111 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2021-08-13T19:33:02.111Z,1628883182.111 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2021-08-13T19:33:02.111Z,1628883182.111 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Stopped
2021-08-13T19:33:02.111Z,1628883182.111 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2021-08-13T19:33:02.111Z,1628883182.111 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2021-08-13T19:33:02.111Z,1628883182.111 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2021-08-13T19:33:02.111Z,1628883182.111 [lineCaptureDepth:LineCapture:G] Stopped
2021-08-13T19:33:02.111Z,1628883182.111 [lineCaptureDepth:LineCapture:H] Stopped
2021-08-13T19:33:02.112Z,1628883182.112 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2021-08-13T19:33:02.112Z,1628883182.112 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-13T19:33:02.112Z,1628883182.112 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2021-08-13T19:33:02.113Z,1628883182.113 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2021-08-13T19:33:02.113Z,1628883182.113 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2021-08-13T19:33:02.113Z,1628883182.113 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2021-08-13T19:33:02.113Z,1628883182.113 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-08-13T19:33:02.113Z,1628883182.113 [lineCaptureDepth:LineCapture:HomingSequence] Stopped
2021-08-13T19:33:02.113Z,1628883182.113 [lineCaptureDepth:LineCapture:HomingSequence](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence
2021-08-13T19:33:02.113Z,1628883182.113 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Stopped
2021-08-13T19:33:02.113Z,1628883182.113 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-08-13T19:33:02.113Z,1628883182.113 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Stopped
2021-08-13T19:33:02.113Z,1628883182.113 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-13T19:33:02.114Z,1628883182.114 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2021-08-13T19:33:02.114Z,1628883182.114 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-13T19:33:02.114Z,1628883182.114 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Stopped
2021-08-13T19:33:02.114Z,1628883182.114 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Stopped
2021-08-13T19:33:02.114Z,1628883182.114 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2021-08-13T19:33:02.114Z,1628883182.114 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture] Stopped
2021-08-13T19:33:02.114Z,1628883182.114 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2021-08-13T19:33:02.114Z,1628883182.114 [lineCaptureDepth:UpdateNumPings_NotTerminal] Stopped
2021-08-13T19:33:02.114Z,1628883182.114 [lineCaptureDepth:UpdateNumPings_NotTerminal](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_NotTerminal
2021-08-13T19:33:02.115Z,1628883182.115 [lineCaptureDepth:UpdateNumPings_Terminal] Stopped
2021-08-13T19:33:02.115Z,1628883182.115 [lineCaptureDepth:UpdateNumPings_Terminal](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal
2021-08-13T19:33:02.115Z,1628883182.115 [lineCaptureDepth:Lap] Stopped
2021-08-13T19:33:02.115Z,1628883182.115 [lineCaptureDepth:Lap](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap
2021-08-13T19:33:02.115Z,1628883182.115 [lineCaptureDepth:Lap:B] Stopped
2021-08-13T19:33:02.115Z,1628883182.115 [lineCaptureDepth:Lap:B](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap:B
2021-08-13T19:33:02.320Z,1628883182.320 [WetLabsSeaOWL_UV_A](INFO): Powering down
2021-08-13T19:33:02.520Z,1628883182.520 [MissionManager](IMPORTANT): Started mission DefaultWithUndock
2021-08-13T19:33:02.520Z,1628883182.520 [DefaultWithUndock] Running Loop=1
2021-08-13T19:33:02.521Z,1628883182.521 [DefaultWithUndock](DEBUG): Aggregate::initialize DefaultWithUndock
2021-08-13T19:33:02.521Z,1628883182.521 [DefaultWithUndock:A.Wait] Running Loop=1
2021-08-13T19:33:02.521Z,1628883182.521 [DefaultWithUndock:A.Wait](DEBUG): Initialize Wait Component.
2021-08-13T19:33:02.724Z,1628883182.724 [WetLabsSeaOWL_UV_A](FAULT): LCB fault:  Hardware Overcurrent Shutdown. Software Overcurrent. Current Limiter Activated.
2021-08-13T19:33:02.725Z,1628883182.725 [WetLabsSeaOWL_UV_A] Hardware Fault, FailCount= 1
2021-08-13T19:33:02.725Z,1628883182.725 [WetLabsSeaOWL_UV_A](ERROR): Hardware Fault
2021-08-13T19:33:02.956Z,1628883182.956 [CBIT](ERROR): Hardware Fault in component: WetLabsSeaOWL_UV_A
2021-08-13T19:33:03.466Z,1628883183.466 [CBIT](INFO): Clearing failed state for component WetLabsSeaOWL_UV_A
2021-08-13T19:33:03.466Z,1628883183.466 [WetLabsSeaOWL_UV_A] No Fault, FailCount= 1
2021-08-13T19:33:03.533Z,1628883183.533 [WetLabsSeaOWL_UV_A](INFO): Powering up
2021-08-13T19:33:05.440Z,1628883185.440 [WetLabsSeaOWL_UV_A](INFO): Powering down
2021-08-13T19:33:32.764Z,1628883212.764 [DefaultWithUndock:A.Wait](INFO): Done Waiting.
2021-08-13T19:33:32.764Z,1628883212.764 [DefaultWithUndock:A.Wait] Stopped
2021-08-13T19:33:32.764Z,1628883212.764 [DefaultWithUndock:A.Wait](DEBUG): Uninitialize Wait Component.
2021-08-13T19:33:32.765Z,1628883212.765 [DefaultWithUndock:LeaveDock] Running Loop=1
2021-08-13T19:33:32.765Z,1628883212.765 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::initialize DefaultWithUndock:LeaveDock
2021-08-13T19:33:32.765Z,1628883212.765 [DefaultWithUndock:LeaveDock:A.] Running Loop=1
2021-08-13T19:33:32.765Z,1628883212.765 [DefaultWithUndock:LeaveDock:A.](INFO): Initializing TrackAcousticContact.
2021-08-13T19:33:32.765Z,1628883212.765 [DefaultWithUndock:LeaveDock:B.Undock] Running Loop=1
2021-08-13T19:33:32.766Z,1628883212.766 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initialize.
2021-08-13T19:33:32.766Z,1628883212.766 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2021-08-13T19:33:33.565Z,1628883213.565 [PowerOnly](INFO): Powering up loadControl
2021-08-13T19:33:35.275Z,1628883215.275 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-13T19:33:35.625Z,1628883215.625 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:33:35.625Z,1628883215.625 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:33:35.625Z,1628883215.625 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:33:35.626Z,1628883215.626 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:33:36.045Z,1628883216.045 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
067,000,012A6,186,80,80,B4,FF
2021-08-13T19:33:36.045Z,1628883216.045 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:33:36.045Z,1628883216.045 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:33:36.047Z,1628883216.047 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:33:36.140Z,1628883216.140 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detaching from dock.
2021-08-13T19:33:36.433Z,1628883216.433 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:33:36.489Z,1628883216.489 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Engaging thruster for 10.0 seconds (max) to disengage.
2021-08-13T19:33:36.853Z,1628883216.853 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Thruster off.
2021-08-13T19:33:37.231Z,1628883217.231 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,180,000,01251,186,80,80,A6,FF
2021-08-13T19:33:37.233Z,1628883217.233 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:33:37.238Z,1628883217.238 [Micromodem](INFO): Nmea in: $SNTTA,0.164730,,,,193336.57*48

2021-08-13T19:33:37.345Z,1628883217.345 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detected possible detachment. Starting timer.
2021-08-13T19:33:40.069Z,1628883220.069 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-13T19:33:40.465Z,1628883220.465 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:33:40.465Z,1628883220.465 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:33:40.465Z,1628883220.465 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:33:40.466Z,1628883220.466 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:33:40.865Z,1628883220.865 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
180,000,01251,186,80,80,A6,FF
2021-08-13T19:33:40.865Z,1628883220.865 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:33:40.865Z,1628883220.865 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:33:40.867Z,1628883220.867 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:33:41.311Z,1628883221.311 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:33:42.101Z,1628883222.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1B6,000,01255,186,80,80,93,FF
2021-08-13T19:33:42.102Z,1628883222.102 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:33:42.140Z,1628883222.140 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193341.39*59

2021-08-13T19:33:44.933Z,1628883224.933 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-13T19:33:45.345Z,1628883225.345 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:33:45.345Z,1628883225.345 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:33:45.345Z,1628883225.345 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:33:45.346Z,1628883225.346 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:33:45.721Z,1628883225.721 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1B6,000,01255,186,80,80,93,FF
2021-08-13T19:33:45.721Z,1628883225.721 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:33:45.722Z,1628883225.722 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:33:45.723Z,1628883225.723 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:33:46.126Z,1628883226.126 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:33:46.933Z,1628883226.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1FD,000,0125D,186,80,80,A1,FF
2021-08-13T19:33:46.934Z,1628883226.934 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:33:46.936Z,1628883226.936 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193346.24*52

2021-08-13T19:33:49.785Z,1628883229.785 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-13T19:33:50.188Z,1628883230.188 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:33:50.188Z,1628883230.188 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:33:50.189Z,1628883230.189 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:33:50.189Z,1628883230.189 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:33:50.561Z,1628883230.561 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1FD,000,0125D,186,80,80,A1,FF
2021-08-13T19:33:50.561Z,1628883230.561 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:33:50.561Z,1628883230.561 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:33:50.563Z,1628883230.563 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:33:50.980Z,1628883230.980 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:33:51.793Z,1628883231.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,20D,000,01263,187,80,80,9B,FF
2021-08-13T19:33:51.793Z,1628883231.793 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:33:51.796Z,1628883231.796 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193351.09*5B

2021-08-13T19:33:54.652Z,1628883234.652 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-13T19:33:55.005Z,1628883235.005 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:33:55.005Z,1628883235.005 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:33:55.005Z,1628883235.005 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:33:55.006Z,1628883235.006 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:33:55.409Z,1628883235.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
20D,000,01263,187,80,80,9B,FF
2021-08-13T19:33:55.409Z,1628883235.409 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:33:55.409Z,1628883235.409 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:33:55.411Z,1628883235.411 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:33:55.829Z,1628883235.829 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:33:56.641Z,1628883236.641 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,21F,000,0126D,188,80,80,97,FF
2021-08-13T19:33:56.641Z,1628883236.641 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:33:56.645Z,1628883236.645 [Micromodem](INFO): Nmea in: $SNTTA,0.166415,,,,193355.93*43

2021-08-13T19:33:57.531Z,1628883237.531 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detached at range: 245.52 m. Transitioning DDM to standby.
2021-08-13T19:33:59.535Z,1628883239.535 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-13T19:33:59.881Z,1628883239.881 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:33:59.881Z,1628883239.881 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:33:59.881Z,1628883239.881 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:33:59.882Z,1628883239.882 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:33:59.901Z,1628883239.901 [DefaultWithUndock:LeaveDock:B.Undock](INFO): DDM at standby.
2021-08-13T19:34:00.257Z,1628883240.257 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
21F,000,0126D,188,80,80,97,FF
2021-08-13T19:34:00.257Z,1628883240.257 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:34:00.257Z,1628883240.257 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:34:00.259Z,1628883240.259 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:34:00.374Z,1628883240.374 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete.
2021-08-13T19:34:00.374Z,1628883240.374 [DefaultWithUndock:LeaveDock:B.Undock] Stopped
2021-08-13T19:34:00.375Z,1628883240.375 [DefaultWithUndock:LeaveDock](INFO): Completed DefaultWithUndock:LeaveDock
2021-08-13T19:34:00.375Z,1628883240.375 [DefaultWithUndock:LeaveDock] Stopped
2021-08-13T19:34:00.375Z,1628883240.375 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::uninitialize DefaultWithUndock:LeaveDock
2021-08-13T19:34:00.375Z,1628883240.375 [DefaultWithUndock:LeaveDock:A.] Stopped
2021-08-13T19:34:00.375Z,1628883240.375 [DefaultWithUndock:SurfaceDefault] Running Loop=1
2021-08-13T19:34:00.375Z,1628883240.375 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault
2021-08-13T19:34:00.375Z,1628883240.375 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen] Running Loop=1
2021-08-13T19:34:00.380Z,1628883240.380 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:HoldLatchOpen
2021-08-13T19:34:00.380Z,1628883240.380 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:A] Running Loop=1
2021-08-13T19:34:00.380Z,1628883240.380 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:B] Running Loop=1
2021-08-13T19:34:00.380Z,1628883240.380 [DefaultWithUndock:SurfaceDefault:B.GoToSurface] Running Loop=1
2021-08-13T19:34:00.380Z,1628883240.380 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2021-08-13T19:34:00.380Z,1628883240.380 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2021-08-13T19:34:00.381Z,1628883240.381 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2021-08-13T19:34:00.381Z,1628883240.381 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2021-08-13T19:34:00.381Z,1628883240.381 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2021-08-13T19:34:00.382Z,1628883240.382 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2021-08-13T19:34:00.636Z,1628883240.636 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:34:01.083Z,1628883241.083 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.00 m/s, pitch 30.00 deg, mass-position -26.00 mm (3 active estimators).
2021-08-13T19:34:01.253Z,1628883241.253 [Radio_Surface](INFO): Powering up
2021-08-13T19:34:01.474Z,1628883241.474 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193400.78*5E

2021-08-13T19:34:06.744Z,1628883246.744 [DataOverHttps](INFO): Radio surface powered ON.
2021-08-13T19:34:31.795Z,1628883271.795 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=1
2021-08-13T19:34:31.795Z,1628883271.795 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-08-13T19:34:31.795Z,1628883271.795 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2021-08-13T19:34:31.795Z,1628883271.795 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen] Stopped
2021-08-13T19:34:31.795Z,1628883271.795 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:HoldLatchOpen
2021-08-13T19:34:31.798Z,1628883271.798 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:A] Stopped
2021-08-13T19:34:31.798Z,1628883271.798 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:B] Stopped
2021-08-13T19:34:36.864Z,1628883276.864 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-13T19:34:43.901Z,1628883283.901 [NAL9602](INFO): SBD MO Status=0, MOMSN=23693, MT Status=0, MTMSN=0
2021-08-13T19:34:43.901Z,1628883283.901 [NAL9602](INFO): No messages in MT queue
2021-08-13T19:34:45.135Z,1628883285.135 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,193444.00,A,4133.08728,N,07042.56081,W,3.227,153.24,130821,,,A*74
2021-08-13T19:34:45.138Z,1628883285.138 [NAL9602](INFO): GPS fix at 20210813T193444: (41.551455, -70.709347)
2021-08-13T19:34:45.160Z,1628883285.160 [UniversalFixResidualReporter](INFO): Fix residual: 25.7 %DT, over the last 508.0 m. Residual distance 130.3 m at bearing -130.1 degrees. Fix at (41.5515, -70.7094) with 114.3 m made good.
2021-08-13T19:34:45.161Z,1628883285.161 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2021-08-13T19:34:45.162Z,1628883285.162 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2021-08-13T19:34:52.915Z,1628883292.915 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-13T19:35:05.024Z,1628883305.024 [PowerOnly](INFO): Powering down loadControl
2021-08-13T19:35:12.013Z,1628883312.013 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-13T19:35:13.570Z,1628883313.570 [NAL9602](INFO): SBD MO Status=1, MOMSN=23694, MT Status=0, MTMSN=0
2021-08-13T19:35:13.620Z,1628883313.620 [NAL9602](INFO): Sent 87 bytes from file Logs/20210813T172818/Courier0024.lzma
2021-08-13T19:35:13.620Z,1628883313.620 [NAL9602](INFO): Packets left to send: 0
2021-08-13T19:35:21.490Z,1628883321.490 [NAL9602](INFO): SBD MO Status=1, MOMSN=23695, MT Status=0, MTMSN=0
2021-08-13T19:35:21.552Z,1628883321.552 [NAL9602](INFO): Sent 184 bytes from file Logs/20210813T172818/Express0007.lzma
2021-08-13T19:35:21.552Z,1628883321.552 [NAL9602](INFO): Packets left to send: 4
2021-08-13T19:35:30.184Z,1628883330.184 [NAL9602](INFO): SBD MO Status=1, MOMSN=23696, MT Status=0, MTMSN=0
2021-08-13T19:35:30.244Z,1628883330.244 [NAL9602](INFO): Sent 184 bytes from file Logs/20210813T172818/Express0007.lzma
2021-08-13T19:35:30.244Z,1628883330.244 [NAL9602](INFO): Packets left to send: 3
2021-08-13T19:35:36.477Z,1628883336.477 [NAL9602](INFO): SBD MO Status=1, MOMSN=23697, MT Status=0, MTMSN=0
2021-08-13T19:35:36.536Z,1628883336.536 [NAL9602](INFO): Sent 184 bytes from file Logs/20210813T172818/Express0007.lzma
2021-08-13T19:35:36.536Z,1628883336.536 [NAL9602](INFO): Packets left to send: 2
2021-08-13T19:35:46.437Z,1628883346.437 [NAL9602](INFO): SBD MO Status=1, MOMSN=23698, MT Status=0, MTMSN=0
2021-08-13T19:35:46.496Z,1628883346.496 [NAL9602](INFO): Sent 184 bytes from file Logs/20210813T172818/Express0007.lzma
2021-08-13T19:35:46.496Z,1628883346.496 [NAL9602](INFO): Packets left to send: 1
2021-08-13T19:35:47.153Z,1628883347.153 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-13T19:35:56.364Z,1628883356.364 [NAL9602](INFO): SBD MO Status=1, MOMSN=23699, MT Status=0, MTMSN=0
2021-08-13T19:35:56.410Z,1628883356.410 [NAL9602](INFO): Sent 120 bytes from file Logs/20210813T172818/Express0007.lzma
2021-08-13T19:35:56.410Z,1628883356.410 [NAL9602](INFO): Packets left to send: 0
2021-08-13T19:36:03.959Z,1628883363.959 [NAL9602](INFO): SBD MO Status=1, MOMSN=23700, MT Status=0, MTMSN=0
2021-08-13T19:36:04.008Z,1628883364.008 [NAL9602](INFO): Sent 93 bytes from file Logs/20210813T172818/Express0010.lzma
2021-08-13T19:36:04.008Z,1628883364.008 [NAL9602](INFO): Packets left to send: 0
2021-08-13T19:36:11.078Z,1628883371.078 [NAL9602](INFO): SBD MO Status=1, MOMSN=23701, MT Status=0, MTMSN=0
2021-08-13T19:36:11.132Z,1628883371.132 [NAL9602](INFO): Sent 184 bytes from file Logs/20210813T172818/Express0013.lzma
2021-08-13T19:36:11.132Z,1628883371.132 [NAL9602](INFO): Packets left to send: 2
2021-08-13T19:36:22.302Z,1628883382.302 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-13T19:36:29.032Z,1628883389.032 [NAL9602](INFO): SBD MO Status=1, MOMSN=23702, MT Status=0, MTMSN=0
2021-08-13T19:36:29.084Z,1628883389.084 [NAL9602](INFO): Sent 184 bytes from file Logs/20210813T172818/Express0013.lzma
2021-08-13T19:36:29.084Z,1628883389.084 [NAL9602](INFO): Packets left to send: 1
2021-08-13T19:36:36.934Z,1628883396.934 [NAL9602](INFO): SBD MO Status=1, MOMSN=23703, MT Status=0, MTMSN=0
2021-08-13T19:36:36.996Z,1628883396.996 [NAL9602](INFO): Sent 88 bytes from file Logs/20210813T172818/Express0013.lzma
2021-08-13T19:36:36.996Z,1628883396.996 [NAL9602](INFO): Packets left to send: 0
2021-08-13T19:36:48.907Z,1628883408.907 [NAL9602](INFO): SBD MO Status=1, MOMSN=23704, MT Status=0, MTMSN=0
2021-08-13T19:36:48.960Z,1628883408.960 [NAL9602](INFO): Sent 184 bytes from file Logs/20210813T172818/Express0016.lzma
2021-08-13T19:36:48.960Z,1628883408.960 [NAL9602](INFO): Packets left to send: 2
2021-08-13T19:36:57.200Z,1628883417.200 [NAL9602](INFO): SBD MO Status=1, MOMSN=23705, MT Status=0, MTMSN=0
2021-08-13T19:36:57.250Z,1628883417.250 [NAL9602](INFO): Sent 184 bytes from file Logs/20210813T172818/Express0016.lzma
2021-08-13T19:36:57.250Z,1628883417.250 [NAL9602](INFO): Packets left to send: 1
2021-08-13T19:36:57.444Z,1628883417.444 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-13T19:37:06.406Z,1628883426.406 [NAL9602](INFO): SBD MO Status=1, MOMSN=23706, MT Status=0, MTMSN=0
2021-08-13T19:37:06.460Z,1628883426.460 [NAL9602](INFO): Sent 178 bytes from file Logs/20210813T172818/Express0016.lzma
2021-08-13T19:37:06.460Z,1628883426.460 [NAL9602](INFO): Packets left to send: 0
2021-08-13T19:37:15.030Z,1628883435.030 [NAL9602](INFO): SBD MO Status=1, MOMSN=23707, MT Status=0, MTMSN=0
2021-08-13T19:37:15.088Z,1628883435.088 [NAL9602](INFO): Sent 138 bytes from file Logs/20210813T172818/Express0019.lzma
2021-08-13T19:37:15.088Z,1628883435.088 [NAL9602](INFO): Packets left to send: 0
2021-08-13T19:37:26.112Z,1628883446.112 [NAL9602](INFO): SBD MO Status=1, MOMSN=23708, MT Status=0, MTMSN=0
2021-08-13T19:37:26.164Z,1628883446.164 [NAL9602](INFO): Sent 184 bytes from file Logs/20210813T172818/Express0022.lzma
2021-08-13T19:37:26.164Z,1628883446.164 [NAL9602](INFO): Packets left to send: 1
2021-08-13T19:37:31.585Z,1628883451.585 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003219
2021-08-13T19:37:35.921Z,1628883455.921 [Micromodem](INFO): Nmea in: $CAMSG,Error accessing coproc,4*51

2021-08-13T19:37:36.296Z,1628883456.296 [Micromodem](INFO): Nmea in: $CACST,6,1,20210813193735.700750,06,179,22,0105,0150,134,02,02,00,02,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,14500,4000*55

2021-08-13T19:37:37.898Z,1628883457.898 [NAL9602](INFO): SBD MO Status=1, MOMSN=23709, MT Status=0, MTMSN=0
2021-08-13T19:37:37.948Z,1628883457.948 [NAL9602](INFO): Sent 60 bytes from file Logs/20210813T172818/Express0022.lzma
2021-08-13T19:37:37.948Z,1628883457.948 [NAL9602](INFO): Packets left to send: 0
2021-08-13T19:37:48.651Z,1628883468.651 [DataOverHttps](INFO): Sending 52 bytes from file Logs/20210813T172818/Courier0027.lzma
2021-08-13T19:37:51.662Z,1628883471.662 [DataOverHttps](INFO): Moved sent file to Logs/20210813T172818/Courier0027.lzma.bak
2021-08-13T19:37:51.662Z,1628883471.662 [DataOverHttps](INFO): SBD MOMSN=433327
2021-08-13T19:38:08.600Z,1628883488.600 [NAL9602](INFO): Not Powering down - fast GPS
2021-08-13T19:38:14.760Z,1628883494.760 [DataOverHttps](INFO): Sending 372 bytes from file Logs/20210813T172818/Express0025.lzma
2021-08-13T19:38:16.883Z,1628883496.883 [DataOverHttps](INFO): Moved sent file to Logs/20210813T172818/Express0025.lzma.bak
2021-08-13T19:38:16.883Z,1628883496.883 [DataOverHttps](INFO): SBD MOMSN=433334
2021-08-13T19:39:03.956Z,1628883543.956 [DataOverHttps](INFO): Sending 62 bytes from file Logs/20210813T172818/Express0028.lzma
2021-08-13T19:39:06.966Z,1628883546.966 [DataOverHttps](INFO): Moved sent file to Logs/20210813T172818/Express0028.lzma.bak
2021-08-13T19:39:06.966Z,1628883546.966 [DataOverHttps](INFO): SBD MOMSN=433339
2021-08-13T19:39:08.411Z,1628883548.411 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2021-08-13T19:39:08.412Z,1628883548.412 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2021-08-13T19:39:08.412Z,1628883548.412 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2021-08-13T19:39:37.933Z,1628883577.933 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2021-08-13T19:39:37.976Z,1628883577.976 [Micromodem](INFO): Nmea in: $CACST,6,1,20210813193937.701437,06,325,25,0121,0150,149,01,01,00,01,-1,-01,-01,1,3,3,0,150,25.1,0.11,-100,2.89,-01,2.04,55,14500,4000*44

2021-08-13T19:39:41.949Z,1628883581.949 [Micromodem](INFO): Nmea in: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error

2021-08-13T19:39:41.950Z,1628883581.950 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error
 expected 41
2021-08-13T19:39:42.337Z,1628883582.337 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2021-08-13T19:39:42.342Z,1628883582.342 [Micromodem](INFO): Nmea in: $CACST,6,1,20210813193941.701032,06,1309,25,0092,0150,126,02,02,01,02,-1,-01,-01,1,3,2,0,150,72.1,1.89,-100,1.11,-01,1.34,-12,14500,4000*56

2021-08-13T19:39:58.110Z,1628883598.110 [Micromodem](INFO): Nmea in: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error

2021-08-13T19:39:58.111Z,1628883598.111 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error
 expected 41
2021-08-13T19:39:58.113Z,1628883598.113 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2021-08-13T19:39:58.506Z,1628883598.506 [Micromodem](INFO): Nmea in: $CACST,6,1,20210813193957.684558,06,1234,24,0119,0150,141,01,01,01,01,-1,-01,-01,1,3,7,0,150,62.1,2.57,-100,0.43,-01,-1.92,-6,14500,4000*4C

2021-08-13T19:41:12.891Z,1628883672.891 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T19:41:22.950Z,1628883682.950 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T19:41:58.105Z,1628883718.105 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-13T19:41:59.737Z,1628883719.737 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.240021
2021-08-13T19:42:21.834Z,1628883741.834 [DataOverHttps](IMPORTANT): SBD MTMSN=20210813T194221
2021-08-13T19:42:21.838Z,1628883741.838 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.004095
2021-08-13T19:42:28.865Z,1628883748.865 [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" 2ptcw 1 2
2021-08-13T19:42:28.908Z,1628883748.908 [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" 2ptcw 1 2.000000
2021-08-13T19:42:28.910Z,1628883748.910 [CommandLine](IMPORTANT): Scheduling command #1 of 2 with id=2ptcw
2021-08-13T19:42:28.926Z,1628883748.926 [CommandLine](IMPORTANT): Scheduled #16 (#1 of 2 with id='2ptcw'): "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
2021-08-13T19:42:29.866Z,1628883749.866 [DataOverHttps](IMPORTANT): SBD MTMSN=20210813T194228
2021-08-13T19:42:39.908Z,1628883759.908 [DataOverHttps](INFO): Received command:sched asap "set lineCaptureDepth.MaxDepth 9 m;set lineCaptureDepth.MinOffshore .5 km;run" 2ptcw 2 2
2021-08-13T19:42:39.945Z,1628883759.945 [CommandLine](IMPORTANT): got command schedule asap "set lineCaptureDepth.MaxDepth 9 m;set lineCaptureDepth.MinOffshore .5 km;run" 2ptcw 2 2.000000
2021-08-13T19:42:39.945Z,1628883759.945 [CommandLine](IMPORTANT): Scheduling command #2 of 2 with id=2ptcw
2021-08-13T19:42:39.946Z,1628883759.946 [CommandLine](IMPORTANT): Scheduled #17 (#2 of 2 with id='2ptcw'): "set lineCaptureDepth.MaxDepth 9 m;set lineCaptureDepth.MinOffshore .5 km;run" ASAP
2021-08-13T19:42:40.189Z,1628883760.189 [CommandLine](IMPORTANT): got command load ./Missions/Engineering/lineCaptureDepth.xml
2021-08-13T19:42:40.190Z,1628883760.190 [MissionManager](INFO): Loading Mission: ./Missions/Engineering/lineCaptureDepth.xml
2021-08-13T19:42:40.291Z,1628883760.291 [MissionManager](INFO): DefineArg lineCaptureDepth.MissionTimeout = 4.000000 h
2021-08-13T19:42:40.293Z,1628883760.293 [MissionManager](INFO): DefineArg lineCaptureDepth.NeedCommsTime = 240.000000 min
2021-08-13T19:42:40.296Z,1628883760.296 [MissionManager](INFO): DefineArg lineCaptureDepth.MicromodemCommsInterval = 5.000000 min
2021-08-13T19:42:40.298Z,1628883760.298 [MissionManager](INFO): DefineArg lineCaptureDepth.Repeat = 1.000000 count
2021-08-13T19:42:40.301Z,1628883760.301 [MissionManager](INFO): DefineArg lineCaptureDepth.WaitOnDockTimeout = 5.000000 min
2021-08-13T19:42:40.303Z,1628883760.303 [MissionManager](INFO): DefineArg lineCaptureDepth.TransponderCode = 2.000000 count
2021-08-13T19:42:40.306Z,1628883760.306 [MissionManager](INFO): DefineArg lineCaptureDepth.TrackingUpdatePeriod = 2.500000 s
2021-08-13T19:42:40.308Z,1628883760.308 [MissionManager](INFO): DefineArg lineCaptureDepth.NumberOfPings = 1.000000 count
2021-08-13T19:42:40.314Z,1628883760.314 [MissionManager](INFO): DefineArg lineCaptureDepth.NumPingsUSBL = 5.000000 count
2021-08-13T19:42:40.317Z,1628883760.317 [MissionManager](INFO): DefineArg lineCaptureDepth.RangeUSBL = 40.000000 m
2021-08-13T19:42:40.319Z,1628883760.319 [MissionManager](INFO): DefineArg lineCaptureDepth.MinAltitude = 5.000000 m
2021-08-13T19:42:40.322Z,1628883760.322 [MissionManager](INFO): DefineArg lineCaptureDepth.MaxDepth = 205.000000 m
2021-08-13T19:42:40.324Z,1628883760.324 [MissionManager](INFO): DefineArg lineCaptureDepth.MinOffshore = 2.000000 km
2021-08-13T19:42:40.327Z,1628883760.327 [MissionManager](INFO): DefineOutput lineCaptureDepth.Mode = -1.000000 count
2021-08-13T19:42:40.359Z,1628883760.359 [MissionManager](INFO): DefineOutput lineCaptureDepth.NumPings = 1.000000 count
2021-08-13T19:42:40.368Z,1628883760.368 [MissionManager](INFO): Inserting Stack: Missions/Insert/Science.xml
2021-08-13T19:42:40.725Z,1628883760.725 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectChlActive = 0 bool
2021-08-13T19:42:40.727Z,1628883760.727 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.TimeWindowPeakReport = nan min
2021-08-13T19:42:40.740Z,1628883760.740 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.HighestChlPeakReportActive = 0 bool
2021-08-13T19:42:40.742Z,1628883760.742 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.HighestSaltPeakReportActive = 0 bool
2021-08-13T19:42:40.744Z,1628883760.744 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.HighestOilPeakReportActive = 0 bool
2021-08-13T19:42:40.746Z,1628883760.746 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PatchTracking = 0 bool
2021-08-13T19:42:40.749Z,1628883760.749 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.FilterWidthHorizontal = 3.000000 count
2021-08-13T19:42:40.751Z,1628883760.751 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.NumProfilesSlidingwindow = 100.000000 count
2021-08-13T19:42:40.753Z,1628883760.753 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.OffPeakFractionHorizontal = 80.000000 %
2021-08-13T19:42:40.755Z,1628883760.755 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectNO3Active = 0 bool
2021-08-13T19:42:40.757Z,1628883760.757 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectOilActive = 0 bool
2021-08-13T19:42:40.759Z,1628883760.759 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectFDOMActive = 0 bool
2021-08-13T19:42:40.762Z,1628883760.762 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectSalinityActive = 0 bool
2021-08-13T19:42:40.763Z,1628883760.763 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2021-08-13T19:42:40.766Z,1628883760.766 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledAanderaaO2 = 0.000000 bool
2021-08-13T19:42:40.769Z,1628883760.769 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledNeilBrown = 0.000000 bool
2021-08-13T19:42:40.772Z,1628883760.772 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledSeabird = 1.000000 bool
2021-08-13T19:42:40.774Z,1628883760.774 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledWetLabsBB2FL = 0.000000 bool
2021-08-13T19:42:40.777Z,1628883760.777 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledWetLabsSeaOWL_UV_A = 1.000000 bool
2021-08-13T19:42:40.808Z,1628883760.808 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledWetLabsUBAT = 0.000000 bool
2021-08-13T19:42:40.810Z,1628883760.810 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.LowPassWindowLength = 20.000000 count
2021-08-13T19:42:40.817Z,1628883760.817 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.MedianFilterLen = 5.000000 count
2021-08-13T19:42:40.819Z,1628883760.819 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakShallowBound = nan m
2021-08-13T19:42:40.829Z,1628883760.829 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDeepBound = nan m
2021-08-13T19:42:40.832Z,1628883760.832 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2021-08-13T19:42:40.834Z,1628883760.834 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChl = 0.000000 ug/l
2021-08-13T19:42:40.841Z,1628883760.841 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChlDepth = 0.000000 m
2021-08-13T19:42:40.843Z,1628883760.843 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChlTemperature = 0.000000 degC
2021-08-13T19:42:40.850Z,1628883760.850 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChlLatitude = nan arcdeg
2021-08-13T19:42:40.861Z,1628883760.861 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChlLongitude = nan arcdeg
2021-08-13T19:42:40.863Z,1628883760.863 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakNO3 = 0.000000 umol/l
2021-08-13T19:42:40.865Z,1628883760.865 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakNO3Depth = 0.000000 m
2021-08-13T19:42:40.877Z,1628883760.877 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakNO3Latitude = nan arcdeg
2021-08-13T19:42:40.879Z,1628883760.879 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakNO3Longitude = nan arcdeg
2021-08-13T19:42:40.918Z,1628883760.918 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakOil = 0.000000 kg/m3
2021-08-13T19:42:40.920Z,1628883760.920 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakOilDepth = 0.000000 m
2021-08-13T19:42:40.922Z,1628883760.922 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakOilLatitude = nan arcdeg
2021-08-13T19:42:40.947Z,1628883760.947 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakOilLongitude = nan arcdeg
2021-08-13T19:42:40.950Z,1628883760.950 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOM = 0.000000 ppb
2021-08-13T19:42:40.968Z,1628883760.968 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOMDepth = 0.000000 m
2021-08-13T19:42:40.970Z,1628883760.970 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOMTemperature = nan degC
2021-08-13T19:42:40.972Z,1628883760.972 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOMLatitude = nan arcdeg
2021-08-13T19:42:40.975Z,1628883760.975 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOMLongitude = nan arcdeg
2021-08-13T19:42:40.993Z,1628883760.993 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchFDOMDistance = nan m
2021-08-13T19:42:40.996Z,1628883760.996 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakSalt = 0.000000 psu
2021-08-13T19:42:41.013Z,1628883761.013 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakSaltDepth = 0.000000 m
2021-08-13T19:42:41.015Z,1628883761.015 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakSaltTemperature = 0.000000 degC
2021-08-13T19:42:41.018Z,1628883761.018 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakSaltLatitude = nan arcdeg
2021-08-13T19:42:41.020Z,1628883761.020 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakSaltLongitude = nan arcdeg
2021-08-13T19:42:41.023Z,1628883761.023 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChl = 0.000000 ug/l
2021-08-13T19:42:41.040Z,1628883761.040 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChlDepth = 0.000000 m
2021-08-13T19:42:41.043Z,1628883761.043 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChlLatitude = nan arcdeg
2021-08-13T19:42:41.053Z,1628883761.053 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChlLongitude = nan arcdeg
2021-08-13T19:42:41.068Z,1628883761.068 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChlDistance = nan m
2021-08-13T19:42:41.070Z,1628883761.070 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchSalt = 0.000000 psu
2021-08-13T19:42:41.088Z,1628883761.088 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchSaltDepth = 0.000000 m
2021-08-13T19:42:41.090Z,1628883761.090 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchSaltLatitude = nan arcdeg
2021-08-13T19:42:41.097Z,1628883761.097 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchSaltLongitude = nan arcdeg
2021-08-13T19:42:41.104Z,1628883761.104 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchSaltDistance = nan m
2021-08-13T19:42:41.107Z,1628883761.107 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchOil = 0.000000 psu
2021-08-13T19:42:41.113Z,1628883761.113 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchOilDepth = 0.000000 m
2021-08-13T19:42:41.120Z,1628883761.120 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchOilLatitude = nan arcdeg
2021-08-13T19:42:41.122Z,1628883761.122 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchOilLongitude = nan arcdeg
2021-08-13T19:42:41.130Z,1628883761.130 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchOilDistance = nan m
2021-08-13T19:42:41.167Z,1628883761.167 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-08-13T19:42:41.196Z,1628883761.196 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2021-08-13T19:42:41.237Z,1628883761.237 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-08-13T19:42:41.335Z,1628883761.335 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-08-13T19:42:41.374Z,1628883761.374 [lineCaptureDepth:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2021-08-13T19:42:41.476Z,1628883761.476 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-08-13T19:42:41.501Z,1628883761.501 [lineCaptureDepth:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-08-13T19:42:41.526Z,1628883761.526 [lineCaptureDepth:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2021-08-13T19:42:41.555Z,1628883761.555 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2021-08-13T19:42:41.587Z,1628883761.587 [MissionManager](INFO): DefineArg lineCaptureDepth:StandardEnvelopes.MinAltitude = 5.000000 m
2021-08-13T19:42:41.594Z,1628883761.594 [MissionManager](INFO): DefineArg lineCaptureDepth:StandardEnvelopes.MaxDepth = 200.000000 m
2021-08-13T19:42:41.600Z,1628883761.600 [MissionManager](INFO): DefineArg lineCaptureDepth:StandardEnvelopes.MinOffshore = 2000.000000 m
2021-08-13T19:42:41.602Z,1628883761.602 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2021-08-13T19:42:41.616Z,1628883761.616 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2021-08-13T19:42:41.627Z,1628883761.627 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2021-08-13T19:42:41.644Z,1628883761.644 [MissionManager](INFO): Inserting Stack: Missions/Insert/NeedComms.xml
2021-08-13T19:42:41.749Z,1628883761.749 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.DiveInterval = 3.000000 h
2021-08-13T19:42:41.751Z,1628883761.751 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.WaitForPitchUp = 10.000000 min
2021-08-13T19:42:41.758Z,1628883761.758 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.SurfacePitch = 20.000000 arcdeg
2021-08-13T19:42:41.768Z,1628883761.768 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.SurfaceDepthRate = nan m/s
2021-08-13T19:42:41.771Z,1628883761.771 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.SurfaceSpeed = 1.000000 m/s
2021-08-13T19:42:41.777Z,1628883761.777 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.GPSTimeout = 7.000000 min
2021-08-13T19:42:41.779Z,1628883761.779 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.CommsTimeout = 30.000000 min
2021-08-13T19:42:41.809Z,1628883761.809 [lineCaptureDepth:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2021-08-13T19:42:41.843Z,1628883761.843 [MissionManager](INFO): Inserting Stack: Missions/Insert/MicromodemComms.xml
2021-08-13T19:42:41.902Z,1628883761.902 [MissionManager](INFO): DefineArg lineCaptureDepth:MicromodemComms.Timeout = 10.000000 min
2021-08-13T19:42:41.916Z,1628883761.916 [MissionManager](INFO): DefineArg lineCaptureDepth:MicromodemComms.CommsInterval = 5.000000 min
2021-08-13T19:42:41.925Z,1628883761.925 [MissionManager](INFO): RedefineArg lineCaptureDepth:MicromodemComms.CommsInterval = reader:lineCaptureDepth.MicromodemCommsInterval
2021-08-13T19:42:41.953Z,1628883761.953 [MissionManager](INFO): Inserting Stack: Missions/Insert/LineCapture.xml
2021-08-13T19:42:42.156Z,1628883762.156 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.DockLat = 41.552317 arcdeg
2021-08-13T19:42:42.159Z,1628883762.159 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.DockLon = -70.708600 arcdeg
2021-08-13T19:42:42.161Z,1628883762.161 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.DetachTimeout = 30.000000 min
2021-08-13T19:42:42.163Z,1628883762.163 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MidcourseDepth = 6.000000 m
2021-08-13T19:42:42.216Z,1628883762.216 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MidcourseSpeed = 1.000000 m/s
2021-08-13T19:42:42.218Z,1628883762.218 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MidcourseTimeout = 6.000000 h
2021-08-13T19:42:42.237Z,1628883762.237 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.TerminalRange = 650.000000 m
2021-08-13T19:42:42.240Z,1628883762.240 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.AcousticTimeout = 5.000000 min
2021-08-13T19:42:42.242Z,1628883762.242 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.SearchTimeout = 1.000000 h
2021-08-13T19:42:42.245Z,1628883762.245 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.CircleRadius = 25.000000 m
2021-08-13T19:42:42.247Z,1628883762.247 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.CircleMaxError = 1.000000 m
2021-08-13T19:42:42.258Z,1628883762.258 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.CircleTurnToPort = 0 bool
2021-08-13T19:42:42.264Z,1628883762.264 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.DepthDeadband = 0.010000 m
2021-08-13T19:42:42.267Z,1628883762.267 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.RudderDeadband = 0.001000 arcdeg
2021-08-13T19:42:42.273Z,1628883762.273 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MinAltitude = 2.000000 m
2021-08-13T19:42:42.279Z,1628883762.279 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MaxDepth = 8.000000 m
2021-08-13T19:42:42.293Z,1628883762.293 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MinOffshore = 1.000000 m
2021-08-13T19:42:42.300Z,1628883762.300 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.DoneTimeout = -1.000000 count
2021-08-13T19:42:42.302Z,1628883762.302 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.Done = 0.000000 count
2021-08-13T19:42:42.305Z,1628883762.305 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.DetachFromDock = 1.000000 count
2021-08-13T19:42:42.316Z,1628883762.316 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.Midcourse = 2.000000 count
2021-08-13T19:42:42.318Z,1628883762.318 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.Terminal = 3.000000 count
2021-08-13T19:42:42.325Z,1628883762.325 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.GuidanceMode = 1.000000 n/a
2021-08-13T19:42:42.327Z,1628883762.327 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.DockingDepth = 1.000000 m
2021-08-13T19:42:42.342Z,1628883762.342 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.ElapsedRange = 0.000000 min
2021-08-13T19:42:42.348Z,1628883762.348 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.Range = nan m
2021-08-13T19:42:42.357Z,1628883762.357 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2021-08-13T19:42:42.383Z,1628883762.383 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture:StandardEnvelopes.MinAltitude = 5.000000 m
2021-08-13T19:42:42.398Z,1628883762.398 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture:StandardEnvelopes.MaxDepth = 200.000000 m
2021-08-13T19:42:42.405Z,1628883762.405 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture:StandardEnvelopes.MinOffshore = 2000.000000 m
2021-08-13T19:42:42.406Z,1628883762.406 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2021-08-13T19:42:42.424Z,1628883762.424 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2021-08-13T19:42:42.435Z,1628883762.435 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2021-08-13T19:42:42.463Z,1628883762.463 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Construct.
2021-08-13T19:42:42.466Z,1628883762.466 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Construct Buoyancy.
2021-08-13T19:42:42.488Z,1628883762.488 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Construct.
2021-08-13T19:42:42.488Z,1628883762.488 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2021-08-13T19:42:42.571Z,1628883762.571 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Construct.
2021-08-13T19:42:42.578Z,1628883762.578 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Construct.
2021-08-13T19:42:42.587Z,1628883762.587 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Construct Waypoint.
2021-08-13T19:42:42.615Z,1628883762.615 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A.Circle](DEBUG): Construct.
2021-08-13T19:42:42.629Z,1628883762.629 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:B.Wait](DEBUG): Construct Wait.
2021-08-13T19:42:42.639Z,1628883762.639 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Construct.
2021-08-13T19:42:42.647Z,1628883762.647 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Construct.
2021-08-13T19:42:42.660Z,1628883762.660 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initializing internal variables to default values.
2021-08-13T19:42:42.661Z,1628883762.661 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2021-08-13T19:42:42.664Z,1628883762.664 [lineCaptureDepth:LineCapture:K.Wait](DEBUG): Construct Wait.
2021-08-13T19:42:42.671Z,1628883762.671 [MissionManager](INFO): Inserting Stack: Missions/Insert/SetNavAcoustic.xml
2021-08-13T19:42:42.694Z,1628883762.694 [MissionManager](INFO): DefineArg lineCaptureDepth:SetNavAcoustic.DockLat = 41.552317 arcdeg
2021-08-13T19:42:42.696Z,1628883762.696 [MissionManager](INFO): DefineArg lineCaptureDepth:SetNavAcoustic.DockLon = -70.708600 arcdeg
2021-08-13T19:42:42.699Z,1628883762.699 [MissionManager](INFO): DefineArg lineCaptureDepth:SetNavAcoustic.DockRange = 5.000000 m
2021-08-13T19:42:42.702Z,1628883762.702 [MissionManager](INFO): DefineArg lineCaptureDepth:SetNavAcoustic.RangeTimeout = 5.000000 min
2021-08-13T19:42:42.732Z,1628883762.732 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Construct SetNav.
2021-08-13T19:42:42.776Z,1628883762.776 [lineCaptureDepth:Lap:Docked:Docked.Docked](DEBUG): Construct.
2021-08-13T19:42:42.776Z,1628883762.776 [lineCaptureDepth:Lap:Docked:Docked.Docked](DEBUG): Initializing internal variables to default values.
2021-08-13T19:42:42.784Z,1628883762.784 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](DEBUG): Construct.
2021-08-13T19:42:42.784Z,1628883762.784 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](DEBUG): Initializing internal variables to default values.
2021-08-13T19:42:42.878Z,1628883762.878 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
    xmlns:Estimation="Tethys/Estimation"
    xmlns:Guidance="Tethys/Guidance"
    xmlns:Units="Tethys/Units"
    xmlns:Dock="Tethys/Dock"
    xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
    xsi:schemaLocation="Tethys http://okeanids.mbari.org/tethys/Xml/Tethys.xsd
                        Tethys/Dock http://okeanids.mbari.org/tethys/Xml/Dock.xsd
                        Tethys/Estimation http://okeanids.mbari.org/tethys/Xml/Estimation.xsd
                        Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd
                        Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd"
    Id="lineCaptureDepth">

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

<!-- Define mission arguments -->

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

<!-- Mission timeout -->

    <Timeout Duration="MissionTimeout"/>

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

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

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

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

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

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

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

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

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

<!-- Micromodem comms -->

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

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

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

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

<!-- Add LineCapture directives. -->

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

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

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

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

<!-- Add SetNav directives. -->

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

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

    <Aggregate Id="UpdateNumPings_NotTerminal">

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

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

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

    </Aggregate>


    <Aggregate Id="UpdateNumPings_Terminal">

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

        <Aggregate Id="UpdateNumPingsUSBL">

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

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

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

        </Aggregate>

        <Aggregate Id="UpdateNumPingsATR">

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

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

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

        </Aggregate>
    </Aggregate>


<!-- Start mission sequence. -->

    <Aggregate Id="Lap">

        <Sequence Repeat="Repeat"/>

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

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

        <Call RefId="LineCapture"/>

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

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

        <Aggregate Id="Docked">

            <Sequence/>

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

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

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

            <Aggregate Id="Detach">

                <Sequence/>

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

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

            </Aggregate>

        </Aggregate>

    </Aggregate>

</Mission>


2021-08-13T19:42:42.879Z,1628883762.879 [CommandLine](IMPORTANT): Loaded ./Missions/Engineering/lineCaptureDepth.xml
2021-08-13T19:42:57.596Z,1628883777.596 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MissionTimeout 120.000000 minute
2021-08-13T19:42:57.597Z,1628883777.597 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MicromodemCommsInterval 30.000000 minute
2021-08-13T19:42:57.598Z,1628883777.598 [CommandLine](IMPORTANT): got command set lineCaptureDepth.Repeat 20.000000 count
2021-08-13T19:42:57.599Z,1628883777.599 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MinAltitude 3.000000 meter
2021-08-13T19:43:04.154Z,1628883784.154 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MaxDepth 9.000000 meter
2021-08-13T19:43:04.155Z,1628883784.155 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MinOffshore 0.500000 kilometer
2021-08-13T19:43:04.156Z,1628883784.156 [CommandLine](IMPORTANT): got command run
2021-08-13T19:43:04.158Z,1628883784.158 [CommandLine](IMPORTANT): Running 
2021-08-13T19:43:04.361Z,1628883784.361 [DefaultWithUndock] Stopped
2021-08-13T19:43:04.361Z,1628883784.361 [DefaultWithUndock](DEBUG): Aggregate::uninitialize DefaultWithUndock
2021-08-13T19:43:04.361Z,1628883784.361 [DefaultWithUndock:SurfaceDefault] Stopped
2021-08-13T19:43:04.361Z,1628883784.361 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault
2021-08-13T19:43:04.361Z,1628883784.361 [DefaultWithUndock:SurfaceDefault:B.GoToSurface] Stopped
2021-08-13T19:43:04.361Z,1628883784.361 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2021-08-13T19:43:04.361Z,1628883784.361 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2021-08-13T19:43:04.361Z,1628883784.361 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-08-13T19:43:04.361Z,1628883784.361 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2021-08-13T19:43:04.361Z,1628883784.361 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2021-08-13T19:43:04.362Z,1628883784.362 [MissionManager](IMPORTANT): Started mission lineCaptureDepth
2021-08-13T19:43:04.362Z,1628883784.362 [lineCaptureDepth] Running Loop=1
2021-08-13T19:43:04.362Z,1628883784.362 [lineCaptureDepth](DEBUG): Aggregate::initialize lineCaptureDepth
2021-08-13T19:43:04.362Z,1628883784.362 [lineCaptureDepth:Science] Running Loop=1
2021-08-13T19:43:04.362Z,1628883784.362 [lineCaptureDepth:Science](DEBUG): Aggregate::initialize lineCaptureDepth:Science
2021-08-13T19:43:04.362Z,1628883784.362 [lineCaptureDepth:Science:A] Running Loop=1
2021-08-13T19:43:04.363Z,1628883784.363 [lineCaptureDepth:Science:B] Running Loop=1
2021-08-13T19:43:04.363Z,1628883784.363 [lineCaptureDepth:Science:C] Running Loop=1
2021-08-13T19:43:04.363Z,1628883784.363 [lineCaptureDepth:Science:D] Running Loop=1
2021-08-13T19:43:04.363Z,1628883784.363 [lineCaptureDepth:Science:E] Running Loop=1
2021-08-13T19:43:04.363Z,1628883784.363 [lineCaptureDepth:Science:F] Running Loop=1
2021-08-13T19:43:04.363Z,1628883784.363 [lineCaptureDepth:Science:Read_Oil] Running Loop=1
2021-08-13T19:43:04.363Z,1628883784.363 [lineCaptureDepth:Science:PeakDetectChl] Running Loop=1
2021-08-13T19:43:04.363Z,1628883784.363 [lineCaptureDepth:Science:PeakDetectChl](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectChl
2021-08-13T19:43:04.363Z,1628883784.363 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth] Running Loop=1
2021-08-13T19:43:04.363Z,1628883784.363 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-08-13T19:43:04.365Z,1628883784.365 [lineCaptureDepth:Science:HighestChlPeakReport] Running Loop=1
2021-08-13T19:43:04.365Z,1628883784.365 [lineCaptureDepth:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize lineCaptureDepth:Science:HighestChlPeakReport
2021-08-13T19:43:04.365Z,1628883784.365 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2021-08-13T19:43:04.365Z,1628883784.365 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2021-08-13T19:43:04.366Z,1628883784.366 [lineCaptureDepth:Science:PeakDetectNO3] Running Loop=1
2021-08-13T19:43:04.366Z,1628883784.366 [lineCaptureDepth:Science:PeakDetectNO3](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectNO3
2021-08-13T19:43:04.366Z,1628883784.366 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth] Running Loop=1
2021-08-13T19:43:04.366Z,1628883784.366 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-08-13T19:43:04.367Z,1628883784.367 [lineCaptureDepth:Science:PeakDetectOil] Running Loop=1
2021-08-13T19:43:04.368Z,1628883784.368 [lineCaptureDepth:Science:PeakDetectOil](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectOil
2021-08-13T19:43:04.368Z,1628883784.368 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth] Running Loop=1
2021-08-13T19:43:04.368Z,1628883784.368 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-08-13T19:43:04.369Z,1628883784.369 [lineCaptureDepth:Science:HighestOilPeakReport] Running Loop=1
2021-08-13T19:43:04.369Z,1628883784.369 [lineCaptureDepth:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize lineCaptureDepth:Science:HighestOilPeakReport
2021-08-13T19:43:04.370Z,1628883784.370 [lineCaptureDepth:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2021-08-13T19:43:04.370Z,1628883784.370 [lineCaptureDepth:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2021-08-13T19:43:04.370Z,1628883784.370 [lineCaptureDepth:Science:PeakDetectFDOM] Running Loop=1
2021-08-13T19:43:04.370Z,1628883784.370 [lineCaptureDepth:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectFDOM
2021-08-13T19:43:04.370Z,1628883784.370 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Running Loop=1
2021-08-13T19:43:04.371Z,1628883784.371 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-08-13T19:43:04.372Z,1628883784.372 [lineCaptureDepth:Science:PeakDetectSalinity] Running Loop=1
2021-08-13T19:43:04.372Z,1628883784.372 [lineCaptureDepth:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectSalinity
2021-08-13T19:43:04.372Z,1628883784.372 [lineCaptureDepth:Science:PeakDetectSalinity:A.PeakDetectVsDepth] Running Loop=1
2021-08-13T19:43:04.372Z,1628883784.372 [lineCaptureDepth:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-08-13T19:43:04.374Z,1628883784.374 [lineCaptureDepth:Science:HighestSaltPeakReport] Running Loop=1
2021-08-13T19:43:04.374Z,1628883784.374 [lineCaptureDepth:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize lineCaptureDepth:Science:HighestSaltPeakReport
2021-08-13T19:43:04.374Z,1628883784.374 [lineCaptureDepth:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2021-08-13T19:43:04.374Z,1628883784.374 [lineCaptureDepth:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2021-08-13T19:43:04.375Z,1628883784.375 [lineCaptureDepth:Science:OceanCurrent] Running Loop=1
2021-08-13T19:43:04.375Z,1628883784.375 [lineCaptureDepth:Science:OceanCurrent](DEBUG): Aggregate::initialize lineCaptureDepth:Science:OceanCurrent
2021-08-13T19:43:04.375Z,1628883784.375 [lineCaptureDepth:Science:OceanCurrent:A.] Running Loop=1
2021-08-13T19:43:04.375Z,1628883784.375 [lineCaptureDepth:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2021-08-13T19:43:04.375Z,1628883784.375 [lineCaptureDepth:StandardEnvelopes] Running Loop=1
2021-08-13T19:43:04.375Z,1628883784.375 [lineCaptureDepth:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureDepth:StandardEnvelopes
2021-08-13T19:43:04.376Z,1628883784.376 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-08-13T19:43:04.376Z,1628883784.376 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2021-08-13T19:43:04.376Z,1628883784.376 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-08-13T19:43:04.376Z,1628883784.376 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2021-08-13T19:43:04.376Z,1628883784.376 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-08-13T19:43:04.376Z,1628883784.376 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2021-08-13T19:43:04.377Z,1628883784.377 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-08-13T19:43:04.377Z,1628883784.377 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-08-13T19:43:04.377Z,1628883784.377 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-08-13T19:43:04.377Z,1628883784.377 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-13T19:43:04.377Z,1628883784.377 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-08-13T19:43:04.377Z,1628883784.377 [lineCaptureDepth:TrackAC.] Running Loop=1
2021-08-13T19:43:04.377Z,1628883784.377 [lineCaptureDepth:TrackAC.](INFO): Initializing TrackAcousticContact.
2021-08-13T19:43:04.378Z,1628883784.378 [lineCaptureDepth:UpdateNumPings_NotTerminal] Running Loop=1
2021-08-13T19:43:04.378Z,1628883784.378 [lineCaptureDepth:UpdateNumPings_NotTerminal](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_NotTerminal
2021-08-13T19:43:04.378Z,1628883784.378 [lineCaptureDepth:UpdateNumPings_NotTerminal:A] Running Loop=1
2021-08-13T19:43:04.378Z,1628883784.378 [lineCaptureDepth:UpdateNumPings_Terminal] Running Loop=1
2021-08-13T19:43:04.378Z,1628883784.378 [lineCaptureDepth:UpdateNumPings_Terminal](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal
2021-08-13T19:43:04.378Z,1628883784.378 [lineCaptureDepth:C] Running Loop=1
2021-08-13T19:43:04.380Z,1628883784.380 [lineCaptureDepth:UpdateNumPings_Terminal] Stopped
2021-08-13T19:43:04.380Z,1628883784.380 [lineCaptureDepth:UpdateNumPings_Terminal](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal
2021-08-13T19:43:04.380Z,1628883784.380 [lineCaptureDepth:UpdateNumPings_NotTerminal] Stopped
2021-08-13T19:43:04.380Z,1628883784.380 [lineCaptureDepth:UpdateNumPings_NotTerminal](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_NotTerminal
2021-08-13T19:43:04.380Z,1628883784.380 [lineCaptureDepth:UpdateNumPings_NotTerminal:A] Stopped
2021-08-13T19:43:04.381Z,1628883784.381 [lineCaptureDepth:TrackAC.] Running Loop=1
2021-08-13T19:43:04.381Z,1628883784.381 [lineCaptureDepth:MicromodemComms] Stopped
2021-08-13T19:43:04.381Z,1628883784.381 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-08-13T19:43:04.381Z,1628883784.381 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-08-13T19:43:04.381Z,1628883784.381 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-13T19:43:04.381Z,1628883784.381 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-08-13T19:43:04.382Z,1628883784.382 [lineCaptureDepth:C] Stopped
2021-08-13T19:43:04.382Z,1628883784.382 [lineCaptureDepth:D] Running Loop=1
2021-08-13T19:43:04.382Z,1628883784.382 [lineCaptureDepth:StandardEnvelopes] Running Loop=1
2021-08-13T19:43:04.382Z,1628883784.382 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-08-13T19:43:04.382Z,1628883784.382 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-08-13T19:43:04.383Z,1628883784.383 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-08-13T19:43:04.383Z,1628883784.383 [lineCaptureDepth:Science] Running Loop=1
2021-08-13T19:43:04.384Z,1628883784.384 [lineCaptureDepth:Science:HighestSaltPeakReport] Stopped
2021-08-13T19:43:04.384Z,1628883784.384 [lineCaptureDepth:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:HighestSaltPeakReport
2021-08-13T19:43:04.385Z,1628883784.385 [lineCaptureDepth:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2021-08-13T19:43:04.385Z,1628883784.385 [lineCaptureDepth:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2021-08-13T19:43:04.385Z,1628883784.385 [lineCaptureDepth:Science:PeakDetectSalinity] Stopped
2021-08-13T19:43:04.385Z,1628883784.385 [lineCaptureDepth:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectSalinity
2021-08-13T19:43:04.385Z,1628883784.385 [lineCaptureDepth:Science:PeakDetectSalinity:A.PeakDetectVsDepth] Stopped
2021-08-13T19:43:04.385Z,1628883784.385 [lineCaptureDepth:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-08-13T19:43:04.385Z,1628883784.385 [lineCaptureDepth:Science:PeakDetectFDOM] Stopped
2021-08-13T19:43:04.385Z,1628883784.385 [lineCaptureDepth:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectFDOM
2021-08-13T19:43:04.385Z,1628883784.385 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Stopped
2021-08-13T19:43:04.385Z,1628883784.385 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-08-13T19:43:04.385Z,1628883784.385 [lineCaptureDepth:Science:HighestOilPeakReport] Stopped
2021-08-13T19:43:04.386Z,1628883784.386 [lineCaptureDepth:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:HighestOilPeakReport
2021-08-13T19:43:04.386Z,1628883784.386 [lineCaptureDepth:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2021-08-13T19:43:04.386Z,1628883784.386 [lineCaptureDepth:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2021-08-13T19:43:04.386Z,1628883784.386 [lineCaptureDepth:Science:PeakDetectOil] Stopped
2021-08-13T19:43:04.386Z,1628883784.386 [lineCaptureDepth:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectOil
2021-08-13T19:43:04.386Z,1628883784.386 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth] Stopped
2021-08-13T19:43:04.386Z,1628883784.386 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-08-13T19:43:04.386Z,1628883784.386 [lineCaptureDepth:Science:PeakDetectNO3] Stopped
2021-08-13T19:43:04.386Z,1628883784.386 [lineCaptureDepth:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectNO3
2021-08-13T19:43:04.386Z,1628883784.386 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth] Stopped
2021-08-13T19:43:04.387Z,1628883784.387 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-08-13T19:43:04.387Z,1628883784.387 [lineCaptureDepth:Science:HighestChlPeakReport] Stopped
2021-08-13T19:43:04.387Z,1628883784.387 [lineCaptureDepth:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:HighestChlPeakReport
2021-08-13T19:43:04.387Z,1628883784.387 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2021-08-13T19:43:04.387Z,1628883784.387 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2021-08-13T19:43:04.387Z,1628883784.387 [lineCaptureDepth:Science:PeakDetectChl] Stopped
2021-08-13T19:43:04.387Z,1628883784.387 [lineCaptureDepth:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectChl
2021-08-13T19:43:04.387Z,1628883784.387 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth] Stopped
2021-08-13T19:43:04.387Z,1628883784.387 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-08-13T19:43:04.387Z,1628883784.387 [lineCaptureDepth:Science:OceanCurrent:A.] Running Loop=1
2021-08-13T19:43:04.405Z,1628883784.405 [lineCaptureDepth:Science:Read_Oil] Running Loop=1
2021-08-13T19:43:04.405Z,1628883784.405 [lineCaptureDepth:Science:Read_Oil](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_petroleum_hydrocarbons_in_sea_water
2021-08-13T19:43:04.406Z,1628883784.406 [lineCaptureDepth:Science:F] Stopped
2021-08-13T19:43:04.406Z,1628883784.406 [lineCaptureDepth:Science:E] Stopped
2021-08-13T19:43:04.406Z,1628883784.406 [lineCaptureDepth:Science:D] Stopped
2021-08-13T19:43:04.406Z,1628883784.406 [lineCaptureDepth:Science:C] Running Loop=1
2021-08-13T19:43:04.406Z,1628883784.406 [lineCaptureDepth:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature
2021-08-13T19:43:04.407Z,1628883784.407 [lineCaptureDepth:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity
2021-08-13T19:43:04.407Z,1628883784.407 [lineCaptureDepth:Science:B] Running Loop=1
2021-08-13T19:43:04.407Z,1628883784.407 [lineCaptureDepth:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature
2021-08-13T19:43:04.412Z,1628883784.412 [lineCaptureDepth:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity
2021-08-13T19:43:04.412Z,1628883784.412 [lineCaptureDepth:Science:A] Stopped
2021-08-13T19:43:04.740Z,1628883784.740 [WetLabsSeaOWL_UV_A](INFO): Powering up
2021-08-13T19:43:04.772Z,1628883784.772 [lineCaptureDepth:D] Stopped
2021-08-13T19:43:04.772Z,1628883784.772 [lineCaptureDepth:E] Running Loop=1
2021-08-13T19:43:05.191Z,1628883785.191 [lineCaptureDepth:E] Stopped
2021-08-13T19:43:05.191Z,1628883785.191 [lineCaptureDepth:G] Running Loop=1
2021-08-13T19:43:05.611Z,1628883785.611 [lineCaptureDepth:G] Stopped
2021-08-13T19:43:05.611Z,1628883785.611 [lineCaptureDepth:H] Running Loop=1
2021-08-13T19:43:05.964Z,1628883785.964 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:546.082397
2021-08-13T19:43:05.985Z,1628883785.985 [lineCaptureDepth:H] Stopped
2021-08-13T19:43:05.985Z,1628883785.985 [lineCaptureDepth:J] Running Loop=1
2021-08-13T19:43:06.392Z,1628883786.392 [lineCaptureDepth:J] Stopped
2021-08-13T19:43:06.392Z,1628883786.392 [lineCaptureDepth:M] Running Loop=1
2021-08-13T19:43:06.794Z,1628883786.794 [lineCaptureDepth:M] Stopped
2021-08-13T19:43:06.794Z,1628883786.794 [lineCaptureDepth:N] Running Loop=1
2021-08-13T19:43:07.175Z,1628883787.175 [lineCaptureDepth:N] Stopped
2021-08-13T19:43:07.175Z,1628883787.175 [lineCaptureDepth:O] Running Loop=1
2021-08-13T19:43:07.176Z,1628883787.176 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:43:07.581Z,1628883787.581 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:43:07.581Z,1628883787.581 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:43:07.581Z,1628883787.581 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:43:07.582Z,1628883787.582 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:43:07.661Z,1628883787.661 [lineCaptureDepth:O] Stopped
2021-08-13T19:43:07.661Z,1628883787.661 [lineCaptureDepth:Lap] Running Loop=1
2021-08-13T19:43:07.661Z,1628883787.661 [lineCaptureDepth:Lap](DEBUG): Aggregate::initialize lineCaptureDepth:Lap
2021-08-13T19:43:07.662Z,1628883787.662 [lineCaptureDepth:Lap:A] Running Loop=1
2021-08-13T19:43:07.789Z,1628883787.789 [CTD_Seabird](ERROR): Failed to parse device response: <!--startlogging-->
2021-08-13T19:43:07.977Z,1628883787.977 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
21F,000,0126D,188,80,80,97,FF
2021-08-13T19:43:07.977Z,1628883787.977 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:43:07.977Z,1628883787.977 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:43:07.979Z,1628883787.979 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:43:08.049Z,1628883788.049 [lineCaptureDepth:Lap:A] Stopped
2021-08-13T19:43:08.049Z,1628883788.049 [lineCaptureDepth:Lap:B] Running Loop=1
2021-08-13T19:43:08.050Z,1628883788.050 [lineCaptureDepth:Lap:B](DEBUG): Aggregate::initialize lineCaptureDepth:Lap:B
2021-08-13T19:43:08.384Z,1628883788.384 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:43:08.437Z,1628883788.437 [lineCaptureDepth:LineCapture] Running Loop=1
2021-08-13T19:43:08.437Z,1628883788.437 [lineCaptureDepth:LineCapture](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture
2021-08-13T19:43:08.438Z,1628883788.438 [lineCaptureDepth:LineCapture:StandardEnvelopes] Running Loop=1
2021-08-13T19:43:08.438Z,1628883788.438 [lineCaptureDepth:LineCapture:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:StandardEnvelopes
2021-08-13T19:43:08.438Z,1628883788.438 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-08-13T19:43:08.439Z,1628883788.439 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2021-08-13T19:43:08.439Z,1628883788.439 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-08-13T19:43:08.444Z,1628883788.444 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2021-08-13T19:43:08.445Z,1628883788.445 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-08-13T19:43:08.445Z,1628883788.445 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2021-08-13T19:43:08.446Z,1628883788.446 [lineCaptureDepth:LineCapture:G] Running Loop=1
2021-08-13T19:43:08.447Z,1628883788.447 [lineCaptureDepth:LineCapture:H] Running Loop=1
2021-08-13T19:43:08.447Z,1628883788.447 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-08-13T19:43:08.447Z,1628883788.447 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-13T19:43:08.452Z,1628883788.452 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-08-13T19:43:08.452Z,1628883788.452 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-08-13T19:43:08.453Z,1628883788.453 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2021-08-13T19:43:08.453Z,1628883788.453 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-08-13T19:43:08.453Z,1628883788.453 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-08-13T19:43:08.454Z,1628883788.454 [lineCaptureDepth:LineCapture:A] Running Loop=1
2021-08-13T19:43:08.455Z,1628883788.455 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2021-08-13T19:43:08.460Z,1628883788.460 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-13T19:43:08.461Z,1628883788.461 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2021-08-13T19:43:08.461Z,1628883788.461 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2021-08-13T19:43:08.461Z,1628883788.461 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2021-08-13T19:43:08.461Z,1628883788.461 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2021-08-13T19:43:08.462Z,1628883788.462 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-08-13T19:43:08.462Z,1628883788.462 [lineCaptureDepth:LineCapture:H] Running Loop=1
2021-08-13T19:43:08.463Z,1628883788.463 [lineCaptureDepth:LineCapture:G] Running Loop=1
2021-08-13T19:43:08.468Z,1628883788.468 [lineCaptureDepth:LineCapture:StandardEnvelopes] Running Loop=1
2021-08-13T19:43:08.469Z,1628883788.469 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-08-13T19:43:08.470Z,1628883788.470 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-08-13T19:43:08.471Z,1628883788.471 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-08-13T19:43:08.477Z,1628883788.477 [lineCaptureDepth:LineCapture:A] Stopped
2021-08-13T19:43:08.478Z,1628883788.478 [lineCaptureDepth:LineCapture:B] Running Loop=1
2021-08-13T19:43:08.814Z,1628883788.814 [lineCaptureDepth:LineCapture:B] Stopped
2021-08-13T19:43:08.814Z,1628883788.814 [lineCaptureDepth:LineCapture:D] Running Loop=1
2021-08-13T19:43:09.190Z,1628883789.190 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,220,000,013CA,187,80,80,5A,FF
2021-08-13T19:43:09.191Z,1628883789.191 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:43:09.202Z,1628883789.202 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194308.50*5C

2021-08-13T19:43:09.258Z,1628883789.258 [lineCaptureDepth:LineCapture:D] Stopped
2021-08-13T19:43:09.258Z,1628883789.258 [lineCaptureDepth:LineCapture:E] Running Loop=1
2021-08-13T19:43:09.657Z,1628883789.657 [lineCaptureDepth:LineCapture:E] Stopped
2021-08-13T19:43:09.657Z,1628883789.657 [lineCaptureDepth:LineCapture:F] Running Loop=1
2021-08-13T19:43:10.041Z,1628883790.041 [lineCaptureDepth:LineCapture:F] Stopped
2021-08-13T19:43:10.041Z,1628883790.041 [lineCaptureDepth:LineCapture:HomingSequence] Running Loop=1
2021-08-13T19:43:10.041Z,1628883790.041 [lineCaptureDepth:LineCapture:HomingSequence](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence
2021-08-13T19:43:10.041Z,1628883790.041 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2021-08-13T19:43:10.041Z,1628883790.041 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-08-13T19:43:10.041Z,1628883790.041 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide] Running Loop=1
2021-08-13T19:43:10.041Z,1628883790.041 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-08-13T19:43:10.042Z,1628883790.042 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Running Loop=1
2021-08-13T19:43:10.042Z,1628883790.042 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize.
2021-08-13T19:43:10.042Z,1628883790.042 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2021-08-13T19:43:10.042Z,1628883790.042 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2021-08-13T19:43:10.042Z,1628883790.042 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-08-13T19:43:10.042Z,1628883790.042 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2021-08-13T19:43:10.042Z,1628883790.042 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-08-13T19:43:10.043Z,1628883790.043 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2021-08-13T19:43:10.043Z,1628883790.043 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2021-08-13T19:43:10.043Z,1628883790.043 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2021-08-13T19:43:10.043Z,1628883790.043 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2021-08-13T19:43:10.043Z,1628883790.043 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2021-08-13T19:43:10.043Z,1628883790.043 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2021-08-13T19:43:10.043Z,1628883790.043 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-13T19:43:10.044Z,1628883790.044 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2021-08-13T19:43:10.044Z,1628883790.044 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-13T19:43:10.044Z,1628883790.044 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1
2021-08-13T19:43:10.044Z,1628883790.044 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Initialize.
2021-08-13T19:43:10.044Z,1628883790.044 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2021-08-13T19:43:10.044Z,1628883790.044 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2021-08-13T19:43:10.045Z,1628883790.045 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2021-08-13T19:43:10.434Z,1628883790.434 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Stopped
2021-08-13T19:43:10.434Z,1628883790.434 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-13T19:43:10.434Z,1628883790.434 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2021-08-13T19:43:10.434Z,1628883790.434 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-13T19:43:10.434Z,1628883790.434 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2021-08-13T19:43:10.434Z,1628883790.434 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Stopped
2021-08-13T19:43:10.434Z,1628883790.434 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Stopped
2021-08-13T19:43:10.434Z,1628883790.434 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2021-08-13T19:43:10.434Z,1628883790.434 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2021-08-13T19:43:10.434Z,1628883790.434 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-08-13T19:43:10.435Z,1628883790.435 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2021-08-13T19:43:10.435Z,1628883790.435 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-08-13T19:43:10.435Z,1628883790.435 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2021-08-13T19:43:10.435Z,1628883790.435 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2021-08-13T19:43:10.435Z,1628883790.435 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2021-08-13T19:43:10.435Z,1628883790.435 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2021-08-13T19:43:10.435Z,1628883790.435 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2021-08-13T19:43:10.817Z,1628883790.817 [PowerOnly](INFO): Powering up loadControl
2021-08-13T19:43:12.094Z,1628883792.094 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:43:12.453Z,1628883792.453 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:43:12.453Z,1628883792.453 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:43:12.453Z,1628883792.453 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:43:12.454Z,1628883792.454 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:43:12.870Z,1628883792.870 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
220,000,013CA,187,80,80,5A,FF
2021-08-13T19:43:12.871Z,1628883792.871 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:43:12.871Z,1628883792.871 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:43:12.873Z,1628883792.873 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:43:13.308Z,1628883793.308 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:43:13.370Z,1628883793.370 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detaching from dock.
2021-08-13T19:43:13.681Z,1628883793.681 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detected possible detachment. Starting timer.
2021-08-13T19:43:14.077Z,1628883794.077 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,254,000,013C9,189,80,80,A7,FF
2021-08-13T19:43:14.077Z,1628883794.077 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:43:14.104Z,1628883794.104 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194313.39*59

2021-08-13T19:43:16.936Z,1628883796.936 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:43:17.341Z,1628883797.341 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:43:17.341Z,1628883797.341 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:43:17.341Z,1628883797.341 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:43:17.342Z,1628883797.342 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:43:17.697Z,1628883797.697 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
254,000,013C9,189,80,80,A7,FF
2021-08-13T19:43:17.697Z,1628883797.697 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:43:17.697Z,1628883797.697 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:43:17.699Z,1628883797.699 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:43:18.112Z,1628883798.112 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:43:18.933Z,1628883798.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2A8,000,013CE,18A,80,80,79,FF
2021-08-13T19:43:18.934Z,1628883798.934 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:43:18.936Z,1628883798.936 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194318.22*58

2021-08-13T19:43:21.763Z,1628883801.763 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:43:22.141Z,1628883802.141 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:43:22.141Z,1628883802.141 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:43:22.142Z,1628883802.142 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:43:22.142Z,1628883802.142 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:43:22.564Z,1628883802.564 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2A8,000,013CE,18A,80,80,79,FF
2021-08-13T19:43:22.564Z,1628883802.564 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:43:22.565Z,1628883802.565 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:43:22.566Z,1628883802.566 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:43:23.016Z,1628883803.016 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:43:23.813Z,1628883803.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2BD,000,013CD,188,80,80,92,FF
2021-08-13T19:43:23.813Z,1628883803.813 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:43:23.816Z,1628883803.816 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194323.09*59

2021-08-13T19:43:26.671Z,1628883806.671 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:43:27.009Z,1628883807.009 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:43:27.009Z,1628883807.009 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:43:27.009Z,1628883807.009 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:43:27.010Z,1628883807.010 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:43:27.401Z,1628883807.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2BD,000,013CD,188,80,80,92,FF
2021-08-13T19:43:27.401Z,1628883807.401 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:43:27.401Z,1628883807.401 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:43:27.403Z,1628883807.403 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:43:27.822Z,1628883807.822 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:43:28.641Z,1628883808.641 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2FA,000,013D1,189,80,80,96,FF
2021-08-13T19:43:28.641Z,1628883808.641 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:43:28.644Z,1628883808.644 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194327.92*5F

2021-08-13T19:43:31.530Z,1628883811.530 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:43:31.849Z,1628883811.849 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:43:31.849Z,1628883811.849 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:43:31.849Z,1628883811.849 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:43:31.850Z,1628883811.850 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:43:32.253Z,1628883812.253 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2FA,000,013D1,189,80,80,96,FF
2021-08-13T19:43:32.253Z,1628883812.253 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:43:32.253Z,1628883812.253 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:43:32.255Z,1628883812.255 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:43:32.660Z,1628883812.660 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:43:33.493Z,1628883813.493 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,312,000,013D4,189,80,80,AF,FF
2021-08-13T19:43:33.493Z,1628883813.493 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:43:33.496Z,1628883813.496 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194332.78*5F

2021-08-13T19:43:33.925Z,1628883813.925 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached at range: 267.06 m. Transitioning DDM to standby.
2021-08-13T19:43:36.417Z,1628883816.417 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): DDM at standby.
2021-08-13T19:43:36.419Z,1628883816.419 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:43:36.729Z,1628883816.729 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:43:36.729Z,1628883816.729 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:43:36.729Z,1628883816.729 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:43:36.730Z,1628883816.730 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:43:36.850Z,1628883816.850 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](IMPORTANT): Undocking sequence complete.
2021-08-13T19:43:36.850Z,1628883816.850 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Stopped
2021-08-13T19:43:36.850Z,1628883816.850 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B] Running Loop=1
2021-08-13T19:43:37.097Z,1628883817.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
312,000,013D4,189,80,80,AF,FF
2021-08-13T19:43:37.097Z,1628883817.097 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:43:37.097Z,1628883817.097 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:43:37.099Z,1628883817.099 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:43:37.214Z,1628883817.214 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B](INFO): Transitioning to midcourse guidance.
2021-08-13T19:43:37.214Z,1628883817.214 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B] Stopped
2021-08-13T19:43:37.214Z,1628883817.214 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:C] Running Loop=1
2021-08-13T19:43:37.529Z,1628883817.529 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:43:37.647Z,1628883817.647 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:C] Stopped
2021-08-13T19:43:37.647Z,1628883817.647 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-08-13T19:43:37.647Z,1628883817.647 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide] Stopped
2021-08-13T19:43:37.647Z,1628883817.647 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-08-13T19:43:37.652Z,1628883817.652 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-08-13T19:43:38.101Z,1628883818.101 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2021-08-13T19:43:38.101Z,1628883818.101 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-08-13T19:43:38.101Z,1628883818.101 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2021-08-13T19:43:38.101Z,1628883818.101 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-08-13T19:43:38.101Z,1628883818.101 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2021-08-13T19:43:38.101Z,1628883818.101 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2021-08-13T19:43:38.101Z,1628883818.101 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2021-08-13T19:43:38.102Z,1628883818.102 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2021-08-13T19:43:38.102Z,1628883818.102 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2021-08-13T19:43:38.102Z,1628883818.102 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2021-08-13T19:43:38.102Z,1628883818.102 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2021-08-13T19:43:38.103Z,1628883818.103 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2021-08-13T19:43:38.103Z,1628883818.103 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Running Loop=1
2021-08-13T19:43:38.103Z,1628883818.103 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-08-13T19:43:38.128Z,1628883818.128 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Running Loop=1
2021-08-13T19:43:38.129Z,1628883818.129 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A](INFO): Transitioning to terminal guidance at range 267.059998 m 
2021-08-13T19:43:38.129Z,1628883818.129 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Stopped
2021-08-13T19:43:38.129Z,1628883818.129 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Running Loop=1
2021-08-13T19:43:38.133Z,1628883818.133 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A](INFO): Navigating to dock waypoint ( 41.552317 arcdeg , -70.708600 arcdeg )
2021-08-13T19:43:38.134Z,1628883818.134 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2021-08-13T19:43:38.134Z,1628883818.134 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Running Loop=1
2021-08-13T19:43:38.135Z,1628883818.135 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Initialize WaypointComponent.
2021-08-13T19:43:38.392Z,1628883818.392 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,383,000,013DB,189,80,80,B9,FF
2021-08-13T19:43:38.392Z,1628883818.392 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:43:38.395Z,1628883818.395 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194337.62*51

2021-08-13T19:43:38.468Z,1628883818.468 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Stopped
2021-08-13T19:43:38.468Z,1628883818.468 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-08-13T19:43:38.468Z,1628883818.468 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Stopped
2021-08-13T19:43:38.468Z,1628883818.468 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-08-13T19:43:38.468Z,1628883818.468 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-08-13T19:43:38.469Z,1628883818.469 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-13T19:43:38.469Z,1628883818.469 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-08-13T19:43:38.469Z,1628883818.469 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-08-13T19:43:38.469Z,1628883818.469 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2021-08-13T19:43:38.469Z,1628883818.469 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-08-13T19:43:38.469Z,1628883818.469 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-08-13T19:43:38.469Z,1628883818.469 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-08-13T19:43:38.469Z,1628883818.469 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-08-13T19:43:38.470Z,1628883818.470 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-08-13T19:43:38.470Z,1628883818.470 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-08-13T19:43:38.765Z,1628883818.765 [lineCaptureDepth:UpdateNumPings_Terminal] Running Loop=1
2021-08-13T19:43:38.765Z,1628883818.765 [lineCaptureDepth:UpdateNumPings_Terminal](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal
2021-08-13T19:43:38.765Z,1628883818.765 [lineCaptureDepth:UpdateNumPings_Terminal] Running Loop=1
2021-08-13T19:43:38.766Z,1628883818.766 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2021-08-13T19:43:38.766Z,1628883818.766 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-13T19:43:38.767Z,1628883818.767 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2021-08-13T19:43:38.767Z,1628883818.767 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-13T19:43:38.767Z,1628883818.767 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1
2021-08-13T19:43:38.767Z,1628883818.767 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Initialize.
2021-08-13T19:43:38.767Z,1628883818.767 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2021-08-13T19:43:38.767Z,1628883818.767 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2021-08-13T19:43:38.767Z,1628883818.767 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2021-08-13T19:43:38.767Z,1628883818.767 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2021-08-13T19:43:38.768Z,1628883818.768 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2021-08-13T19:43:38.768Z,1628883818.768 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2021-08-13T19:43:38.768Z,1628883818.768 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1
2021-08-13T19:43:38.769Z,1628883818.769 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A](INFO): Terminal guidance.
2021-08-13T19:43:38.769Z,1628883818.769 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2021-08-13T19:43:38.769Z,1628883818.769 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture] Running Loop=1
2021-08-13T19:43:38.769Z,1628883818.769 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initialize.
2021-08-13T19:43:38.769Z,1628883818.769 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initializing internal variables to default values.
2021-08-13T19:43:38.770Z,1628883818.770 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2021-08-13T19:43:38.770Z,1628883818.770 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Rollout timeout set to 900.00 sec.
2021-08-13T19:43:38.771Z,1628883818.771 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-13T19:43:38.771Z,1628883818.771 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2021-08-13T19:43:38.771Z,1628883818.771 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-08-13T19:43:38.771Z,1628883818.771 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2021-08-13T19:43:38.771Z,1628883818.771 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-08-13T19:43:38.771Z,1628883818.771 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2021-08-13T19:43:38.771Z,1628883818.771 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2021-08-13T19:43:38.772Z,1628883818.772 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2021-08-13T19:43:38.772Z,1628883818.772 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Stopped
2021-08-13T19:43:38.772Z,1628883818.772 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Uninitialize WaypointComponent.
2021-08-13T19:43:39.205Z,1628883819.205 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 267.479980 m, bearing: 36.729977 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-13T19:43:39.206Z,1628883819.206 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 36.729977deg and heading rate command to 0 deg/s.
2021-08-13T19:43:41.308Z,1628883821.308 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:43:41.589Z,1628883821.589 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:43:41.589Z,1628883821.589 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:43:41.589Z,1628883821.589 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:43:41.590Z,1628883821.590 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:43:42.125Z,1628883822.125 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
383,000,013DB,189,80,80,B9,FF
2021-08-13T19:43:42.126Z,1628883822.126 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:43:42.127Z,1628883822.127 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:43:42.133Z,1628883822.133 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:43:42.589Z,1628883822.589 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:43:43.408Z,1628883823.408 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3E4,000,013DE,189,80,80,A7,FF
2021-08-13T19:43:43.408Z,1628883823.408 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:43:43.411Z,1628883823.411 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194342.65*54

2021-08-13T19:43:43.461Z,1628883823.461 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T19:43:43.832Z,1628883823.832 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 267.659973 m, bearing: 36.015150 deg, deltaT: 5.008640 s, approachRate: 0.035936 m/s, LOS rate: -0.142719 deg/s, posRepo size: 2
2021-08-13T19:43:43.834Z,1628883823.834 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -0.142719 deg/s. Setting heading cmd to target bearing of 36.015150deg and heading rate command to 0 deg/s.
2021-08-13T19:43:46.216Z,1628883826.216 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:43:46.597Z,1628883826.597 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:43:46.597Z,1628883826.597 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:43:46.598Z,1628883826.598 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:43:46.599Z,1628883826.599 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:43:47.006Z,1628883827.006 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3E4,000,013DE,189,80,80,A7,FF
2021-08-13T19:43:47.006Z,1628883827.006 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:43:47.006Z,1628883827.006 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:43:47.008Z,1628883827.008 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:43:47.428Z,1628883827.428 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:43:48.245Z,1628883828.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,49B,000,013D3,189,80,80,82,FF
2021-08-13T19:43:48.245Z,1628883828.245 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:43:48.248Z,1628883828.248 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194347.53*54

2021-08-13T19:43:48.679Z,1628883828.679 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 266.999969 m, bearing: 31.556915 deg, deltaT: 4.784289 s, approachRate: -0.137952 m/s, LOS rate: -0.931849 deg/s, posRepo size: 3
2021-08-13T19:43:48.682Z,1628883828.682 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 266.999969 m,
      bearing: 31.556915 deg,
      approachRate: -0.137952 m/s,
      LOS rate: -0.931849 deg/s,
      cmd update: -2.795547 deg/s,
      cmd heading: 36.015150 deg,
      new cmd heading: 36.015150 deg.

2021-08-13T19:43:51.085Z,1628883831.085 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:43:51.461Z,1628883831.461 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:43:51.461Z,1628883831.461 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:43:51.461Z,1628883831.461 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:43:51.462Z,1628883831.462 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:43:51.865Z,1628883831.865 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
49B,000,013D3,189,80,80,82,FF
2021-08-13T19:43:51.865Z,1628883831.865 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:43:51.865Z,1628883831.865 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:43:51.867Z,1628883831.867 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:43:52.273Z,1628883832.273 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:43:53.109Z,1628883833.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,34F,000,013C6,189,80,80,5F,FF
2021-08-13T19:43:53.110Z,1628883833.110 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:43:53.113Z,1628883833.113 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194352.39*5C

2021-08-13T19:43:53.543Z,1628883833.543 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 266.220001 m, bearing: 44.473295 deg, deltaT: 4.878133 s, approachRate: -0.159891 m/s, LOS rate: 2.647812 deg/s, posRepo size: 4
2021-08-13T19:43:53.563Z,1628883833.563 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 266.220001 m,
      bearing: 44.473295 deg,
      approachRate: -0.159891 m/s,
      LOS rate: 2.647812 deg/s,
      cmd update: 7.943437 deg/s,
      cmd heading: 22.445877 deg,
      new cmd heading: 21.288022 deg.

2021-08-13T19:43:56.060Z,1628883836.060 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:43:56.321Z,1628883836.321 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:43:56.321Z,1628883836.321 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:43:56.321Z,1628883836.321 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:43:56.322Z,1628883836.322 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:43:56.741Z,1628883836.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
34F,000,013C6,189,80,80,5F,FF
2021-08-13T19:43:56.741Z,1628883836.741 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:43:56.741Z,1628883836.741 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:43:56.743Z,1628883836.743 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:43:57.146Z,1628883837.146 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:43:58.028Z,1628883838.028 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2A2,000,013AD,188,80,80,71,FF
2021-08-13T19:43:58.029Z,1628883838.029 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:43:58.033Z,1628883838.033 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194357.26*57

2021-08-13T19:43:58.473Z,1628883838.473 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 264.720001 m, bearing: 36.735728 deg, deltaT: 4.949766 s, approachRate: -0.303045 m/s, LOS rate: -1.563219 deg/s, posRepo size: 4
2021-08-13T19:43:58.475Z,1628883838.475 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 264.720001 m,
      bearing: 36.735728 deg,
      approachRate: -0.303045 m/s,
      LOS rate: -1.563219 deg/s,
      cmd update: -4.689656 deg/s,
      cmd heading: 61.828712 deg,
      new cmd heading: 64.895578 deg.

2021-08-13T19:44:00.941Z,1628883840.941 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:44:01.253Z,1628883841.253 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:44:01.254Z,1628883841.254 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:44:01.254Z,1628883841.254 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:44:01.255Z,1628883841.255 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:44:01.667Z,1628883841.667 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2A2,000,013AD,188,80,80,71,FF
2021-08-13T19:44:01.667Z,1628883841.667 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:44:01.672Z,1628883841.672 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:44:01.674Z,1628883841.674 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:44:02.162Z,1628883842.162 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:44:02.565Z,1628883842.565 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1A2,000,00238,186,80,80,5B,FF
2021-08-13T19:44:02.565Z,1628883842.565 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2021-08-13T19:44:02.994Z,1628883842.994 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194402.20*56

2021-08-13T19:44:03.475Z,1628883843.475 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:44:06.230Z,1628883846.230 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:44:06.607Z,1628883846.607 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:44:06.607Z,1628883846.607 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:44:06.607Z,1628883846.607 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:44:06.608Z,1628883846.608 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:44:07.001Z,1628883847.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1A2,000,00238,186,80,80,5B,FF
2021-08-13T19:44:07.001Z,1628883847.001 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:44:07.001Z,1628883847.001 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:44:07.003Z,1628883847.003 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:44:07.426Z,1628883847.426 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:44:08.241Z,1628883848.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,09D,000,01361,186,80,80,75,FF
2021-08-13T19:44:08.241Z,1628883848.241 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:44:08.244Z,1628883848.244 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194407.52*56

2021-08-13T19:44:08.665Z,1628883848.665 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 260.160004 m, bearing: 34.131811 deg, deltaT: 10.157720 s, approachRate: -0.448919 m/s, LOS rate: -0.256349 deg/s, posRepo size: 4
2021-08-13T19:44:08.667Z,1628883848.667 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 260.160004 m,
      bearing: 34.131811 deg,
      approachRate: -0.448919 m/s,
      LOS rate: -0.256349 deg/s,
      cmd update: -0.769046 deg/s,
      cmd heading: 14.116568 deg,
      new cmd heading: 12.216267 deg.

2021-08-13T19:44:08.672Z,1628883848.672 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-08-13T19:44:08.672Z,1628883848.672 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-08-13T19:44:08.672Z,1628883848.672 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-08-13T19:44:08.672Z,1628883848.672 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-13T19:44:08.672Z,1628883848.672 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-08-13T19:44:08.672Z,1628883848.672 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-08-13T19:44:08.673Z,1628883848.673 [lineCaptureDepth:MicromodemComms:CheckIn:A](DEBUG): Initialize ReadDataComponent to sense platform_communications
2021-08-13T19:44:09.146Z,1628883849.146 [lineCaptureDepth:MicromodemComms] Stopped
2021-08-13T19:44:09.147Z,1628883849.147 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-08-13T19:44:09.147Z,1628883849.147 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-08-13T19:44:09.147Z,1628883849.147 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-13T19:44:09.147Z,1628883849.147 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-08-13T19:44:10.796Z,1628883850.796 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:44:11.117Z,1628883851.117 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:44:11.117Z,1628883851.117 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:44:11.117Z,1628883851.117 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:44:11.118Z,1628883851.118 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:44:11.529Z,1628883851.529 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
09D,000,01361,186,80,80,75,FF
2021-08-13T19:44:11.529Z,1628883851.529 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:44:11.529Z,1628883851.529 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:44:11.531Z,1628883851.531 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:44:11.980Z,1628883851.980 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:44:12.776Z,1628883852.776 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED9,000,0133E,186,80,80,8B,FF
2021-08-13T19:44:12.777Z,1628883852.777 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:44:12.780Z,1628883852.780 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194412.05*50

2021-08-13T19:44:13.207Z,1628883853.207 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 258.059998 m, bearing: 36.959988 deg, deltaT: 4.535747 s, approachRate: -0.462990 m/s, LOS rate: 0.623530 deg/s, posRepo size: 4
2021-08-13T19:44:13.209Z,1628883853.209 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 258.059998 m,
      bearing: 36.959988 deg,
      approachRate: -0.462990 m/s,
      LOS rate: 0.623530 deg/s,
      cmd update: 1.870591 deg/s,
      cmd heading: 10.628363 deg,
      new cmd heading: 10.312449 deg.

2021-08-13T19:44:15.602Z,1628883855.602 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-13T19:44:15.635Z,1628883855.635 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:44:15.990Z,1628883855.990 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:44:15.990Z,1628883855.990 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:44:15.990Z,1628883855.990 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:44:15.991Z,1628883855.991 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:44:16.385Z,1628883856.385 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ED9,000,0133E,186,80,80,8B,FF
2021-08-13T19:44:16.385Z,1628883856.385 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:44:16.385Z,1628883856.385 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:44:16.387Z,1628883856.387 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:44:16.841Z,1628883856.841 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:44:17.645Z,1628883857.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D4D,000,0131C,189,80,80,68,FF
2021-08-13T19:44:17.645Z,1628883857.645 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:44:17.648Z,1628883857.648 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194416.91*59

2021-08-13T19:44:18.128Z,1628883858.128 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 256.019989 m, bearing: 39.253466 deg, deltaT: 4.935763 s, approachRate: -0.413312 m/s, LOS rate: 0.464665 deg/s, posRepo size: 4
2021-08-13T19:44:18.130Z,1628883858.130 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 256.019989 m,
      bearing: 39.253466 deg,
      approachRate: -0.413312 m/s,
      LOS rate: 0.464665 deg/s,
      cmd update: 1.393996 deg/s,
      cmd heading: 19.853644 deg,
      new cmd heading: 20.594688 deg.

2021-08-13T19:44:20.525Z,1628883860.525 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:44:20.869Z,1628883860.869 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:44:20.869Z,1628883860.869 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:44:20.869Z,1628883860.869 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:44:20.870Z,1628883860.870 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:44:21.300Z,1628883861.300 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D4D,000,0131C,189,80,80,68,FF
2021-08-13T19:44:21.301Z,1628883861.301 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:44:21.302Z,1628883861.302 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:44:21.305Z,1628883861.305 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:44:21.741Z,1628883861.741 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:44:22.554Z,1628883862.554 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D1C,000,012FE,189,80,80,97,FF
2021-08-13T19:44:22.554Z,1628883862.554 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:44:22.557Z,1628883862.557 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194421.83*5E

2021-08-13T19:44:22.998Z,1628883862.998 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 254.220001 m, bearing: 41.995565 deg, deltaT: 4.841809 s, approachRate: -0.371759 m/s, LOS rate: 0.566338 deg/s, posRepo size: 4
2021-08-13T19:44:23.002Z,1628883863.002 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 254.220001 m,
      bearing: 41.995565 deg,
      approachRate: -0.371759 m/s,
      LOS rate: 0.566338 deg/s,
      cmd update: 1.699013 deg/s,
      cmd heading: 26.608737 deg,
      new cmd heading: 27.200614 deg.

2021-08-13T19:44:25.446Z,1628883865.446 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:44:25.781Z,1628883865.781 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:44:25.781Z,1628883865.781 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:44:25.781Z,1628883865.781 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:44:25.782Z,1628883865.782 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:44:26.209Z,1628883866.209 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D1C,000,012FE,189,80,80,97,FF
2021-08-13T19:44:26.209Z,1628883866.209 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:44:26.210Z,1628883866.210 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:44:26.219Z,1628883866.219 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:44:26.589Z,1628883866.589 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:44:27.399Z,1628883867.399 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DDD,000,012DC,189,80,80,95,FF
2021-08-13T19:44:27.400Z,1628883867.400 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:44:27.409Z,1628883867.409 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194426.74*51

2021-08-13T19:44:27.824Z,1628883867.824 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 252.179993 m, bearing: 41.345300 deg, deltaT: 4.920314 s, approachRate: -0.414609 m/s, LOS rate: -0.132159 deg/s, posRepo size: 4
2021-08-13T19:44:27.826Z,1628883867.826 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 252.179993 m,
      bearing: 41.345300 deg,
      approachRate: -0.414609 m/s,
      LOS rate: -0.132159 deg/s,
      cmd update: -0.396478 deg/s,
      cmd heading: 34.968403 deg,
      new cmd heading: 35.529913 deg.

2021-08-13T19:44:30.235Z,1628883870.235 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:44:30.629Z,1628883870.629 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:44:30.629Z,1628883870.629 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:44:30.630Z,1628883870.630 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:44:30.631Z,1628883870.631 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:44:31.025Z,1628883871.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DDD,000,012DC,189,80,80,95,FF
2021-08-13T19:44:31.025Z,1628883871.025 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:44:31.026Z,1628883871.026 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:44:31.027Z,1628883871.027 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:44:31.441Z,1628883871.441 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:44:32.269Z,1628883872.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,01A,000,012B6,183,80,80,9B,FF
2021-08-13T19:44:32.269Z,1628883872.269 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:44:32.272Z,1628883872.272 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194431.55*54

2021-08-13T19:44:32.678Z,1628883872.678 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 249.899979 m, bearing: 40.838340 deg, deltaT: 4.815077 s, approachRate: -0.473516 m/s, LOS rate: -0.105286 deg/s, posRepo size: 4
2021-08-13T19:44:32.681Z,1628883872.681 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 249.899979 m,
      bearing: 40.838340 deg,
      approachRate: -0.473516 m/s,
      LOS rate: -0.105286 deg/s,
      cmd update: -0.315858 deg/s,
      cmd heading: 33.067379 deg,
      new cmd heading: 32.912793 deg.

2021-08-13T19:44:35.098Z,1628883875.098 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:44:35.477Z,1628883875.477 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:44:35.477Z,1628883875.477 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:44:35.477Z,1628883875.477 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:44:35.478Z,1628883875.478 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:44:35.520Z,1628883875.520 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T19:44:35.529Z,1628883875.529 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T19:44:35.881Z,1628883875.881 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
01A,000,012B6,183,80,80,9B,FF
2021-08-13T19:44:35.881Z,1628883875.881 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:44:35.881Z,1628883875.881 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:44:35.884Z,1628883875.884 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:44:36.309Z,1628883876.309 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:44:37.110Z,1628883877.110 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1CD,000,0128E,186,80,80,63,FF
2021-08-13T19:44:37.110Z,1628883877.110 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:44:37.113Z,1628883877.113 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194436.41*56

2021-08-13T19:44:37.572Z,1628883877.572 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 247.499985 m, bearing: 33.806544 deg, deltaT: 4.846487 s, approachRate: -0.495203 m/s, LOS rate: -1.450906 deg/s, posRepo size: 4
2021-08-13T19:44:37.574Z,1628883877.574 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 247.499985 m,
      bearing: 33.806544 deg,
      approachRate: -0.495203 m/s,
      LOS rate: -1.450906 deg/s,
      cmd update: -4.352717 deg/s,
      cmd heading: 31.530279 deg,
      new cmd heading: 31.398590 deg.

2021-08-13T19:44:39.962Z,1628883879.962 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:44:40.317Z,1628883880.317 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:44:40.317Z,1628883880.317 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:44:40.318Z,1628883880.318 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:44:40.319Z,1628883880.319 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:44:40.732Z,1628883880.732 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1CD,000,0128E,186,80,80,63,FF
2021-08-13T19:44:40.733Z,1628883880.733 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:44:40.733Z,1628883880.733 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:44:40.735Z,1628883880.735 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:44:41.133Z,1628883881.133 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:44:41.978Z,1628883881.978 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0C4,000,01267,186,80,80,60,FF
2021-08-13T19:44:41.979Z,1628883881.979 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:44:41.982Z,1628883881.982 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194441.25*54

2021-08-13T19:44:42.358Z,1628883882.358 [PowerOnly](INFO): Powering down loadControl
2021-08-13T19:44:42.395Z,1628883882.395 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 245.159988 m, bearing: 47.813148 deg, deltaT: 4.852527 s, approachRate: -0.482222 m/s, LOS rate: 2.886456 deg/s, posRepo size: 4
2021-08-13T19:44:42.402Z,1628883882.402 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 245.159988 m,
      bearing: 47.813148 deg,
      approachRate: -0.482222 m/s,
      LOS rate: 2.886456 deg/s,
      cmd update: 8.659367 deg/s,
      cmd heading: 10.407130 deg,
      new cmd heading: 8.719472 deg.

2021-08-13T19:44:44.855Z,1628883884.855 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:44:45.173Z,1628883885.173 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:44:45.173Z,1628883885.173 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:44:45.173Z,1628883885.173 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:44:45.174Z,1628883885.174 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:44:45.589Z,1628883885.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0C4,000,01267,186,80,80,60,FF
2021-08-13T19:44:45.589Z,1628883885.589 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:44:45.589Z,1628883885.589 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:44:45.591Z,1628883885.591 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:44:46.081Z,1628883886.081 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:44:46.504Z,1628883886.504 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,056,000,01240,186,80,80,60,FF
2021-08-13T19:44:46.505Z,1628883886.505 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:44:46.917Z,1628883886.917 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194446.11*54

2021-08-13T19:44:46.960Z,1628883886.960 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 242.820007 m, bearing: 36.518289 deg, deltaT: 4.536400 s, approachRate: -0.515823 m/s, LOS rate: -2.489828 deg/s, posRepo size: 4
2021-08-13T19:44:46.962Z,1628883886.962 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 242.820007 m,
      bearing: 36.518289 deg,
      approachRate: -0.515823 m/s,
      LOS rate: -2.489828 deg/s,
      cmd update: -7.469485 deg/s,
      cmd heading: 49.547173 deg,
      new cmd heading: 53.148067 deg.

2021-08-13T19:44:49.430Z,1628883889.430 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:44:49.716Z,1628883889.716 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:44:49.716Z,1628883889.716 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:44:49.716Z,1628883889.716 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:44:49.717Z,1628883889.717 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:44:50.130Z,1628883890.130 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
056,000,01240,186,80,80,60,FF
2021-08-13T19:44:50.130Z,1628883890.130 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:44:50.130Z,1628883890.130 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:44:50.132Z,1628883890.132 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:44:50.528Z,1628883890.528 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:44:51.377Z,1628883891.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F5C,000,0121B,186,80,80,AD,FF
2021-08-13T19:44:51.377Z,1628883891.377 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:44:51.380Z,1628883891.380 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194450.65*50

2021-08-13T19:44:51.784Z,1628883891.784 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 240.599976 m, bearing: 37.368928 deg, deltaT: 4.934770 s, approachRate: -0.449875 m/s, LOS rate: 0.172377 deg/s, posRepo size: 4
2021-08-13T19:44:51.786Z,1628883891.786 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 240.599976 m,
      bearing: 37.368928 deg,
      approachRate: -0.449875 m/s,
      LOS rate: 0.172377 deg/s,
      cmd update: 0.517130 deg/s,
      cmd heading: 12.639220 deg,
      new cmd heading: 10.289119 deg.

2021-08-13T19:44:54.187Z,1628883894.187 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:44:54.582Z,1628883894.582 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:44:54.583Z,1628883894.583 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:44:54.583Z,1628883894.583 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:44:54.584Z,1628883894.584 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:44:54.966Z,1628883894.966 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F5C,000,0121B,186,80,80,AD,FF
2021-08-13T19:44:54.966Z,1628883894.966 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:44:54.966Z,1628883894.966 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:44:54.967Z,1628883894.967 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:44:55.400Z,1628883895.400 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:44:56.205Z,1628883896.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB8,000,011F5,187,80,80,A8,FF
2021-08-13T19:44:56.205Z,1628883896.205 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:44:56.209Z,1628883896.209 [Micromodem](INFO): Nmea in: $SNTTA,,0.092620,,,194455.49*4A

2021-08-13T19:44:56.624Z,1628883896.624 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 238.319992 m, bearing: 38.001205 deg, deltaT: 4.789170 s, approachRate: -0.476071 m/s, LOS rate: 0.132022 deg/s, posRepo size: 4
2021-08-13T19:44:56.626Z,1628883896.626 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 238.319992 m,
      bearing: 38.001205 deg,
      approachRate: -0.476071 m/s,
      LOS rate: 0.132022 deg/s,
      cmd update: 0.396067 deg/s,
      cmd heading: 15.118925 deg,
      new cmd heading: 15.304836 deg.

2021-08-13T19:44:59.054Z,1628883899.054 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:44:59.416Z,1628883899.416 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:44:59.416Z,1628883899.416 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:44:59.417Z,1628883899.417 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:44:59.418Z,1628883899.418 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:44:59.821Z,1628883899.821 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EB8,000,011F5,187,80,80,A8,FF
2021-08-13T19:44:59.821Z,1628883899.821 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:44:59.821Z,1628883899.821 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:44:59.823Z,1628883899.823 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:45:00.227Z,1628883900.227 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:45:01.065Z,1628883901.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E19,000,011D1,187,80,80,76,FF
2021-08-13T19:45:01.066Z,1628883901.066 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:45:01.095Z,1628883901.095 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194500.35*51

2021-08-13T19:45:01.516Z,1628883901.516 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 236.159988 m, bearing: 44.001605 deg, deltaT: 4.869535 s, approachRate: -0.443575 m/s, LOS rate: 1.232233 deg/s, posRepo size: 4
2021-08-13T19:45:01.518Z,1628883901.518 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 236.159988 m,
      bearing: 44.001605 deg,
      approachRate: -0.443575 m/s,
      LOS rate: 1.232233 deg/s,
      cmd update: 3.696698 deg/s,
      cmd heading: 17.047573 deg,
      new cmd heading: 17.197399 deg.

2021-08-13T19:45:03.893Z,1628883903.893 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:45:04.257Z,1628883904.257 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:45:04.257Z,1628883904.257 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:45:04.257Z,1628883904.257 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:45:04.258Z,1628883904.258 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:45:04.669Z,1628883904.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E19,000,011D1,187,80,80,76,FF
2021-08-13T19:45:04.669Z,1628883904.669 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:45:04.670Z,1628883904.670 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:45:04.671Z,1628883904.671 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:45:05.071Z,1628883905.071 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:45:05.471Z,1628883905.471 [Micromodem](INFO): Nmea in: $SNTTA,0.196631,0.196481,,,194505.19*53

2021-08-13T19:45:05.894Z,1628883905.894 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F07,000,011A8,186,80,80,8C,FF
2021-08-13T19:45:05.894Z,1628883905.894 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:45:06.331Z,1628883906.331 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 233.699997 m, bearing: 39.336111 deg, deltaT: 4.798250 s, approachRate: -0.512685 m/s, LOS rate: -0.972332 deg/s, posRepo size: 4
2021-08-13T19:45:06.333Z,1628883906.333 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 233.699997 m,
      bearing: 39.336111 deg,
      approachRate: -0.512685 m/s,
      LOS rate: -0.972332 deg/s,
      cmd update: -2.916997 deg/s,
      cmd heading: 34.785452 deg,
      new cmd heading: 36.260527 deg.

2021-08-13T19:45:08.745Z,1628883908.745 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:45:09.112Z,1628883909.112 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:45:09.112Z,1628883909.112 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:45:09.112Z,1628883909.112 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:45:09.113Z,1628883909.113 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:45:09.514Z,1628883909.514 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F07,000,011A8,186,80,80,8C,FF
2021-08-13T19:45:09.514Z,1628883909.514 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:45:09.514Z,1628883909.514 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:45:09.515Z,1628883909.515 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:45:10.008Z,1628883910.008 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:45:10.406Z,1628883910.406 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A7,000,011A8,186,80,80,8C,FF
2021-08-13T19:45:10.406Z,1628883910.406 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:45:10.826Z,1628883910.826 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194510.04*52

2021-08-13T19:45:10.853Z,1628883910.853 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 233.699997 m, bearing: 34.608712 deg, deltaT: 4.521900 s, approachRate: 0.000000 m/s, LOS rate: -1.045445 deg/s, posRepo size: 4
2021-08-13T19:45:10.855Z,1628883910.855 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 233.699997 m,
      bearing: 34.608712 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -1.045445 deg/s,
      cmd update: -3.136336 deg/s,
      cmd heading: 21.595451 deg,
      new cmd heading: 20.432339 deg.

2021-08-13T19:45:13.341Z,1628883913.341 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:45:13.645Z,1628883913.645 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:45:13.645Z,1628883913.645 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:45:13.645Z,1628883913.645 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:45:13.646Z,1628883913.646 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:45:14.045Z,1628883914.045 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0A7,000,011A8,186,80,80,8C,FF
2021-08-13T19:45:14.045Z,1628883914.045 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:45:14.045Z,1628883914.045 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:45:14.047Z,1628883914.047 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:45:14.453Z,1628883914.453 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:45:15.307Z,1628883915.307 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194514.57*50

2021-08-13T19:45:16.069Z,1628883916.069 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,051,000,040E8,183,80,80,80,FF
2021-08-13T19:45:16.070Z,1628883916.070 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:45:16.517Z,1628883916.517 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 959.460022 m, bearing: 41.428991 deg, deltaT: 5.633841 s, approachRate: 128.821533 m/s, LOS rate: 1.210591 deg/s, posRepo size: 4
2021-08-13T19:45:16.519Z,1628883916.519 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 959.460022 m,
      bearing: 41.428991 deg,
      approachRate: 128.821533 m/s,
      LOS rate: 1.210591 deg/s,
      cmd update: 3.631774 deg/s,
      cmd heading: 3.912702 deg,
      new cmd heading: 2.579238 deg.

2021-08-13T19:45:18.925Z,1628883918.925 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:45:19.325Z,1628883919.325 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:45:19.325Z,1628883919.325 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:45:19.325Z,1628883919.325 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:45:19.326Z,1628883919.326 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:45:19.725Z,1628883919.725 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
051,000,040E8,183,80,80,80,FF
2021-08-13T19:45:19.725Z,1628883919.725 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:45:19.725Z,1628883919.725 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:45:19.727Z,1628883919.727 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:45:20.104Z,1628883920.104 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:45:20.927Z,1628883920.927 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA5,000,01127,187,80,80,4D,FF
2021-08-13T19:45:20.940Z,1628883920.940 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:45:20.943Z,1628883920.943 [Micromodem](INFO): Nmea in: $SNTTA,0.156212,,,,194520.25*4F

2021-08-13T19:45:21.480Z,1628883921.480 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 225.959991 m, bearing: 42.768298 deg, deltaT: 4.878204 s, approachRate: -150.362717 m/s, LOS rate: 0.274549 deg/s, posRepo size: 4
2021-08-13T19:45:21.482Z,1628883921.482 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 225.959991 m,
      bearing: 42.768298 deg,
      approachRate: -150.362717 m/s,
      LOS rate: 0.274549 deg/s,
      cmd update: 0.823648 deg/s,
      cmd heading: 21.629235 deg,
      new cmd heading: 23.481589 deg.

2021-08-13T19:45:23.754Z,1628883923.754 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:45:24.144Z,1628883924.144 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:45:24.145Z,1628883924.145 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:45:24.145Z,1628883924.145 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:45:24.147Z,1628883924.147 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:45:24.553Z,1628883924.553 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EA5,000,01127,187,80,80,4D,FF
2021-08-13T19:45:24.553Z,1628883924.553 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:45:24.553Z,1628883924.553 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:45:24.555Z,1628883924.555 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:45:24.961Z,1628883924.961 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:45:25.782Z,1628883925.782 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194525.08*58

2021-08-13T19:45:26.622Z,1628883926.622 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:45:28.181Z,1628883928.181 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
7,187,80,80,4D,FF
2021-08-13T19:45:28.181Z,1628883928.181 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
7,187,80,80,4D,FF
2021-08-13T19:45:28.181Z,1628883928.181 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T19:45:29.444Z,1628883929.444 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:45:29.825Z,1628883929.825 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:45:29.825Z,1628883929.825 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:45:29.825Z,1628883929.825 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:45:29.826Z,1628883929.826 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:45:30.221Z,1628883930.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
7,187,80,80,4D,FF
2021-08-13T19:45:30.221Z,1628883930.221 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:45:30.222Z,1628883930.222 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:45:30.223Z,1628883930.223 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:45:30.608Z,1628883930.608 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:45:31.427Z,1628883931.427 [Micromodem](INFO): Nmea in: $SNTTA,0.463600,0.463231,,,194530.74*51

2021-08-13T19:45:32.267Z,1628883932.267 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:45:33.841Z,1628883933.841 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
7,187,80,80,4D,FF
2021-08-13T19:45:33.841Z,1628883933.841 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
7,187,80,80,4D,FF
2021-08-13T19:45:33.842Z,1628883933.842 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T19:45:35.078Z,1628883935.078 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:45:35.461Z,1628883935.461 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:45:35.461Z,1628883935.461 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:45:35.461Z,1628883935.461 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:45:35.462Z,1628883935.462 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:45:35.876Z,1628883935.876 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
7,187,80,80,4D,FF
2021-08-13T19:45:35.877Z,1628883935.877 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:45:35.877Z,1628883935.877 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:45:35.879Z,1628883935.879 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:45:36.268Z,1628883936.268 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:45:37.090Z,1628883937.090 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194536.40*56

2021-08-13T19:45:37.931Z,1628883937.931 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:45:39.505Z,1628883939.505 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
7,187,80,80,4D,FF
2021-08-13T19:45:39.505Z,1628883939.505 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
7,187,80,80,4D,FF
2021-08-13T19:45:39.505Z,1628883939.505 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T19:45:39.512Z,1628883939.512 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T19:45:40.764Z,1628883940.764 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:45:41.121Z,1628883941.121 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:45:41.121Z,1628883941.121 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:45:41.121Z,1628883941.121 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:45:41.122Z,1628883941.122 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:45:41.530Z,1628883941.530 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
7,187,80,80,4D,FF
2021-08-13T19:45:41.530Z,1628883941.530 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:45:41.530Z,1628883941.530 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:45:41.532Z,1628883941.532 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:45:41.729Z,1628883941.729 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.239487
2021-08-13T19:45:41.940Z,1628883941.940 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:45:42.770Z,1628883942.770 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194542.05*54

2021-08-13T19:45:43.279Z,1628883943.279 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:45:45.172Z,1628883945.172 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
7,187,80,80,4D,FF
2021-08-13T19:45:45.173Z,1628883945.173 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
7,187,80,80,4D,FF
2021-08-13T19:45:45.174Z,1628883945.174 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T19:45:46.007Z,1628883946.007 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:45:46.378Z,1628883946.378 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:45:46.378Z,1628883946.378 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:45:46.379Z,1628883946.379 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:45:46.381Z,1628883946.381 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:45:46.782Z,1628883946.782 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
7,187,80,80,4D,FF
2021-08-13T19:45:46.782Z,1628883946.782 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:45:46.782Z,1628883946.782 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:45:46.784Z,1628883946.784 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:45:47.205Z,1628883947.205 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:45:48.014Z,1628883948.014 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194547.31*56

2021-08-13T19:45:48.815Z,1628883948.815 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:45:50.425Z,1628883950.425 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
7,187,80,80,4D,FF
2021-08-13T19:45:50.426Z,1628883950.426 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
7,187,80,80,4D,FF
2021-08-13T19:45:50.426Z,1628883950.426 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T19:45:51.329Z,1628883951.329 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:45:51.629Z,1628883951.629 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:45:51.629Z,1628883951.629 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:45:51.629Z,1628883951.629 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:45:51.630Z,1628883951.630 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:45:52.038Z,1628883952.038 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
7,187,80,80,4D,FF
2021-08-13T19:45:52.038Z,1628883952.038 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:45:52.038Z,1628883952.038 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:45:52.041Z,1628883952.041 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:45:52.432Z,1628883952.432 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:45:53.304Z,1628883953.304 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0ED,000,01027,186,80,80,91,FF
2021-08-13T19:45:53.305Z,1628883953.305 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:45:53.307Z,1628883953.307 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194552.56*53

2021-08-13T19:45:53.687Z,1628883953.687 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 210.599991 m, bearing: 39.593777 deg, deltaT: 32.417390 s, approachRate: -0.473820 m/s, LOS rate: -0.097927 deg/s, posRepo size: 4
2021-08-13T19:45:53.690Z,1628883953.690 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 210.599991 m,
      bearing: 39.593777 deg,
      approachRate: -0.473820 m/s,
      LOS rate: -0.097927 deg/s,
      cmd update: -0.293780 deg/s,
      cmd heading: 48.326312 deg,
      new cmd heading: 48.576961 deg.

2021-08-13T19:45:56.123Z,1628883956.123 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:45:56.473Z,1628883956.473 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:45:56.473Z,1628883956.473 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:45:56.473Z,1628883956.473 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:45:56.474Z,1628883956.474 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:45:56.875Z,1628883956.875 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0ED,000,01027,186,80,80,91,FF
2021-08-13T19:45:56.875Z,1628883956.875 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:45:56.876Z,1628883956.876 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:45:56.878Z,1628883956.878 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:45:57.336Z,1628883957.336 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:45:58.137Z,1628883958.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,15E,000,01007,185,80,80,90,FF
2021-08-13T19:45:58.137Z,1628883958.137 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:45:58.142Z,1628883958.142 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194557.40*51

2021-08-13T19:45:58.567Z,1628883958.567 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 208.679993 m, bearing: 37.627847 deg, deltaT: 4.811296 s, approachRate: -0.399060 m/s, LOS rate: -0.408607 deg/s, posRepo size: 4
2021-08-13T19:45:58.569Z,1628883958.569 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 208.679993 m,
      bearing: 37.627847 deg,
      approachRate: -0.399060 m/s,
      LOS rate: -0.408607 deg/s,
      cmd update: -1.225822 deg/s,
      cmd heading: 46.922039 deg,
      new cmd heading: 46.803478 deg.

2021-08-13T19:46:00.936Z,1628883960.936 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:46:01.349Z,1628883961.349 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:46:01.349Z,1628883961.349 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:46:01.349Z,1628883961.349 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:46:01.350Z,1628883961.350 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:46:01.721Z,1628883961.721 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
15E,000,01007,185,80,80,90,FF
2021-08-13T19:46:01.721Z,1628883961.721 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:46:01.721Z,1628883961.721 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:46:01.723Z,1628883961.723 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:46:02.128Z,1628883962.128 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:46:02.969Z,1628883962.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,12D,000,00FE1,186,80,80,8F,FF
2021-08-13T19:46:02.969Z,1628883962.969 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:46:02.972Z,1628883962.972 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194602.25*51

2021-08-13T19:46:03.462Z,1628883963.462 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 206.399979 m, bearing: 37.392000 deg, deltaT: 4.789452 s, approachRate: -0.476049 m/s, LOS rate: -0.049243 deg/s, posRepo size: 4
2021-08-13T19:46:03.468Z,1628883963.468 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 206.399979 m,
      bearing: 37.392000 deg,
      approachRate: -0.476049 m/s,
      LOS rate: -0.049243 deg/s,
      cmd update: -0.147729 deg/s,
      cmd heading: 41.008263 deg,
      new cmd heading: 40.426768 deg.

2021-08-13T19:46:05.857Z,1628883965.857 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:46:06.241Z,1628883966.241 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:46:06.241Z,1628883966.241 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:46:06.241Z,1628883966.241 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:46:06.242Z,1628883966.242 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:46:06.629Z,1628883966.629 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
12D,000,00FE1,186,80,80,8F,FF
2021-08-13T19:46:06.629Z,1628883966.629 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:46:06.629Z,1628883966.629 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:46:06.631Z,1628883966.631 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:46:07.046Z,1628883967.046 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:46:07.861Z,1628883967.861 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0F5,000,00FBD,186,80,80,85,FF
2021-08-13T19:46:07.862Z,1628883967.862 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:46:07.865Z,1628883967.865 [Micromodem](INFO): Nmea in: $SNTTA,0.141479,,,,194607.16*44

2021-08-13T19:46:08.343Z,1628883968.343 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 204.240005 m, bearing: 35.192376 deg, deltaT: 4.954525 s, approachRate: -0.435960 m/s, LOS rate: -0.443963 deg/s, posRepo size: 4
2021-08-13T19:46:08.361Z,1628883968.361 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 204.240005 m,
      bearing: 35.192376 deg,
      approachRate: -0.435960 m/s,
      LOS rate: -0.443963 deg/s,
      cmd update: -1.331888 deg/s,
      cmd heading: 40.277470 deg,
      new cmd heading: 40.217136 deg.

2021-08-13T19:46:10.774Z,1628883970.774 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:46:11.105Z,1628883971.105 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:46:11.105Z,1628883971.105 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:46:11.105Z,1628883971.105 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:46:11.106Z,1628883971.106 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:46:11.515Z,1628883971.515 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0F5,000,00FBD,186,80,80,85,FF
2021-08-13T19:46:11.515Z,1628883971.515 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:46:11.515Z,1628883971.515 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:46:11.517Z,1628883971.517 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:46:11.925Z,1628883971.925 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:46:12.757Z,1628883972.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0CC,000,00F95,186,80,80,81,FF
2021-08-13T19:46:12.757Z,1628883972.757 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:46:12.780Z,1628883972.780 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194612.04*53

2021-08-13T19:46:13.270Z,1628883973.270 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 201.839981 m, bearing: 35.711651 deg, deltaT: 4.878256 s, approachRate: -0.491984 m/s, LOS rate: 0.106447 deg/s, posRepo size: 4
2021-08-13T19:46:13.291Z,1628883973.291 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 201.839981 m,
      bearing: 35.711651 deg,
      approachRate: -0.491984 m/s,
      LOS rate: 0.106447 deg/s,
      cmd update: 0.319341 deg/s,
      cmd heading: 33.780437 deg,
      new cmd heading: 33.188256 deg.

2021-08-13T19:46:15.625Z,1628883975.625 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:46:15.963Z,1628883975.963 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:46:15.963Z,1628883975.963 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:46:15.963Z,1628883975.963 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:46:15.964Z,1628883975.964 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:46:16.354Z,1628883976.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0CC,000,00F95,186,80,80,81,FF
2021-08-13T19:46:16.354Z,1628883976.354 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:46:16.354Z,1628883976.354 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:46:16.355Z,1628883976.355 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:46:16.770Z,1628883976.770 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:46:17.605Z,1628883977.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,029,000,00F73,185,80,80,78,FF
2021-08-13T19:46:17.606Z,1628883977.606 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:46:17.609Z,1628883977.609 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194616.88*53

2021-08-13T19:46:18.029Z,1628883978.029 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 199.799988 m, bearing: 39.673683 deg, deltaT: 4.852972 s, approachRate: -0.420360 m/s, LOS rate: 0.816414 deg/s, posRepo size: 4
2021-08-13T19:46:18.032Z,1628883978.032 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 199.799988 m,
      bearing: 39.673683 deg,
      approachRate: -0.420360 m/s,
      LOS rate: 0.816414 deg/s,
      cmd update: 2.449241 deg/s,
      cmd heading: 35.331605 deg,
      new cmd heading: 35.445857 deg.

2021-08-13T19:46:20.422Z,1628883980.422 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:46:20.801Z,1628883980.801 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:46:20.801Z,1628883980.801 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:46:20.801Z,1628883980.801 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:46:20.802Z,1628883980.802 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:46:21.252Z,1628883981.252 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
029,000,00F73,185,80,80,78,FF
2021-08-13T19:46:21.252Z,1628883981.252 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:46:21.253Z,1628883981.253 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:46:21.258Z,1628883981.258 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:46:21.360Z,1628883981.360 [Radio_Surface](INFO): Powering down
2021-08-13T19:46:21.617Z,1628883981.617 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:46:22.419Z,1628883982.419 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,03F,000,00F50,184,80,80,55,FF
2021-08-13T19:46:22.420Z,1628883982.420 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:46:22.837Z,1628883982.837 [Micromodem](INFO): Nmea in: $SNTTA,0.134345,,,,194621.78*42

2021-08-13T19:46:22.860Z,1628883982.860 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 197.699997 m, bearing: 40.589150 deg, deltaT: 4.821170 s, approachRate: -0.435577 m/s, LOS rate: 0.189885 deg/s, posRepo size: 4
2021-08-13T19:46:22.862Z,1628883982.862 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 197.699997 m,
      bearing: 40.589150 deg,
      approachRate: -0.435577 m/s,
      LOS rate: 0.189885 deg/s,
      cmd update: 0.569655 deg/s,
      cmd heading: 47.149662 deg,
      new cmd heading: 48.042687 deg.

2021-08-13T19:46:25.330Z,1628883985.330 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:46:25.661Z,1628883985.661 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:46:25.661Z,1628883985.661 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:46:25.661Z,1628883985.661 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:46:25.662Z,1628883985.662 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:46:26.053Z,1628883986.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
03F,000,00F50,184,80,80,55,FF
2021-08-13T19:46:26.053Z,1628883986.053 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:46:26.053Z,1628883986.053 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:46:26.055Z,1628883986.055 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:46:26.480Z,1628883986.480 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:46:26.878Z,1628883986.878 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,03F,000,00F50,184,80,80,55,FF
2021-08-13T19:46:26.879Z,1628883986.879 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:46:27.343Z,1628883987.343 [Micromodem](INFO): Nmea in: $SNTTA,0.132640,,,,194626.58*41

2021-08-13T19:46:27.413Z,1628883987.413 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 197.699997 m, bearing: 48.922794 deg, deltaT: 4.412318 s, approachRate: 0.000000 m/s, LOS rate: 1.888722 deg/s, posRepo size: 4
2021-08-13T19:46:27.415Z,1628883987.415 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 197.699997 m,
      bearing: 48.922794 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 1.888722 deg/s,
      cmd update: 5.666167 deg/s,
      cmd heading: 49.661733 deg,
      new cmd heading: 49.948968 deg.

2021-08-13T19:46:29.727Z,1628883989.727 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:46:30.113Z,1628883990.113 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:46:30.113Z,1628883990.113 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:46:30.113Z,1628883990.113 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:46:30.114Z,1628883990.114 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:46:30.517Z,1628883990.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
03F,000,00F50,184,80,80,55,FF
2021-08-13T19:46:30.517Z,1628883990.517 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:46:30.517Z,1628883990.517 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:46:30.519Z,1628883990.519 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:46:30.933Z,1628883990.933 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:46:31.346Z,1628883991.346 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,21F,000,00F50,184,80,80,55,FF
2021-08-13T19:46:31.346Z,1628883991.346 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:46:31.783Z,1628883991.783 [Micromodem](INFO): Nmea in: $SNTTA,,0.274218,,,194631.04*46

2021-08-13T19:46:31.804Z,1628883991.804 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 197.699997 m, bearing: 32.500181 deg, deltaT: 4.527886 s, approachRate: 0.000000 m/s, LOS rate: -3.626994 deg/s, posRepo size: 4
2021-08-13T19:46:31.806Z,1628883991.806 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 197.699997 m,
      bearing: 32.500181 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -3.626994 deg/s,
      cmd update: -10.880981 deg/s,
      cmd heading: 75.330540 deg,
      new cmd heading: 77.421418 deg.

2021-08-13T19:46:31.932Z,1628883991.932 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-13T19:46:32.936Z,1628883992.936 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2021-08-13T19:46:34.221Z,1628883994.221 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:46:34.561Z,1628883994.561 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:46:34.561Z,1628883994.561 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:46:34.561Z,1628883994.561 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:46:34.562Z,1628883994.562 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:46:34.961Z,1628883994.961 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
21F,000,00F50,184,80,80,55,FF
2021-08-13T19:46:34.961Z,1628883994.961 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:46:34.961Z,1628883994.961 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:46:34.963Z,1628883994.963 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:46:35.373Z,1628883995.373 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:46:35.773Z,1628883995.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,39C,000,00B9E,188,80,80,8C,FF
2021-08-13T19:46:35.773Z,1628883995.773 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:46:36.232Z,1628883996.232 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 140.940002 m, bearing: 30.648097 deg, deltaT: 4.355086 s, approachRate: -13.033036 m/s, LOS rate: -0.425269 deg/s, posRepo size: 4
2021-08-13T19:46:36.234Z,1628883996.234 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 140.940002 m,
      bearing: 30.648097 deg,
      approachRate: -13.033036 m/s,
      LOS rate: -0.425269 deg/s,
      cmd update: -1.275808 deg/s,
      cmd heading: 27.940823 deg,
      new cmd heading: 23.136141 deg.

2021-08-13T19:46:38.619Z,1628883998.619 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:46:39.005Z,1628883999.005 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:46:39.005Z,1628883999.005 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:46:39.005Z,1628883999.005 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:46:39.006Z,1628883999.006 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:46:39.413Z,1628883999.413 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
39C,000,00B9E,188,80,80,8C,FF
2021-08-13T19:46:39.414Z,1628883999.414 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:46:39.414Z,1628883999.414 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:46:39.415Z,1628883999.415 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:46:39.812Z,1628883999.812 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:46:40.645Z,1628884000.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,37A,000,00ED5,18A,80,80,89,FF
2021-08-13T19:46:40.645Z,1628884000.645 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:46:40.649Z,1628884000.649 [Micromodem](INFO): Nmea in: $SNTTA,0.129403,,,,194639.94*40

2021-08-13T19:46:41.060Z,1628884001.060 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 190.319992 m, bearing: 30.492601 deg, deltaT: 4.926851 s, approachRate: 10.022627 m/s, LOS rate: -0.031561 deg/s, posRepo size: 4
2021-08-13T19:46:41.062Z,1628884001.062 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 190.319992 m,
      bearing: 30.492601 deg,
      approachRate: 10.022627 m/s,
      LOS rate: -0.031561 deg/s,
      cmd update: -0.094683 deg/s,
      cmd heading: 21.669035 deg,
      new cmd heading: 21.218146 deg.

2021-08-13T19:46:43.528Z,1628884003.528 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:46:43.849Z,1628884003.849 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:46:43.849Z,1628884003.849 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:46:43.849Z,1628884003.849 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:46:43.850Z,1628884003.850 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:46:44.257Z,1628884004.257 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
37A,000,00ED5,18A,80,80,89,FF
2021-08-13T19:46:44.257Z,1628884004.257 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:46:44.257Z,1628884004.257 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:46:44.259Z,1628884004.259 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:46:44.660Z,1628884004.660 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:46:45.465Z,1628884005.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,15E,000,00EB6,185,80,80,92,FF
2021-08-13T19:46:45.466Z,1628884005.466 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:46:45.469Z,1628884005.469 [Micromodem](INFO): Nmea in: $SNTTA,0.128418,0.403091,,,194644.78*52

2021-08-13T19:46:45.918Z,1628884005.918 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 188.459991 m, bearing: 34.831864 deg, deltaT: 4.844581 s, approachRate: -0.383934 m/s, LOS rate: 0.895694 deg/s, posRepo size: 4
2021-08-13T19:46:45.921Z,1628884005.921 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 188.459991 m,
      bearing: 34.831864 deg,
      approachRate: -0.383934 m/s,
      LOS rate: 0.895694 deg/s,
      cmd update: 2.687083 deg/s,
      cmd heading: 21.209321 deg,
      new cmd heading: 21.175520 deg.

2021-08-13T19:46:48.335Z,1628884008.335 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:46:48.697Z,1628884008.697 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:46:48.697Z,1628884008.697 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:46:48.697Z,1628884008.697 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:46:48.698Z,1628884008.698 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:46:49.106Z,1628884009.106 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
15E,000,00EB6,185,80,80,92,FF
2021-08-13T19:46:49.106Z,1628884009.106 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:46:49.106Z,1628884009.106 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:46:49.107Z,1628884009.107 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:46:49.516Z,1628884009.516 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:46:50.341Z,1628884010.341 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FDB,000,00E95,185,80,80,9E,FF
2021-08-13T19:46:50.341Z,1628884010.341 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:46:50.344Z,1628884010.344 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194649.64*5B

2021-08-13T19:46:50.772Z,1628884010.772 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 186.480011 m, bearing: 34.631866 deg, deltaT: 4.843603 s, approachRate: -0.408783 m/s, LOS rate: -0.041291 deg/s, posRepo size: 4
2021-08-13T19:46:50.774Z,1628884010.774 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 186.480011 m,
      bearing: 34.631866 deg,
      approachRate: -0.408783 m/s,
      LOS rate: -0.041291 deg/s,
      cmd update: -0.123874 deg/s,
      cmd heading: 34.198184 deg,
      new cmd heading: 35.199101 deg.

2021-08-13T19:46:53.287Z,1628884013.287 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:46:53.553Z,1628884013.553 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:46:53.553Z,1628884013.553 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:46:53.553Z,1628884013.553 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:46:53.554Z,1628884013.554 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:46:53.957Z,1628884013.957 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FDB,000,00E95,185,80,80,9E,FF
2021-08-13T19:46:53.958Z,1628884013.958 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:46:53.958Z,1628884013.958 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:46:53.959Z,1628884013.959 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:46:54.361Z,1628884014.361 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:46:54.771Z,1628884014.771 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,003,000,00E95,185,80,80,9E,FF
2021-08-13T19:46:54.771Z,1628884014.771 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:46:55.214Z,1628884015.214 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194654.48*59

2021-08-13T19:46:55.306Z,1628884015.306 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 186.480011 m, bearing: 35.824083 deg, deltaT: 4.390118 s, approachRate: 0.000000 m/s, LOS rate: 0.271568 deg/s, posRepo size: 4
2021-08-13T19:46:55.309Z,1628884015.309 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 186.480011 m,
      bearing: 35.824083 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.271568 deg/s,
      cmd update: 0.814705 deg/s,
      cmd heading: 33.653381 deg,
      new cmd heading: 33.589833 deg.

2021-08-13T19:46:57.328Z,1628884017.328 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:46:57.589Z,1628884017.589 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:46:57.589Z,1628884017.589 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:46:57.589Z,1628884017.589 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:46:57.590Z,1628884017.590 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:46:58.005Z,1628884018.005 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
003,000,00E95,185,80,80,9E,FF
2021-08-13T19:46:58.005Z,1628884018.005 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:46:58.005Z,1628884018.005 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:46:58.007Z,1628884018.007 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:46:58.428Z,1628884018.428 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:46:58.830Z,1628884018.830 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,086,000,00E95,185,80,80,9E,FF
2021-08-13T19:46:58.830Z,1628884018.830 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:46:59.273Z,1628884019.273 [Micromodem](INFO): Nmea in: $SNTTA,0.121341,,,,194658.53*45

2021-08-13T19:46:59.359Z,1628884019.359 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 186.480011 m, bearing: 35.603683 deg, deltaT: 4.087856 s, approachRate: 0.000000 m/s, LOS rate: -0.053916 deg/s, posRepo size: 4
2021-08-13T19:46:59.362Z,1628884019.362 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 186.480011 m,
      bearing: 35.603683 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.053916 deg/s,
      cmd update: -0.161747 deg/s,
      cmd heading: 36.959757 deg,
      new cmd heading: 37.373379 deg.

2021-08-13T19:47:01.679Z,1628884021.679 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:47:02.077Z,1628884022.077 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:47:02.077Z,1628884022.077 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:47:02.077Z,1628884022.077 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:47:02.078Z,1628884022.078 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:47:02.474Z,1628884022.474 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
086,000,00E95,185,80,80,9E,FF
2021-08-13T19:47:02.474Z,1628884022.474 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:47:02.474Z,1628884022.474 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:47:02.476Z,1628884022.476 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:47:02.878Z,1628884022.878 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:47:03.318Z,1628884023.318 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0AB,000,00E30,185,80,80,9E,FF
2021-08-13T19:47:03.318Z,1628884023.318 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:47:03.729Z,1628884023.729 [Micromodem](INFO): Nmea in: $SNTTA,,0.331708,,,194703.00*46

2021-08-13T19:47:03.746Z,1628884023.746 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 180.420013 m, bearing: 35.460546 deg, deltaT: 4.518235 s, approachRate: -1.341231 m/s, LOS rate: -0.031680 deg/s, posRepo size: 4
2021-08-13T19:47:03.749Z,1628884023.749 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 180.420013 m,
      bearing: 35.460546 deg,
      approachRate: -1.341231 m/s,
      LOS rate: -0.031680 deg/s,
      cmd update: -0.095039 deg/s,
      cmd heading: 36.224493 deg,
      new cmd heading: 36.168061 deg.

2021-08-13T19:47:06.155Z,1628884026.155 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:47:06.507Z,1628884026.507 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:47:06.507Z,1628884026.507 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:47:06.507Z,1628884026.507 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:47:06.508Z,1628884026.508 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:47:06.917Z,1628884026.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0AB,000,00E30,185,80,80,9E,FF
2021-08-13T19:47:06.917Z,1628884026.917 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:47:06.917Z,1628884026.917 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:47:06.919Z,1628884026.919 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:47:07.344Z,1628884027.344 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:47:07.730Z,1628884027.730 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0AB,000,00E30,185,80,80,9E,FF
2021-08-13T19:47:07.731Z,1628884027.731 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:47:08.205Z,1628884028.205 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194707.44*52

2021-08-13T19:47:08.211Z,1628884028.211 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T19:47:08.243Z,1628884028.243 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 180.420013 m, bearing: 35.698086 deg, deltaT: 4.383980 s, approachRate: 0.000000 m/s, LOS rate: 0.054184 deg/s, posRepo size: 4
2021-08-13T19:47:08.246Z,1628884028.246 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 180.420013 m,
      bearing: 35.698086 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.054184 deg/s,
      cmd update: 0.162551 deg/s,
      cmd heading: 35.808404 deg,
      new cmd heading: 35.763943 deg.

2021-08-13T19:47:10.567Z,1628884030.567 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:47:10.965Z,1628884030.965 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:47:10.965Z,1628884030.965 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:47:10.965Z,1628884030.965 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:47:10.966Z,1628884030.966 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:47:11.354Z,1628884031.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0AB,000,00E30,185,80,80,9E,FF
2021-08-13T19:47:11.354Z,1628884031.354 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:47:11.354Z,1628884031.354 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:47:11.368Z,1628884031.368 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:47:11.773Z,1628884031.773 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:47:12.177Z,1628884032.177 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,094,000,00E30,185,80,80,9E,FF
2021-08-13T19:47:12.179Z,1628884032.179 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:47:12.613Z,1628884032.613 [Micromodem](INFO): Nmea in: $SNTTA,0.119248,,,,194711.90*45

2021-08-13T19:47:12.651Z,1628884032.651 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 180.420013 m, bearing: 36.395117 deg, deltaT: 4.468728 s, approachRate: 0.000000 m/s, LOS rate: 0.155980 deg/s, posRepo size: 4
2021-08-13T19:47:12.653Z,1628884032.653 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 180.420013 m,
      bearing: 36.395117 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.155980 deg/s,
      cmd update: 0.467939 deg/s,
      cmd heading: 36.535757 deg,
      new cmd heading: 36.600915 deg.

2021-08-13T19:47:13.438Z,1628884033.438 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T19:47:15.030Z,1628884035.030 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:47:15.406Z,1628884035.406 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:47:15.406Z,1628884035.406 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:47:15.407Z,1628884035.407 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:47:15.407Z,1628884035.407 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:47:15.826Z,1628884035.826 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
094,000,00E30,185,80,80,9E,FF
2021-08-13T19:47:15.826Z,1628884035.826 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:47:15.826Z,1628884035.826 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:47:15.828Z,1628884035.828 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:47:16.237Z,1628884036.237 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:47:17.029Z,1628884037.029 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,09E,000,00DBF,186,80,80,A4,FF
2021-08-13T19:47:17.029Z,1628884037.029 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:47:17.036Z,1628884037.036 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194716.36*57

2021-08-13T19:47:17.497Z,1628884037.497 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 173.640015 m, bearing: 36.451483 deg, deltaT: 4.825315 s, approachRate: -1.405089 m/s, LOS rate: 0.011681 deg/s, posRepo size: 4
2021-08-13T19:47:17.499Z,1628884037.499 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 173.640015 m,
      bearing: 36.451483 deg,
      approachRate: -1.405089 m/s,
      LOS rate: 0.011681 deg/s,
      cmd update: 0.035044 deg/s,
      cmd heading: 38.793565 deg,
      new cmd heading: 38.990832 deg.

2021-08-13T19:47:18.258Z,1628884038.258 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T19:47:19.908Z,1628884039.908 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:47:20.254Z,1628884040.254 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:47:20.254Z,1628884040.254 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:47:20.255Z,1628884040.255 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:47:20.256Z,1628884040.256 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:47:20.671Z,1628884040.671 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
09E,000,00DBF,186,80,80,A4,FF
2021-08-13T19:47:20.671Z,1628884040.671 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:47:20.671Z,1628884040.671 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:47:20.673Z,1628884040.673 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:47:21.056Z,1628884041.056 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:47:21.466Z,1628884041.466 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,09E,000,00DBF,186,80,80,A4,FF
2021-08-13T19:47:21.467Z,1628884041.467 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:47:21.472Z,1628884041.472 [Micromodem](INFO): Nmea in: $SNTTA,0.234958,0.234977,,,194721.20*59

2021-08-13T19:47:21.921Z,1628884041.921 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 173.640015 m, bearing: 37.538313 deg, deltaT: 4.508096 s, approachRate: 0.000000 m/s, LOS rate: 0.241084 deg/s, posRepo size: 4
2021-08-13T19:47:21.923Z,1628884041.923 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 173.640015 m,
      bearing: 37.538313 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.241084 deg/s,
      cmd update: 0.723252 deg/s,
      cmd heading: 38.951558 deg,
      new cmd heading: 38.963234 deg.

2021-08-13T19:47:24.322Z,1628884044.322 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:47:24.695Z,1628884044.695 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:47:24.695Z,1628884044.695 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:47:24.696Z,1628884044.696 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:47:24.697Z,1628884044.697 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:47:25.093Z,1628884045.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
09E,000,00DBF,186,80,80,A4,FF
2021-08-13T19:47:25.094Z,1628884045.094 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:47:25.094Z,1628884045.094 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:47:25.095Z,1628884045.095 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:47:25.507Z,1628884045.507 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:47:25.935Z,1628884045.935 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0C5,000,00D6E,186,80,80,A3,FF
2021-08-13T19:47:25.936Z,1628884045.936 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:47:26.350Z,1628884046.350 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194725.62*56

2021-08-13T19:47:26.403Z,1628884046.403 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 168.779999 m, bearing: 37.064274 deg, deltaT: 4.365512 s, approachRate: -1.113275 m/s, LOS rate: -0.108587 deg/s, posRepo size: 4
2021-08-13T19:47:26.410Z,1628884046.410 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 168.779999 m,
      bearing: 37.064274 deg,
      approachRate: -1.113275 m/s,
      LOS rate: -0.108587 deg/s,
      cmd update: -0.325762 deg/s,
      cmd heading: 42.111486 deg,
      new cmd heading: 42.437491 deg.

2021-08-13T19:47:28.347Z,1628884048.347 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-13T19:47:28.747Z,1628884048.747 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:47:29.129Z,1628884049.129 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:47:29.129Z,1628884049.129 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:47:29.129Z,1628884049.129 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:47:29.130Z,1628884049.130 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:47:29.541Z,1628884049.541 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0C5,000,00D6E,186,80,80,A3,FF
2021-08-13T19:47:29.541Z,1628884049.541 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:47:29.541Z,1628884049.541 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:47:29.543Z,1628884049.543 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:47:29.965Z,1628884049.965 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:47:30.349Z,1628884050.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0D1,000,00D46,186,80,80,A3,FF
2021-08-13T19:47:30.350Z,1628884050.350 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:47:30.781Z,1628884050.781 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194730.07*51

2021-08-13T19:47:30.814Z,1628884050.814 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 166.380005 m, bearing: 37.665409 deg, deltaT: 4.481894 s, approachRate: -0.535487 m/s, LOS rate: 0.134125 deg/s, posRepo size: 4
2021-08-13T19:47:30.816Z,1628884050.816 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 166.380005 m,
      bearing: 37.665409 deg,
      approachRate: -0.535487 m/s,
      LOS rate: 0.134125 deg/s,
      cmd update: 0.402376 deg/s,
      cmd heading: 40.654839 deg,
      new cmd heading: 40.527941 deg.

2021-08-13T19:47:33.291Z,1628884053.291 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:47:33.581Z,1628884053.581 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:47:33.581Z,1628884053.581 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:47:33.581Z,1628884053.581 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:47:33.582Z,1628884053.582 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:47:33.981Z,1628884053.981 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0D1,000,00D46,186,80,80,A3,FF
2021-08-13T19:47:33.981Z,1628884053.981 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:47:33.981Z,1628884053.981 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:47:33.983Z,1628884053.983 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:47:34.388Z,1628884054.388 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:47:34.793Z,1628884054.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0CC,000,00D22,186,80,80,A3,FF
2021-08-13T19:47:34.794Z,1628884054.794 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:47:35.254Z,1628884055.254 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194734.51*56

2021-08-13T19:47:35.331Z,1628884055.331 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 164.220001 m, bearing: 37.995533 deg, deltaT: 4.405035 s, approachRate: -0.490349 m/s, LOS rate: 0.074942 deg/s, posRepo size: 4
2021-08-13T19:47:35.334Z,1628884055.334 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 164.220001 m,
      bearing: 37.995533 deg,
      approachRate: -0.490349 m/s,
      LOS rate: 0.074942 deg/s,
      cmd update: 0.224827 deg/s,
      cmd heading: 42.421791 deg,
      new cmd heading: 42.629388 deg.

2021-08-13T19:47:37.655Z,1628884057.655 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:47:38.029Z,1628884058.029 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:47:38.030Z,1628884058.030 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:47:38.030Z,1628884058.030 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:47:38.031Z,1628884058.031 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:47:38.425Z,1628884058.425 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0CC,000,00D22,186,80,80,A3,FF
2021-08-13T19:47:38.425Z,1628884058.425 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:47:38.425Z,1628884058.425 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:47:38.427Z,1628884058.427 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:47:38.844Z,1628884058.844 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:47:39.245Z,1628884059.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0ED,000,00CFC,186,80,80,A3,FF
2021-08-13T19:47:39.246Z,1628884059.246 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:47:39.669Z,1628884059.669 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194738.96*51

2021-08-13T19:47:39.699Z,1628884059.699 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 161.940018 m, bearing: 37.312965 deg, deltaT: 4.552281 s, approachRate: -0.500844 m/s, LOS rate: -0.149940 deg/s, posRepo size: 4
2021-08-13T19:47:39.701Z,1628884059.701 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 161.940018 m,
      bearing: 37.312965 deg,
      approachRate: -0.500844 m/s,
      LOS rate: -0.149940 deg/s,
      cmd update: -0.449819 deg/s,
      cmd heading: 43.450737 deg,
      new cmd heading: 43.519642 deg.

2021-08-13T19:47:42.079Z,1628884062.079 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:47:42.469Z,1628884062.469 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:47:42.469Z,1628884062.469 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:47:42.469Z,1628884062.469 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:47:42.470Z,1628884062.470 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:47:42.877Z,1628884062.877 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0ED,000,00CFC,186,80,80,A3,FF
2021-08-13T19:47:42.878Z,1628884062.878 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:47:42.878Z,1628884062.878 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:47:42.881Z,1628884062.881 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:47:43.325Z,1628884063.325 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:47:43.391Z,1628884063.391 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-13T19:47:43.686Z,1628884063.686 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0F3,000,00CD7,186,80,80,A3,FF
2021-08-13T19:47:43.687Z,1628884063.687 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:47:44.124Z,1628884064.124 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194743.41*57

2021-08-13T19:47:44.215Z,1628884064.215 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 159.719986 m, bearing: 37.051611 deg, deltaT: 4.335949 s, approachRate: -0.512006 m/s, LOS rate: -0.060276 deg/s, posRepo size: 4
2021-08-13T19:47:44.228Z,1628884064.228 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 159.719986 m,
      bearing: 37.051611 deg,
      approachRate: -0.512006 m/s,
      LOS rate: -0.060276 deg/s,
      cmd update: -0.180828 deg/s,
      cmd heading: 41.509276 deg,
      new cmd heading: 41.281320 deg.

2021-08-13T19:47:46.569Z,1628884066.569 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:47:46.917Z,1628884066.917 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:47:46.917Z,1628884066.917 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:47:46.917Z,1628884066.917 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:47:46.918Z,1628884066.918 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:47:47.333Z,1628884067.333 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0F3,000,00CD7,186,80,80,A3,FF
2021-08-13T19:47:47.333Z,1628884067.333 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:47:47.333Z,1628884067.333 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:47:47.335Z,1628884067.335 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:47:47.789Z,1628884067.789 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:47:48.157Z,1628884068.157 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0DB,000,00CB4,186,80,80,8D,FF
2021-08-13T19:47:48.158Z,1628884068.158 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:47:48.573Z,1628884068.573 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194747.87*59

2021-08-13T19:47:48.607Z,1628884068.607 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 157.619995 m, bearing: 37.636832 deg, deltaT: 4.534041 s, approachRate: -0.463161 m/s, LOS rate: 0.129073 deg/s, posRepo size: 4
2021-08-13T19:47:48.609Z,1628884068.609 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 157.619995 m,
      bearing: 37.636832 deg,
      approachRate: -0.463161 m/s,
      LOS rate: 0.129073 deg/s,
      cmd update: 0.387218 deg/s,
      cmd heading: 40.686370 deg,
      new cmd heading: 40.623439 deg.

2021-08-13T19:47:50.983Z,1628884070.983 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:47:51.381Z,1628884071.381 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:47:51.381Z,1628884071.381 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:47:51.381Z,1628884071.381 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:47:51.382Z,1628884071.382 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:47:51.778Z,1628884071.778 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0DB,000,00CB4,186,80,80,8D,FF
2021-08-13T19:47:51.779Z,1628884071.779 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:47:51.779Z,1628884071.779 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:47:51.781Z,1628884071.781 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:47:52.205Z,1628884072.205 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:47:52.582Z,1628884072.582 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0CC,000,00C8C,186,80,80,8D,FF
2021-08-13T19:47:52.582Z,1628884072.582 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:47:53.045Z,1628884073.045 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194752.31*50

2021-08-13T19:47:53.068Z,1628884073.068 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 155.220001 m, bearing: 38.029889 deg, deltaT: 4.365574 s, approachRate: -0.549755 m/s, LOS rate: 0.090036 deg/s, posRepo size: 4
2021-08-13T19:47:53.070Z,1628884073.070 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 155.220001 m,
      bearing: 38.029889 deg,
      approachRate: -0.549755 m/s,
      LOS rate: 0.090036 deg/s,
      cmd update: 0.270107 deg/s,
      cmd heading: 42.368677 deg,
      new cmd heading: 42.548359 deg.

2021-08-13T19:47:53.444Z,1628884073.444 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-13T19:47:55.479Z,1628884075.479 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:47:55.813Z,1628884075.813 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:47:55.813Z,1628884075.813 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:47:55.813Z,1628884075.813 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:47:55.814Z,1628884075.814 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:47:56.229Z,1628884076.229 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0CC,000,00C8C,186,80,80,8D,FF
2021-08-13T19:47:56.229Z,1628884076.229 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:47:56.229Z,1628884076.229 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:47:56.231Z,1628884076.231 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:47:56.635Z,1628884076.635 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:47:57.034Z,1628884077.034 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0E2,000,00C69,186,80,80,8D,FF
2021-08-13T19:47:57.034Z,1628884077.034 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:47:57.445Z,1628884077.445 [Micromodem](INFO): Nmea in: $SNTTA,0.451696,0.451740,,,194756.76*5D

2021-08-13T19:47:57.504Z,1628884077.504 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 153.119995 m, bearing: 37.948955 deg, deltaT: 4.456043 s, approachRate: -0.471272 m/s, LOS rate: -0.018163 deg/s, posRepo size: 4
2021-08-13T19:47:57.506Z,1628884077.506 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 153.119995 m,
      bearing: 37.948955 deg,
      approachRate: -0.471272 m/s,
      LOS rate: -0.018163 deg/s,
      cmd update: -0.054488 deg/s,
      cmd heading: 43.577779 deg,
      new cmd heading: 43.692264 deg.

2021-08-13T19:47:59.898Z,1628884079.898 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:48:00.265Z,1628884080.265 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:48:00.265Z,1628884080.265 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:48:00.265Z,1628884080.265 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:48:00.266Z,1628884080.266 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:48:00.673Z,1628884080.673 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0E2,000,00C69,186,80,80,8D,FF
2021-08-13T19:48:00.674Z,1628884080.674 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:48:00.674Z,1628884080.674 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:48:00.675Z,1628884080.675 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:48:01.085Z,1628884081.085 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:48:01.482Z,1628884081.482 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,116,000,00C4E,185,80,80,5D,FF
2021-08-13T19:48:01.482Z,1628884081.482 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:48:01.917Z,1628884081.917 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194801.20*59

2021-08-13T19:48:01.947Z,1628884081.947 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 151.500000 m, bearing: 36.205948 deg, deltaT: 4.485348 s, approachRate: -0.361175 m/s, LOS rate: -0.388600 deg/s, posRepo size: 4
2021-08-13T19:48:01.949Z,1628884081.949 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 151.500000 m,
      bearing: 36.205948 deg,
      approachRate: -0.361175 m/s,
      LOS rate: -0.388600 deg/s,
      cmd update: -1.165800 deg/s,
      cmd heading: 43.333722 deg,
      new cmd heading: 43.312568 deg.

2021-08-13T19:48:04.346Z,1628884084.346 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:48:04.701Z,1628884084.701 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:48:04.701Z,1628884084.701 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:48:04.701Z,1628884084.701 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:48:04.702Z,1628884084.702 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:48:05.113Z,1628884085.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
116,000,00C4E,185,80,80,5D,FF
2021-08-13T19:48:05.113Z,1628884085.113 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:48:05.113Z,1628884085.113 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:48:05.115Z,1628884085.115 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:48:05.513Z,1628884085.513 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:48:05.926Z,1628884085.926 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0ED,000,00C1C,186,80,80,9E,FF
2021-08-13T19:48:05.926Z,1628884085.926 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:48:06.353Z,1628884086.353 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194805.64*5D

2021-08-13T19:48:06.379Z,1628884086.379 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 148.500000 m, bearing: 38.077608 deg, deltaT: 4.373681 s, approachRate: -0.685921 m/s, LOS rate: 0.427937 deg/s, posRepo size: 4
2021-08-13T19:48:06.401Z,1628884086.401 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 148.500000 m,
      bearing: 38.077608 deg,
      approachRate: -0.685921 m/s,
      LOS rate: 0.427937 deg/s,
      cmd update: 1.283811 deg/s,
      cmd heading: 38.222875 deg,
      new cmd heading: 37.714497 deg.

2021-08-13T19:48:08.781Z,1628884088.781 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:48:09.148Z,1628884089.148 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:48:09.149Z,1628884089.149 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:48:09.149Z,1628884089.149 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:48:09.151Z,1628884089.151 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:48:09.549Z,1628884089.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0ED,000,00C1C,186,80,80,9E,FF
2021-08-13T19:48:09.549Z,1628884089.549 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:48:09.549Z,1628884089.549 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:48:09.551Z,1628884089.551 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:48:09.957Z,1628884089.957 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:48:10.361Z,1628884090.361 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0B3,000,00BF7,186,80,80,A0,FF
2021-08-13T19:48:10.362Z,1628884090.362 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:48:10.793Z,1628884090.793 [Micromodem](INFO): Nmea in: $SNTTA,0.099656,,,,194810.08*48

2021-08-13T19:48:10.836Z,1628884090.836 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 146.279999 m, bearing: 38.878765 deg, deltaT: 4.481965 s, approachRate: -0.495319 m/s, LOS rate: 0.178751 deg/s, posRepo size: 4
2021-08-13T19:48:10.838Z,1628884090.838 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 146.279999 m,
      bearing: 38.878765 deg,
      approachRate: -0.495319 m/s,
      LOS rate: 0.178751 deg/s,
      cmd update: 0.536254 deg/s,
      cmd heading: 43.966028 deg,
      new cmd heading: 44.499165 deg.

2021-08-13T19:48:13.319Z,1628884093.319 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:48:13.589Z,1628884093.589 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:48:13.589Z,1628884093.589 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:48:13.589Z,1628884093.589 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:48:13.590Z,1628884093.590 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:48:13.993Z,1628884093.993 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0B3,000,00BF7,186,80,80,A0,FF
2021-08-13T19:48:13.993Z,1628884093.993 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:48:13.993Z,1628884093.993 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:48:13.995Z,1628884093.995 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:48:14.408Z,1628884094.408 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:48:14.809Z,1628884094.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,11A,000,00BD0,186,80,80,A3,FF
2021-08-13T19:48:14.809Z,1628884094.809 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:48:15.268Z,1628884095.268 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194814.52*58

2021-08-13T19:48:15.331Z,1628884095.331 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 143.940002 m, bearing: 36.786603 deg, deltaT: 4.401772 s, approachRate: -0.531603 m/s, LOS rate: -0.475300 deg/s, posRepo size: 4
2021-08-13T19:48:15.333Z,1628884095.333 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 143.940002 m,
      bearing: 36.786603 deg,
      approachRate: -0.531603 m/s,
      LOS rate: -0.475300 deg/s,
      cmd update: -1.425900 deg/s,
      cmd heading: 46.330927 deg,
      new cmd heading: 46.601443 deg.

2021-08-13T19:48:17.690Z,1628884097.690 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:48:18.037Z,1628884098.037 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:48:18.038Z,1628884098.038 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:48:18.038Z,1628884098.038 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:48:18.039Z,1628884098.039 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:48:18.433Z,1628884098.433 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
11A,000,00BD0,186,80,80,A3,FF
2021-08-13T19:48:18.433Z,1628884098.433 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:48:18.433Z,1628884098.433 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:48:18.435Z,1628884098.435 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:48:18.845Z,1628884098.845 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:48:19.265Z,1628884099.265 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,145,000,00BA9,186,80,80,A1,FF
2021-08-13T19:48:19.266Z,1628884099.266 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:48:19.685Z,1628884099.685 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194818.97*5D

2021-08-13T19:48:19.708Z,1628884099.708 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 141.600006 m, bearing: 36.423623 deg, deltaT: 4.548078 s, approachRate: -0.514502 m/s, LOS rate: -0.079810 deg/s, posRepo size: 4
2021-08-13T19:48:19.710Z,1628884099.710 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 141.600006 m,
      bearing: 36.423623 deg,
      approachRate: -0.514502 m/s,
      LOS rate: -0.079810 deg/s,
      cmd update: -0.239429 deg/s,
      cmd heading: 39.845843 deg,
      new cmd heading: 39.371041 deg.

2021-08-13T19:48:22.119Z,1628884102.119 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:48:22.477Z,1628884102.477 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:48:22.477Z,1628884102.477 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:48:22.477Z,1628884102.477 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:48:22.478Z,1628884102.478 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:48:22.882Z,1628884102.882 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
145,000,00BA9,186,80,80,A1,FF
2021-08-13T19:48:22.882Z,1628884102.882 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:48:22.882Z,1628884102.882 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:48:22.885Z,1628884102.885 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:48:23.333Z,1628884103.333 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:48:23.693Z,1628884103.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0C5,000,00B84,185,80,80,A7,FF
2021-08-13T19:48:23.693Z,1628884103.693 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:48:24.149Z,1628884104.149 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194823.42*5D

2021-08-13T19:48:24.209Z,1628884104.209 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 139.379990 m, bearing: 38.317197 deg, deltaT: 4.362447 s, approachRate: -0.508892 m/s, LOS rate: 0.434062 deg/s, posRepo size: 4
2021-08-13T19:48:24.211Z,1628884104.211 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 139.379990 m,
      bearing: 38.317197 deg,
      approachRate: -0.508892 m/s,
      LOS rate: 0.434062 deg/s,
      cmd update: 1.302187 deg/s,
      cmd heading: 38.801512 deg,
      new cmd heading: 38.689307 deg.

2021-08-13T19:48:26.559Z,1628884106.559 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:48:26.929Z,1628884106.929 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:48:26.929Z,1628884106.929 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:48:26.929Z,1628884106.929 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:48:26.930Z,1628884106.930 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:48:27.337Z,1628884107.337 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0C5,000,00B84,185,80,80,A7,FF
2021-08-13T19:48:27.337Z,1628884107.337 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:48:27.337Z,1628884107.337 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:48:27.339Z,1628884107.339 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:48:27.732Z,1628884107.732 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:48:28.153Z,1628884108.153 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0CA,000,00B5E,186,80,80,AA,FF
2021-08-13T19:48:28.154Z,1628884108.154 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:48:28.573Z,1628884108.573 [Micromodem](INFO): Nmea in: $SNTTA,0.098782,,,,194827.87*42

2021-08-13T19:48:28.610Z,1628884108.610 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 137.100006 m, bearing: 37.025858 deg, deltaT: 4.535151 s, approachRate: -0.502736 m/s, LOS rate: -0.284740 deg/s, posRepo size: 4
2021-08-13T19:48:28.613Z,1628884108.613 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 137.100006 m,
      bearing: 37.025858 deg,
      approachRate: -0.502736 m/s,
      LOS rate: -0.284740 deg/s,
      cmd update: -0.854220 deg/s,
      cmd heading: 44.702069 deg,
      new cmd heading: 45.148507 deg.

2021-08-13T19:48:30.984Z,1628884110.984 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:48:31.378Z,1628884111.378 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:48:31.378Z,1628884111.378 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:48:31.379Z,1628884111.379 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:48:31.379Z,1628884111.379 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:48:31.769Z,1628884111.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0CA,000,00B5E,186,80,80,AA,FF
2021-08-13T19:48:31.769Z,1628884111.769 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:48:31.769Z,1628884111.769 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:48:31.771Z,1628884111.771 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:48:32.221Z,1628884112.221 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:48:32.593Z,1628884112.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,133,000,00B3A,186,80,80,A3,FF
2021-08-13T19:48:32.593Z,1628884112.593 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:48:33.013Z,1628884113.013 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194832.30*58

2021-08-13T19:48:33.035Z,1628884113.035 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 134.940002 m, bearing: 35.232721 deg, deltaT: 4.337921 s, approachRate: -0.497935 m/s, LOS rate: -0.413363 deg/s, posRepo size: 4
2021-08-13T19:48:33.058Z,1628884113.058 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 134.940002 m,
      bearing: 35.232721 deg,
      approachRate: -0.497935 m/s,
      LOS rate: -0.413363 deg/s,
      cmd update: -1.240089 deg/s,
      cmd heading: 40.992413 deg,
      new cmd heading: 40.629193 deg.

2021-08-13T19:48:35.491Z,1628884115.491 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:48:35.817Z,1628884115.817 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:48:35.817Z,1628884115.817 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:48:35.817Z,1628884115.817 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:48:35.818Z,1628884115.818 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:48:36.245Z,1628884116.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
133,000,00B3A,186,80,80,A3,FF
2021-08-13T19:48:36.245Z,1628884116.245 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:48:36.245Z,1628884116.245 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:48:36.246Z,1628884116.246 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:48:36.631Z,1628884116.631 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:48:37.042Z,1628884117.042 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0C9,000,00B16,186,80,80,A7,FF
2021-08-13T19:48:37.042Z,1628884117.042 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:48:37.439Z,1628884117.439 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194836.78*50

2021-08-13T19:48:37.518Z,1628884117.518 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 132.779999 m, bearing: 37.385840 deg, deltaT: 4.448319 s, approachRate: -0.485578 m/s, LOS rate: 0.484030 deg/s, posRepo size: 4
2021-08-13T19:48:37.521Z,1628884117.521 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 132.779999 m,
      bearing: 37.385840 deg,
      approachRate: -0.485578 m/s,
      LOS rate: 0.484030 deg/s,
      cmd update: 1.452089 deg/s,
      cmd heading: 35.476337 deg,
      new cmd heading: 34.905906 deg.

2021-08-13T19:48:39.886Z,1628884119.886 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:48:40.270Z,1628884120.270 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:48:40.270Z,1628884120.270 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:48:40.270Z,1628884120.270 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:48:40.271Z,1628884120.271 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:48:40.657Z,1628884120.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0C9,000,00B16,186,80,80,A7,FF
2021-08-13T19:48:40.657Z,1628884120.657 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:48:40.657Z,1628884120.657 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:48:40.659Z,1628884120.659 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:48:41.081Z,1628884121.081 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:48:41.473Z,1628884121.473 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,096,000,00AF1,186,80,80,72,FF
2021-08-13T19:48:41.473Z,1628884121.473 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:48:41.909Z,1628884121.909 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194841.19*57

2021-08-13T19:48:41.955Z,1628884121.955 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 130.559998 m, bearing: 37.107813 deg, deltaT: 4.487516 s, approachRate: -0.494706 m/s, LOS rate: -0.061955 deg/s, posRepo size: 4
2021-08-13T19:48:41.958Z,1628884121.958 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 130.559998 m,
      bearing: 37.107813 deg,
      approachRate: -0.494706 m/s,
      LOS rate: -0.061955 deg/s,
      cmd update: -0.185866 deg/s,
      cmd heading: 41.992388 deg,
      new cmd heading: 42.552529 deg.

2021-08-13T19:48:43.522Z,1628884123.522 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T19:48:44.345Z,1628884124.345 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:48:44.709Z,1628884124.709 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:48:44.709Z,1628884124.709 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:48:44.709Z,1628884124.709 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:48:44.710Z,1628884124.710 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:48:45.114Z,1628884125.114 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
096,000,00AF1,186,80,80,72,FF
2021-08-13T19:48:45.114Z,1628884125.114 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:48:45.115Z,1628884125.115 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:48:45.117Z,1628884125.117 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:48:45.508Z,1628884125.508 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:48:45.922Z,1628884125.922 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0FB,000,00ACD,186,80,80,A8,FF
2021-08-13T19:48:45.922Z,1628884125.922 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:48:46.345Z,1628884126.345 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194845.65*58

2021-08-13T19:48:46.388Z,1628884126.388 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 128.400009 m, bearing: 35.984879 deg, deltaT: 4.428209 s, approachRate: -0.487779 m/s, LOS rate: -0.253587 deg/s, posRepo size: 4
2021-08-13T19:48:46.390Z,1628884126.390 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 128.400009 m,
      bearing: 35.984879 deg,
      approachRate: -0.487779 m/s,
      LOS rate: -0.253587 deg/s,
      cmd update: -0.760760 deg/s,
      cmd heading: 41.170116 deg,
      new cmd heading: 41.092395 deg.

2021-08-13T19:48:48.775Z,1628884128.775 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:48:49.138Z,1628884129.138 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:48:49.138Z,1628884129.138 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:48:49.139Z,1628884129.139 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:48:49.140Z,1628884129.140 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:48:49.550Z,1628884129.550 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0FB,000,00ACD,186,80,80,A8,FF
2021-08-13T19:48:49.550Z,1628884129.550 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:48:49.550Z,1628884129.550 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:48:49.552Z,1628884129.552 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:48:49.955Z,1628884129.955 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:48:50.354Z,1628884130.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0E9,000,00AA8,186,80,80,99,FF
2021-08-13T19:48:50.354Z,1628884130.354 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:48:50.805Z,1628884130.805 [Micromodem](INFO): Nmea in: $SNTTA,0.089122,,,,194850.09*48

2021-08-13T19:48:50.828Z,1628884130.828 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 126.180000 m, bearing: 36.532199 deg, deltaT: 4.426802 s, approachRate: -0.501493 m/s, LOS rate: 0.123638 deg/s, posRepo size: 4
2021-08-13T19:48:50.830Z,1628884130.830 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 126.180000 m,
      bearing: 36.532199 deg,
      approachRate: -0.501493 m/s,
      LOS rate: 0.123638 deg/s,
      cmd update: 0.370913 deg/s,
      cmd heading: 37.814538 deg,
      new cmd heading: 37.474512 deg.

2021-08-13T19:48:53.336Z,1628884133.336 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:48:53.589Z,1628884133.589 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:48:53.589Z,1628884133.589 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:48:53.589Z,1628884133.589 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:48:53.590Z,1628884133.590 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:48:53.639Z,1628884133.639 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-13T19:48:53.993Z,1628884133.993 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0E9,000,00AA8,186,80,80,99,FF
2021-08-13T19:48:53.993Z,1628884133.993 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:48:53.993Z,1628884133.993 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:48:53.995Z,1628884133.995 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:48:54.405Z,1628884134.405 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:48:54.422Z,1628884134.422 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T19:48:54.805Z,1628884134.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0AB,000,00A84,186,80,80,9E,FF
2021-08-13T19:48:54.805Z,1628884134.805 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:48:55.290Z,1628884135.290 [Micromodem](INFO): Nmea in: $SNTTA,0.085430,,,,194854.53*49

2021-08-13T19:48:55.377Z,1628884135.377 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 124.020004 m, bearing: 37.198006 deg, deltaT: 4.489120 s, approachRate: -0.481162 m/s, LOS rate: 0.148316 deg/s, posRepo size: 4
2021-08-13T19:48:55.379Z,1628884135.379 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 124.020004 m,
      bearing: 37.198006 deg,
      approachRate: -0.481162 m/s,
      LOS rate: 0.148316 deg/s,
      cmd update: 0.444947 deg/s,
      cmd heading: 39.483025 deg,
      new cmd heading: 39.666207 deg.

2021-08-13T19:48:57.667Z,1628884137.667 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:48:58.029Z,1628884138.029 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:48:58.029Z,1628884138.029 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:48:58.029Z,1628884138.029 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:48:58.030Z,1628884138.030 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:48:58.445Z,1628884138.445 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0AB,000,00A84,186,80,80,9E,FF
2021-08-13T19:48:58.445Z,1628884138.445 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:48:58.445Z,1628884138.445 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:48:58.447Z,1628884138.447 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:48:58.845Z,1628884138.845 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:48:59.285Z,1628884139.285 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0C5,000,00A5F,186,80,80,9E,FF
2021-08-13T19:48:59.286Z,1628884139.286 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:48:59.669Z,1628884139.669 [Micromodem](INFO): Nmea in: $SNTTA,0.343524,0.343518,,,194858.98*59

2021-08-13T19:48:59.714Z,1628884139.714 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 121.800003 m, bearing: 36.512026 deg, deltaT: 4.536677 s, approachRate: -0.489345 m/s, LOS rate: -0.151208 deg/s, posRepo size: 4
2021-08-13T19:48:59.718Z,1628884139.718 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 121.800003 m,
      bearing: 36.512026 deg,
      approachRate: -0.489345 m/s,
      LOS rate: -0.151208 deg/s,
      cmd update: -0.453623 deg/s,
      cmd heading: 41.504705 deg,
      new cmd heading: 41.634112 deg.

2021-08-13T19:49:02.113Z,1628884142.113 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:49:02.477Z,1628884142.477 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:49:02.477Z,1628884142.477 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:49:02.477Z,1628884142.477 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:49:02.478Z,1628884142.478 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:49:02.878Z,1628884142.878 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0C5,000,00A5F,186,80,80,9E,FF
2021-08-13T19:49:02.878Z,1628884142.878 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:49:02.879Z,1628884142.879 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:49:02.882Z,1628884142.882 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:49:03.355Z,1628884143.355 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:49:03.373Z,1628884143.373 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T19:49:03.689Z,1628884143.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0E1,000,00A3A,186,80,80,92,FF
2021-08-13T19:49:03.689Z,1628884143.689 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:49:04.137Z,1628884144.137 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194903.42*5E

2021-08-13T19:49:04.202Z,1628884144.202 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 119.579994 m, bearing: 36.451552 deg, deltaT: 4.279238 s, approachRate: -0.518786 m/s, LOS rate: -0.014132 deg/s, posRepo size: 4
2021-08-13T19:49:04.209Z,1628884144.209 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 119.579994 m,
      bearing: 36.451552 deg,
      approachRate: -0.518786 m/s,
      LOS rate: -0.014132 deg/s,
      cmd update: -0.042396 deg/s,
      cmd heading: 39.561651 deg,
      new cmd heading: 39.336528 deg.

2021-08-13T19:49:06.573Z,1628884146.573 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:49:06.925Z,1628884146.925 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:49:06.925Z,1628884146.925 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:49:06.925Z,1628884146.925 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:49:06.926Z,1628884146.926 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:49:07.349Z,1628884147.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0E1,000,00A3A,186,80,80,92,FF
2021-08-13T19:49:07.349Z,1628884147.349 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:49:07.350Z,1628884147.350 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:49:07.351Z,1628884147.351 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:49:07.736Z,1628884147.736 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:49:08.150Z,1628884148.150 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0CC,000,00A14,186,80,80,AB,FF
2021-08-13T19:49:08.151Z,1628884148.151 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:49:08.555Z,1628884148.555 [Micromodem](INFO): Nmea in: $SNTTA,0.089054,,,,194907.89*43

2021-08-13T19:49:08.585Z,1628884148.585 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 117.300011 m, bearing: 36.568146 deg, deltaT: 4.547943 s, approachRate: -0.501322 m/s, LOS rate: 0.025637 deg/s, posRepo size: 4
2021-08-13T19:49:08.587Z,1628884148.587 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 117.300011 m,
      bearing: 36.568146 deg,
      approachRate: -0.501322 m/s,
      LOS rate: 0.025637 deg/s,
      cmd update: 0.076910 deg/s,
      cmd heading: 39.370126 deg,
      new cmd heading: 39.354786 deg.

2021-08-13T19:49:10.975Z,1628884150.975 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:49:11.361Z,1628884151.361 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:49:11.361Z,1628884151.361 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:49:11.361Z,1628884151.361 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:49:11.362Z,1628884151.362 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:49:11.773Z,1628884151.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0CC,000,00A14,186,80,80,AB,FF
2021-08-13T19:49:11.773Z,1628884151.773 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:49:11.773Z,1628884151.773 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:49:11.775Z,1628884151.775 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:49:12.195Z,1628884152.195 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:49:12.581Z,1628884152.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0BF,000,009F0,186,80,80,AF,FF
2021-08-13T19:49:12.581Z,1628884152.581 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:49:13.013Z,1628884153.013 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194912.31*5A

2021-08-13T19:49:13.043Z,1628884153.043 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 115.139999 m, bearing: 36.590566 deg, deltaT: 4.345364 s, approachRate: -0.497084 m/s, LOS rate: 0.005160 deg/s, posRepo size: 4
2021-08-13T19:49:13.046Z,1628884153.046 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 115.139999 m,
      bearing: 36.590566 deg,
      approachRate: -0.497084 m/s,
      LOS rate: 0.005160 deg/s,
      cmd update: 0.015479 deg/s,
      cmd heading: 39.706680 deg,
      new cmd heading: 39.740824 deg.

2021-08-13T19:49:15.467Z,1628884155.467 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:49:15.797Z,1628884155.797 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:49:15.797Z,1628884155.797 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:49:15.797Z,1628884155.797 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:49:15.798Z,1628884155.798 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:49:16.221Z,1628884156.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0BF,000,009F0,186,80,80,AF,FF
2021-08-13T19:49:16.221Z,1628884156.221 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:49:16.221Z,1628884156.221 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:49:16.223Z,1628884156.223 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:49:16.617Z,1628884156.617 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:49:17.029Z,1628884157.029 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0BF,000,009CB,186,80,80,AE,FF
2021-08-13T19:49:17.029Z,1628884157.029 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:49:17.429Z,1628884157.429 [Micromodem](INFO): Nmea in: $SNTTA,0.082216,0.456888,,,194916.76*5D

2021-08-13T19:49:17.511Z,1628884157.511 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 112.920006 m, bearing: 36.506432 deg, deltaT: 4.446510 s, approachRate: -0.499267 m/s, LOS rate: -0.018921 deg/s, posRepo size: 4
2021-08-13T19:49:17.517Z,1628884157.517 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 112.920006 m,
      bearing: 36.506432 deg,
      approachRate: -0.499267 m/s,
      LOS rate: -0.018921 deg/s,
      cmd update: -0.056764 deg/s,
      cmd heading: 39.775507 deg,
      new cmd heading: 39.782698 deg.

2021-08-13T19:49:19.878Z,1628884159.878 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:49:20.256Z,1628884160.256 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:49:20.256Z,1628884160.256 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:49:20.256Z,1628884160.256 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:49:20.257Z,1628884160.257 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:49:20.649Z,1628884160.649 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0BF,000,009CB,186,80,80,AE,FF
2021-08-13T19:49:20.649Z,1628884160.649 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:49:20.649Z,1628884160.649 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:49:20.651Z,1628884160.651 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:49:21.062Z,1628884161.062 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:49:21.457Z,1628884161.457 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0B7,000,009A7,186,80,80,B4,FF
2021-08-13T19:49:21.457Z,1628884161.457 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:49:21.481Z,1628884161.481 [Micromodem](INFO): Nmea in: $SNTTA,0.241820,0.240745,,,194921.18*5C

2021-08-13T19:49:21.508Z,1628884161.508 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-13T19:49:21.908Z,1628884161.908 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 110.760002 m, bearing: 36.207970 deg, deltaT: 4.496870 s, approachRate: -0.480335 m/s, LOS rate: -0.066371 deg/s, posRepo size: 4
2021-08-13T19:49:21.910Z,1628884161.910 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 110.760002 m,
      bearing: 36.207970 deg,
      approachRate: -0.480335 m/s,
      LOS rate: -0.066371 deg/s,
      cmd update: -0.199113 deg/s,
      cmd heading: 39.520490 deg,
      new cmd heading: 39.499515 deg.

2021-08-13T19:49:24.317Z,1628884164.317 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:49:24.689Z,1628884164.689 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:49:24.689Z,1628884164.689 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:49:24.689Z,1628884164.689 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:49:24.690Z,1628884164.690 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:49:25.093Z,1628884165.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0B7,000,009A7,186,80,80,B4,FF
2021-08-13T19:49:25.093Z,1628884165.093 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:49:25.093Z,1628884165.093 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:49:25.095Z,1628884165.095 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:49:25.501Z,1628884165.501 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:49:25.905Z,1628884165.905 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0B2,000,00983,186,80,80,A5,FF
2021-08-13T19:49:25.905Z,1628884165.905 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:49:26.347Z,1628884166.347 [Micromodem](INFO): Nmea in: $SNTTA,0.072114,,,,194925.63*46

2021-08-13T19:49:26.374Z,1628884166.374 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 108.600006 m, bearing: 36.288057 deg, deltaT: 4.399747 s, approachRate: -0.490936 m/s, LOS rate: 0.018203 deg/s, posRepo size: 4
2021-08-13T19:49:26.381Z,1628884166.381 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 108.600006 m,
      bearing: 36.288057 deg,
      approachRate: -0.490936 m/s,
      LOS rate: 0.018203 deg/s,
      cmd update: 0.054608 deg/s,
      cmd heading: 38.647579 deg,
      new cmd heading: 38.557752 deg.

2021-08-13T19:49:28.747Z,1628884168.747 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:49:29.139Z,1628884169.139 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:49:29.140Z,1628884169.140 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:49:29.141Z,1628884169.141 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:49:29.142Z,1628884169.142 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:49:29.569Z,1628884169.569 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0B2,000,00983,186,80,80,A5,FF
2021-08-13T19:49:29.569Z,1628884169.569 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:49:29.569Z,1628884169.569 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:49:29.571Z,1628884169.571 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:49:29.983Z,1628884169.983 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:49:30.381Z,1628884170.381 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,09E,000,0095A,186,80,80,C4,FF
2021-08-13T19:49:30.382Z,1628884170.382 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:49:30.814Z,1628884170.814 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194930.11*58

2021-08-13T19:49:30.836Z,1628884170.836 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 106.140007 m, bearing: 36.656263 deg, deltaT: 4.502233 s, approachRate: -0.546395 m/s, LOS rate: 0.081783 deg/s, posRepo size: 4
2021-08-13T19:49:30.838Z,1628884170.838 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 106.140007 m,
      bearing: 36.656263 deg,
      approachRate: -0.546395 m/s,
      LOS rate: 0.081783 deg/s,
      cmd update: 0.245348 deg/s,
      cmd heading: 38.894085 deg,
      new cmd heading: 38.915871 deg.

2021-08-13T19:49:33.331Z,1628884173.331 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:49:33.601Z,1628884173.601 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:49:33.601Z,1628884173.601 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:49:33.601Z,1628884173.601 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:49:33.602Z,1628884173.602 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:49:33.653Z,1628884173.653 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-13T19:49:34.009Z,1628884174.009 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
09E,000,0095A,186,80,80,C4,FF
2021-08-13T19:49:34.009Z,1628884174.009 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:49:34.009Z,1628884174.009 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:49:34.011Z,1628884174.011 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:49:34.413Z,1628884174.413 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:49:34.809Z,1628884174.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A0,000,00938,186,80,80,A4,FF
2021-08-13T19:49:34.810Z,1628884174.810 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:49:35.281Z,1628884175.281 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194934.55*5C

2021-08-13T19:49:35.361Z,1628884175.361 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 104.100006 m, bearing: 36.599688 deg, deltaT: 4.381728 s, approachRate: -0.465570 m/s, LOS rate: -0.012911 deg/s, posRepo size: 4
2021-08-13T19:49:35.363Z,1628884175.363 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 104.100006 m,
      bearing: 36.599688 deg,
      approachRate: -0.465570 m/s,
      LOS rate: -0.012911 deg/s,
      cmd update: -0.038734 deg/s,
      cmd heading: 39.971122 deg,
      new cmd heading: 40.102101 deg.

2021-08-13T19:49:37.705Z,1628884177.705 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:49:38.045Z,1628884178.045 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:49:38.045Z,1628884178.045 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:49:38.045Z,1628884178.045 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:49:38.046Z,1628884178.046 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:49:38.449Z,1628884178.449 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0A0,000,00938,186,80,80,A4,FF
2021-08-13T19:49:38.449Z,1628884178.449 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:49:38.449Z,1628884178.449 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:49:38.451Z,1628884178.451 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:49:38.857Z,1628884178.857 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:49:39.288Z,1628884179.288 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0B2,000,00910,185,80,80,BD,FF
2021-08-13T19:49:39.290Z,1628884179.290 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:49:39.710Z,1628884179.710 [Micromodem](INFO): Nmea in: $SNTTA,0.340246,,,,194938.99*49

2021-08-13T19:49:39.732Z,1628884179.732 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 101.699997 m, bearing: 36.345889 deg, deltaT: 4.535302 s, approachRate: -0.529184 m/s, LOS rate: -0.055961 deg/s, posRepo size: 4
2021-08-13T19:49:39.734Z,1628884179.734 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 101.699997 m,
      bearing: 36.345889 deg,
      approachRate: -0.529184 m/s,
      LOS rate: -0.055961 deg/s,
      cmd update: -0.167883 deg/s,
      cmd heading: 39.795446 deg,
      new cmd heading: 39.781127 deg.

2021-08-13T19:49:42.109Z,1628884182.109 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:49:42.501Z,1628884182.501 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:49:42.501Z,1628884182.501 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:49:42.501Z,1628884182.501 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:49:42.502Z,1628884182.502 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:49:42.906Z,1628884182.906 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0B2,000,00910,185,80,80,BD,FF
2021-08-13T19:49:42.906Z,1628884182.906 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:49:42.906Z,1628884182.906 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:49:42.908Z,1628884182.908 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:49:43.365Z,1628884183.365 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:49:43.705Z,1628884183.705 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0B5,000,008EC,186,80,80,9D,FF
2021-08-13T19:49:43.706Z,1628884183.706 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:49:44.177Z,1628884184.177 [Micromodem](INFO): Nmea in: $SNTTA,0.066047,,,,194943.44*41

2021-08-13T19:49:44.234Z,1628884184.234 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 99.540009 m, bearing: 36.163581 deg, deltaT: 4.366256 s, approachRate: -0.494700 m/s, LOS rate: -0.041754 deg/s, posRepo size: 4
2021-08-13T19:49:44.248Z,1628884184.248 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 99.540009 m,
      bearing: 36.163581 deg,
      approachRate: -0.494700 m/s,
      LOS rate: -0.041754 deg/s,
      cmd update: -0.125262 deg/s,
      cmd heading: 39.062436 deg,
      new cmd heading: 38.977598 deg.

2021-08-13T19:49:46.575Z,1628884186.575 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:49:46.941Z,1628884186.941 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:49:46.941Z,1628884186.941 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:49:46.941Z,1628884186.941 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:49:46.942Z,1628884186.942 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:49:47.345Z,1628884187.345 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0B5,000,008EC,186,80,80,9D,FF
2021-08-13T19:49:47.345Z,1628884187.345 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:49:47.345Z,1628884187.345 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:49:47.347Z,1628884187.347 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:49:47.740Z,1628884187.740 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:49:48.141Z,1628884188.141 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A3,000,008C7,186,80,80,B5,FF
2021-08-13T19:49:48.142Z,1628884188.142 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:49:48.573Z,1628884188.573 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194947.88*58

2021-08-13T19:49:48.622Z,1628884188.622 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 97.320000 m, bearing: 36.546802 deg, deltaT: 4.485140 s, approachRate: -0.494970 m/s, LOS rate: 0.085442 deg/s, posRepo size: 4
2021-08-13T19:49:48.624Z,1628884188.624 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 97.320000 m,
      bearing: 36.546802 deg,
      approachRate: -0.494970 m/s,
      LOS rate: 0.085442 deg/s,
      cmd update: 0.256327 deg/s,
      cmd heading: 38.501648 deg,
      new cmd heading: 38.449460 deg.

2021-08-13T19:49:50.998Z,1628884190.998 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:49:51.373Z,1628884191.373 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:49:51.373Z,1628884191.373 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:49:51.373Z,1628884191.373 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:49:51.374Z,1628884191.374 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:49:51.781Z,1628884191.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0A3,000,008C7,186,80,80,B5,FF
2021-08-13T19:49:51.781Z,1628884191.781 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:49:51.781Z,1628884191.781 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:49:51.783Z,1628884191.783 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:49:52.213Z,1628884192.213 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:49:52.601Z,1628884192.601 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,099,000,0089E,186,80,80,A9,FF
2021-08-13T19:49:52.601Z,1628884192.601 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:49:53.029Z,1628884193.029 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194952.32*5D

2021-08-13T19:49:53.052Z,1628884193.052 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 94.860001 m, bearing: 36.914744 deg, deltaT: 4.405786 s, approachRate: -0.558356 m/s, LOS rate: 0.083513 deg/s, posRepo size: 4
2021-08-13T19:49:53.054Z,1628884193.054 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 94.860001 m,
      bearing: 36.914744 deg,
      approachRate: -0.558356 m/s,
      LOS rate: 0.083513 deg/s,
      cmd update: 0.250540 deg/s,
      cmd heading: 39.633055 deg,
      new cmd heading: 39.743943 deg.

2021-08-13T19:49:53.444Z,1628884193.444 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2021-08-13T19:49:53.444Z,1628884193.444 [RDI_Pathfinder] Communications Fault, FailCount= 1
2021-08-13T19:49:53.444Z,1628884193.444 [RDI_Pathfinder](ERROR): Communications Fault
2021-08-13T19:49:53.616Z,1628884193.616 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2021-08-13T19:49:53.884Z,1628884193.884 [RDI_Pathfinder](INFO): Powering down
2021-08-13T19:49:54.740Z,1628884194.740 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2021-08-13T19:49:54.740Z,1628884194.740 [RDI_Pathfinder] No Fault, FailCount= 1
2021-08-13T19:49:55.466Z,1628884195.466 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:49:55.817Z,1628884195.817 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:49:55.817Z,1628884195.817 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:49:55.817Z,1628884195.817 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:49:55.818Z,1628884195.818 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:49:56.230Z,1628884196.230 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
099,000,0089E,186,80,80,A9,FF
2021-08-13T19:49:56.230Z,1628884196.230 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:49:56.230Z,1628884196.230 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:49:56.232Z,1628884196.232 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:49:56.633Z,1628884196.633 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:49:57.029Z,1628884197.029 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0AA,000,0087B,186,80,80,A9,FF
2021-08-13T19:49:57.029Z,1628884197.029 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:49:57.477Z,1628884197.477 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194956.77*58

2021-08-13T19:49:57.503Z,1628884197.503 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 92.759995 m, bearing: 37.106717 deg, deltaT: 4.427156 s, approachRate: -0.474347 m/s, LOS rate: 0.043363 deg/s, posRepo size: 4
2021-08-13T19:49:57.505Z,1628884197.505 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 92.759995 m,
      bearing: 37.106717 deg,
      approachRate: -0.474347 m/s,
      LOS rate: 0.043363 deg/s,
      cmd update: 0.130088 deg/s,
      cmd heading: 40.742249 deg,
      new cmd heading: 40.856768 deg.

2021-08-13T19:49:59.912Z,1628884199.912 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:50:00.266Z,1628884200.266 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:50:00.266Z,1628884200.266 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:50:00.267Z,1628884200.267 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:50:00.268Z,1628884200.268 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:50:00.681Z,1628884200.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0AA,000,0087B,186,80,80,A9,FF
2021-08-13T19:50:00.682Z,1628884200.682 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:50:00.682Z,1628884200.682 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:50:00.683Z,1628884200.683 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:50:01.077Z,1628884201.077 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:50:01.489Z,1628884201.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0B5,000,00856,186,80,80,B6,FF
2021-08-13T19:50:01.489Z,1628884201.489 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:50:01.909Z,1628884201.909 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195001.22*52

2021-08-13T19:50:01.931Z,1628884201.931 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 90.540001 m, bearing: 37.100143 deg, deltaT: 4.502545 s, approachRate: -0.493053 m/s, LOS rate: -0.001460 deg/s, posRepo size: 4
2021-08-13T19:50:01.954Z,1628884201.954 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 90.540001 m,
      bearing: 37.100143 deg,
      approachRate: -0.493053 m/s,
      LOS rate: -0.001460 deg/s,
      cmd update: -0.004380 deg/s,
      cmd heading: 41.327365 deg,
      new cmd heading: 41.377770 deg.

2021-08-13T19:50:04.333Z,1628884204.333 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:50:04.713Z,1628884204.713 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:50:04.713Z,1628884204.713 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:50:04.713Z,1628884204.713 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:50:04.714Z,1628884204.714 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:50:05.113Z,1628884205.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0B5,000,00856,186,80,80,B6,FF
2021-08-13T19:50:05.114Z,1628884205.114 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:50:05.114Z,1628884205.114 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:50:05.119Z,1628884205.119 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:50:05.533Z,1628884205.533 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:50:05.925Z,1628884205.925 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0D3,000,0082F,186,80,80,B8,FF
2021-08-13T19:50:05.925Z,1628884205.925 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:50:06.369Z,1628884206.369 [Micromodem](INFO): Nmea in: $SNTTA,0.064975,,,,195005.66*41

2021-08-13T19:50:06.395Z,1628884206.395 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 88.200005 m, bearing: 36.498659 deg, deltaT: 4.422592 s, approachRate: -0.529101 m/s, LOS rate: -0.136002 deg/s, posRepo size: 4
2021-08-13T19:50:06.397Z,1628884206.397 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 88.200005 m,
      bearing: 36.498659 deg,
      approachRate: -0.529101 m/s,
      LOS rate: -0.136002 deg/s,
      cmd update: -0.408007 deg/s,
      cmd heading: 41.307975 deg,
      new cmd heading: 41.306117 deg.

2021-08-13T19:50:08.795Z,1628884208.795 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:50:09.177Z,1628884209.177 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:50:09.177Z,1628884209.177 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:50:09.177Z,1628884209.177 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:50:09.178Z,1628884209.178 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:50:09.577Z,1628884209.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0D3,000,0082F,186,80,80,B8,FF
2021-08-13T19:50:09.577Z,1628884209.577 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:50:09.577Z,1628884209.577 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:50:09.579Z,1628884209.579 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:50:09.961Z,1628884209.961 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:50:10.781Z,1628884210.781 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195010.12*51

2021-08-13T19:50:11.614Z,1628884211.614 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:50:13.209Z,1628884213.209 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
F,186,80,80,B8,FF
2021-08-13T19:50:13.210Z,1628884213.210 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
F,186,80,80,B8,FF
2021-08-13T19:50:13.210Z,1628884213.210 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T19:50:14.459Z,1628884214.459 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:50:14.802Z,1628884214.802 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:50:14.803Z,1628884214.803 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:50:14.803Z,1628884214.803 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:50:14.804Z,1628884214.804 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:50:15.229Z,1628884215.229 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
F,186,80,80,B8,FF
2021-08-13T19:50:15.230Z,1628884215.230 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:50:15.230Z,1628884215.230 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:50:15.233Z,1628884215.233 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:50:15.638Z,1628884215.638 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:50:16.019Z,1628884216.019 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A6,000,007D8,186,80,80,A6,FF
2021-08-13T19:50:16.019Z,1628884216.019 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:50:16.448Z,1628884216.448 [Micromodem](INFO): Nmea in: $SNTTA,0.065780,,,,195015.77*45

2021-08-13T19:50:16.483Z,1628884216.483 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 82.980003 m, bearing: 37.136729 deg, deltaT: 10.105438 s, approachRate: -0.516554 m/s, LOS rate: 0.063141 deg/s, posRepo size: 4
2021-08-13T19:50:16.485Z,1628884216.485 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 82.980003 m,
      bearing: 37.136729 deg,
      approachRate: -0.516554 m/s,
      LOS rate: 0.063141 deg/s,
      cmd update: 0.189424 deg/s,
      cmd heading: 37.188120 deg,
      new cmd heading: 37.019041 deg.

2021-08-13T19:50:18.893Z,1628884218.893 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:50:19.262Z,1628884219.262 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:50:19.262Z,1628884219.262 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:50:19.262Z,1628884219.262 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:50:19.263Z,1628884219.263 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:50:19.664Z,1628884219.664 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0A6,000,007D8,186,80,80,A6,FF
2021-08-13T19:50:19.664Z,1628884219.664 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:50:19.664Z,1628884219.664 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:50:19.666Z,1628884219.666 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:50:20.063Z,1628884220.063 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:50:20.477Z,1628884220.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,07A,000,007B4,186,80,80,AF,FF
2021-08-13T19:50:20.477Z,1628884220.477 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:50:20.918Z,1628884220.918 [Micromodem](INFO): Nmea in: $SNTTA,0.070601,,,,195020.20*4D

2021-08-13T19:50:20.944Z,1628884220.944 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 80.820000 m, bearing: 37.642026 deg, deltaT: 4.448627 s, approachRate: -0.485544 m/s, LOS rate: 0.113585 deg/s, posRepo size: 4
2021-08-13T19:50:20.946Z,1628884220.946 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 80.820000 m,
      bearing: 37.642026 deg,
      approachRate: -0.485544 m/s,
      LOS rate: 0.113585 deg/s,
      cmd update: 0.340755 deg/s,
      cmd heading: 38.032443 deg,
      new cmd heading: 38.111674 deg.

2021-08-13T19:50:23.402Z,1628884223.402 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:50:23.697Z,1628884223.697 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:50:23.697Z,1628884223.697 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:50:23.698Z,1628884223.698 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:50:23.699Z,1628884223.699 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:50:24.097Z,1628884224.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
07A,000,007B4,186,80,80,AF,FF
2021-08-13T19:50:24.097Z,1628884224.097 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:50:24.097Z,1628884224.097 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:50:24.099Z,1628884224.099 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:50:24.505Z,1628884224.505 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:50:24.917Z,1628884224.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,076,000,0078F,186,80,80,AE,FF
2021-08-13T19:50:24.917Z,1628884224.917 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:50:25.345Z,1628884225.345 [Micromodem](INFO): Nmea in: $SNTTA,0.388799,,,,195024.64*4D

2021-08-13T19:50:25.403Z,1628884225.403 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 78.599998 m, bearing: 37.896396 deg, deltaT: 4.455545 s, approachRate: -0.498256 m/s, LOS rate: 0.057091 deg/s, posRepo size: 4
2021-08-13T19:50:25.406Z,1628884225.406 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 78.599998 m,
      bearing: 37.896396 deg,
      approachRate: -0.498256 m/s,
      LOS rate: 0.057091 deg/s,
      cmd update: 0.171272 deg/s,
      cmd heading: 39.546829 deg,
      new cmd heading: 39.694535 deg.

2021-08-13T19:50:27.756Z,1628884227.756 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:50:28.156Z,1628884228.156 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:50:28.156Z,1628884228.156 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:50:28.157Z,1628884228.157 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:50:28.158Z,1628884228.158 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:50:28.541Z,1628884228.541 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
076,000,0078F,186,80,80,AE,FF
2021-08-13T19:50:28.541Z,1628884228.541 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:50:28.542Z,1628884228.542 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:50:28.543Z,1628884228.543 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:50:28.949Z,1628884228.949 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:50:29.345Z,1628884229.345 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0AD,000,00768,186,80,80,98,FF
2021-08-13T19:50:29.346Z,1628884229.346 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:50:29.789Z,1628884229.789 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195029.08*50

2021-08-13T19:50:29.819Z,1628884229.819 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 76.259995 m, bearing: 36.192264 deg, deltaT: 4.447411 s, approachRate: -0.526150 m/s, LOS rate: -0.383174 deg/s, posRepo size: 4
2021-08-13T19:50:29.847Z,1628884229.847 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 76.259995 m,
      bearing: 36.192264 deg,
      approachRate: -0.526150 m/s,
      LOS rate: -0.383174 deg/s,
      cmd update: -1.149522 deg/s,
      cmd heading: 40.310435 deg,
      new cmd heading: 40.377258 deg.

2021-08-13T19:50:32.258Z,1628884232.258 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:50:32.581Z,1628884232.581 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:50:32.581Z,1628884232.581 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:50:32.581Z,1628884232.581 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:50:32.582Z,1628884232.582 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:50:32.989Z,1628884232.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0AD,000,00768,186,80,80,98,FF
2021-08-13T19:50:32.989Z,1628884232.989 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:50:32.989Z,1628884232.989 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:50:32.991Z,1628884232.991 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:50:33.396Z,1628884233.396 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:50:33.797Z,1628884233.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A2,000,00742,186,80,80,97,FF
2021-08-13T19:50:33.797Z,1628884233.797 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:50:34.246Z,1628884234.246 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195033.53*55

2021-08-13T19:50:34.272Z,1628884234.272 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 73.980011 m, bearing: 36.806585 deg, deltaT: 4.386067 s, approachRate: -0.519824 m/s, LOS rate: 0.140062 deg/s, posRepo size: 4
2021-08-13T19:50:34.274Z,1628884234.274 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 73.980011 m,
      bearing: 36.806585 deg,
      approachRate: -0.519824 m/s,
      LOS rate: 0.140062 deg/s,
      cmd update: 0.420186 deg/s,
      cmd heading: 35.268294 deg,
      new cmd heading: 34.742256 deg.

2021-08-13T19:50:36.639Z,1628884236.639 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:50:37.025Z,1628884237.025 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:50:37.025Z,1628884237.025 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:50:37.025Z,1628884237.025 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:50:37.026Z,1628884237.026 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:50:37.454Z,1628884237.454 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0A2,000,00742,186,80,80,97,FF
2021-08-13T19:50:37.454Z,1628884237.454 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:50:37.454Z,1628884237.454 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:50:37.456Z,1628884237.456 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:50:37.858Z,1628884237.858 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:50:38.249Z,1628884238.249 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,05E,000,0071D,186,80,80,7E,FF
2021-08-13T19:50:38.250Z,1628884238.250 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:50:38.685Z,1628884238.685 [Micromodem](INFO): Nmea in: $SNTTA,0.062351,,,,195037.99*4A

2021-08-13T19:50:38.735Z,1628884238.735 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 71.760002 m, bearing: 38.145804 deg, deltaT: 4.462380 s, approachRate: -0.497494 m/s, LOS rate: 0.300113 deg/s, posRepo size: 4
2021-08-13T19:50:38.738Z,1628884238.738 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 71.760002 m,
      bearing: 38.145804 deg,
      approachRate: -0.497494 m/s,
      LOS rate: 0.300113 deg/s,
      cmd update: 0.900340 deg/s,
      cmd heading: 37.143261 deg,
      new cmd heading: 37.335262 deg.

2021-08-13T19:50:41.177Z,1628884241.177 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:50:41.481Z,1628884241.481 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:50:41.481Z,1628884241.481 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:50:41.481Z,1628884241.481 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:50:41.482Z,1628884241.482 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:50:41.897Z,1628884241.897 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
05E,000,0071D,186,80,80,7E,FF
2021-08-13T19:50:41.897Z,1628884241.897 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:50:41.897Z,1628884241.897 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:50:41.899Z,1628884241.899 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:50:42.293Z,1628884242.293 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:50:42.701Z,1628884242.701 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,071,000,006F9,186,80,80,9B,FF
2021-08-13T19:50:42.701Z,1628884242.701 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:50:43.177Z,1628884243.177 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195042.44*55

2021-08-13T19:50:43.238Z,1628884243.238 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 69.600006 m, bearing: 37.862713 deg, deltaT: 4.526696 s, approachRate: -0.477168 m/s, LOS rate: -0.062538 deg/s, posRepo size: 4
2021-08-13T19:50:43.240Z,1628884243.240 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 69.600006 m,
      bearing: 37.862713 deg,
      approachRate: -0.477168 m/s,
      LOS rate: -0.062538 deg/s,
      cmd update: -0.187614 deg/s,
      cmd heading: 41.215782 deg,
      new cmd heading: 41.609000 deg.

2021-08-13T19:50:45.539Z,1628884245.539 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:50:45.941Z,1628884245.941 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:50:45.941Z,1628884245.941 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:50:45.941Z,1628884245.941 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:50:45.942Z,1628884245.942 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:50:46.397Z,1628884246.397 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
071,000,006F9,186,80,80,9B,FF
2021-08-13T19:50:46.397Z,1628884246.397 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:50:46.397Z,1628884246.397 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:50:46.399Z,1628884246.399 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:50:46.748Z,1628884246.748 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:50:47.173Z,1628884247.173 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0B8,000,006D5,186,80,80,B4,FF
2021-08-13T19:50:47.174Z,1628884247.174 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:50:47.575Z,1628884247.575 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195046.94*5C

2021-08-13T19:50:47.623Z,1628884247.623 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 67.440002 m, bearing: 36.525779 deg, deltaT: 4.478468 s, approachRate: -0.482309 m/s, LOS rate: -0.298525 deg/s, posRepo size: 4
2021-08-13T19:50:47.629Z,1628884247.629 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 67.440002 m,
      bearing: 36.525779 deg,
      approachRate: -0.482309 m/s,
      LOS rate: -0.298525 deg/s,
      cmd update: -0.895575 deg/s,
      cmd heading: 40.376393 deg,
      new cmd heading: 40.310980 deg.

2021-08-13T19:50:49.988Z,1628884249.988 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:50:50.373Z,1628884250.373 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:50:50.373Z,1628884250.373 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:50:50.373Z,1628884250.373 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:50:50.374Z,1628884250.374 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:50:50.773Z,1628884250.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0B8,000,006D5,186,80,80,B4,FF
2021-08-13T19:50:50.773Z,1628884250.773 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:50:50.773Z,1628884250.773 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:50:50.775Z,1628884250.775 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:50:51.225Z,1628884251.225 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:50:51.581Z,1628884251.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A0,000,006B0,186,80,80,A4,FF
2021-08-13T19:50:51.581Z,1628884251.581 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:50:52.025Z,1628884252.025 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195051.31*55

2021-08-13T19:50:52.060Z,1628884252.060 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 65.220001 m, bearing: 37.217182 deg, deltaT: 4.321153 s, approachRate: -0.513752 m/s, LOS rate: 0.160004 deg/s, posRepo size: 4
2021-08-13T19:50:52.062Z,1628884252.062 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 65.220001 m,
      bearing: 37.217182 deg,
      approachRate: -0.513752 m/s,
      LOS rate: 0.160004 deg/s,
      cmd update: 0.480013 deg/s,
      cmd heading: 36.503563 deg,
      new cmd heading: 36.090460 deg.

2021-08-13T19:50:54.486Z,1628884254.486 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:50:54.823Z,1628884254.823 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:50:54.823Z,1628884254.823 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:50:54.823Z,1628884254.823 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:50:54.824Z,1628884254.824 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:50:55.221Z,1628884255.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0A0,000,006B0,186,80,80,A4,FF
2021-08-13T19:50:55.221Z,1628884255.221 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:50:55.221Z,1628884255.221 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:50:55.223Z,1628884255.223 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:50:55.639Z,1628884255.639 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:50:56.025Z,1628884256.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,05D,000,0068D,186,80,80,AC,FF
2021-08-13T19:50:56.026Z,1628884256.026 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:50:56.478Z,1628884256.478 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195055.76*52

2021-08-13T19:50:56.503Z,1628884256.503 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 63.119999 m, bearing: 38.130723 deg, deltaT: 4.459645 s, approachRate: -0.470890 m/s, LOS rate: 0.204846 deg/s, posRepo size: 4
2021-08-13T19:50:56.506Z,1628884256.506 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 63.119999 m,
      bearing: 38.130723 deg,
      approachRate: -0.470890 m/s,
      LOS rate: 0.204846 deg/s,
      cmd update: 0.614539 deg/s,
      cmd heading: 38.636891 deg,
      new cmd heading: 38.858005 deg.

2021-08-13T19:50:58.896Z,1628884258.896 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:50:59.257Z,1628884259.257 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:50:59.257Z,1628884259.257 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:50:59.257Z,1628884259.257 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:50:59.258Z,1628884259.258 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:50:59.665Z,1628884259.665 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
05D,000,0068D,186,80,80,AC,FF
2021-08-13T19:50:59.665Z,1628884259.665 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:50:59.665Z,1628884259.665 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:50:59.667Z,1628884259.667 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:51:00.079Z,1628884260.079 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:51:00.473Z,1628884260.473 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A0,000,00666,186,80,80,8B,FF
2021-08-13T19:51:00.473Z,1628884260.473 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:51:00.909Z,1628884260.909 [Micromodem](INFO): Nmea in: $SNTTA,0.046983,,,,195100.21*4F

2021-08-13T19:51:00.941Z,1628884260.941 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 60.780006 m, bearing: 36.574413 deg, deltaT: 4.470203 s, approachRate: -0.523465 m/s, LOS rate: -0.348152 deg/s, posRepo size: 4
2021-08-13T19:51:00.943Z,1628884260.943 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 60.780006 m,
      bearing: 36.574413 deg,
      approachRate: -0.523465 m/s,
      LOS rate: -0.348152 deg/s,
      cmd update: -1.044456 deg/s,
      cmd heading: 41.391320 deg,
      new cmd heading: 41.646617 deg.

2021-08-13T19:51:03.398Z,1628884263.398 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:51:03.705Z,1628884263.705 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:51:03.705Z,1628884263.705 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:51:03.705Z,1628884263.705 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:51:03.706Z,1628884263.706 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:51:04.105Z,1628884264.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0A0,000,00666,186,80,80,8B,FF
2021-08-13T19:51:04.105Z,1628884264.105 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:51:04.105Z,1628884264.105 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:51:04.107Z,1628884264.107 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:51:04.509Z,1628884264.509 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:51:04.917Z,1628884264.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0B0,000,00642,186,80,80,A6,FF
2021-08-13T19:51:04.918Z,1628884264.918 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:51:05.358Z,1628884265.358 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195104.65*55

2021-08-13T19:51:05.428Z,1628884265.428 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.620003 m, bearing: 36.652260 deg, deltaT: 4.429699 s, approachRate: -0.487619 m/s, LOS rate: 0.017574 deg/s, posRepo size: 4
2021-08-13T19:51:05.430Z,1628884265.430 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 58.620003 m,
      bearing: 36.652260 deg,
      approachRate: -0.487619 m/s,
      LOS rate: 0.017574 deg/s,
      cmd update: 0.052722 deg/s,
      cmd heading: 36.760304 deg,
      new cmd heading: 36.274660 deg.

2021-08-13T19:51:07.767Z,1628884267.767 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:51:08.172Z,1628884268.172 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:51:08.172Z,1628884268.172 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:51:08.172Z,1628884268.172 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:51:08.173Z,1628884268.173 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:51:08.553Z,1628884268.553 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0B0,000,00642,186,80,80,A6,FF
2021-08-13T19:51:08.553Z,1628884268.553 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:51:08.554Z,1628884268.554 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:51:08.555Z,1628884268.555 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:51:08.961Z,1628884268.961 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:51:09.361Z,1628884269.361 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,07C,000,0061B,186,80,80,6D,FF
2021-08-13T19:51:09.361Z,1628884269.361 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:51:09.805Z,1628884269.805 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195109.09*52

2021-08-13T19:51:09.832Z,1628884269.832 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 56.279999 m, bearing: 36.779462 deg, deltaT: 4.482705 s, approachRate: -0.522007 m/s, LOS rate: 0.028376 deg/s, posRepo size: 4
2021-08-13T19:51:09.834Z,1628884269.834 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 56.279999 m,
      bearing: 36.779462 deg,
      approachRate: -0.522007 m/s,
      LOS rate: 0.028376 deg/s,
      cmd update: 0.085129 deg/s,
      cmd heading: 36.996847 deg,
      new cmd heading: 37.017220 deg.

2021-08-13T19:51:12.262Z,1628884272.262 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:51:12.589Z,1628884272.589 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:51:12.589Z,1628884272.589 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:51:12.589Z,1628884272.589 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:51:12.590Z,1628884272.590 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:51:12.993Z,1628884272.993 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
07C,000,0061B,186,80,80,6D,FF
2021-08-13T19:51:12.993Z,1628884272.993 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:51:12.993Z,1628884272.993 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:51:12.995Z,1628884272.995 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:51:13.418Z,1628884273.418 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:51:13.797Z,1628884273.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,074,000,005F7,186,80,80,B6,FF
2021-08-13T19:51:13.798Z,1628884273.798 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:51:14.246Z,1628884274.246 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195113.53*56

2021-08-13T19:51:14.272Z,1628884274.272 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 54.120003 m, bearing: 36.405615 deg, deltaT: 4.398213 s, approachRate: -0.491108 m/s, LOS rate: -0.085000 deg/s, posRepo size: 4
2021-08-13T19:51:14.274Z,1628884274.274 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 54.120003 m,
      bearing: 36.405615 deg,
      approachRate: -0.491108 m/s,
      LOS rate: -0.085000 deg/s,
      cmd update: -0.254999 deg/s,
      cmd heading: 37.369219 deg,
      new cmd heading: 37.407704 deg.

2021-08-13T19:51:16.651Z,1628884276.651 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:51:17.042Z,1628884277.042 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:51:17.042Z,1628884277.042 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:51:17.042Z,1628884277.042 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:51:17.043Z,1628884277.043 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:51:17.437Z,1628884277.437 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
074,000,005F7,186,80,80,B6,FF
2021-08-13T19:51:17.437Z,1628884277.437 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:51:17.437Z,1628884277.437 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:51:17.439Z,1628884277.439 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:51:17.855Z,1628884277.855 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:51:18.249Z,1628884278.249 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,079,000,005D1,186,80,80,87,FF
2021-08-13T19:51:18.250Z,1628884278.250 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:51:18.689Z,1628884278.689 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195117.98*55

2021-08-13T19:51:18.708Z,1628884278.708 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.840004 m, bearing: 36.358162 deg, deltaT: 4.433394 s, approachRate: -0.514278 m/s, LOS rate: -0.010703 deg/s, posRepo size: 4
2021-08-13T19:51:18.710Z,1628884278.710 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 51.840004 m,
      bearing: 36.358162 deg,
      approachRate: -0.514278 m/s,
      LOS rate: -0.010703 deg/s,
      cmd update: -0.032110 deg/s,
      cmd heading: 36.232637 deg,
      new cmd heading: 36.122684 deg.

2021-08-13T19:51:21.209Z,1628884281.209 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:51:21.485Z,1628884281.485 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:51:21.485Z,1628884281.485 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:51:21.485Z,1628884281.485 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:51:21.486Z,1628884281.486 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:51:21.886Z,1628884281.886 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
079,000,005D1,186,80,80,87,FF
2021-08-13T19:51:21.887Z,1628884281.887 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:51:21.887Z,1628884281.887 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:51:21.889Z,1628884281.889 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:51:22.288Z,1628884282.288 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:51:22.685Z,1628884282.685 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,05E,000,005AB,186,80,80,8C,FF
2021-08-13T19:51:22.686Z,1628884282.686 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:51:23.160Z,1628884283.160 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195122.43*55

2021-08-13T19:51:23.244Z,1628884283.244 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.560001 m, bearing: 36.704381 deg, deltaT: 4.426095 s, approachRate: -0.515127 m/s, LOS rate: 0.078222 deg/s, posRepo size: 4
2021-08-13T19:51:23.246Z,1628884283.246 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 49.560001 m,
      bearing: 36.704381 deg,
      approachRate: -0.515127 m/s,
      LOS rate: 0.078222 deg/s,
      cmd update: 0.234667 deg/s,
      cmd heading: 36.090508 deg,
      new cmd heading: 36.073648 deg.

2021-08-13T19:51:25.233Z,1628884285.233 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:51:25.525Z,1628884285.525 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:51:25.525Z,1628884285.525 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:51:25.525Z,1628884285.525 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:51:25.526Z,1628884285.526 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:51:25.933Z,1628884285.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
05E,000,005AB,186,80,80,8C,FF
2021-08-13T19:51:25.933Z,1628884285.933 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:51:25.933Z,1628884285.933 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:51:25.935Z,1628884285.935 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:51:26.332Z,1628884286.332 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:51:26.737Z,1628884286.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,053,000,00589,184,80,80,B0,FF
2021-08-13T19:51:26.737Z,1628884286.737 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:51:27.197Z,1628884287.197 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195126.48*5A

2021-08-13T19:51:27.262Z,1628884287.262 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.520004 m, bearing: 36.864874 deg, deltaT: 4.075213 s, approachRate: -0.500587 m/s, LOS rate: 0.039383 deg/s, posRepo size: 4
2021-08-13T19:51:27.264Z,1628884287.264 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 47.520004 m,
      bearing: 36.864874 deg,
      approachRate: -0.500587 m/s,
      LOS rate: 0.039383 deg/s,
      cmd update: 0.118148 deg/s,
      cmd heading: 37.041226 deg,
      new cmd heading: 37.160302 deg.

2021-08-13T19:51:29.597Z,1628884289.597 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:51:29.973Z,1628884289.973 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:51:29.973Z,1628884289.973 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:51:29.973Z,1628884289.973 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:51:29.974Z,1628884289.974 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:51:30.370Z,1628884290.370 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
053,000,00589,184,80,80,B0,FF
2021-08-13T19:51:30.370Z,1628884290.370 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:51:30.370Z,1628884290.370 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:51:30.371Z,1628884290.371 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:51:30.794Z,1628884290.794 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:51:31.213Z,1628884291.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,05D,000,00564,186,80,80,77,FF
2021-08-13T19:51:31.213Z,1628884291.213 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:51:31.626Z,1628884291.626 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195130.91*59

2021-08-13T19:51:31.648Z,1628884291.648 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.299999 m, bearing: 37.650267 deg, deltaT: 4.503010 s, approachRate: -0.493005 m/s, LOS rate: 0.174415 deg/s, posRepo size: 4
2021-08-13T19:51:31.650Z,1628884291.650 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 45.299999 m,
      bearing: 37.650267 deg,
      approachRate: -0.493005 m/s,
      LOS rate: 0.174415 deg/s,
      cmd update: 0.523245 deg/s,
      cmd heading: 37.573213 deg,
      new cmd heading: 37.619347 deg.

2021-08-13T19:51:34.054Z,1628884294.054 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:51:34.409Z,1628884294.409 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:51:34.409Z,1628884294.409 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:51:34.409Z,1628884294.409 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:51:34.410Z,1628884294.410 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:51:34.825Z,1628884294.825 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
05D,000,00564,186,80,80,77,FF
2021-08-13T19:51:34.825Z,1628884294.825 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:51:34.825Z,1628884294.825 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:51:34.827Z,1628884294.827 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:51:35.225Z,1628884295.225 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:51:35.633Z,1628884295.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,07C,000,0053E,186,80,80,76,FF
2021-08-13T19:51:35.634Z,1628884295.634 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:51:36.057Z,1628884296.057 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195135.37*50

2021-08-13T19:51:36.080Z,1628884296.080 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.019997 m, bearing: 37.003670 deg, deltaT: 4.369871 s, approachRate: -0.521755 m/s, LOS rate: -0.147967 deg/s, posRepo size: 4
2021-08-13T19:51:36.082Z,1628884296.082 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 43.019997 m,
      bearing: 37.003670 deg,
      approachRate: -0.521755 m/s,
      LOS rate: -0.147967 deg/s,
      cmd update: -0.443901 deg/s,
      cmd heading: 39.872308 deg,
      new cmd heading: 40.096546 deg.

2021-08-13T19:51:38.483Z,1628884298.483 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:51:38.871Z,1628884298.871 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:51:38.871Z,1628884298.871 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:51:38.871Z,1628884298.871 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:51:38.872Z,1628884298.872 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:51:39.258Z,1628884299.258 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
07C,000,0053E,186,80,80,76,FF
2021-08-13T19:51:39.258Z,1628884299.258 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:51:39.258Z,1628884299.258 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:51:39.260Z,1628884299.260 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:51:39.672Z,1628884299.672 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:51:40.069Z,1628884300.069 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,096,000,00517,186,80,80,AD,FF
2021-08-13T19:51:40.069Z,1628884300.069 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:51:40.513Z,1628884300.513 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195139.80*50

2021-08-13T19:51:40.552Z,1628884300.552 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.680000 m, bearing: 36.290031 deg, deltaT: 4.466610 s, approachRate: -0.523886 m/s, LOS rate: -0.159772 deg/s, posRepo size: 4
2021-08-13T19:51:40.554Z,1628884300.554 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 40.680000 m,
      bearing: 36.290031 deg,
      approachRate: -0.523886 m/s,
      LOS rate: -0.159772 deg/s,
      cmd update: -0.479316 deg/s,
      cmd heading: 37.893929 deg,
      new cmd heading: 37.696882 deg.

2021-08-13T19:51:42.948Z,1628884302.948 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:51:43.305Z,1628884303.305 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:51:43.305Z,1628884303.305 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:51:43.305Z,1628884303.305 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:51:43.306Z,1628884303.306 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:51:43.702Z,1628884303.702 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
096,000,00517,186,80,80,AD,FF
2021-08-13T19:51:43.702Z,1628884303.702 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:51:43.702Z,1628884303.702 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:51:43.705Z,1628884303.705 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:51:44.109Z,1628884304.109 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:51:44.521Z,1628884304.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,039,000,00500,184,80,80,79,FF
2021-08-13T19:51:44.522Z,1628884304.522 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:51:44.949Z,1628884304.949 [Micromodem](INFO): Nmea in: $SNTTA,0.042608,,,,195144.25*43

2021-08-13T19:51:45.000Z,1628884305.000 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.299999 m, bearing: 38.744019 deg, deltaT: 4.463889 s, approachRate: -0.309148 m/s, LOS rate: 0.549742 deg/s, posRepo size: 4
2021-08-13T19:51:45.001Z,1628884305.001 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 39.30 m.
2021-08-13T19:51:45.003Z,1628884305.003 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 39.299999 m,
      bearing: 38.744019 deg,
      approachRate: -0.309148 m/s,
      LOS rate: 0.549742 deg/s,
      cmd update: 1.649226 deg/s,
      cmd heading: 35.751431 deg,
      new cmd heading: 35.560561 deg.

2021-08-13T19:51:45.418Z,1628884305.418 [PowerOnly](INFO): Powering up loadControl
2021-08-13T19:51:45.505Z,1628884305.505 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-13T19:51:45.506Z,1628884305.506 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T19:51:45.506Z,1628884305.506 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-13T19:51:45.507Z,1628884305.507 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-13T19:51:45.507Z,1628884305.507 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-13T19:51:45.507Z,1628884305.507 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-13T19:51:45.817Z,1628884305.817 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-13T19:51:45.817Z,1628884305.817 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T19:51:45.818Z,1628884305.818 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-13T19:51:45.818Z,1628884305.818 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T19:51:47.123Z,1628884307.123 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:51:47.385Z,1628884307.385 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:51:47.385Z,1628884307.385 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:51:47.385Z,1628884307.385 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:51:47.386Z,1628884307.386 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:51:47.794Z,1628884307.794 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
039,000,00500,184,80,80,79,FF
2021-08-13T19:51:47.794Z,1628884307.794 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:51:47.794Z,1628884307.794 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:51:47.823Z,1628884307.823 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:51:48.224Z,1628884308.224 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:51:48.598Z,1628884308.598 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,051,000,004D6,184,80,80,87,FF
2021-08-13T19:51:48.598Z,1628884308.598 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:51:48.624Z,1628884308.624 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T19:51:49.028Z,1628884309.028 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195148.37*5A

2021-08-13T19:51:49.118Z,1628884309.118 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.779999 m, bearing: 37.086510 deg, deltaT: 4.040024 s, approachRate: -0.623759 m/s, LOS rate: -0.410272 deg/s, posRepo size: 4
2021-08-13T19:51:49.118Z,1628884309.118 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 36.78 m.
2021-08-13T19:51:49.125Z,1628884309.125 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 36.779999 m,
      bearing: 37.086510 deg,
      approachRate: -0.623759 m/s,
      LOS rate: -0.410272 deg/s,
      cmd update: -1.230816 deg/s,
      cmd heading: 42.419739 deg,
      new cmd heading: 43.238857 deg.

2021-08-13T19:51:51.127Z,1628884311.127 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:51:51.417Z,1628884311.417 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:51:51.417Z,1628884311.417 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:51:51.417Z,1628884311.417 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:51:51.418Z,1628884311.418 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:51:51.821Z,1628884311.821 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
051,000,004D6,184,80,80,87,FF
2021-08-13T19:51:51.822Z,1628884311.822 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:51:51.822Z,1628884311.822 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:51:51.825Z,1628884311.825 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:51:52.233Z,1628884312.233 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:51:52.630Z,1628884312.630 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0CD,000,004B2,186,80,80,99,FF
2021-08-13T19:51:52.630Z,1628884312.630 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:51:52.730Z,1628884312.730 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T19:51:53.101Z,1628884313.101 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195152.37*51

2021-08-13T19:51:53.207Z,1628884313.207 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.620003 m, bearing: 35.646006 deg, deltaT: 4.105956 s, approachRate: -0.526064 m/s, LOS rate: -0.350833 deg/s, posRepo size: 4
2021-08-13T19:51:53.208Z,1628884313.208 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 34.62 m.
2021-08-13T19:51:53.210Z,1628884313.210 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 34.620003 m,
      bearing: 35.646006 deg,
      approachRate: -0.526064 m/s,
      LOS rate: -0.350833 deg/s,
      cmd update: -1.052498 deg/s,
      cmd heading: 37.386605 deg,
      new cmd heading: 36.775014 deg.

2021-08-13T19:51:55.476Z,1628884315.476 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:51:55.863Z,1628884315.863 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:51:55.863Z,1628884315.863 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:51:55.864Z,1628884315.864 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:51:55.865Z,1628884315.865 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:51:56.274Z,1628884316.274 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0CD,000,004B2,186,80,80,99,FF
2021-08-13T19:51:56.274Z,1628884316.274 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:51:56.274Z,1628884316.274 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:51:56.276Z,1628884316.276 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:51:56.694Z,1628884316.694 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:51:57.115Z,1628884317.115 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,06C,000,00491,187,80,80,85,FF
2021-08-13T19:51:57.115Z,1628884317.115 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:51:57.242Z,1628884317.242 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T19:51:57.521Z,1628884317.521 [Micromodem](INFO): Nmea in: $SNTTA,0.051282,,,,195156.82*49

2021-08-13T19:51:57.564Z,1628884317.564 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.639999 m, bearing: 37.179670 deg, deltaT: 4.511212 s, approachRate: -0.438907 m/s, LOS rate: 0.339967 deg/s, posRepo size: 4
2021-08-13T19:51:57.565Z,1628884317.565 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 32.64 m.
2021-08-13T19:51:57.567Z,1628884317.567 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 32.639999 m,
      bearing: 37.179670 deg,
      approachRate: -0.438907 m/s,
      LOS rate: 0.339967 deg/s,
      cmd update: 1.019902 deg/s,
      cmd heading: 32.620879 deg,
      new cmd heading: 32.286610 deg.

2021-08-13T19:51:59.975Z,1628884319.975 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:52:00.313Z,1628884320.313 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:52:00.313Z,1628884320.313 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:52:00.313Z,1628884320.313 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:52:00.315Z,1628884320.315 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:52:00.719Z,1628884320.719 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
06C,000,00491,187,80,80,85,FF
2021-08-13T19:52:00.719Z,1628884320.719 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:52:00.720Z,1628884320.720 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:52:00.721Z,1628884320.721 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:52:01.173Z,1628884321.173 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:52:01.525Z,1628884321.525 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,027,000,00471,184,80,80,77,FF
2021-08-13T19:52:01.525Z,1628884321.525 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:52:01.586Z,1628884321.586 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T19:52:01.965Z,1628884321.965 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195201.26*54

2021-08-13T19:52:01.982Z,1628884321.982 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.720001 m, bearing: 37.985885 deg, deltaT: 4.345127 s, approachRate: -0.441874 m/s, LOS rate: 0.185545 deg/s, posRepo size: 4
2021-08-13T19:52:01.982Z,1628884321.982 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 30.72 m.
2021-08-13T19:52:01.984Z,1628884321.984 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 30.720001 m,
      bearing: 37.985885 deg,
      approachRate: -0.441874 m/s,
      LOS rate: 0.185545 deg/s,
      cmd update: 0.556634 deg/s,
      cmd heading: 37.041111 deg,
      new cmd heading: 37.458602 deg.

2021-08-13T19:52:04.395Z,1628884324.395 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:52:04.753Z,1628884324.753 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:52:04.753Z,1628884324.753 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:52:04.753Z,1628884324.753 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:52:04.754Z,1628884324.754 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:52:05.177Z,1628884325.177 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
027,000,00471,184,80,80,77,FF
2021-08-13T19:52:05.177Z,1628884325.177 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:52:05.177Z,1628884325.177 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:52:05.179Z,1628884325.179 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:52:05.578Z,1628884325.578 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:52:05.961Z,1628884325.961 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,05D,000,0044F,186,80,80,97,FF
2021-08-13T19:52:05.961Z,1628884325.961 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:52:05.982Z,1628884325.982 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T19:52:06.409Z,1628884326.409 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195205.72*51

2021-08-13T19:52:06.451Z,1628884326.451 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.679998 m, bearing: 36.657482 deg, deltaT: 4.395397 s, approachRate: -0.464123 m/s, LOS rate: -0.302226 deg/s, posRepo size: 4
2021-08-13T19:52:06.476Z,1628884326.476 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 28.68 m.
2021-08-13T19:52:06.476Z,1628884326.476 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 28.68 m.
2021-08-13T19:52:06.477Z,1628884326.477 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-13T19:52:06.479Z,1628884326.479 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 28.679998 m,
      bearing: 36.657482 deg,
      approachRate: -0.464123 m/s,
      LOS rate: -0.302226 deg/s,
      cmd update: -0.906678 deg/s,
      cmd heading: 39.494012 deg,
      new cmd heading: 39.756563 deg.

2021-08-13T19:52:08.818Z,1628884328.818 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:52:09.217Z,1628884329.217 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:52:09.217Z,1628884329.217 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:52:09.217Z,1628884329.217 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:52:09.218Z,1628884329.218 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:52:09.597Z,1628884329.597 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
05D,000,0044F,186,80,80,97,FF
2021-08-13T19:52:09.597Z,1628884329.597 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:52:09.597Z,1628884329.597 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:52:09.599Z,1628884329.599 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:52:10.013Z,1628884330.013 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:52:10.405Z,1628884330.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,063,000,0042C,186,80,80,8B,FF
2021-08-13T19:52:10.405Z,1628884330.405 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:52:10.479Z,1628884330.479 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T19:52:10.854Z,1628884330.854 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195210.14*55

2021-08-13T19:52:10.901Z,1628884330.901 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.580002 m, bearing: 37.550485 deg, deltaT: 4.501187 s, approachRate: -0.466543 m/s, LOS rate: 0.198393 deg/s, posRepo size: 4
2021-08-13T19:52:10.903Z,1628884330.903 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 26.580002 m,
      bearing: 37.550485 deg,
      approachRate: -0.466543 m/s,
      LOS rate: 0.198393 deg/s,
      cmd update: 0.595178 deg/s,
      cmd heading: 35.422375 deg,
      new cmd heading: 35.045741 deg.

2021-08-13T19:52:13.298Z,1628884333.298 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:52:13.637Z,1628884333.637 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:52:13.637Z,1628884333.637 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:52:13.637Z,1628884333.637 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:52:13.638Z,1628884333.638 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:52:14.049Z,1628884334.049 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
063,000,0042C,186,80,80,8B,FF
2021-08-13T19:52:14.050Z,1628884334.050 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:52:14.050Z,1628884334.050 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:52:14.051Z,1628884334.051 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:52:14.449Z,1628884334.449 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:52:14.865Z,1628884334.865 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FFF,000,00409,182,80,80,AA,FF
2021-08-13T19:52:14.865Z,1628884334.865 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:52:14.894Z,1628884334.894 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T19:52:15.297Z,1628884335.297 [Micromodem](INFO): Nmea in: $SNTTA,0.038308,,,,195214.59*46

2021-08-13T19:52:15.392Z,1628884335.392 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.480000 m, bearing: 39.998933 deg, deltaT: 4.410719 s, approachRate: -0.476113 m/s, LOS rate: 0.555113 deg/s, posRepo size: 4
2021-08-13T19:52:15.395Z,1628884335.395 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 24.480000 m,
      bearing: 39.998933 deg,
      approachRate: -0.476113 m/s,
      LOS rate: 0.555113 deg/s,
      cmd update: 1.665340 deg/s,
      cmd heading: 38.053800 deg,
      new cmd heading: 38.349221 deg.

2021-08-13T19:52:17.702Z,1628884337.702 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:52:18.085Z,1628884338.085 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:52:18.085Z,1628884338.085 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:52:18.086Z,1628884338.086 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:52:18.086Z,1628884338.086 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:52:18.489Z,1628884338.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FFF,000,00409,182,80,80,AA,FF
2021-08-13T19:52:18.489Z,1628884338.489 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:52:18.489Z,1628884338.489 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:52:18.491Z,1628884338.491 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:52:18.905Z,1628884338.905 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:52:19.301Z,1628884339.301 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,020,000,003E5,185,80,80,A5,FF
2021-08-13T19:52:19.301Z,1628884339.301 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:52:19.384Z,1628884339.384 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T19:52:19.733Z,1628884339.733 [Micromodem](INFO): Nmea in: $SNTTA,0.046309,,,,195219.03*4C

2021-08-13T19:52:19.756Z,1628884339.756 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.320000 m, bearing: 39.458238 deg, deltaT: 4.489761 s, approachRate: -0.481095 m/s, LOS rate: -0.120428 deg/s, posRepo size: 4
2021-08-13T19:52:19.758Z,1628884339.758 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 22.320000 m,
      bearing: 39.458238 deg,
      approachRate: -0.481095 m/s,
      LOS rate: -0.120428 deg/s,
      cmd update: -0.361285 deg/s,
      cmd heading: 45.517288 deg,
      new cmd heading: 46.155148 deg.

2021-08-13T19:52:22.193Z,1628884342.193 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:52:22.521Z,1628884342.521 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:52:22.521Z,1628884342.521 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:52:22.521Z,1628884342.521 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:52:22.522Z,1628884342.522 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:52:22.937Z,1628884342.937 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
020,000,003E5,185,80,80,A5,FF
2021-08-13T19:52:22.937Z,1628884342.937 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:52:22.937Z,1628884342.937 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:52:22.939Z,1628884342.939 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:52:23.337Z,1628884343.337 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:52:23.741Z,1628884343.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0D6,000,003C3,186,80,80,B1,FF
2021-08-13T19:52:23.742Z,1628884343.742 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:52:23.791Z,1628884343.791 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T19:52:24.197Z,1628884344.197 [Micromodem](INFO): Nmea in: $SNTTA,0.034973,,,,195223.48*48

2021-08-13T19:52:24.243Z,1628884344.243 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.280001 m, bearing: 38.680335 deg, deltaT: 4.406995 s, approachRate: -0.462900 m/s, LOS rate: -0.176516 deg/s, posRepo size: 4
2021-08-13T19:52:24.245Z,1628884344.245 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 20.280001 m,
      bearing: 38.680335 deg,
      approachRate: -0.462900 m/s,
      LOS rate: -0.176516 deg/s,
      cmd update: -0.529547 deg/s,
      cmd heading: 43.923598 deg,
      new cmd heading: 43.757712 deg.

2021-08-13T19:52:26.596Z,1628884346.596 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:52:26.973Z,1628884346.973 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:52:26.973Z,1628884346.973 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:52:26.973Z,1628884346.973 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:52:26.974Z,1628884346.974 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:52:27.381Z,1628884347.381 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0D6,000,003C3,186,80,80,B1,FF
2021-08-13T19:52:27.381Z,1628884347.381 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:52:27.381Z,1628884347.381 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:52:27.383Z,1628884347.383 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:52:27.785Z,1628884347.785 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:52:28.217Z,1628884348.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,08C,000,003A1,186,80,80,74,FF
2021-08-13T19:52:28.217Z,1628884348.217 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:52:28.291Z,1628884348.291 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T19:52:28.625Z,1628884348.625 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195227.93*5E

2021-08-13T19:52:28.626Z,1628884348.626 [Micromodem](INFO): Nmea in: $CA8,COPROC,0.20.0.39330*7E

2021-08-13T19:52:28.626Z,1628884348.626 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CA8,COPROC,0.20.0.39330*7E
 expected 2E
2021-08-13T19:52:28.678Z,1628884348.678 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.240002 m, bearing: 39.024129 deg, deltaT: 4.500004 s, approachRate: -0.453333 m/s, LOS rate: 0.076399 deg/s, posRepo size: 4
2021-08-13T19:52:28.685Z,1628884348.685 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.240002 m,
      bearing: 39.024129 deg,
      approachRate: -0.453333 m/s,
      LOS rate: 0.076399 deg/s,
      cmd update: 0.229196 deg/s,
      cmd heading: 41.547857 deg,
      new cmd heading: 41.332375 deg.

2021-08-13T19:52:31.036Z,1628884351.036 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:52:31.413Z,1628884351.413 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:52:31.413Z,1628884351.413 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:52:31.413Z,1628884351.413 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:52:31.414Z,1628884351.414 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:52:31.467Z,1628884351.467 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-13T19:52:31.817Z,1628884351.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
08C,000,003A1,186,80,80,74,FF
2021-08-13T19:52:31.817Z,1628884351.817 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:52:31.817Z,1628884351.817 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:52:31.819Z,1628884351.819 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:52:32.240Z,1628884352.240 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:52:32.625Z,1628884352.625 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,066,000,0037E,186,80,80,41,FF
2021-08-13T19:52:32.625Z,1628884352.625 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:52:32.646Z,1628884352.646 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T19:52:33.101Z,1628884353.101 [Micromodem](INFO): Nmea in: $SNTTA,0.039373,,,,195232.36*46

2021-08-13T19:52:33.210Z,1628884353.210 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.139999 m, bearing: 37.314642 deg, deltaT: 4.354881 s, approachRate: -0.482218 m/s, LOS rate: -0.392545 deg/s, posRepo size: 4
2021-08-13T19:52:33.214Z,1628884353.214 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.139999 m,
      bearing: 37.314642 deg,
      approachRate: -0.482218 m/s,
      LOS rate: -0.392545 deg/s,
      cmd update: -1.177635 deg/s,
      cmd heading: 42.550026 deg,
      new cmd heading: 42.679700 deg.

2021-08-13T19:52:35.549Z,1628884355.549 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:52:35.862Z,1628884355.862 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:52:35.862Z,1628884355.862 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:52:35.862Z,1628884355.862 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:52:35.863Z,1628884355.863 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:52:36.276Z,1628884356.276 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
066,000,0037E,186,80,80,41,FF
2021-08-13T19:52:36.276Z,1628884356.276 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:52:36.276Z,1628884356.276 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:52:36.278Z,1628884356.278 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:52:36.685Z,1628884356.685 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:52:37.100Z,1628884357.100 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0AF,000,00369,186,80,80,8C,FF
2021-08-13T19:52:37.102Z,1628884357.102 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:52:37.252Z,1628884357.252 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T19:52:37.513Z,1628884357.513 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195236.82*5E

2021-08-13T19:52:37.535Z,1628884357.535 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.879999 m, bearing: 35.728730 deg, deltaT: 4.606557 s, approachRate: -0.273523 m/s, LOS rate: -0.344273 deg/s, posRepo size: 4
2021-08-13T19:52:37.538Z,1628884357.538 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.879999 m,
      bearing: 35.728730 deg,
      approachRate: -0.273523 m/s,
      LOS rate: -0.344273 deg/s,
      cmd update: -1.032818 deg/s,
      cmd heading: 37.134850 deg,
      new cmd heading: 36.787957 deg.

2021-08-13T19:52:39.928Z,1628884359.928 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:52:40.305Z,1628884360.305 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:52:40.305Z,1628884360.305 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:52:40.306Z,1628884360.306 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:52:40.307Z,1628884360.307 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:52:40.721Z,1628884360.721 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0AF,000,00369,186,80,80,8C,FF
2021-08-13T19:52:40.721Z,1628884360.721 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:52:40.721Z,1628884360.721 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:52:40.723Z,1628884360.723 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:52:41.171Z,1628884361.171 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:52:41.517Z,1628884361.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,02A,000,00339,185,80,80,AF,FF
2021-08-13T19:52:41.517Z,1628884361.517 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:52:41.599Z,1628884361.599 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T19:52:41.949Z,1628884361.949 [Micromodem](INFO): Nmea in: $SNTTA,0.026525,,,,195241.27*49

2021-08-13T19:52:41.996Z,1628884361.996 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.999999 m, bearing: 36.489049 deg, deltaT: 4.346659 s, approachRate: -0.662578 m/s, LOS rate: 0.174920 deg/s, posRepo size: 4
2021-08-13T19:52:41.998Z,1628884361.998 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.999999 m,
      bearing: 36.489049 deg,
      approachRate: -0.662578 m/s,
      LOS rate: 0.174920 deg/s,
      cmd update: 0.524761 deg/s,
      cmd heading: 32.641251 deg,
      new cmd heading: 32.249022 deg.

2021-08-13T19:52:44.382Z,1628884364.382 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:52:44.745Z,1628884364.745 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:52:44.745Z,1628884364.745 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:52:44.745Z,1628884364.745 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:52:44.746Z,1628884364.746 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:52:45.158Z,1628884365.158 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
02A,000,00339,185,80,80,AF,FF
2021-08-13T19:52:45.159Z,1628884365.159 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:52:45.159Z,1628884365.159 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:52:45.164Z,1628884365.164 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:52:45.561Z,1628884365.561 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:52:45.957Z,1628884365.957 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FFF,000,00317,182,80,80,A3,FF
2021-08-13T19:52:45.957Z,1628884365.957 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:52:45.978Z,1628884365.978 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T19:52:46.385Z,1628884366.385 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195245.71*56

2021-08-13T19:52:46.431Z,1628884366.431 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.960000 m, bearing: 35.977195 deg, deltaT: 4.379264 s, approachRate: -0.465831 m/s, LOS rate: -0.116881 deg/s, posRepo size: 4
2021-08-13T19:52:46.433Z,1628884366.433 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.960000 m,
      bearing: 35.977195 deg,
      approachRate: -0.465831 m/s,
      LOS rate: -0.116881 deg/s,
      cmd update: -0.350644 deg/s,
      cmd heading: 34.941408 deg,
      new cmd heading: 35.180586 deg.

2021-08-13T19:52:48.824Z,1628884368.824 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:52:49.216Z,1628884369.216 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:52:49.216Z,1628884369.216 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:52:49.217Z,1628884369.217 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:52:49.217Z,1628884369.217 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:52:49.597Z,1628884369.597 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FFF,000,00317,182,80,80,A3,FF
2021-08-13T19:52:49.597Z,1628884369.597 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:52:49.598Z,1628884369.598 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:52:49.599Z,1628884369.599 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:52:50.020Z,1628884370.020 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:52:50.430Z,1628884370.430 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,004,000,002F9,183,80,80,C1,FF
2021-08-13T19:52:50.430Z,1628884370.430 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:52:50.461Z,1628884370.461 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T19:52:50.862Z,1628884370.862 [Micromodem](INFO): Nmea in: $SNTTA,0.007651,,,,195250.14*4A

2021-08-13T19:52:50.917Z,1628884370.917 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.160001 m, bearing: 38.645880 deg, deltaT: 4.482742 s, approachRate: -0.401540 m/s, LOS rate: 0.595324 deg/s, posRepo size: 4
2021-08-13T19:52:50.919Z,1628884370.919 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.160001 m,
      bearing: 38.645880 deg,
      approachRate: -0.401540 m/s,
      LOS rate: 0.595324 deg/s,
      cmd update: 1.785973 deg/s,
      cmd heading: 33.369526 deg,
      new cmd heading: 33.210428 deg.

2021-08-13T19:52:53.322Z,1628884373.322 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:52:53.653Z,1628884373.653 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:52:53.653Z,1628884373.653 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:52:53.653Z,1628884373.653 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:52:53.654Z,1628884373.654 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:52:54.057Z,1628884374.057 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
004,000,002F9,183,80,80,C1,FF
2021-08-13T19:52:54.057Z,1628884374.057 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:52:54.057Z,1628884374.057 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:52:54.059Z,1628884374.059 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:52:54.465Z,1628884374.465 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:52:54.870Z,1628884374.870 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F4F,000,002DD,186,80,80,B4,FF
2021-08-13T19:52:54.870Z,1628884374.870 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:52:54.921Z,1628884374.921 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T19:52:55.305Z,1628884375.305 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195254.60*56

2021-08-13T19:52:55.383Z,1628884375.383 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 6.479999 m, bearing: 48.108659 deg, deltaT: 4.460250 s, approachRate: -0.376661 m/s, LOS rate: 2.121581 deg/s, posRepo size: 4
2021-08-13T19:52:55.390Z,1628884375.390 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.479999 m,
      bearing: 48.108659 deg,
      approachRate: -0.376661 m/s,
      LOS rate: 2.121581 deg/s,
      cmd update: 6.364742 deg/s,
      cmd heading: 41.334825 deg,
      new cmd heading: 42.166295 deg.

2021-08-13T19:52:57.711Z,1628884377.711 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:52:58.105Z,1628884378.105 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:52:58.105Z,1628884378.105 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:52:58.105Z,1628884378.105 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:52:58.106Z,1628884378.106 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:52:58.510Z,1628884378.510 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F4F,000,002DD,186,80,80,B4,FF
2021-08-13T19:52:58.510Z,1628884378.510 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:52:58.510Z,1628884378.510 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:52:58.512Z,1628884378.512 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:52:58.917Z,1628884378.917 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:52:59.329Z,1628884379.329 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FCC,000,002C9,184,80,80,A6,FF
2021-08-13T19:52:59.329Z,1628884379.329 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:52:59.424Z,1628884379.424 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T19:52:59.741Z,1628884379.741 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195259.06*5B

2021-08-13T19:52:59.780Z,1628884379.780 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.279998 m, bearing: 50.344785 deg, deltaT: 4.503013 s, approachRate: -0.266488 m/s, LOS rate: 0.496584 deg/s, posRepo size: 4
2021-08-13T19:52:59.782Z,1628884379.782 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.279998 m,
      bearing: 50.344785 deg,
      approachRate: -0.266488 m/s,
      LOS rate: 0.496584 deg/s,
      cmd update: 1.489753 deg/s,
      cmd heading: 69.944313 deg,
      new cmd heading: 72.278919 deg.

2021-08-13T19:53:02.186Z,1628884382.186 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:53:02.541Z,1628884382.541 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:53:02.541Z,1628884382.541 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:53:02.541Z,1628884382.541 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:53:02.542Z,1628884382.542 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:53:02.953Z,1628884382.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FCC,000,002C9,184,80,80,A6,FF
2021-08-13T19:53:02.953Z,1628884382.953 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:53:02.953Z,1628884382.953 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:53:02.955Z,1628884382.955 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:53:03.365Z,1628884383.365 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:53:03.753Z,1628884383.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,011,000,002BE,183,80,80,7C,FF
2021-08-13T19:53:03.753Z,1628884383.753 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:53:03.774Z,1628884383.774 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T19:53:04.215Z,1628884384.215 [Micromodem](INFO): Nmea in: $SNTTA,0.051401,,,,195303.50*49

2021-08-13T19:53:04.245Z,1628884384.245 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-08-13T19:53:04.245Z,1628884384.245 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-08-13T19:53:04.246Z,1628884384.246 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-08-13T19:53:04.246Z,1628884384.246 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-13T19:53:04.246Z,1628884384.246 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-08-13T19:53:04.247Z,1628884384.247 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.619999 m 
2021-08-13T19:53:04.247Z,1628884384.247 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-08-13T19:53:04.247Z,1628884384.247 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-08-13T19:53:04.247Z,1628884384.247 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-08-13T19:53:04.251Z,1628884384.251 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.619999 m, bearing: 66.705506 deg, deltaT: 4.349912 s, approachRate: -0.151727 m/s, LOS rate: 3.761161 deg/s, posRepo size: 4
2021-08-13T19:53:04.254Z,1628884384.254 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.619999 m,
      bearing: 66.705506 deg,
      approachRate: -0.151727 m/s,
      LOS rate: 3.761161 deg/s,
      cmd update: 11.283484 deg/s,
      cmd heading: 76.436982 deg,
      new cmd heading: 77.152750 deg.

2021-08-13T19:53:04.597Z,1628884384.597 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210813T195304: (41.552319, -70.708603)
2021-08-13T19:53:04.597Z,1628884384.597 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-08-13T19:53:04.598Z,1628884384.598 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-08-13T19:53:04.598Z,1628884384.598 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-13T19:53:04.598Z,1628884384.598 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-08-13T19:53:04.598Z,1628884384.598 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-13T19:53:04.598Z,1628884384.598 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-08-13T19:53:04.598Z,1628884384.598 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-08-13T19:53:04.598Z,1628884384.598 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-08-13T19:53:06.623Z,1628884386.623 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:53:06.982Z,1628884386.982 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:53:06.982Z,1628884386.982 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:53:06.983Z,1628884386.983 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:53:06.983Z,1628884386.983 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:53:07.401Z,1628884387.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
011,000,002BE,183,80,80,7C,FF
2021-08-13T19:53:07.401Z,1628884387.401 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:53:07.401Z,1628884387.401 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:53:07.403Z,1628884387.403 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:53:07.808Z,1628884387.808 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:53:08.221Z,1628884388.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,06B,000,002BF,187,80,80,AF,FF
2021-08-13T19:53:08.222Z,1628884388.222 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:53:08.258Z,1628884388.258 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T19:53:08.643Z,1628884388.643 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195307.95*5B

2021-08-13T19:53:08.660Z,1628884388.660 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.679999 m, bearing: 78.408734 deg, deltaT: 4.483444 s, approachRate: 0.013383 m/s, LOS rate: 2.610321 deg/s, posRepo size: 4
2021-08-13T19:53:08.662Z,1628884388.662 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.679999 m,
      bearing: 78.408734 deg,
      approachRate: 0.013383 m/s,
      LOS rate: 2.610321 deg/s,
      cmd update: 7.830964 deg/s,
      cmd heading: 127.024849 deg,
      new cmd heading: 131.598339 deg.

2021-08-13T19:53:11.122Z,1628884391.122 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:53:11.464Z,1628884391.464 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:53:11.464Z,1628884391.464 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:53:11.465Z,1628884391.465 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:53:11.465Z,1628884391.465 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:53:11.845Z,1628884391.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
06B,000,002BF,187,80,80,AF,FF
2021-08-13T19:53:11.845Z,1628884391.845 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:53:11.845Z,1628884391.845 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:53:11.847Z,1628884391.847 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:53:12.260Z,1628884392.260 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:53:12.657Z,1628884392.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,06C,000,002C0,186,80,80,A8,FF
2021-08-13T19:53:12.657Z,1628884392.657 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:53:12.702Z,1628884392.702 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T19:53:13.124Z,1628884393.124 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195312.39*59

2021-08-13T19:53:13.215Z,1628884393.215 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.740000 m, bearing: 84.786191 deg, deltaT: 4.444377 s, approachRate: 0.013500 m/s, LOS rate: 1.434950 deg/s, posRepo size: 4
2021-08-13T19:53:13.217Z,1628884393.217 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.740000 m,
      bearing: 84.786191 deg,
      approachRate: 0.013500 m/s,
      LOS rate: 1.434950 deg/s,
      cmd update: 4.304849 deg/s,
      cmd heading: 161.827696 deg,
      new cmd heading: 165.870345 deg.

2021-08-13T19:53:15.207Z,1628884395.207 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:53:15.500Z,1628884395.500 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:53:15.501Z,1628884395.501 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:53:15.501Z,1628884395.501 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:53:15.502Z,1628884395.502 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:53:15.886Z,1628884395.886 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
06C,000,002C0,186,80,80,A8,FF
2021-08-13T19:53:15.886Z,1628884395.886 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:53:15.886Z,1628884395.886 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:53:15.888Z,1628884395.888 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:53:16.304Z,1628884396.304 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:53:16.693Z,1628884396.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,04C,000,002C0,184,80,80,AF,FF
2021-08-13T19:53:16.694Z,1628884396.694 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:53:16.741Z,1628884396.741 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T19:53:17.237Z,1628884397.237 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195316.44*57

2021-08-13T19:53:17.315Z,1628884397.315 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.740000 m, bearing: 81.953985 deg, deltaT: 4.039239 s, approachRate: 0.000000 m/s, LOS rate: -0.701173 deg/s, posRepo size: 4
2021-08-13T19:53:17.315Z,1628884397.315 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 4.74 m.
2021-08-13T19:53:17.322Z,1628884397.322 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.740000 m,
      bearing: 81.953985 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.701173 deg/s,
      cmd update: -2.103520 deg/s,
      cmd heading: 179.217137 deg,
      new cmd heading: 181.700290 deg.

2021-08-13T19:53:19.242Z,1628884399.242 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:53:19.542Z,1628884399.542 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:53:19.542Z,1628884399.542 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:53:19.543Z,1628884399.543 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:53:19.544Z,1628884399.544 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:53:19.554Z,1628884399.554 [PowerOnly](INFO): Powering down loadControl
2021-08-13T19:53:19.933Z,1628884399.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
04C,000,002C0,184,80,80,AF,FF
2021-08-13T19:53:19.933Z,1628884399.933 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:53:19.933Z,1628884399.933 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:53:19.935Z,1628884399.935 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:53:20.363Z,1628884400.363 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:53:20.737Z,1628884400.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,032,000,002C0,185,80,80,B7,FF
2021-08-13T19:53:20.737Z,1628884400.737 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:53:20.778Z,1628884400.778 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T19:53:21.198Z,1628884401.198 [Micromodem](INFO): Nmea in: $SNTTA,0.008668,,,,195320.48*40

2021-08-13T19:53:21.258Z,1628884401.258 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.740000 m, bearing: 75.789213 deg, deltaT: 4.037337 s, approachRate: 0.000000 m/s, LOS rate: -1.526940 deg/s, posRepo size: 4
2021-08-13T19:53:21.261Z,1628884401.261 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.740000 m,
      bearing: 75.789213 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -1.526940 deg/s,
      cmd update: -4.580820 deg/s,
      cmd heading: 170.725602 deg,
      new cmd heading: 169.710397 deg.

2021-08-13T19:53:23.622Z,1628884403.622 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:53:23.997Z,1628884403.997 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:53:23.997Z,1628884403.997 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:53:23.997Z,1628884403.997 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:53:23.998Z,1628884403.998 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:53:24.377Z,1628884404.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
032,000,002C0,185,80,80,B7,FF
2021-08-13T19:53:24.377Z,1628884404.377 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:53:24.377Z,1628884404.377 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:53:24.381Z,1628884404.381 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:53:24.785Z,1628884404.785 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:53:25.210Z,1628884405.210 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF7,000,002BE,183,80,80,A2,FF
2021-08-13T19:53:25.210Z,1628884405.210 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:53:25.310Z,1628884405.310 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T19:53:25.625Z,1628884405.625 [Micromodem](INFO): Nmea in: $SNTTA,0.017940,,,,195324.93*49

2021-08-13T19:53:25.647Z,1628884405.647 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.619999 m, bearing: 66.764081 deg, deltaT: 4.531501 s, approachRate: -0.026481 m/s, LOS rate: -1.991643 deg/s, posRepo size: 4
2021-08-13T19:53:25.648Z,1628884405.648 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](IMPORTANT): Docking sequence complete at range 4.62 m. Cable present.
2021-08-13T19:53:25.648Z,1628884405.648 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture] Stopped
2021-08-13T19:53:25.648Z,1628884405.648 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2021-08-13T19:53:25.649Z,1628884405.649 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:G] Running Loop=1
2021-08-13T19:53:25.997Z,1628884405.997 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:G](INFO): Docked. Homing sequence complete.
2021-08-13T19:53:25.998Z,1628884405.998 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:G] Stopped
2021-08-13T19:53:25.998Z,1628884405.998 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:H] Running Loop=1
2021-08-13T19:53:26.431Z,1628884406.431 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:H] Stopped
2021-08-13T19:53:26.432Z,1628884406.432 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-13T19:53:26.433Z,1628884406.433 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2021-08-13T19:53:26.433Z,1628884406.433 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-13T19:53:26.433Z,1628884406.433 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Stopped
2021-08-13T19:53:26.433Z,1628884406.433 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Stopped
2021-08-13T19:53:26.433Z,1628884406.433 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2021-08-13T19:53:26.433Z,1628884406.433 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-13T19:53:26.802Z,1628884406.802 [lineCaptureDepth:UpdateNumPings_Terminal] Stopped
2021-08-13T19:53:26.802Z,1628884406.802 [lineCaptureDepth:UpdateNumPings_Terminal](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal
2021-08-13T19:53:26.802Z,1628884406.802 [lineCaptureDepth:UpdateNumPings_NotTerminal] Running Loop=1
2021-08-13T19:53:26.803Z,1628884406.803 [lineCaptureDepth:UpdateNumPings_NotTerminal](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_NotTerminal
2021-08-13T19:53:26.803Z,1628884406.803 [lineCaptureDepth:UpdateNumPings_NotTerminal:A] Running Loop=1
2021-08-13T19:53:26.803Z,1628884406.803 [lineCaptureDepth:UpdateNumPings_NotTerminal] Running Loop=1
2021-08-13T19:53:26.820Z,1628884406.820 [lineCaptureDepth:UpdateNumPings_NotTerminal:A](INFO): No longer in Terminal. Resuming normal ranging with 1.000000 count pings.
2021-08-13T19:53:26.821Z,1628884406.821 [lineCaptureDepth:UpdateNumPings_NotTerminal:A] Stopped
2021-08-13T19:53:26.821Z,1628884406.821 [lineCaptureDepth:UpdateNumPings_NotTerminal:B] Running Loop=1
2021-08-13T19:53:26.821Z,1628884406.821 [lineCaptureDepth:LineCapture:HomingSequence] Stopped
2021-08-13T19:53:26.821Z,1628884406.821 [lineCaptureDepth:LineCapture:HomingSequence](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence
2021-08-13T19:53:26.821Z,1628884406.821 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Stopped
2021-08-13T19:53:26.822Z,1628884406.822 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-08-13T19:53:26.822Z,1628884406.822 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Stopped
2021-08-13T19:53:26.822Z,1628884406.822 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-13T19:53:26.822Z,1628884406.822 [lineCaptureDepth:LineCapture:K.Wait] Running Loop=1
2021-08-13T19:53:26.822Z,1628884406.822 [lineCaptureDepth:LineCapture:K.Wait](DEBUG): Initialize Wait Component.
2021-08-13T19:53:27.249Z,1628884407.249 [lineCaptureDepth:UpdateNumPings_NotTerminal:B] Stopped
2021-08-13T19:53:27.249Z,1628884407.249 [lineCaptureDepth:UpdateNumPings_NotTerminal](INFO): Completed lineCaptureDepth:UpdateNumPings_NotTerminal
2021-08-13T19:53:27.997Z,1628884407.997 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:53:28.382Z,1628884408.382 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:53:28.383Z,1628884408.383 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:53:28.383Z,1628884408.383 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:53:28.395Z,1628884408.395 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:53:28.789Z,1628884408.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF7,000,002BE,183,80,80,A2,FF
2021-08-13T19:53:28.789Z,1628884408.789 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:53:28.789Z,1628884408.789 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:53:28.791Z,1628884408.791 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:53:29.193Z,1628884409.193 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:53:29.595Z,1628884409.595 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,022,000,002C1,184,80,80,7B,FF
2021-08-13T19:53:29.595Z,1628884409.595 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:53:30.013Z,1628884410.013 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195329.34*5C

2021-08-13T19:53:30.456Z,1628884410.456 [lineCaptureDepth:LineCapture:K.Wait](INFO): Done Waiting.
2021-08-13T19:53:30.457Z,1628884410.457 [lineCaptureDepth:LineCapture:K.Wait] Stopped
2021-08-13T19:53:30.457Z,1628884410.457 [lineCaptureDepth:LineCapture:K.Wait](DEBUG): Uninitialize Wait Component.
2021-08-13T19:53:30.457Z,1628884410.457 [lineCaptureDepth:LineCapture:L] Running Loop=1
2021-08-13T19:53:30.834Z,1628884410.834 [lineCaptureDepth:LineCapture:L](INFO): GuidanceMode 0.000000 count 
2021-08-13T19:53:30.834Z,1628884410.834 [lineCaptureDepth:LineCapture:L] Stopped
2021-08-13T19:53:30.853Z,1628884410.853 [lineCaptureDepth:LineCapture](INFO): Completed lineCaptureDepth:LineCapture
2021-08-13T19:53:30.853Z,1628884410.853 [lineCaptureDepth:LineCapture] Stopped
2021-08-13T19:53:30.853Z,1628884410.853 [lineCaptureDepth:LineCapture](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture
2021-08-13T19:53:30.853Z,1628884410.853 [lineCaptureDepth:LineCapture:StandardEnvelopes] Stopped
2021-08-13T19:53:30.853Z,1628884410.853 [lineCaptureDepth:LineCapture:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:StandardEnvelopes
2021-08-13T19:53:30.854Z,1628884410.854 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2021-08-13T19:53:30.854Z,1628884410.854 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2021-08-13T19:53:30.854Z,1628884410.854 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Stopped
2021-08-13T19:53:30.854Z,1628884410.854 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2021-08-13T19:53:30.854Z,1628884410.854 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2021-08-13T19:53:30.854Z,1628884410.854 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2021-08-13T19:53:30.855Z,1628884410.855 [lineCaptureDepth:LineCapture:G] Stopped
2021-08-13T19:53:30.855Z,1628884410.855 [lineCaptureDepth:LineCapture:H] Stopped
2021-08-13T19:53:30.855Z,1628884410.855 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2021-08-13T19:53:30.855Z,1628884410.855 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-13T19:53:30.855Z,1628884410.855 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2021-08-13T19:53:30.855Z,1628884410.855 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2021-08-13T19:53:30.860Z,1628884410.860 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2021-08-13T19:53:30.860Z,1628884410.860 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2021-08-13T19:53:30.860Z,1628884410.860 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-08-13T19:53:31.282Z,1628884411.282 [lineCaptureDepth:Lap:B](INFO): Completed lineCaptureDepth:Lap:B
2021-08-13T19:53:31.282Z,1628884411.282 [lineCaptureDepth:Lap:B] Stopped
2021-08-13T19:53:31.282Z,1628884411.282 [lineCaptureDepth:Lap:B](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap:B
2021-08-13T19:53:31.282Z,1628884411.282 [lineCaptureDepth:Lap:C] Running Loop=1
2021-08-13T19:53:31.641Z,1628884411.641 [lineCaptureDepth:Lap:C] Stopped
2021-08-13T19:53:31.641Z,1628884411.641 [lineCaptureDepth:Lap:D] Running Loop=1
2021-08-13T19:53:32.052Z,1628884412.052 [lineCaptureDepth:Lap:D](INFO): Mode 0.000000 count 
2021-08-13T19:53:32.053Z,1628884412.053 [lineCaptureDepth:Lap:D] Stopped
2021-08-13T19:53:32.053Z,1628884412.053 [lineCaptureDepth:Lap:Docked] Running Loop=1
2021-08-13T19:53:32.053Z,1628884412.053 [lineCaptureDepth:Lap:Docked](DEBUG): Aggregate::initialize lineCaptureDepth:Lap:Docked
2021-08-13T19:53:32.053Z,1628884412.053 [lineCaptureDepth:Lap:Docked:A] Running Loop=1
2021-08-13T19:53:32.447Z,1628884412.447 [lineCaptureDepth:Lap:Docked:A](INFO): Waiting on dock for 5.000000 min 
2021-08-13T19:53:32.447Z,1628884412.447 [lineCaptureDepth:Lap:Docked:A] Stopped
2021-08-13T19:53:32.447Z,1628884412.447 [lineCaptureDepth:Lap:Docked:Docked.Docked] Running Loop=1
2021-08-13T19:53:32.447Z,1628884412.447 [lineCaptureDepth:Lap:Docked:Docked.Docked](DEBUG): Initialize.
2021-08-13T19:53:32.447Z,1628884412.447 [lineCaptureDepth:Lap:Docked:Docked.Docked](DEBUG): Initializing internal variables to default values.
2021-08-13T19:53:32.448Z,1628884412.448 [lineCaptureDepth:Lap:Docked:Docked.Docked](INFO): Maintaining depth of 6.000000 m.
2021-08-13T19:53:32.448Z,1628884412.448 [lineCaptureDepth:Lap:Docked:Docked.Docked](INFO): Maintaining pitch angle of 20.000000 degree.
2021-08-13T19:53:32.449Z,1628884412.449 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:53:32.833Z,1628884412.833 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:53:32.833Z,1628884412.833 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:53:32.833Z,1628884412.833 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:53:32.834Z,1628884412.834 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:53:33.235Z,1628884413.235 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
022,000,002C1,184,80,80,7B,FF
2021-08-13T19:53:33.235Z,1628884413.235 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:53:33.235Z,1628884413.235 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:53:33.237Z,1628884413.237 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:53:33.741Z,1628884413.741 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:53:34.070Z,1628884414.070 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED9,000,002C0,186,80,80,9C,FF
2021-08-13T19:53:34.070Z,1628884414.070 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:53:34.501Z,1628884414.501 [Micromodem](INFO): Nmea in: $SNTTA,0.034779,,,,195333.78*4F

2021-08-13T19:53:36.923Z,1628884416.923 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:53:37.310Z,1628884417.310 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:53:37.310Z,1628884417.310 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:53:37.311Z,1628884417.311 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:53:37.312Z,1628884417.312 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:53:37.705Z,1628884417.705 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ED9,000,002C0,186,80,80,9C,FF
2021-08-13T19:53:37.705Z,1628884417.705 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:53:37.705Z,1628884417.705 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:53:37.707Z,1628884417.707 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:53:38.133Z,1628884418.133 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:53:38.525Z,1628884418.525 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0E8,000,002BC,187,80,80,60,FF
2021-08-13T19:53:38.525Z,1628884418.525 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:53:38.954Z,1628884418.954 [Micromodem](INFO): Nmea in: $SNTTA,,0.035188,,,195338.25*45

2021-08-13T19:53:41.489Z,1628884421.489 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:53:41.749Z,1628884421.749 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:53:41.749Z,1628884421.749 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:53:41.749Z,1628884421.749 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:53:41.750Z,1628884421.750 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:53:42.164Z,1628884422.164 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0E8,000,002BC,187,80,80,60,FF
2021-08-13T19:53:42.164Z,1628884422.164 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:53:42.164Z,1628884422.164 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:53:42.166Z,1628884422.166 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:53:42.557Z,1628884422.557 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:53:42.961Z,1628884422.961 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA0,000,002BE,185,80,80,8C,FF
2021-08-13T19:53:42.961Z,1628884422.961 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:53:43.399Z,1628884423.399 [Micromodem](INFO): Nmea in: $SNTTA,0.005105,,,,195342.72*4C

2021-08-13T19:53:45.771Z,1628884425.771 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:53:46.290Z,1628884426.290 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:53:46.290Z,1628884426.290 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:53:46.290Z,1628884426.290 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:53:46.291Z,1628884426.291 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:53:46.597Z,1628884426.597 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EA0,000,002BE,185,80,80,8C,FF
2021-08-13T19:53:46.597Z,1628884426.597 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:53:46.597Z,1628884426.597 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:53:46.599Z,1628884426.599 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:53:47.005Z,1628884427.005 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:53:47.401Z,1628884427.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F79,000,002B8,187,80,80,89,FF
2021-08-13T19:53:47.401Z,1628884427.401 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:53:47.405Z,1628884427.405 [Micromodem](INFO): Nmea in: $SNTTA,0.071653,0.135860,,,195347.15*58

2021-08-13T19:53:50.268Z,1628884430.268 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:53:50.633Z,1628884430.633 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:53:50.633Z,1628884430.633 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:53:50.633Z,1628884430.633 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:53:50.634Z,1628884430.634 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:53:51.039Z,1628884431.039 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F79,000,002B8,187,80,80,89,FF
2021-08-13T19:53:51.040Z,1628884431.040 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:53:51.041Z,1628884431.041 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:53:51.046Z,1628884431.046 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:53:51.441Z,1628884431.441 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:53:51.854Z,1628884431.854 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F70,000,002B6,187,80,80,8D,FF
2021-08-13T19:53:51.854Z,1628884431.854 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:53:52.289Z,1628884432.289 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195351.60*52

2021-08-13T19:53:54.662Z,1628884434.662 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:53:55.110Z,1628884435.110 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:53:55.110Z,1628884435.110 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:53:55.110Z,1628884435.110 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:53:55.110Z,1628884435.110 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:53:55.453Z,1628884435.453 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F70,000,002B6,187,80,80,8D,FF
2021-08-13T19:53:55.453Z,1628884435.453 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:53:55.453Z,1628884435.453 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:53:55.455Z,1628884435.455 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:53:55.866Z,1628884435.866 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:53:56.365Z,1628884436.365 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED4,000,002B6,186,80,80,88,FF
2021-08-13T19:53:56.365Z,1628884436.365 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:53:56.713Z,1628884436.713 [Micromodem](INFO): Nmea in: $SNTTA,0.005820,,,,195356.01*43

2021-08-13T19:53:57.954Z,1628884437.954 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-08-13T19:53:57.954Z,1628884437.954 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-08-13T19:53:57.954Z,1628884437.954 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-08-13T19:53:57.954Z,1628884437.954 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-13T19:53:57.955Z,1628884437.955 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-08-13T19:53:58.503Z,1628884438.503 [Micromodem](INFO): Outgoing frame #1, 60 bytes: B2AB16611E0000005D00000400260000000000000000151D80030C5669C08C799858D5E2EA8FE02407F7B7FC288266F6B7BBB972F60B71BF23B27E00
2021-08-13T19:53:58.504Z,1628884438.504 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-08-13T19:53:58.725Z,1628884438.725 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-08-13T19:53:59.153Z,1628884439.153 [Micromodem](INFO): Nmea in: $CADRQ,195358,1,10,0,64,1*75

2021-08-13T19:53:59.154Z,1628884439.154 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,B2AB16611E0000005D00000400260000000000000000151D80030C5669C08C799858D5E2EA8FE02407F7B7FC288266F6B7BBB972F60B71BF23B27E00*41

2021-08-13T19:53:59.327Z,1628884439.327 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:53:59.529Z,1628884439.529 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:53:59.529Z,1628884439.529 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:53:59.529Z,1628884439.529 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:53:59.529Z,1628884439.529 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:53:59.534Z,1628884439.534 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,60*4D

2021-08-13T19:53:59.929Z,1628884439.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ED4,000,002B6,186,80,80,88,FF
2021-08-13T19:53:59.929Z,1628884439.929 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:53:59.929Z,1628884439.929 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:53:59.931Z,1628884439.931 [Micromodem](INFO): Nmea in: $CATXP,60*74

2021-08-13T19:53:59.931Z,1628884439.931 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:54:01.169Z,1628884441.169 [Micromodem](INFO): Nmea in: $CATXF,60*62

2021-08-13T19:54:01.169Z,1628884441.169 [Micromodem](ERROR): Response from modem unexpected: $CATXF,60*62

2021-08-13T19:54:01.547Z,1628884441.547 [Micromodem](INFO): Nmea in: $CAXST,7,20210813,195359.725244,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*53

2021-08-13T19:54:01.548Z,1628884441.548 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210813,195359.725244,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*53

2021-08-13T19:54:01.963Z,1628884441.963 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:54:03.181Z,1628884443.181 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-08-13T19:54:03.182Z,1628884443.182 [Micromodem](INFO): Sent 52 bytes from file Logs/20210813T172818/Courier0030.lzma.parts
2021-08-13T19:54:03.182Z,1628884443.182 [Micromodem](INFO): Packets left to send: 0
2021-08-13T19:54:03.563Z,1628884443.563 [Micromodem](INFO): Nmea in: $CACST,6,0,20210813195402.499027,06,32767,45,0101,0150,07,00,00,00,00,1,010,001,0,4,1,0,150,32.0,13.09,23,-10.09,-01,-0.01,49,14500,4000*4B

2021-08-13T19:54:03.564Z,1628884443.564 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210813195402.499027,06,32767,45,0101,0150,07,00,00,00,00,1,010,001,0,4,1,0,150,32.0,13.09,23,-10.09,-01,-0.01,49,14500,4000*4B

2021-08-13T19:54:03.727Z,1628884443.727 [Micromodem](INFO): Outgoing frame #1, 60 bytes: B2AB1661210000005D00000400260000000000000000151D80030C5669C08C7998604407C986E707495B11A6EB0049E1EA5856973675E000218BA000
2021-08-13T19:54:04.761Z,1628884444.761 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:54:05.568Z,1628884445.568 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.038198
2021-08-13T19:54:07.278Z,1628884447.278 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:54:07.605Z,1628884447.605 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:54:07.605Z,1628884447.605 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:54:07.605Z,1628884447.605 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:54:07.606Z,1628884447.606 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:54:08.005Z,1628884448.005 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ED4,000,002B6,186,80,80,88,FF
2021-08-13T19:54:08.005Z,1628884448.005 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:54:08.005Z,1628884448.005 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:54:10.058Z,1628884450.058 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:54:11.242Z,1628884451.242 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:54:11.644Z,1628884451.644 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:54:11.656Z,1628884451.656 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-08-13T19:54:12.053Z,1628884452.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EBC,000,002B2,187,80,80,81,FF
2021-08-13T19:54:12.054Z,1628884452.054 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:54:12.057Z,1628884452.057 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-08-13T19:54:12.489Z,1628884452.489 [Micromodem](INFO): Nmea in: $CADRQ,195412,1,10,0,64,1*7C

2021-08-13T19:54:12.490Z,1628884452.490 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,B2AB1661210000005D00000400260000000000000000151D80030C5669C08C7998604407C986E707495B11A6EB0049E1EA5856973675E000218BA000*47

2021-08-13T19:54:12.889Z,1628884452.889 [Micromodem](INFO): Nmea in: $SNTTA,0.027168,,,,195411.79*4D

2021-08-13T19:54:12.890Z,1628884452.890 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,0.027168,,,,195411.79*4D

2021-08-13T19:54:14.085Z,1628884454.085 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,60*4D

2021-08-13T19:54:14.498Z,1628884454.498 [Micromodem](INFO): Nmea in: $CATXP,60*74

2021-08-13T19:54:14.848Z,1628884454.848 [Micromodem](INFO): Nmea in: $CATXF,60*62

2021-08-13T19:54:14.868Z,1628884454.868 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:54:15.281Z,1628884455.281 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:54:15.281Z,1628884455.281 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:54:15.281Z,1628884455.281 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:54:15.282Z,1628884455.282 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:54:15.291Z,1628884455.291 [Micromodem](INFO): Nmea in: $CAXST,7,20210813,195413.063121,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*5F

2021-08-13T19:54:15.669Z,1628884455.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EBC,000,002B2,187,80,80,81,FF
2021-08-13T19:54:15.669Z,1628884455.669 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:54:15.669Z,1628884455.669 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:54:15.671Z,1628884455.671 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:54:16.060Z,1628884456.060 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:54:17.106Z,1628884457.106 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195416.22*50

2021-08-13T19:54:17.524Z,1628884457.524 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:54:19.160Z,1628884459.160 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
2,187,80,80,81,FF
2021-08-13T19:54:19.160Z,1628884459.160 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
2,187,80,80,81,FF
2021-08-13T19:54:19.160Z,1628884459.160 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T19:54:20.456Z,1628884460.456 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:54:20.793Z,1628884460.793 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:54:20.793Z,1628884460.793 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:54:20.793Z,1628884460.793 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:54:20.794Z,1628884460.794 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:54:21.205Z,1628884461.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
2,187,80,80,81,FF
2021-08-13T19:54:21.206Z,1628884461.206 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:54:21.206Z,1628884461.206 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:54:21.209Z,1628884461.209 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:54:21.612Z,1628884461.612 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:54:22.007Z,1628884462.007 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D31,000,002AC,18A,80,80,77,FF
2021-08-13T19:54:22.008Z,1628884462.008 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:54:22.445Z,1628884462.445 [Micromodem](INFO): Nmea in: $SNTTA,0.004379,,,,195421.76*42

2021-08-13T19:54:24.858Z,1628884464.858 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:54:25.237Z,1628884465.237 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:54:25.237Z,1628884465.237 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:54:25.237Z,1628884465.237 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:54:25.238Z,1628884465.238 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:54:25.613Z,1628884465.613 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D31,000,002AC,18A,80,80,77,FF
2021-08-13T19:54:25.613Z,1628884465.613 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:54:25.614Z,1628884465.614 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:54:25.628Z,1628884465.628 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:54:26.019Z,1628884466.019 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:54:26.522Z,1628884466.522 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DC6,000,002A7,189,80,80,71,FF
2021-08-13T19:54:26.522Z,1628884466.522 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:54:26.893Z,1628884466.893 [Micromodem](INFO): Nmea in: $SNTTA,0.028958,,,,195426.18*4A

2021-08-13T19:54:29.396Z,1628884469.396 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:54:29.689Z,1628884469.689 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:54:29.689Z,1628884469.689 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:54:29.689Z,1628884469.689 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:54:29.690Z,1628884469.690 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:54:30.089Z,1628884470.089 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DC6,000,002A7,189,80,80,71,FF
2021-08-13T19:54:30.089Z,1628884470.089 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:54:30.090Z,1628884470.090 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:54:30.091Z,1628884470.091 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:54:30.520Z,1628884470.520 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:54:30.914Z,1628884470.914 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D9C,000,002A8,189,80,80,6E,FF
2021-08-13T19:54:30.914Z,1628884470.914 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:54:31.354Z,1628884471.354 [Micromodem](INFO): Nmea in: $SNTTA,0.386518,0.427580,,,195430.64*5B

2021-08-13T19:54:33.438Z,1628884473.438 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:54:33.737Z,1628884473.737 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:54:33.737Z,1628884473.737 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:54:33.737Z,1628884473.737 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:54:33.738Z,1628884473.738 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:54:34.138Z,1628884474.138 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D9C,000,002A8,189,80,80,6E,FF
2021-08-13T19:54:34.138Z,1628884474.138 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:54:34.138Z,1628884474.138 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:54:34.140Z,1628884474.140 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:54:34.548Z,1628884474.548 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:54:34.909Z,1628884474.909 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E37,000,002A3,186,80,80,72,FF
2021-08-13T19:54:34.910Z,1628884474.910 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:54:35.368Z,1628884475.368 [Micromodem](INFO): Nmea in: $SNTTA,0.057772,0.403676,,,195434.69*5F

2021-08-13T19:54:37.822Z,1628884477.822 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:54:38.177Z,1628884478.177 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:54:38.177Z,1628884478.177 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:54:38.178Z,1628884478.178 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:54:38.178Z,1628884478.178 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:54:38.581Z,1628884478.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E37,000,002A3,186,80,80,72,FF
2021-08-13T19:54:38.581Z,1628884478.581 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:54:38.581Z,1628884478.581 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:54:38.583Z,1628884478.583 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:54:38.992Z,1628884478.992 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:54:39.389Z,1628884479.389 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DD1,000,002A2,189,80,80,86,FF
2021-08-13T19:54:39.390Z,1628884479.390 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:54:39.393Z,1628884479.393 [Micromodem](INFO): Nmea in: $SNTTA,0.142463,0.142700,,,195439.13*59

2021-08-13T19:54:42.231Z,1628884482.231 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:54:42.617Z,1628884482.617 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:54:42.617Z,1628884482.617 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:54:42.617Z,1628884482.617 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:54:42.618Z,1628884482.618 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:54:43.023Z,1628884483.023 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DD1,000,002A2,189,80,80,86,FF
2021-08-13T19:54:43.023Z,1628884483.023 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:54:43.023Z,1628884483.023 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:54:43.025Z,1628884483.025 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:54:43.598Z,1628884483.598 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DD1,000,002A2,189,80,80,86,FF
2021-08-13T19:54:43.598Z,1628884483.598 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:54:43.604Z,1628884483.604 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:54:44.397Z,1628884484.397 [Micromodem](INFO): Nmea in: $SNTTA,0.022598,,,,195443.57*48

2021-08-13T19:54:46.438Z,1628884486.438 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:54:46.881Z,1628884486.881 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:54:46.882Z,1628884486.882 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:54:46.882Z,1628884486.882 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:54:46.883Z,1628884486.883 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:54:47.245Z,1628884487.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DD1,000,002A2,189,80,80,86,FF
2021-08-13T19:54:47.245Z,1628884487.245 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:54:47.246Z,1628884487.246 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:54:47.256Z,1628884487.256 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:54:47.630Z,1628884487.630 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:54:48.030Z,1628884488.030 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DB9,000,0029E,189,80,80,7D,FF
2021-08-13T19:54:48.031Z,1628884488.031 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:54:48.447Z,1628884488.447 [Micromodem](INFO): Nmea in: $SNTTA,0.040087,,,,195447.81*48

2021-08-13T19:54:50.915Z,1628884490.915 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:54:51.278Z,1628884491.278 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:54:51.278Z,1628884491.278 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:54:51.278Z,1628884491.278 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:54:51.279Z,1628884491.279 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:54:51.657Z,1628884491.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DB9,000,0029E,189,80,80,7D,FF
2021-08-13T19:54:51.657Z,1628884491.657 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:54:51.657Z,1628884491.657 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:54:51.659Z,1628884491.659 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:54:52.074Z,1628884492.074 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:54:52.475Z,1628884492.475 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E69,000,0029B,187,80,80,8F,FF
2021-08-13T19:54:52.475Z,1628884492.475 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:54:52.908Z,1628884492.908 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195452.21*53

2021-08-13T19:54:55.348Z,1628884495.348 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:54:55.709Z,1628884495.709 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:54:55.709Z,1628884495.709 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:54:55.709Z,1628884495.709 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:54:55.710Z,1628884495.710 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:54:56.071Z,1628884496.071 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E69,000,0029B,187,80,80,8F,FF
2021-08-13T19:54:56.071Z,1628884496.071 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:54:56.071Z,1628884496.071 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:54:56.073Z,1628884496.073 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:54:56.478Z,1628884496.478 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:54:57.315Z,1628884497.315 [Micromodem](INFO): Nmea in: $SNTTA,0.396786,0.396655,,,195456.63*5E

2021-08-13T19:54:58.350Z,1628884498.350 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:54:59.349Z,1628884499.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C83,000,08150,189,80,80,58,FF
2021-08-13T19:54:59.349Z,1628884499.349 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:55:02.227Z,1628884502.227 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:55:02.569Z,1628884502.569 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:55:02.569Z,1628884502.569 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:55:02.570Z,1628884502.570 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:55:02.571Z,1628884502.571 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:55:02.969Z,1628884502.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C83,000,08150,189,80,80,58,FF
2021-08-13T19:55:02.969Z,1628884502.969 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:55:02.969Z,1628884502.969 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:55:02.971Z,1628884502.971 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:55:03.377Z,1628884503.377 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:55:03.777Z,1628884503.777 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0D6,000,00294,187,80,80,52,FF
2021-08-13T19:55:03.777Z,1628884503.777 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:55:06.591Z,1628884506.591 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:55:07.088Z,1628884507.088 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:55:07.088Z,1628884507.088 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:55:07.089Z,1628884507.089 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:55:07.090Z,1628884507.090 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:55:07.413Z,1628884507.413 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0D6,000,00294,187,80,80,52,FF
2021-08-13T19:55:07.413Z,1628884507.413 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:55:07.413Z,1628884507.413 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:55:07.415Z,1628884507.415 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:55:07.837Z,1628884507.837 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:55:08.221Z,1628884508.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E3A,000,00298,186,80,80,73,FF
2021-08-13T19:55:08.221Z,1628884508.221 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:55:08.662Z,1628884508.662 [Micromodem](INFO): Nmea in: $SNTTA,0.003539,,,,195507.97*4D

2021-08-13T19:55:09.045Z,1628884509.045 [Micromodem](ERROR): Buffer fill timout failure.
2021-08-13T19:55:09.597Z,1628884509.597 [Micromodem](INFO): Outgoing frame #1, 60 bytes: B2AB1661210000005D00000400260000000000000000151D80030C5669C08C7998604407C986E707495B11A6EB0049E1EA5856973675E000218BA000
2021-08-13T19:55:09.597Z,1628884509.597 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-08-13T19:55:09.869Z,1628884509.869 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-08-13T19:55:10.257Z,1628884510.257 [Micromodem](INFO): Nmea in: $CADRQ,195510,1,10,0,64,1*7F

2021-08-13T19:55:10.257Z,1628884510.257 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,B2AB1661210000005D00000400260000000000000000151D80030C5669C08C7998604407C986E707495B11A6EB0049E1EA5856973675E000218BA000*47

2021-08-13T19:55:10.665Z,1628884510.665 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,60*4D

2021-08-13T19:55:11.056Z,1628884511.056 [Micromodem](INFO): Nmea in: $CATXP,60*74

2021-08-13T19:55:11.351Z,1628884511.351 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:55:11.561Z,1628884511.561 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:55:11.561Z,1628884511.561 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:55:11.561Z,1628884511.561 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:55:11.561Z,1628884511.561 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:55:11.949Z,1628884511.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E3A,000,00298,186,80,80,73,FF
2021-08-13T19:55:11.949Z,1628884511.949 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:55:11.949Z,1628884511.949 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:55:11.951Z,1628884511.951 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:55:12.356Z,1628884512.356 [Micromodem](INFO): Nmea in: $CATXF,60*62

2021-08-13T19:55:12.356Z,1628884512.356 [Micromodem](ERROR): Response from modem unexpected: $CATXF,60*62

2021-08-13T19:55:12.766Z,1628884512.766 [Micromodem](INFO): Nmea in: $CAXST,7,20210813,195510.830946,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*5A

2021-08-13T19:55:12.766Z,1628884512.766 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210813,195510.830946,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*5A

2021-08-13T19:55:13.996Z,1628884513.996 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:55:14.379Z,1628884514.379 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-08-13T19:55:14.382Z,1628884514.382 [Micromodem](INFO): Sent 52 bytes from file Logs/20210813T172818/Courier0033.lzma.parts
2021-08-13T19:55:14.382Z,1628884514.382 [Micromodem](INFO): Packets left to send: 0
2021-08-13T19:55:14.806Z,1628884514.806 [Micromodem](INFO): Nmea in: $CACST,6,0,20210813195513.603491,06,32767,45,0101,0150,07,00,00,00,00,1,010,001,0,4,1,0,150,33.8,10.57,20,-7.57,-01,0.00,49,14500,4000*51

2021-08-13T19:55:14.806Z,1628884514.806 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210813195513.603491,06,32767,45,0101,0150,07,00,00,00,00,1,010,001,0,4,1,0,150,33.8,10.57,20,-7.57,-01,0.00,49,14500,4000*51

2021-08-13T19:55:15.079Z,1628884515.079 [lineCaptureDepth:MicromodemComms] Stopped
2021-08-13T19:55:15.084Z,1628884515.084 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-08-13T19:55:15.084Z,1628884515.084 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-08-13T19:55:15.085Z,1628884515.085 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-13T19:55:15.085Z,1628884515.085 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-08-13T19:55:16.958Z,1628884516.958 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:55:17.680Z,1628884517.680 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.118180
2021-08-13T19:55:19.722Z,1628884519.722 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:55:20.093Z,1628884520.093 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:55:20.093Z,1628884520.093 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:55:20.094Z,1628884520.094 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:55:20.095Z,1628884520.095 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:55:20.498Z,1628884520.498 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E3A,000,00298,186,80,80,73,FF
2021-08-13T19:55:20.498Z,1628884520.498 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:55:20.498Z,1628884520.498 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:55:22.531Z,1628884522.531 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:55:23.322Z,1628884523.322 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:55:23.766Z,1628884523.766 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:55:24.123Z,1628884524.123 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D1F,000,00298,189,80,80,7E,FF
2021-08-13T19:55:24.123Z,1628884524.123 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:55:24.570Z,1628884524.570 [Micromodem](INFO): Nmea in: $SNTTA,0.063364,,,,195523.88*4D

2021-08-13T19:55:27.125Z,1628884527.125 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:55:27.365Z,1628884527.365 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:55:27.365Z,1628884527.365 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:55:27.365Z,1628884527.365 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:55:27.366Z,1628884527.366 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:55:27.761Z,1628884527.761 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D1F,000,00298,189,80,80,7E,FF
2021-08-13T19:55:27.762Z,1628884527.762 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:55:27.762Z,1628884527.762 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:55:27.763Z,1628884527.763 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:55:28.197Z,1628884528.197 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:55:28.594Z,1628884528.594 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E10,000,00291,187,80,80,6B,FF
2021-08-13T19:55:28.595Z,1628884528.595 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:55:28.997Z,1628884528.997 [Micromodem](INFO): Nmea in: $SNTTA,0.020227,,,,195528.32*46

2021-08-13T19:55:31.460Z,1628884531.460 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:55:31.802Z,1628884531.802 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:55:31.802Z,1628884531.802 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:55:31.803Z,1628884531.803 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:55:31.803Z,1628884531.803 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:55:32.210Z,1628884532.210 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E10,000,00291,187,80,80,6B,FF
2021-08-13T19:55:32.211Z,1628884532.211 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:55:32.211Z,1628884532.211 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:55:32.213Z,1628884532.213 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:55:32.624Z,1628884532.624 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:55:33.013Z,1628884533.013 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E2D,000,00297,186,80,80,68,FF
2021-08-13T19:55:33.014Z,1628884533.014 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:55:33.441Z,1628884533.441 [Micromodem](INFO): Nmea in: $SNTTA,0.029975,0.328013,,,195532.76*5D

2021-08-13T19:55:35.887Z,1628884535.887 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:55:36.221Z,1628884536.221 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:55:36.221Z,1628884536.221 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:55:36.221Z,1628884536.221 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:55:36.222Z,1628884536.222 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:55:36.625Z,1628884536.625 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E2D,000,00297,186,80,80,68,FF
2021-08-13T19:55:36.625Z,1628884536.625 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:55:36.625Z,1628884536.625 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:55:36.627Z,1628884536.627 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:55:37.155Z,1628884537.155 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:55:37.458Z,1628884537.458 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E68,000,00297,186,80,80,6A,FF
2021-08-13T19:55:37.458Z,1628884537.458 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:55:40.333Z,1628884540.333 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:55:40.698Z,1628884540.698 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:55:40.698Z,1628884540.698 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:55:40.699Z,1628884540.699 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:55:40.702Z,1628884540.702 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:55:41.150Z,1628884541.150 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E68,000,00297,186,80,80,6A,FF
2021-08-13T19:55:41.150Z,1628884541.150 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:55:41.150Z,1628884541.150 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:55:41.156Z,1628884541.156 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:55:41.505Z,1628884541.505 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:55:42.711Z,1628884542.711 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195541.71*55

2021-08-13T19:55:43.249Z,1628884543.249 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:55:44.730Z,1628884544.730 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
7,186,80,80,6A,FF
2021-08-13T19:55:44.730Z,1628884544.730 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
7,186,80,80,6A,FF
2021-08-13T19:55:44.730Z,1628884544.730 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T19:55:45.962Z,1628884545.962 [NAL9602](INFO): Not Powering down - fast GPS
2021-08-13T19:55:45.994Z,1628884545.994 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:55:46.333Z,1628884546.333 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:55:46.333Z,1628884546.333 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:55:46.333Z,1628884546.333 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:55:46.334Z,1628884546.334 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:55:46.729Z,1628884546.729 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
7,186,80,80,6A,FF
2021-08-13T19:55:46.729Z,1628884546.729 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:55:46.729Z,1628884546.729 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:55:46.731Z,1628884546.731 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:55:47.232Z,1628884547.232 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:55:47.562Z,1628884547.562 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E6D,000,00296,187,80,80,77,FF
2021-08-13T19:55:47.562Z,1628884547.562 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:55:47.981Z,1628884547.981 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195547.28*5F

2021-08-13T19:55:50.420Z,1628884550.420 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:55:50.793Z,1628884550.793 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:55:50.794Z,1628884550.794 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:55:50.794Z,1628884550.794 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:55:50.795Z,1628884550.795 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:55:51.202Z,1628884551.202 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E6D,000,00296,187,80,80,77,FF
2021-08-13T19:55:51.202Z,1628884551.202 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:55:51.202Z,1628884551.202 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:55:51.205Z,1628884551.205 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:55:51.605Z,1628884551.605 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:55:52.014Z,1628884552.014 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DE2,000,00291,188,80,80,6A,FF
2021-08-13T19:55:52.014Z,1628884552.014 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:55:52.434Z,1628884552.434 [Micromodem](INFO): Nmea in: $SNTTA,0.004445,,,,195551.76*4C

2021-08-13T19:55:54.875Z,1628884554.875 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:55:55.237Z,1628884555.237 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:55:55.237Z,1628884555.237 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:55:55.237Z,1628884555.237 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:55:55.238Z,1628884555.238 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:55:55.613Z,1628884555.613 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DE2,000,00291,188,80,80,6A,FF
2021-08-13T19:55:55.613Z,1628884555.613 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:55:55.613Z,1628884555.613 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:55:55.615Z,1628884555.615 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:55:56.053Z,1628884556.053 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:55:56.429Z,1628884556.429 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DA4,000,00290,189,80,80,6E,FF
2021-08-13T19:55:56.429Z,1628884556.429 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:55:56.850Z,1628884556.850 [Micromodem](INFO): Nmea in: $SNTTA,0.042793,,,,195556.17*46

2021-08-13T19:55:59.350Z,1628884559.350 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:55:59.681Z,1628884559.681 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:55:59.681Z,1628884559.681 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:55:59.681Z,1628884559.681 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:55:59.682Z,1628884559.682 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:56:00.089Z,1628884560.089 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DA4,000,00290,189,80,80,6E,FF
2021-08-13T19:56:00.089Z,1628884560.089 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:56:00.089Z,1628884560.089 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:56:00.091Z,1628884560.091 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:56:00.512Z,1628884560.512 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:56:00.902Z,1628884560.902 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C99,000,00296,189,80,80,5D,FF
2021-08-13T19:56:00.902Z,1628884560.902 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:56:01.335Z,1628884561.335 [Micromodem](INFO): Nmea in: $SNTTA,0.027662,,,,195600.64*4E

2021-08-13T19:56:03.763Z,1628884563.763 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:56:04.128Z,1628884564.128 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:56:04.128Z,1628884564.128 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:56:04.129Z,1628884564.129 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:56:04.130Z,1628884564.130 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:56:04.533Z,1628884564.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C99,000,00296,189,80,80,5D,FF
2021-08-13T19:56:04.533Z,1628884564.533 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:56:04.533Z,1628884564.533 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:56:04.535Z,1628884564.535 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:56:04.946Z,1628884564.946 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:56:05.337Z,1628884565.337 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DD2,000,00297,189,80,80,5B,FF
2021-08-13T19:56:05.338Z,1628884565.338 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:56:05.341Z,1628884565.341 [Micromodem](INFO): Nmea in: $SNTTA,0.003611,0.164160,,,195605.09*58

2021-08-13T19:56:08.210Z,1628884568.210 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:56:08.573Z,1628884568.573 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:56:08.573Z,1628884568.573 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:56:08.574Z,1628884568.574 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:56:08.605Z,1628884568.605 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:56:08.608Z,1628884568.608 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DD2,000,00297,189,80,80,5B,FF
2021-08-13T19:56:08.608Z,1628884568.608 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:56:08.608Z,1628884568.608 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:56:08.610Z,1628884568.610 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:56:08.972Z,1628884568.972 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:56:09.377Z,1628884569.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E39,000,00297,186,80,80,67,FF
2021-08-13T19:56:09.378Z,1628884569.378 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:56:09.381Z,1628884569.381 [Micromodem](INFO): Nmea in: $SNTTA,0.127525,0.127400,,,195609.16*5D

2021-08-13T19:56:12.253Z,1628884572.253 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:56:12.605Z,1628884572.605 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:56:12.605Z,1628884572.605 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:56:12.605Z,1628884572.605 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:56:12.606Z,1628884572.606 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:56:13.015Z,1628884573.015 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E39,000,00297,186,80,80,67,FF
2021-08-13T19:56:13.016Z,1628884573.016 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:56:13.017Z,1628884573.017 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:56:13.020Z,1628884573.020 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:56:13.430Z,1628884573.430 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:56:13.821Z,1628884573.821 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CB1,000,00297,18A,80,80,67,FF
2021-08-13T19:56:13.821Z,1628884573.821 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:56:14.261Z,1628884574.261 [Micromodem](INFO): Nmea in: $SNTTA,0.031480,,,,195613.57*45

2021-08-13T19:56:16.639Z,1628884576.639 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:56:17.036Z,1628884577.036 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:56:17.037Z,1628884577.037 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:56:17.037Z,1628884577.037 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:56:17.039Z,1628884577.039 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:56:17.538Z,1628884577.538 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CB1,000,00297,18A,80,80,67,FF
2021-08-13T19:56:17.538Z,1628884577.538 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:56:17.538Z,1628884577.538 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:56:17.540Z,1628884577.540 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:56:17.881Z,1628884577.881 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:56:18.269Z,1628884578.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D9C,000,00297,189,80,80,60,FF
2021-08-13T19:56:18.269Z,1628884578.269 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:56:19.147Z,1628884579.147 [Micromodem](INFO): Nmea in: $SNTTA,0.069448,,,,195618.09*4C

2021-08-13T19:56:21.217Z,1628884581.217 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:56:21.497Z,1628884581.497 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:56:21.497Z,1628884581.497 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:56:21.497Z,1628884581.497 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:56:21.498Z,1628884581.498 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:56:21.905Z,1628884581.905 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D9C,000,00297,189,80,80,60,FF
2021-08-13T19:56:21.905Z,1628884581.905 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:56:21.906Z,1628884581.906 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:56:21.907Z,1628884581.907 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:56:22.309Z,1628884582.309 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:56:22.713Z,1628884582.713 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DDA,000,00295,189,80,80,79,FF
2021-08-13T19:56:22.713Z,1628884582.713 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:56:23.189Z,1628884583.189 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195622.46*57

2021-08-13T19:56:25.247Z,1628884585.247 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:56:25.537Z,1628884585.537 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:56:25.537Z,1628884585.537 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:56:25.537Z,1628884585.537 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:56:25.538Z,1628884585.538 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:56:25.913Z,1628884585.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DDA,000,00295,189,80,80,79,FF
2021-08-13T19:56:25.913Z,1628884585.913 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:56:25.913Z,1628884585.913 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:56:25.915Z,1628884585.915 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:56:26.371Z,1628884586.371 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:56:26.718Z,1628884586.718 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CC5,000,00298,189,80,80,79,FF
2021-08-13T19:56:26.718Z,1628884586.718 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:56:27.158Z,1628884587.158 [Micromodem](INFO): Nmea in: $SNTTA,0.049438,,,,195626.47*4E

2021-08-13T19:56:29.273Z,1628884589.273 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:56:29.597Z,1628884589.597 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:56:29.598Z,1628884589.598 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:56:29.598Z,1628884589.598 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:56:29.599Z,1628884589.599 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:56:29.989Z,1628884589.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CC5,000,00298,189,80,80,79,FF
2021-08-13T19:56:29.990Z,1628884589.990 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:56:29.990Z,1628884589.990 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:56:29.991Z,1628884589.991 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:56:30.407Z,1628884590.407 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:56:30.789Z,1628884590.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DCB,000,00298,189,80,80,61,FF
2021-08-13T19:56:30.789Z,1628884590.789 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:56:31.257Z,1628884591.257 [Micromodem](INFO): Nmea in: $SNTTA,0.037237,,,,195630.55*4A

2021-08-13T19:56:33.692Z,1628884593.692 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:56:34.038Z,1628884594.038 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:56:34.038Z,1628884594.038 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:56:34.039Z,1628884594.039 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:56:34.040Z,1628884594.040 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:56:34.437Z,1628884594.437 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DCB,000,00298,189,80,80,61,FF
2021-08-13T19:56:34.437Z,1628884594.437 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:56:34.438Z,1628884594.438 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:56:34.439Z,1628884594.439 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:56:34.841Z,1628884594.841 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:56:35.257Z,1628884595.257 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,06F,000,00297,186,80,80,9B,FF
2021-08-13T19:56:35.257Z,1628884595.257 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:56:35.261Z,1628884595.261 [Micromodem](INFO): Nmea in: $SNTTA,0.001177,0.212227,,,195634.99*54

2021-08-13T19:56:38.083Z,1628884598.083 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:56:38.481Z,1628884598.481 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:56:38.481Z,1628884598.481 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:56:38.481Z,1628884598.481 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:56:38.482Z,1628884598.482 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:56:38.881Z,1628884598.881 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
06F,000,00297,186,80,80,9B,FF
2021-08-13T19:56:38.881Z,1628884598.881 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:56:38.881Z,1628884598.881 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:56:38.883Z,1628884598.883 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:56:39.290Z,1628884599.290 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:56:39.685Z,1628884599.685 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D80,000,00297,189,80,80,69,FF
2021-08-13T19:56:39.685Z,1628884599.685 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:56:39.689Z,1628884599.689 [Micromodem](INFO): Nmea in: $SNTTA,0.223633,0.203058,,,195639.44*56

2021-08-13T19:56:42.554Z,1628884602.554 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:56:42.921Z,1628884602.921 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:56:42.921Z,1628884602.921 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:56:42.921Z,1628884602.921 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:56:42.922Z,1628884602.922 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:56:43.325Z,1628884603.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D80,000,00297,189,80,80,69,FF
2021-08-13T19:56:43.325Z,1628884603.325 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:56:43.326Z,1628884603.326 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:56:43.329Z,1628884603.329 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:56:43.729Z,1628884603.729 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:56:44.157Z,1628884604.157 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DB7,000,00297,189,80,80,75,FF
2021-08-13T19:56:44.158Z,1628884604.158 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:56:44.570Z,1628884604.570 [Micromodem](INFO): Nmea in: $SNTTA,0.092112,,,,195643.89*44

2021-08-13T19:56:46.943Z,1628884606.943 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:56:47.337Z,1628884607.337 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:56:47.337Z,1628884607.337 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:56:47.337Z,1628884607.337 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:56:47.338Z,1628884607.338 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:56:47.842Z,1628884607.842 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DB7,000,00297,189,80,80,75,FF
2021-08-13T19:56:47.842Z,1628884607.842 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:56:47.842Z,1628884607.842 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:56:47.873Z,1628884607.873 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:56:48.195Z,1628884608.195 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:56:48.578Z,1628884608.578 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E6D,000,00296,185,80,80,77,FF
2021-08-13T19:56:48.579Z,1628884608.579 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:56:49.393Z,1628884609.393 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195648.43*5E

2021-08-13T19:56:51.485Z,1628884611.485 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:56:51.813Z,1628884611.813 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:56:51.813Z,1628884611.813 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:56:51.814Z,1628884611.814 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:56:51.814Z,1628884611.814 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:56:52.214Z,1628884612.214 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E6D,000,00296,185,80,80,77,FF
2021-08-13T19:56:52.214Z,1628884612.214 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:56:52.214Z,1628884612.214 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:56:52.218Z,1628884612.218 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:56:52.617Z,1628884612.617 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:56:53.021Z,1628884613.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E23,000,00292,187,80,80,7A,FF
2021-08-13T19:56:53.022Z,1628884613.022 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:56:53.441Z,1628884613.441 [Micromodem](INFO): Nmea in: $SNTTA,0.003352,0.361401,,,195652.77*54

2021-08-13T19:56:53.862Z,1628884613.862 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T19:56:55.866Z,1628884615.866 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:56:56.225Z,1628884616.225 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:56:56.225Z,1628884616.225 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:56:56.225Z,1628884616.225 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:56:56.226Z,1628884616.226 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:56:56.649Z,1628884616.649 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E23,000,00292,187,80,80,7A,FF
2021-08-13T19:56:56.649Z,1628884616.649 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:56:56.649Z,1628884616.649 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:56:56.651Z,1628884616.651 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:56:57.040Z,1628884617.040 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:56:57.435Z,1628884617.435 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E25,000,00297,186,80,80,6E,FF
2021-08-13T19:56:57.435Z,1628884617.435 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:56:57.977Z,1628884617.977 [Micromodem](INFO): Nmea in: $SNTTA,0.251555,,,,195657.21*49

2021-08-13T19:57:00.329Z,1628884620.329 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:57:00.705Z,1628884620.705 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:57:00.705Z,1628884620.705 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:57:00.705Z,1628884620.705 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:57:00.706Z,1628884620.706 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:57:01.153Z,1628884621.153 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E25,000,00297,186,80,80,6E,FF
2021-08-13T19:57:01.153Z,1628884621.153 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:57:01.153Z,1628884621.153 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:57:01.157Z,1628884621.157 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:57:01.513Z,1628884621.513 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:57:01.913Z,1628884621.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D5F,000,00297,189,80,80,6F,FF
2021-08-13T19:57:01.913Z,1628884621.913 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:57:02.330Z,1628884622.330 [Micromodem](INFO): Nmea in: $SNTTA,0.018671,,,,195701.71*44

2021-08-13T19:57:04.768Z,1628884624.768 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:57:05.144Z,1628884625.144 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:57:05.144Z,1628884625.144 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:57:05.145Z,1628884625.145 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:57:05.146Z,1628884625.146 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:57:05.537Z,1628884625.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D5F,000,00297,189,80,80,6F,FF
2021-08-13T19:57:05.538Z,1628884625.538 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:57:05.538Z,1628884625.538 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:57:05.545Z,1628884625.545 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:57:05.958Z,1628884625.958 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:57:06.329Z,1628884626.329 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,151,000,00295,186,80,80,72,FF
2021-08-13T19:57:06.329Z,1628884626.329 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:57:06.789Z,1628884626.789 [Micromodem](INFO): Nmea in: $SNTTA,0.031087,,,,195706.10*40

2021-08-13T19:57:09.261Z,1628884629.261 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:57:09.585Z,1628884629.585 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:57:09.585Z,1628884629.585 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:57:09.585Z,1628884629.585 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:57:09.586Z,1628884629.586 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:57:09.985Z,1628884629.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
151,000,00295,186,80,80,72,FF
2021-08-13T19:57:09.985Z,1628884629.985 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:57:09.985Z,1628884629.985 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:57:09.987Z,1628884629.987 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:57:10.400Z,1628884630.400 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:57:10.793Z,1628884630.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,09D,000,00298,187,80,80,5F,FF
2021-08-13T19:57:10.793Z,1628884630.793 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:57:11.225Z,1628884631.225 [Micromodem](INFO): Nmea in: $SNTTA,0.475908,0.475789,,,195710.54*53

2021-08-13T19:57:13.674Z,1628884633.674 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:57:14.029Z,1628884634.029 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:57:14.029Z,1628884634.029 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:57:14.029Z,1628884634.029 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:57:14.030Z,1628884634.030 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:57:14.429Z,1628884634.429 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
09D,000,00298,187,80,80,5F,FF
2021-08-13T19:57:14.429Z,1628884634.429 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:57:14.430Z,1628884634.430 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:57:14.431Z,1628884634.431 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:57:14.842Z,1628884634.842 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:57:15.233Z,1628884635.233 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,140,000,00297,186,80,80,46,FF
2021-08-13T19:57:15.234Z,1628884635.234 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:57:15.670Z,1628884635.670 [Micromodem](INFO): Nmea in: $SNTTA,0.064415,,,,195714.99*4D

2021-08-13T19:57:18.155Z,1628884638.155 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:57:18.484Z,1628884638.484 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:57:18.484Z,1628884638.484 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:57:18.485Z,1628884638.485 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:57:18.485Z,1628884638.485 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:57:18.873Z,1628884638.873 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
140,000,00297,186,80,80,46,FF
2021-08-13T19:57:18.874Z,1628884638.874 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:57:18.874Z,1628884638.874 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:57:18.877Z,1628884638.877 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:57:19.289Z,1628884639.289 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:57:19.689Z,1628884639.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,04B,000,00296,184,80,80,7C,FF
2021-08-13T19:57:19.689Z,1628884639.689 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:57:20.118Z,1628884640.118 [Micromodem](INFO): Nmea in: $SNTTA,0.024346,,,,195719.44*45

2021-08-13T19:57:22.542Z,1628884642.542 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:57:22.913Z,1628884642.913 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:57:22.913Z,1628884642.913 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:57:22.914Z,1628884642.914 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:57:22.915Z,1628884642.915 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:57:23.321Z,1628884643.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
04B,000,00296,184,80,80,7C,FF
2021-08-13T19:57:23.322Z,1628884643.322 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:57:23.322Z,1628884643.322 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:57:23.324Z,1628884643.324 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:57:23.733Z,1628884643.733 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:57:24.150Z,1628884644.150 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0F5,000,00291,187,80,80,74,FF
2021-08-13T19:57:24.150Z,1628884644.150 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:57:24.565Z,1628884644.565 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195723.88*55

2021-08-13T19:57:26.972Z,1628884646.972 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:57:27.345Z,1628884647.345 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:57:27.345Z,1628884647.345 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:57:27.345Z,1628884647.345 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:57:27.346Z,1628884647.346 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:57:27.733Z,1628884647.733 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0F5,000,00291,187,80,80,74,FF
2021-08-13T19:57:27.733Z,1628884647.733 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:57:27.733Z,1628884647.733 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:57:27.735Z,1628884647.735 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:57:28.268Z,1628884648.268 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:57:28.573Z,1628884648.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E30,000,00291,186,80,80,73,FF
2021-08-13T19:57:28.573Z,1628884648.573 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:57:28.993Z,1628884648.993 [Micromodem](INFO): Nmea in: $SNTTA,0.006033,,,,195728.29*4D

2021-08-13T19:57:31.460Z,1628884651.460 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:57:31.801Z,1628884651.801 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:57:31.801Z,1628884651.801 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:57:31.801Z,1628884651.801 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:57:31.802Z,1628884651.802 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:57:32.214Z,1628884652.214 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E30,000,00291,186,80,80,73,FF
2021-08-13T19:57:32.214Z,1628884652.214 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:57:32.214Z,1628884652.214 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:57:32.216Z,1628884652.216 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:57:32.620Z,1628884652.620 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:57:33.016Z,1628884653.016 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,14D,000,00295,186,80,80,7D,FF
2021-08-13T19:57:33.016Z,1628884653.016 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:57:33.461Z,1628884653.461 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195732.77*55

2021-08-13T19:57:35.874Z,1628884655.874 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:57:36.253Z,1628884656.253 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:57:36.253Z,1628884656.253 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:57:36.253Z,1628884656.253 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:57:36.254Z,1628884656.254 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:57:36.619Z,1628884656.619 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
14D,000,00295,186,80,80,7D,FF
2021-08-13T19:57:36.619Z,1628884656.619 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:57:36.619Z,1628884656.619 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:57:36.621Z,1628884656.621 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:57:37.073Z,1628884657.073 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:57:37.429Z,1628884657.429 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,10D,000,00293,186,80,80,6B,FF
2021-08-13T19:57:37.430Z,1628884657.430 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:57:37.850Z,1628884657.850 [Micromodem](INFO): Nmea in: $SNTTA,0.001090,,,,195737.18*4F

2021-08-13T19:57:40.323Z,1628884660.323 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:57:40.685Z,1628884660.685 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:57:40.685Z,1628884660.685 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:57:40.685Z,1628884660.685 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:57:40.686Z,1628884660.686 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:57:41.145Z,1628884661.145 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
10D,000,00293,186,80,80,6B,FF
2021-08-13T19:57:41.145Z,1628884661.145 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:57:41.145Z,1628884661.145 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:57:41.147Z,1628884661.147 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:57:41.517Z,1628884661.517 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:57:41.914Z,1628884661.914 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E34,000,00293,187,80,80,84,FF
2021-08-13T19:57:41.915Z,1628884661.915 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:57:42.335Z,1628884662.335 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195741.70*56

2021-08-13T19:57:44.754Z,1628884664.754 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:57:45.145Z,1628884665.145 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:57:45.145Z,1628884665.145 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:57:45.145Z,1628884665.145 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:57:45.146Z,1628884665.146 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:57:45.549Z,1628884665.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E34,000,00293,187,80,80,84,FF
2021-08-13T19:57:45.549Z,1628884665.549 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:57:45.549Z,1628884665.549 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:57:45.551Z,1628884665.551 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:57:45.945Z,1628884665.945 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:57:46.345Z,1628884666.345 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E60,000,0029A,186,80,80,94,FF
2021-08-13T19:57:46.346Z,1628884666.346 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:57:46.769Z,1628884666.769 [Micromodem](INFO): Nmea in: $SNTTA,0.042826,,,,195746.11*42

2021-08-13T19:57:49.251Z,1628884669.251 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:57:49.589Z,1628884669.589 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:57:49.589Z,1628884669.589 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:57:49.589Z,1628884669.589 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:57:49.590Z,1628884669.590 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:57:49.981Z,1628884669.981 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E60,000,0029A,186,80,80,94,FF
2021-08-13T19:57:49.981Z,1628884669.981 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:57:49.981Z,1628884669.981 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:57:49.983Z,1628884669.983 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:57:50.389Z,1628884670.389 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:57:50.789Z,1628884670.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,06F,000,00299,186,80,80,86,FF
2021-08-13T19:57:50.790Z,1628884670.790 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:57:51.221Z,1628884671.221 [Micromodem](INFO): Nmea in: $SNTTA,0.083703,0.478601,,,195750.54*53

2021-08-13T19:57:53.631Z,1628884673.631 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:57:54.033Z,1628884674.033 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:57:54.033Z,1628884674.033 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:57:54.033Z,1628884674.033 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:57:54.034Z,1628884674.034 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:57:54.429Z,1628884674.429 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
06F,000,00299,186,80,80,86,FF
2021-08-13T19:57:54.429Z,1628884674.429 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:57:54.429Z,1628884674.429 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:57:54.431Z,1628884674.431 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:57:54.837Z,1628884674.837 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:57:55.245Z,1628884675.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EBA,000,00298,186,80,80,75,FF
2021-08-13T19:57:55.245Z,1628884675.245 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:57:55.249Z,1628884675.249 [Micromodem](INFO): Nmea in: $SNTTA,0.016602,0.215228,,,195754.99*58

2021-08-13T19:57:58.053Z,1628884678.053 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:57:58.537Z,1628884678.537 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:57:58.538Z,1628884678.538 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:57:58.538Z,1628884678.538 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:57:58.539Z,1628884678.539 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:57:58.881Z,1628884678.881 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EBA,000,00298,186,80,80,75,FF
2021-08-13T19:57:58.881Z,1628884678.881 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:57:58.881Z,1628884678.881 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:57:58.883Z,1628884678.883 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:57:59.277Z,1628884679.277 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:57:59.697Z,1628884679.697 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0AC,000,00296,186,80,80,89,FF
2021-08-13T19:57:59.697Z,1628884679.697 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:58:00.105Z,1628884680.105 [Micromodem](INFO): Nmea in: $SNTTA,0.001187,,,,195759.44*49

2021-08-13T19:58:02.519Z,1628884682.519 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:58:02.917Z,1628884682.917 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:58:02.917Z,1628884682.917 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:58:02.917Z,1628884682.917 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:58:02.918Z,1628884682.918 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:58:03.313Z,1628884683.313 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0AC,000,00296,186,80,80,89,FF
2021-08-13T19:58:03.313Z,1628884683.313 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:58:03.313Z,1628884683.313 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:58:03.315Z,1628884683.315 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:58:03.758Z,1628884683.758 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:58:04.132Z,1628884684.132 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,086,000,00296,186,80,80,A3,FF
2021-08-13T19:58:04.133Z,1628884684.133 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:58:04.565Z,1628884684.565 [Micromodem](INFO): Nmea in: $SNTTA,0.001156,,,,195803.87*4A

2021-08-13T19:58:04.968Z,1628884684.968 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-08-13T19:58:04.968Z,1628884684.968 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-08-13T19:58:04.968Z,1628884684.968 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-08-13T19:58:04.969Z,1628884684.969 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-13T19:58:04.969Z,1628884684.969 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-08-13T19:58:04.969Z,1628884684.969 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 2.220000 m 
2021-08-13T19:58:04.969Z,1628884684.969 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-08-13T19:58:04.969Z,1628884684.969 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-08-13T19:58:04.970Z,1628884684.970 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-08-13T19:58:05.409Z,1628884685.409 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210813T195805: (41.552319, -70.708603)
2021-08-13T19:58:05.409Z,1628884685.409 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-08-13T19:58:05.409Z,1628884685.409 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-08-13T19:58:05.410Z,1628884685.410 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-13T19:58:05.410Z,1628884685.410 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-08-13T19:58:05.410Z,1628884685.410 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-13T19:58:05.410Z,1628884685.410 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-08-13T19:58:05.410Z,1628884685.410 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-08-13T19:58:05.410Z,1628884685.410 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-08-13T19:58:06.963Z,1628884686.963 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:58:07.357Z,1628884687.357 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:58:07.357Z,1628884687.357 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:58:07.357Z,1628884687.357 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:58:07.358Z,1628884687.358 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:58:07.732Z,1628884687.732 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
086,000,00296,186,80,80,A3,FF
2021-08-13T19:58:07.732Z,1628884687.732 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:58:07.733Z,1628884687.733 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:58:07.735Z,1628884687.735 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:58:08.155Z,1628884688.155 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:58:08.641Z,1628884688.641 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1B6,000,00294,186,80,80,48,FF
2021-08-13T19:58:08.641Z,1628884688.641 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:58:08.997Z,1628884688.997 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195808.29*58

2021-08-13T19:58:11.467Z,1628884691.467 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:58:11.811Z,1628884691.811 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:58:11.811Z,1628884691.811 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:58:11.811Z,1628884691.811 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:58:11.812Z,1628884691.812 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:58:12.205Z,1628884692.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1B6,000,00294,186,80,80,48,FF
2021-08-13T19:58:12.205Z,1628884692.205 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:58:12.205Z,1628884692.205 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:58:12.207Z,1628884692.207 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:58:12.645Z,1628884692.645 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:58:13.011Z,1628884693.011 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,15B,000,00294,186,80,80,5A,FF
2021-08-13T19:58:13.013Z,1628884693.013 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:58:13.442Z,1628884693.442 [Micromodem](INFO): Nmea in: $SNTTA,0.051770,,,,195812.76*43

2021-08-13T19:58:15.883Z,1628884695.883 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:58:16.241Z,1628884696.241 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:58:16.241Z,1628884696.241 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:58:16.241Z,1628884696.241 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:58:16.242Z,1628884696.242 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:58:16.659Z,1628884696.659 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
15B,000,00294,186,80,80,5A,FF
2021-08-13T19:58:16.659Z,1628884696.659 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:58:16.659Z,1628884696.659 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:58:16.667Z,1628884696.667 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:58:17.030Z,1628884697.030 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:58:17.456Z,1628884697.456 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,170,000,00294,186,80,80,5C,FF
2021-08-13T19:58:17.457Z,1628884697.457 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:58:17.869Z,1628884697.869 [Micromodem](INFO): Nmea in: $SNTTA,0.044025,,,,195817.23*45

2021-08-13T19:58:20.324Z,1628884700.324 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:58:20.701Z,1628884700.701 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:58:20.701Z,1628884700.701 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:58:20.701Z,1628884700.701 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:58:20.702Z,1628884700.702 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:58:21.128Z,1628884701.128 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
170,000,00294,186,80,80,5C,FF
2021-08-13T19:58:21.129Z,1628884701.129 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:58:21.129Z,1628884701.129 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:58:21.160Z,1628884701.160 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:58:21.500Z,1628884701.500 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:58:21.905Z,1628884701.905 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D9C,000,00295,189,80,80,6B,FF
2021-08-13T19:58:21.905Z,1628884701.905 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:58:22.725Z,1628884702.725 [Micromodem](INFO): Nmea in: $SNTTA,0.028795,,,,195821.72*42

2021-08-13T19:58:24.754Z,1628884704.754 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:58:25.137Z,1628884705.137 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:58:25.137Z,1628884705.137 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:58:25.137Z,1628884705.137 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:58:25.138Z,1628884705.138 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:58:25.541Z,1628884705.541 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D9C,000,00295,189,80,80,6B,FF
2021-08-13T19:58:25.541Z,1628884705.541 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:58:25.541Z,1628884705.541 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:58:25.543Z,1628884705.543 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:58:25.941Z,1628884705.941 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:58:26.345Z,1628884706.345 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,098,000,00295,186,80,80,67,FF
2021-08-13T19:58:26.345Z,1628884706.345 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:58:26.797Z,1628884706.797 [Micromodem](INFO): Nmea in: $SNTTA,0.027110,,,,195826.10*45

2021-08-13T19:58:28.879Z,1628884708.879 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:58:29.193Z,1628884709.193 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:58:29.193Z,1628884709.193 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:58:29.193Z,1628884709.193 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:58:29.194Z,1628884709.194 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:58:29.573Z,1628884709.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
098,000,00295,186,80,80,67,FF
2021-08-13T19:58:29.573Z,1628884709.573 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:58:29.573Z,1628884709.573 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:58:29.575Z,1628884709.575 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:58:29.980Z,1628884709.980 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:58:30.385Z,1628884710.385 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D81,000,00299,189,80,80,84,FF
2021-08-13T19:58:30.386Z,1628884710.386 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:58:30.809Z,1628884710.809 [Micromodem](INFO): Nmea in: $SNTTA,0.086794,,,,195830.13*40

2021-08-13T19:58:32.850Z,1628884712.850 [lineCaptureDepth:Lap:Docked:Docked.Docked](INFO): Timed out from 2021-08-13T19:53:32.4Z
2021-08-13T19:58:32.851Z,1628884712.851 [lineCaptureDepth:Lap:Docked:Docked.Docked] Stopped
2021-08-13T19:58:32.851Z,1628884712.851 [lineCaptureDepth:Lap:Docked:Detach] Running Loop=1
2021-08-13T19:58:32.851Z,1628884712.851 [lineCaptureDepth:Lap:Docked:Detach](DEBUG): Aggregate::initialize lineCaptureDepth:Lap:Docked:Detach
2021-08-13T19:58:32.851Z,1628884712.851 [lineCaptureDepth:Lap:Docked:Detach:A] Running Loop=1
2021-08-13T19:58:33.242Z,1628884713.242 [lineCaptureDepth:Lap:Docked:Detach:A](IMPORTANT): Breaking off. Range: 2.399999 m .
2021-08-13T19:58:33.242Z,1628884713.242 [lineCaptureDepth:Lap:Docked:Detach:A] Stopped
2021-08-13T19:58:33.242Z,1628884713.242 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock] Running Loop=1
2021-08-13T19:58:33.242Z,1628884713.242 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](DEBUG): Initialize.
2021-08-13T19:58:33.242Z,1628884713.242 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](DEBUG): Initializing internal variables to default values.
2021-08-13T19:58:33.243Z,1628884713.243 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:58:33.613Z,1628884713.613 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:58:33.613Z,1628884713.613 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:58:33.613Z,1628884713.613 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:58:33.614Z,1628884713.614 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:58:34.001Z,1628884714.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D81,000,00299,189,80,80,84,FF
2021-08-13T19:58:34.001Z,1628884714.001 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:58:34.002Z,1628884714.002 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:58:34.003Z,1628884714.003 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:58:34.008Z,1628884714.008 [PowerOnly](INFO): Powering up loadControl
2021-08-13T19:58:34.398Z,1628884714.398 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:58:34.901Z,1628884714.901 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,13D,000,00294,186,80,80,45,FF
2021-08-13T19:58:34.902Z,1628884714.902 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:58:35.253Z,1628884715.253 [Micromodem](INFO): Nmea in: $SNTTA,0.427548,0.427660,,,195834.56*56

2021-08-13T19:58:36.906Z,1628884716.906 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): Detaching from dock.
2021-08-13T19:58:37.296Z,1628884717.296 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): Engaging thruster for 10.0 seconds (max) to disengage.
2021-08-13T19:58:37.691Z,1628884717.691 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:58:38.057Z,1628884718.057 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:58:38.057Z,1628884718.057 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:58:38.058Z,1628884718.058 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:58:38.059Z,1628884718.059 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:58:38.465Z,1628884718.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
13D,000,00294,186,80,80,45,FF
2021-08-13T19:58:38.465Z,1628884718.465 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:58:38.466Z,1628884718.466 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:58:38.467Z,1628884718.467 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:58:38.874Z,1628884718.874 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:58:39.277Z,1628884719.277 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,36B,000,00292,18A,80,80,48,FF
2021-08-13T19:58:39.277Z,1628884719.277 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:58:39.705Z,1628884719.705 [Micromodem](INFO): Nmea in: $SNTTA,0.025663,,,,195839.02*49

2021-08-13T19:58:42.153Z,1628884722.153 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:58:42.505Z,1628884722.505 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:58:42.505Z,1628884722.505 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:58:42.505Z,1628884722.505 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:58:42.506Z,1628884722.506 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:58:42.909Z,1628884722.909 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
36B,000,00292,18A,80,80,48,FF
2021-08-13T19:58:42.909Z,1628884722.909 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:58:42.909Z,1628884722.909 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:58:42.911Z,1628884722.911 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:58:43.312Z,1628884723.312 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:58:43.734Z,1628884723.734 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE5,000,00295,183,80,80,C5,FF
2021-08-13T19:58:43.734Z,1628884723.734 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:58:44.149Z,1628884724.149 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195843.47*5F

2021-08-13T19:58:46.566Z,1628884726.566 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:58:46.945Z,1628884726.945 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:58:46.945Z,1628884726.945 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:58:46.945Z,1628884726.945 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:58:46.946Z,1628884726.946 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:58:47.354Z,1628884727.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE5,000,00295,183,80,80,C5,FF
2021-08-13T19:58:47.354Z,1628884727.354 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:58:47.354Z,1628884727.354 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:58:47.355Z,1628884727.355 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:58:47.547Z,1628884727.547 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): Thruster off.
2021-08-13T19:58:47.769Z,1628884727.769 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:58:48.161Z,1628884728.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,02A,000,0029D,184,80,80,CD,FF
2021-08-13T19:58:48.162Z,1628884728.162 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:58:48.595Z,1628884728.595 [Micromodem](INFO): Nmea in: $SNTTA,0.036239,,,,195847.92*40

2021-08-13T19:58:51.097Z,1628884731.097 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:58:51.389Z,1628884731.389 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:58:51.389Z,1628884731.389 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:58:51.389Z,1628884731.389 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:58:51.390Z,1628884731.390 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:58:51.809Z,1628884731.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
02A,000,0029D,184,80,80,CD,FF
2021-08-13T19:58:51.809Z,1628884731.809 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:58:51.810Z,1628884731.810 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:58:51.815Z,1628884731.815 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:58:52.201Z,1628884732.201 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:58:52.601Z,1628884732.601 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,006,000,002B7,183,80,80,CC,FF
2021-08-13T19:58:52.601Z,1628884732.601 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:58:53.033Z,1628884733.033 [Micromodem](INFO): Nmea in: $SNTTA,0.061714,,,,195852.37*43

2021-08-13T19:58:55.527Z,1628884735.527 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:58:55.845Z,1628884735.845 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:58:55.846Z,1628884735.846 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:58:55.846Z,1628884735.846 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:58:55.846Z,1628884735.846 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:58:56.245Z,1628884736.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
006,000,002B7,183,80,80,CC,FF
2021-08-13T19:58:56.245Z,1628884736.245 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:58:56.245Z,1628884736.245 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:58:56.247Z,1628884736.247 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:58:56.652Z,1628884736.652 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:58:57.072Z,1628884737.072 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,00E,000,002CD,183,80,80,C8,FF
2021-08-13T19:58:57.074Z,1628884737.074 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:58:57.482Z,1628884737.482 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195856.81*51

2021-08-13T19:58:59.895Z,1628884739.895 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:59:00.277Z,1628884740.277 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:59:00.277Z,1628884740.277 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:59:00.277Z,1628884740.277 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:59:00.278Z,1628884740.278 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:59:00.684Z,1628884740.684 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
00E,000,002CD,183,80,80,C8,FF
2021-08-13T19:59:00.684Z,1628884740.684 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:59:00.685Z,1628884740.685 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:59:00.686Z,1628884740.686 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:59:01.132Z,1628884741.132 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:59:01.489Z,1628884741.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,02D,000,002E3,184,80,80,B2,FF
2021-08-13T19:59:01.489Z,1628884741.489 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:59:01.930Z,1628884741.930 [Micromodem](INFO): Nmea in: $SNTTA,0.027362,,,,195901.24*41

2021-08-13T19:59:04.341Z,1628884744.341 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:59:04.721Z,1628884744.721 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:59:04.721Z,1628884744.721 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:59:04.721Z,1628884744.721 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:59:04.722Z,1628884744.722 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:59:05.137Z,1628884745.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
02D,000,002E3,184,80,80,B2,FF
2021-08-13T19:59:05.137Z,1628884745.137 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:59:05.137Z,1628884745.137 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:59:05.139Z,1628884745.139 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:59:05.541Z,1628884745.541 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:59:05.933Z,1628884745.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,02C,000,002F6,184,80,80,94,FF
2021-08-13T19:59:05.933Z,1628884745.933 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:59:06.374Z,1628884746.374 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195905.70*58

2021-08-13T19:59:08.803Z,1628884748.803 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:59:09.169Z,1628884749.169 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:59:09.169Z,1628884749.169 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:59:09.169Z,1628884749.169 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:59:09.170Z,1628884749.170 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:59:09.581Z,1628884749.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
02C,000,002F6,184,80,80,94,FF
2021-08-13T19:59:09.582Z,1628884749.582 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:59:09.582Z,1628884749.582 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:59:09.584Z,1628884749.584 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:59:09.983Z,1628884749.983 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:59:10.377Z,1628884750.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,05B,000,0030A,187,80,80,AB,FF
2021-08-13T19:59:10.377Z,1628884750.377 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:59:10.818Z,1628884750.818 [Micromodem](INFO): Nmea in: $SNTTA,0.008736,,,,195910.14*4A

2021-08-13T19:59:13.247Z,1628884753.247 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:59:13.609Z,1628884753.609 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:59:13.609Z,1628884753.609 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:59:13.609Z,1628884753.609 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:59:13.610Z,1628884753.610 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:59:14.013Z,1628884754.013 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
05B,000,0030A,187,80,80,AB,FF
2021-08-13T19:59:14.013Z,1628884754.013 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:59:14.014Z,1628884754.014 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:59:14.015Z,1628884754.015 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:59:14.425Z,1628884754.425 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:59:14.821Z,1628884754.821 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,082,000,00320,186,80,80,9E,FF
2021-08-13T19:59:14.821Z,1628884754.821 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:59:15.265Z,1628884755.265 [Micromodem](INFO): Nmea in: $SNTTA,0.009301,,,,195914.57*48

2021-08-13T19:59:15.337Z,1628884755.337 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): Detected possible detachment. Starting timer.
2021-08-13T19:59:17.678Z,1628884757.678 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:59:18.053Z,1628884758.053 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:59:18.053Z,1628884758.053 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:59:18.053Z,1628884758.053 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:59:18.054Z,1628884758.054 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:59:18.477Z,1628884758.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
082,000,00320,186,80,80,9E,FF
2021-08-13T19:59:18.477Z,1628884758.477 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:59:18.477Z,1628884758.477 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:59:18.479Z,1628884758.479 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:59:18.863Z,1628884758.863 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:59:19.273Z,1628884759.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0B3,000,00332,186,80,80,80,FF
2021-08-13T19:59:19.273Z,1628884759.273 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:59:19.697Z,1628884759.697 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195919.04*56

2021-08-13T19:59:22.107Z,1628884762.107 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:59:22.505Z,1628884762.505 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:59:22.505Z,1628884762.505 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:59:22.505Z,1628884762.505 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:59:22.506Z,1628884762.506 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:59:22.912Z,1628884762.912 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0B3,000,00332,186,80,80,80,FF
2021-08-13T19:59:22.912Z,1628884762.912 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:59:22.912Z,1628884762.912 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:59:22.914Z,1628884762.914 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:59:23.324Z,1628884763.324 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:59:23.709Z,1628884763.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,113,000,00342,186,80,80,85,FF
2021-08-13T19:59:23.710Z,1628884763.710 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:59:24.157Z,1628884764.157 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195923.47*58

2021-08-13T19:59:26.583Z,1628884766.583 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:59:26.941Z,1628884766.941 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:59:26.941Z,1628884766.941 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:59:26.941Z,1628884766.941 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:59:26.942Z,1628884766.942 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:59:27.377Z,1628884767.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
113,000,00342,186,80,80,85,FF
2021-08-13T19:59:27.378Z,1628884767.378 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:59:27.379Z,1628884767.379 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:59:27.392Z,1628884767.392 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:59:27.763Z,1628884767.763 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:59:28.161Z,1628884768.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1A7,000,0035E,186,80,80,7B,FF
2021-08-13T19:59:28.162Z,1628884768.162 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:59:28.582Z,1628884768.582 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195927.95*53

2021-08-13T19:59:31.021Z,1628884771.021 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:59:31.385Z,1628884771.385 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:59:31.386Z,1628884771.386 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:59:31.386Z,1628884771.386 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:59:31.387Z,1628884771.387 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:59:31.793Z,1628884771.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1A7,000,0035E,186,80,80,7B,FF
2021-08-13T19:59:31.793Z,1628884771.793 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:59:31.793Z,1628884771.793 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:59:31.795Z,1628884771.795 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:59:32.211Z,1628884772.211 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:59:32.613Z,1628884772.613 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1D9,000,00361,186,80,80,A6,FF
2021-08-13T19:59:32.613Z,1628884772.613 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:59:33.064Z,1628884773.064 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195932.35*5D

2021-08-13T19:59:35.496Z,1628884775.496 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): Detached at range: 14.40 m. Transitioning DDM to standby.
2021-08-13T19:59:35.497Z,1628884775.497 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:59:35.829Z,1628884775.829 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:59:35.829Z,1628884775.829 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:59:35.830Z,1628884775.830 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:59:35.831Z,1628884775.831 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:59:36.238Z,1628884776.238 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1D9,000,00361,186,80,80,A6,FF
2021-08-13T19:59:36.238Z,1628884776.238 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:59:36.238Z,1628884776.238 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:59:36.241Z,1628884776.241 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:59:36.640Z,1628884776.640 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:59:37.062Z,1628884777.062 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,187,000,0037D,185,80,80,65,FF
2021-08-13T19:59:37.063Z,1628884777.063 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:59:37.501Z,1628884777.501 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195936.80*57

2021-08-13T19:59:37.920Z,1628884777.920 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): DDM at standby.
2021-08-13T19:59:38.281Z,1628884778.281 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](IMPORTANT): Undocking sequence complete.
2021-08-13T19:59:38.281Z,1628884778.281 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock] Stopped
2021-08-13T19:59:38.281Z,1628884778.281 [lineCaptureDepth:Lap:Docked:Detach](INFO): Completed lineCaptureDepth:Lap:Docked:Detach
2021-08-13T19:59:38.281Z,1628884778.281 [lineCaptureDepth:Lap:Docked:Detach] Stopped
2021-08-13T19:59:38.282Z,1628884778.282 [lineCaptureDepth:Lap:Docked:Detach](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap:Docked:Detach
2021-08-13T19:59:38.282Z,1628884778.282 [lineCaptureDepth:Lap:Docked](INFO): Completed lineCaptureDepth:Lap:Docked
2021-08-13T19:59:38.282Z,1628884778.282 [lineCaptureDepth:Lap:Docked] Stopped
2021-08-13T19:59:38.282Z,1628884778.282 [lineCaptureDepth:Lap:Docked](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap:Docked
2021-08-13T19:59:38.282Z,1628884778.282 [lineCaptureDepth:Lap](INFO): Completed lineCaptureDepth:Lap
2021-08-13T19:59:38.282Z,1628884778.282 [lineCaptureDepth:Lap] Stopped
2021-08-13T19:59:38.282Z,1628884778.282 [lineCaptureDepth:Lap](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap
2021-08-13T19:59:38.283Z,1628884778.283 [lineCaptureDepth:Lap](INFO): Running loop #2
2021-08-13T19:59:38.283Z,1628884778.283 [lineCaptureDepth:Lap] Running Loop=2
2021-08-13T19:59:38.283Z,1628884778.283 [lineCaptureDepth:Lap](DEBUG): Aggregate::initialize lineCaptureDepth:Lap
2021-08-13T19:59:38.283Z,1628884778.283 [lineCaptureDepth:Lap:A] Running Loop=1
2021-08-13T19:59:38.681Z,1628884778.681 [lineCaptureDepth:Lap:A] Stopped
2021-08-13T19:59:38.681Z,1628884778.681 [lineCaptureDepth:Lap:B] Running Loop=1
2021-08-13T19:59:38.681Z,1628884778.681 [lineCaptureDepth:Lap:B](DEBUG): Aggregate::initialize lineCaptureDepth:Lap:B
2021-08-13T19:59:39.144Z,1628884779.144 [lineCaptureDepth:LineCapture] Running Loop=1
2021-08-13T19:59:39.144Z,1628884779.144 [lineCaptureDepth:LineCapture](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture
2021-08-13T19:59:39.145Z,1628884779.145 [lineCaptureDepth:LineCapture:StandardEnvelopes] Running Loop=1
2021-08-13T19:59:39.145Z,1628884779.145 [lineCaptureDepth:LineCapture:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:StandardEnvelopes
2021-08-13T19:59:39.145Z,1628884779.145 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-08-13T19:59:39.145Z,1628884779.145 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2021-08-13T19:59:39.145Z,1628884779.145 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-08-13T19:59:39.145Z,1628884779.145 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2021-08-13T19:59:39.145Z,1628884779.145 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-08-13T19:59:39.145Z,1628884779.145 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2021-08-13T19:59:39.146Z,1628884779.146 [lineCaptureDepth:LineCapture:G] Running Loop=1
2021-08-13T19:59:39.146Z,1628884779.146 [lineCaptureDepth:LineCapture:H] Running Loop=1
2021-08-13T19:59:39.146Z,1628884779.146 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-08-13T19:59:39.146Z,1628884779.146 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-13T19:59:39.146Z,1628884779.146 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-08-13T19:59:39.146Z,1628884779.146 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-08-13T19:59:39.146Z,1628884779.146 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2021-08-13T19:59:39.146Z,1628884779.146 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-08-13T19:59:39.146Z,1628884779.146 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-08-13T19:59:39.146Z,1628884779.146 [lineCaptureDepth:LineCapture:A] Running Loop=1
2021-08-13T19:59:39.147Z,1628884779.147 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2021-08-13T19:59:39.147Z,1628884779.147 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-13T19:59:39.147Z,1628884779.147 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2021-08-13T19:59:39.147Z,1628884779.147 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2021-08-13T19:59:39.147Z,1628884779.147 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2021-08-13T19:59:39.147Z,1628884779.147 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2021-08-13T19:59:39.147Z,1628884779.147 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-08-13T19:59:39.149Z,1628884779.149 [lineCaptureDepth:LineCapture:A] Stopped
2021-08-13T19:59:39.149Z,1628884779.149 [lineCaptureDepth:LineCapture:B] Running Loop=1
2021-08-13T19:59:39.467Z,1628884779.467 [lineCaptureDepth:LineCapture:B] Stopped
2021-08-13T19:59:39.467Z,1628884779.467 [lineCaptureDepth:LineCapture:D] Running Loop=1
2021-08-13T19:59:39.898Z,1628884779.898 [lineCaptureDepth:LineCapture:D] Stopped
2021-08-13T19:59:39.898Z,1628884779.898 [lineCaptureDepth:LineCapture:E] Running Loop=1
2021-08-13T19:59:39.904Z,1628884779.904 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:59:40.241Z,1628884780.241 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:59:40.241Z,1628884780.241 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:59:40.241Z,1628884780.241 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:59:40.242Z,1628884780.242 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:59:40.268Z,1628884780.268 [lineCaptureDepth:LineCapture:E] Stopped
2021-08-13T19:59:40.268Z,1628884780.268 [lineCaptureDepth:LineCapture:F] Running Loop=1
2021-08-13T19:59:40.661Z,1628884780.661 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
187,000,0037D,185,80,80,65,FF
2021-08-13T19:59:40.661Z,1628884780.661 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:59:40.661Z,1628884780.661 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:59:40.663Z,1628884780.663 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:59:40.734Z,1628884780.734 [lineCaptureDepth:LineCapture:F] Stopped
2021-08-13T19:59:40.734Z,1628884780.734 [lineCaptureDepth:LineCapture:HomingSequence] Running Loop=1
2021-08-13T19:59:40.735Z,1628884780.735 [lineCaptureDepth:LineCapture:HomingSequence](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence
2021-08-13T19:59:40.735Z,1628884780.735 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2021-08-13T19:59:40.735Z,1628884780.735 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-08-13T19:59:40.735Z,1628884780.735 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide] Running Loop=1
2021-08-13T19:59:40.740Z,1628884780.740 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-08-13T19:59:40.741Z,1628884780.741 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Running Loop=1
2021-08-13T19:59:40.741Z,1628884780.741 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize.
2021-08-13T19:59:40.741Z,1628884780.741 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2021-08-13T19:59:40.742Z,1628884780.742 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2021-08-13T19:59:40.742Z,1628884780.742 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-08-13T19:59:40.743Z,1628884780.743 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2021-08-13T19:59:40.743Z,1628884780.743 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-08-13T19:59:40.743Z,1628884780.743 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2021-08-13T19:59:40.743Z,1628884780.743 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2021-08-13T19:59:40.749Z,1628884780.749 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2021-08-13T19:59:40.749Z,1628884780.749 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2021-08-13T19:59:40.749Z,1628884780.749 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2021-08-13T19:59:40.750Z,1628884780.750 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2021-08-13T19:59:40.750Z,1628884780.750 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-13T19:59:40.750Z,1628884780.750 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2021-08-13T19:59:40.751Z,1628884780.751 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-13T19:59:40.751Z,1628884780.751 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1
2021-08-13T19:59:40.751Z,1628884780.751 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Initialize.
2021-08-13T19:59:40.751Z,1628884780.751 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2021-08-13T19:59:40.760Z,1628884780.760 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2021-08-13T19:59:40.760Z,1628884780.760 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2021-08-13T19:59:41.100Z,1628884781.100 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:59:41.186Z,1628884781.186 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Stopped
2021-08-13T19:59:41.186Z,1628884781.186 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-13T19:59:41.186Z,1628884781.186 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2021-08-13T19:59:41.186Z,1628884781.186 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-13T19:59:41.186Z,1628884781.186 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2021-08-13T19:59:41.186Z,1628884781.186 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Stopped
2021-08-13T19:59:41.186Z,1628884781.186 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Stopped
2021-08-13T19:59:41.186Z,1628884781.186 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2021-08-13T19:59:41.186Z,1628884781.186 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2021-08-13T19:59:41.186Z,1628884781.186 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-08-13T19:59:41.187Z,1628884781.187 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2021-08-13T19:59:41.187Z,1628884781.187 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-08-13T19:59:41.187Z,1628884781.187 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2021-08-13T19:59:41.187Z,1628884781.187 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2021-08-13T19:59:41.187Z,1628884781.187 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2021-08-13T19:59:41.187Z,1628884781.187 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2021-08-13T19:59:41.455Z,1628884781.455 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,203,000,00382,186,80,80,56,FF
2021-08-13T19:59:41.455Z,1628884781.455 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:59:41.993Z,1628884781.993 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195941.22*5F

2021-08-13T19:59:43.989Z,1628884783.989 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detaching from dock.
2021-08-13T19:59:43.991Z,1628884783.991 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:59:44.309Z,1628884784.309 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:59:44.309Z,1628884784.309 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:59:44.309Z,1628884784.309 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:59:44.310Z,1628884784.310 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:59:44.393Z,1628884784.393 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Engaging thruster for 10.0 seconds (max) to disengage.
2021-08-13T19:59:44.717Z,1628884784.717 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
203,000,00382,186,80,80,56,FF
2021-08-13T19:59:44.717Z,1628884784.717 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:59:44.717Z,1628884784.717 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:59:44.719Z,1628884784.719 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:59:44.815Z,1628884784.815 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Thruster off.
2021-08-13T19:59:45.136Z,1628884785.136 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:59:45.242Z,1628884785.242 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detected possible detachment. Starting timer.
2021-08-13T19:59:45.537Z,1628884785.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,295,000,0039D,189,80,80,BE,FF
2021-08-13T19:59:45.538Z,1628884785.538 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:59:45.973Z,1628884785.973 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195945.28*51

2021-08-13T19:59:48.379Z,1628884788.379 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:59:48.766Z,1628884788.766 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:59:48.766Z,1628884788.766 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:59:48.768Z,1628884788.768 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:59:48.784Z,1628884788.784 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:59:49.161Z,1628884789.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
295,000,0039D,189,80,80,BE,FF
2021-08-13T19:59:49.161Z,1628884789.161 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:59:49.162Z,1628884789.162 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:59:49.163Z,1628884789.163 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:59:49.592Z,1628884789.592 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:59:49.969Z,1628884789.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2FA,000,003A7,189,80,80,A8,FF
2021-08-13T19:59:49.969Z,1628884789.969 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:59:50.401Z,1628884790.401 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195949.72*52

2021-08-13T19:59:52.813Z,1628884792.813 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:59:53.197Z,1628884793.197 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:59:53.197Z,1628884793.197 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:59:53.197Z,1628884793.197 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:59:53.198Z,1628884793.198 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:59:53.613Z,1628884793.613 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2FA,000,003A7,189,80,80,A8,FF
2021-08-13T19:59:53.614Z,1628884793.614 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:59:53.614Z,1628884793.614 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:59:53.615Z,1628884793.615 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:59:54.013Z,1628884794.013 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:59:54.421Z,1628884794.421 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,319,000,003B6,189,80,80,93,FF
2021-08-13T19:59:54.422Z,1628884794.422 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:59:57.277Z,1628884797.277 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T19:59:57.658Z,1628884797.658 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T19:59:57.658Z,1628884797.658 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T19:59:57.658Z,1628884797.658 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T19:59:57.659Z,1628884797.659 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T19:59:58.049Z,1628884798.049 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
319,000,003B6,189,80,80,93,FF
2021-08-13T19:59:58.049Z,1628884798.049 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T19:59:58.049Z,1628884798.049 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T19:59:58.051Z,1628884798.051 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T19:59:58.489Z,1628884798.489 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T19:59:58.870Z,1628884798.870 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2FE,000,003C7,188,80,80,7A,FF
2021-08-13T19:59:58.870Z,1628884798.870 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T19:59:59.285Z,1628884799.285 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195958.61*50

2021-08-13T20:00:01.710Z,1628884801.710 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:00:02.097Z,1628884802.097 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:00:02.097Z,1628884802.097 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:00:02.097Z,1628884802.097 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:00:02.098Z,1628884802.098 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:00:02.497Z,1628884802.497 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2FE,000,003C7,188,80,80,7A,FF
2021-08-13T20:00:02.497Z,1628884802.497 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:00:02.498Z,1628884802.498 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:00:02.499Z,1628884802.499 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:00:02.909Z,1628884802.909 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:00:03.301Z,1628884803.301 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2EC,000,003D7,189,80,80,A9,FF
2021-08-13T20:00:03.301Z,1628884803.301 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:00:03.745Z,1628884803.745 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200003.07*58

2021-08-13T20:00:05.337Z,1628884805.337 [PowerOnly](INFO): Powering down loadControl
2021-08-13T20:00:05.394Z,1628884805.394 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached at range: 21.48 m. Transitioning DDM to standby.
2021-08-13T20:00:06.166Z,1628884806.166 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:00:06.541Z,1628884806.541 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:00:06.541Z,1628884806.541 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:00:06.541Z,1628884806.541 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:00:06.542Z,1628884806.542 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:00:06.934Z,1628884806.934 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2EC,000,003D7,189,80,80,A9,FF
2021-08-13T20:00:06.935Z,1628884806.935 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:00:06.935Z,1628884806.935 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:00:06.937Z,1628884806.937 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:00:07.349Z,1628884807.349 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:00:07.805Z,1628884807.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,320,000,003E5,189,80,80,93,FF
2021-08-13T20:00:07.805Z,1628884807.805 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:00:07.895Z,1628884807.895 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): DDM at standby.
2021-08-13T20:00:08.189Z,1628884808.189 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200007.50*5E

2021-08-13T20:00:08.217Z,1628884808.217 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](IMPORTANT): Undocking sequence complete.
2021-08-13T20:00:08.217Z,1628884808.217 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Stopped
2021-08-13T20:00:08.217Z,1628884808.217 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B] Running Loop=1
2021-08-13T20:00:08.585Z,1628884808.585 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B](INFO): Transitioning to midcourse guidance.
2021-08-13T20:00:08.585Z,1628884808.585 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B] Stopped
2021-08-13T20:00:08.586Z,1628884808.586 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:C] Running Loop=1
2021-08-13T20:00:09.010Z,1628884809.010 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:C] Stopped
2021-08-13T20:00:09.010Z,1628884809.010 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-08-13T20:00:09.010Z,1628884809.010 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide] Stopped
2021-08-13T20:00:09.010Z,1628884809.010 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-08-13T20:00:09.010Z,1628884809.010 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-08-13T20:00:09.388Z,1628884809.388 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2021-08-13T20:00:09.388Z,1628884809.388 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-08-13T20:00:09.388Z,1628884809.388 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2021-08-13T20:00:09.388Z,1628884809.388 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-08-13T20:00:09.388Z,1628884809.388 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2021-08-13T20:00:09.388Z,1628884809.388 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2021-08-13T20:00:09.389Z,1628884809.389 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2021-08-13T20:00:09.389Z,1628884809.389 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2021-08-13T20:00:09.389Z,1628884809.389 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2021-08-13T20:00:09.390Z,1628884809.390 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Running Loop=1
2021-08-13T20:00:09.390Z,1628884809.390 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-08-13T20:00:09.390Z,1628884809.390 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Running Loop=1
2021-08-13T20:00:09.391Z,1628884809.391 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A](INFO): Transitioning to terminal guidance at range 22.320000 m 
2021-08-13T20:00:09.391Z,1628884809.391 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Stopped
2021-08-13T20:00:09.391Z,1628884809.391 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Running Loop=1
2021-08-13T20:00:09.392Z,1628884809.392 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A](INFO): Navigating to dock waypoint ( 41.552317 arcdeg , -70.708600 arcdeg )
2021-08-13T20:00:09.392Z,1628884809.392 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2021-08-13T20:00:09.392Z,1628884809.392 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Running Loop=1
2021-08-13T20:00:09.392Z,1628884809.392 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Initialize WaypointComponent.
2021-08-13T20:00:09.801Z,1628884809.801 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Stopped
2021-08-13T20:00:09.801Z,1628884809.801 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-08-13T20:00:09.801Z,1628884809.801 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Stopped
2021-08-13T20:00:09.802Z,1628884809.802 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-08-13T20:00:09.802Z,1628884809.802 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-08-13T20:00:09.802Z,1628884809.802 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-13T20:00:09.802Z,1628884809.802 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-08-13T20:00:09.802Z,1628884809.802 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-08-13T20:00:09.802Z,1628884809.802 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2021-08-13T20:00:09.802Z,1628884809.802 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-08-13T20:00:09.802Z,1628884809.802 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-08-13T20:00:10.177Z,1628884810.177 [lineCaptureDepth:UpdateNumPings_Terminal] Running Loop=1
2021-08-13T20:00:10.177Z,1628884810.177 [lineCaptureDepth:UpdateNumPings_Terminal](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal
2021-08-13T20:00:10.177Z,1628884810.177 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-13T20:00:10.177Z,1628884810.177 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T20:00:10.178Z,1628884810.178 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-13T20:00:10.178Z,1628884810.178 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-13T20:00:10.178Z,1628884810.178 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-13T20:00:10.178Z,1628884810.178 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-13T20:00:10.179Z,1628884810.179 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2021-08-13T20:00:10.179Z,1628884810.179 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-13T20:00:10.179Z,1628884810.179 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2021-08-13T20:00:10.179Z,1628884810.179 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-13T20:00:10.180Z,1628884810.180 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1
2021-08-13T20:00:10.180Z,1628884810.180 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Initialize.
2021-08-13T20:00:10.180Z,1628884810.180 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2021-08-13T20:00:10.180Z,1628884810.180 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2021-08-13T20:00:10.180Z,1628884810.180 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2021-08-13T20:00:10.181Z,1628884810.181 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A](INFO): Terminal guidance.
2021-08-13T20:00:10.182Z,1628884810.182 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2021-08-13T20:00:10.182Z,1628884810.182 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture] Running Loop=1
2021-08-13T20:00:10.182Z,1628884810.182 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initialize.
2021-08-13T20:00:10.182Z,1628884810.182 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initializing internal variables to default values.
2021-08-13T20:00:10.182Z,1628884810.182 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2021-08-13T20:00:10.183Z,1628884810.183 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Rollout timeout set to 900.00 sec.
2021-08-13T20:00:10.183Z,1628884810.183 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-13T20:00:10.183Z,1628884810.183 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2021-08-13T20:00:10.183Z,1628884810.183 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-08-13T20:00:10.184Z,1628884810.184 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2021-08-13T20:00:10.184Z,1628884810.184 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-08-13T20:00:10.184Z,1628884810.184 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2021-08-13T20:00:10.184Z,1628884810.184 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2021-08-13T20:00:10.184Z,1628884810.184 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2021-08-13T20:00:10.184Z,1628884810.184 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Stopped
2021-08-13T20:00:10.184Z,1628884810.184 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Uninitialize WaypointComponent.
2021-08-13T20:00:10.573Z,1628884810.573 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-13T20:00:10.574Z,1628884810.574 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T20:00:10.574Z,1628884810.574 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-13T20:00:10.574Z,1628884810.574 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T20:00:10.577Z,1628884810.577 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.320000 m, bearing: 61.726824 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-13T20:00:10.577Z,1628884810.577 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 22.32 m.
2021-08-13T20:00:10.578Z,1628884810.578 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 61.726824deg and heading rate command to 0 deg/s.
2021-08-13T20:00:10.582Z,1628884810.582 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:00:10.953Z,1628884810.953 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:00:10.953Z,1628884810.953 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:00:10.953Z,1628884810.953 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:00:10.954Z,1628884810.954 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:00:10.965Z,1628884810.965 [PowerOnly](INFO): Powering up loadControl
2021-08-13T20:00:11.465Z,1628884811.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
320,000,003E5,189,80,80,93,FF
2021-08-13T20:00:11.466Z,1628884811.466 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:00:11.466Z,1628884811.466 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:00:11.467Z,1628884811.467 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:00:12.069Z,1628884812.069 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:00:12.864Z,1628884812.864 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200012.03*5C

2021-08-13T20:00:13.322Z,1628884813.322 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:00:14.865Z,1628884814.865 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
5,189,80,80,93,FF
2021-08-13T20:00:14.866Z,1628884814.866 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
5,189,80,80,93,FF
2021-08-13T20:00:14.866Z,1628884814.866 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T20:00:16.121Z,1628884816.121 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:00:16.474Z,1628884816.474 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:00:16.474Z,1628884816.474 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:00:16.474Z,1628884816.474 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:00:16.475Z,1628884816.475 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:00:16.894Z,1628884816.894 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
5,189,80,80,93,FF
2021-08-13T20:00:16.894Z,1628884816.894 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:00:16.895Z,1628884816.895 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:00:16.897Z,1628884816.897 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:00:17.284Z,1628884817.284 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:00:17.690Z,1628884817.690 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,359,000,003FC,189,80,80,9C,FF
2021-08-13T20:00:17.691Z,1628884817.691 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:00:17.720Z,1628884817.720 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:00:18.121Z,1628884818.121 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200017.46*58

2021-08-13T20:00:18.171Z,1628884818.171 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.700001 m, bearing: 63.936561 deg, deltaT: 9.817136 s, approachRate: 0.140571 m/s, LOS rate: 0.225090 deg/s, posRepo size: 2
2021-08-13T20:00:18.176Z,1628884818.176 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 23.70 m.
2021-08-13T20:00:18.178Z,1628884818.178 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 23.700001 m,
      bearing: 63.936561 deg,
      approachRate: 0.140571 m/s,
      LOS rate: 0.225090 deg/s,
      cmd update: 0.675269 deg/s,
      cmd heading: 61.726824 deg,
      new cmd heading: 61.726824 deg.

2021-08-13T20:00:20.546Z,1628884820.546 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:00:20.930Z,1628884820.930 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:00:20.930Z,1628884820.930 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:00:20.931Z,1628884820.931 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:00:20.931Z,1628884820.931 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:00:21.345Z,1628884821.345 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
359,000,003FC,189,80,80,9C,FF
2021-08-13T20:00:21.345Z,1628884821.345 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:00:21.346Z,1628884821.346 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:00:21.347Z,1628884821.347 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:00:21.741Z,1628884821.741 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:00:22.535Z,1628884822.535 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200021.91*57

2021-08-13T20:00:23.411Z,1628884823.411 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:00:24.975Z,1628884824.975 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,189,80,80,9C,FF
2021-08-13T20:00:24.975Z,1628884824.975 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,189,80,80,9C,FF
2021-08-13T20:00:24.975Z,1628884824.975 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T20:00:26.216Z,1628884826.216 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:00:26.579Z,1628884826.579 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:00:26.579Z,1628884826.579 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:00:26.579Z,1628884826.579 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:00:26.581Z,1628884826.581 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:00:26.973Z,1628884826.973 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,189,80,80,9C,FF
2021-08-13T20:00:26.973Z,1628884826.973 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:00:26.973Z,1628884826.973 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:00:26.975Z,1628884826.975 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:00:27.385Z,1628884827.385 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:00:27.466Z,1628884827.466 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T20:00:27.777Z,1628884827.777 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2B2,000,003E0,189,80,80,8E,FF
2021-08-13T20:00:27.778Z,1628884827.778 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:00:27.818Z,1628884827.818 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:00:28.230Z,1628884828.230 [Micromodem](INFO): Nmea in: $SNTTA,0.014476,,,,200027.54*46

2021-08-13T20:00:28.281Z,1628884828.281 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.020000 m, bearing: 52.649526 deg, deltaT: 10.098269 s, approachRate: -0.166365 m/s, LOS rate: -1.117720 deg/s, posRepo size: 3
2021-08-13T20:00:28.282Z,1628884828.282 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 22.02 m.
2021-08-13T20:00:28.282Z,1628884828.282 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 22.02 m.
2021-08-13T20:00:28.282Z,1628884828.282 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-13T20:00:28.284Z,1628884828.284 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 22.020000 m,
      bearing: 52.649526 deg,
      approachRate: -0.166365 m/s,
      LOS rate: -1.117720 deg/s,
      cmd update: -3.353159 deg/s,
      cmd heading: 68.540652 deg,
      new cmd heading: 68.860454 deg.

2021-08-13T20:00:30.631Z,1628884830.631 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:00:31.028Z,1628884831.028 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:00:31.028Z,1628884831.028 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:00:31.029Z,1628884831.029 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:00:31.030Z,1628884831.030 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:00:31.417Z,1628884831.417 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2B2,000,003E0,189,80,80,8E,FF
2021-08-13T20:00:31.417Z,1628884831.417 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:00:31.417Z,1628884831.417 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:00:31.419Z,1628884831.419 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:00:31.913Z,1628884831.913 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:00:32.349Z,1628884832.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,171,000,003C7,185,80,80,6A,FF
2021-08-13T20:00:32.350Z,1628884832.350 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:00:32.408Z,1628884832.408 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:00:32.725Z,1628884832.725 [Micromodem](INFO): Nmea in: $SNTTA,0.030407,,,,200031.98*41

2021-08-13T20:00:32.760Z,1628884832.760 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.519997 m, bearing: 52.059490 deg, deltaT: 4.589979 s, approachRate: -0.326800 m/s, LOS rate: -0.128549 deg/s, posRepo size: 4
2021-08-13T20:00:32.762Z,1628884832.762 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 20.519997 m,
      bearing: 52.059490 deg,
      approachRate: -0.326800 m/s,
      LOS rate: -0.128549 deg/s,
      cmd update: -0.385646 deg/s,
      cmd heading: 53.150989 deg,
      new cmd heading: 51.934842 deg.

2021-08-13T20:00:35.224Z,1628884835.224 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:00:35.546Z,1628884835.546 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:00:35.546Z,1628884835.546 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:00:35.546Z,1628884835.546 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:00:35.547Z,1628884835.547 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:00:35.969Z,1628884835.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
171,000,003C7,185,80,80,6A,FF
2021-08-13T20:00:35.969Z,1628884835.969 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:00:35.969Z,1628884835.969 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:00:35.971Z,1628884835.971 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:00:36.371Z,1628884836.371 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:00:36.753Z,1628884836.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,050,000,003A5,184,80,80,87,FF
2021-08-13T20:00:36.753Z,1628884836.753 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:00:36.802Z,1628884836.802 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:00:37.176Z,1628884837.176 [Micromodem](INFO): Nmea in: $SNTTA,0.045916,,,,200036.53*4E

2021-08-13T20:00:37.271Z,1628884837.271 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.479998 m, bearing: 49.524926 deg, deltaT: 4.393518 s, approachRate: -0.464320 m/s, LOS rate: -0.576887 deg/s, posRepo size: 4
2021-08-13T20:00:37.277Z,1628884837.277 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.479998 m,
      bearing: 49.524926 deg,
      approachRate: -0.464320 m/s,
      LOS rate: -0.576887 deg/s,
      cmd update: -1.730661 deg/s,
      cmd heading: 51.454985 deg,
      new cmd heading: 51.271442 deg.

2021-08-13T20:00:39.641Z,1628884839.641 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:00:39.985Z,1628884839.985 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:00:39.985Z,1628884839.985 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:00:39.985Z,1628884839.985 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:00:39.986Z,1628884839.986 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:00:40.401Z,1628884840.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
050,000,003A5,184,80,80,87,FF
2021-08-13T20:00:40.401Z,1628884840.401 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:00:40.402Z,1628884840.402 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:00:40.412Z,1628884840.412 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:00:40.797Z,1628884840.797 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:00:41.201Z,1628884841.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F2E,000,00387,187,80,80,77,FF
2021-08-13T20:00:41.202Z,1628884841.202 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:00:41.300Z,1628884841.300 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:00:41.633Z,1628884841.633 [Micromodem](INFO): Nmea in: $SNTTA,0.036691,,,,200040.97*43

2021-08-13T20:00:41.674Z,1628884841.674 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.680002 m, bearing: 54.822899 deg, deltaT: 4.497810 s, approachRate: -0.400194 m/s, LOS rate: 1.177901 deg/s, posRepo size: 4
2021-08-13T20:00:41.684Z,1628884841.684 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.680002 m,
      bearing: 54.822899 deg,
      approachRate: -0.400194 m/s,
      LOS rate: 1.177901 deg/s,
      cmd update: 3.533702 deg/s,
      cmd heading: 43.663979 deg,
      new cmd heading: 43.011411 deg.

2021-08-13T20:00:44.067Z,1628884844.067 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:00:44.429Z,1628884844.429 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:00:44.429Z,1628884844.429 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:00:44.429Z,1628884844.429 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:00:44.430Z,1628884844.430 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:00:44.847Z,1628884844.847 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F2E,000,00387,187,80,80,77,FF
2021-08-13T20:00:44.847Z,1628884844.847 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:00:44.847Z,1628884844.847 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:00:44.850Z,1628884844.850 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:00:45.248Z,1628884845.248 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:00:45.646Z,1628884845.646 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EC7,000,00367,186,80,80,A8,FF
2021-08-13T20:00:45.646Z,1628884845.646 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:00:45.666Z,1628884845.666 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:00:46.076Z,1628884846.076 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200045.41*58

2021-08-13T20:00:46.150Z,1628884846.150 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.759997 m, bearing: 56.365976 deg, deltaT: 4.366023 s, approachRate: -0.439761 m/s, LOS rate: 0.353428 deg/s, posRepo size: 4
2021-08-13T20:00:46.156Z,1628884846.156 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.759997 m,
      bearing: 56.365976 deg,
      approachRate: -0.439761 m/s,
      LOS rate: 0.353428 deg/s,
      cmd update: 1.060285 deg/s,
      cmd heading: 59.092940 deg,
      new cmd heading: 60.815471 deg.

2021-08-13T20:00:48.488Z,1628884848.488 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:00:48.884Z,1628884848.884 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:00:48.884Z,1628884848.884 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:00:48.884Z,1628884848.884 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:00:48.885Z,1628884848.885 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:00:49.289Z,1628884849.289 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EC7,000,00367,186,80,80,A8,FF
2021-08-13T20:00:49.289Z,1628884849.289 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:00:49.289Z,1628884849.289 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:00:49.291Z,1628884849.291 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:00:49.745Z,1628884849.745 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:00:50.175Z,1628884850.175 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,008,000,00345,183,80,80,4E,FF
2021-08-13T20:00:50.175Z,1628884850.175 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:00:50.253Z,1628884850.253 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:00:50.553Z,1628884850.553 [Micromodem](INFO): Nmea in: $SNTTA,0.041719,,,,200049.85*48

2021-08-13T20:00:50.591Z,1628884850.591 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.719999 m, bearing: 53.022007 deg, deltaT: 4.586687 s, approachRate: -0.444765 m/s, LOS rate: -0.729060 deg/s, posRepo size: 4
2021-08-13T20:00:50.594Z,1628884850.594 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.719999 m,
      bearing: 53.022007 deg,
      approachRate: -0.444765 m/s,
      LOS rate: -0.729060 deg/s,
      cmd update: -2.187179 deg/s,
      cmd heading: 63.942536 deg,
      new cmd heading: 64.318743 deg.

2021-08-13T20:00:52.994Z,1628884852.994 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:00:53.373Z,1628884853.373 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:00:53.373Z,1628884853.373 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:00:53.373Z,1628884853.373 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:00:53.374Z,1628884853.374 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:00:53.773Z,1628884853.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
008,000,00345,183,80,80,4E,FF
2021-08-13T20:00:53.773Z,1628884853.773 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:00:53.773Z,1628884853.773 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:00:53.775Z,1628884853.775 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:00:54.177Z,1628884854.177 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:00:54.592Z,1628884854.592 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0D2,000,00324,186,80,80,81,FF
2021-08-13T20:00:54.594Z,1628884854.594 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:00:54.654Z,1628884854.654 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:00:55.045Z,1628884855.045 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200054.34*5A

2021-08-13T20:00:55.110Z,1628884855.110 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.739998 m, bearing: 52.745265 deg, deltaT: 4.401317 s, approachRate: -0.449866 m/s, LOS rate: -0.062877 deg/s, posRepo size: 4
2021-08-13T20:00:55.120Z,1628884855.120 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.739998 m,
      bearing: 52.745265 deg,
      approachRate: -0.449866 m/s,
      LOS rate: -0.062877 deg/s,
      cmd update: -0.188631 deg/s,
      cmd heading: 54.288356 deg,
      new cmd heading: 53.283669 deg.

2021-08-13T20:00:57.501Z,1628884857.501 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:00:57.813Z,1628884857.813 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:00:57.813Z,1628884857.813 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:00:57.813Z,1628884857.813 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:00:57.814Z,1628884857.814 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:00:58.217Z,1628884858.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0D2,000,00324,186,80,80,81,FF
2021-08-13T20:00:58.217Z,1628884858.217 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:00:58.217Z,1628884858.217 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:00:58.219Z,1628884858.219 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:00:58.623Z,1628884858.623 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:00:59.028Z,1628884859.028 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FDA,000,00304,185,80,80,95,FF
2021-08-13T20:00:59.030Z,1628884859.030 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:00:59.131Z,1628884859.131 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:00:59.470Z,1628884859.470 [Micromodem](INFO): Nmea in: $SNTTA,0.008487,,,,200058.78*43

2021-08-13T20:00:59.490Z,1628884859.490 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-13T20:00:59.534Z,1628884859.534 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.820000 m, bearing: 55.231949 deg, deltaT: 4.481859 s, approachRate: -0.428393 m/s, LOS rate: 0.554833 deg/s, posRepo size: 4
2021-08-13T20:00:59.541Z,1628884859.541 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.820000 m,
      bearing: 55.231949 deg,
      approachRate: -0.428393 m/s,
      LOS rate: 0.554833 deg/s,
      cmd update: 1.664500 deg/s,
      cmd heading: 53.444471 deg,
      new cmd heading: 53.367145 deg.

2021-08-13T20:01:01.898Z,1628884861.898 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:01:02.260Z,1628884862.260 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:01:02.260Z,1628884862.260 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:01:02.261Z,1628884862.261 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:01:02.261Z,1628884862.261 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:01:02.670Z,1628884862.670 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FDA,000,00304,185,80,80,95,FF
2021-08-13T20:01:02.670Z,1628884862.670 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:01:02.670Z,1628884862.670 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:01:02.672Z,1628884862.672 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:01:03.113Z,1628884863.113 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:01:03.478Z,1628884863.478 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F47,000,002EB,186,80,80,C3,FF
2021-08-13T20:01:03.478Z,1628884863.478 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:01:03.509Z,1628884863.509 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:01:03.925Z,1628884863.925 [Micromodem](INFO): Nmea in: $SNTTA,0.004664,,,,200103.23*41

2021-08-13T20:01:03.990Z,1628884863.990 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.320000 m, bearing: 57.598254 deg, deltaT: 4.373100 s, approachRate: -0.343006 m/s, LOS rate: 0.541105 deg/s, posRepo size: 4
2021-08-13T20:01:03.997Z,1628884863.997 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.320000 m,
      bearing: 57.598254 deg,
      approachRate: -0.343006 m/s,
      LOS rate: 0.541105 deg/s,
      cmd update: 1.623314 deg/s,
      cmd heading: 60.737211 deg,
      new cmd heading: 61.534997 deg.

2021-08-13T20:01:06.477Z,1628884866.477 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:01:06.709Z,1628884866.709 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:01:06.709Z,1628884866.709 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:01:06.709Z,1628884866.709 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:01:06.710Z,1628884866.710 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:01:07.137Z,1628884867.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F47,000,002EB,186,80,80,C3,FF
2021-08-13T20:01:07.137Z,1628884867.137 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:01:07.137Z,1628884867.137 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:01:07.139Z,1628884867.139 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:01:07.517Z,1628884867.517 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:01:07.925Z,1628884867.925 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF6,000,002CA,183,80,80,B3,FF
2021-08-13T20:01:07.925Z,1628884867.925 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:01:07.976Z,1628884867.976 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:01:08.357Z,1628884868.357 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200107.70*5D

2021-08-13T20:01:08.390Z,1628884868.390 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.339999 m, bearing: 59.306225 deg, deltaT: 4.467116 s, approachRate: -0.443239 m/s, LOS rate: 0.382343 deg/s, posRepo size: 4
2021-08-13T20:01:08.396Z,1628884868.396 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.339999 m,
      bearing: 59.306225 deg,
      approachRate: -0.443239 m/s,
      LOS rate: 0.382343 deg/s,
      cmd update: 1.147029 deg/s,
      cmd heading: 67.956002 deg,
      new cmd heading: 68.665613 deg.

2021-08-13T20:01:10.764Z,1628884870.764 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:01:11.152Z,1628884871.152 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:01:11.153Z,1628884871.153 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:01:11.153Z,1628884871.153 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:01:11.155Z,1628884871.155 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:01:11.553Z,1628884871.553 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF6,000,002CA,183,80,80,B3,FF
2021-08-13T20:01:11.553Z,1628884871.553 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:01:11.553Z,1628884871.553 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:01:11.555Z,1628884871.555 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:01:11.961Z,1628884871.961 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:01:12.354Z,1628884872.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF1,000,002B7,183,80,80,95,FF
2021-08-13T20:01:12.354Z,1628884872.354 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:01:12.417Z,1628884872.417 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:01:12.805Z,1628884872.805 [Micromodem](INFO): Nmea in: $SNTTA,0.023635,,,,200112.12*42

2021-08-13T20:01:12.827Z,1628884872.827 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.199998 m, bearing: 68.675093 deg, deltaT: 4.441401 s, approachRate: -0.256676 m/s, LOS rate: 2.109440 deg/s, posRepo size: 4
2021-08-13T20:01:12.830Z,1628884872.830 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.199998 m,
      bearing: 68.675093 deg,
      approachRate: -0.256676 m/s,
      LOS rate: 2.109440 deg/s,
      cmd update: 6.328320 deg/s,
      cmd heading: 73.069091 deg,
      new cmd heading: 73.547621 deg.

2021-08-13T20:01:15.236Z,1628884875.236 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:01:15.597Z,1628884875.597 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:01:15.598Z,1628884875.598 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:01:15.599Z,1628884875.599 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:01:15.600Z,1628884875.600 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:01:15.997Z,1628884875.997 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF1,000,002B7,183,80,80,95,FF
2021-08-13T20:01:15.997Z,1628884875.997 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:01:15.997Z,1628884875.997 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:01:15.999Z,1628884875.999 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:01:16.413Z,1628884876.413 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:01:16.803Z,1628884876.803 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2FA,000,002AE,18A,80,80,50,FF
2021-08-13T20:01:16.803Z,1628884876.803 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:01:16.867Z,1628884876.867 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:01:17.249Z,1628884877.249 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200116.57*58

2021-08-13T20:01:17.297Z,1628884877.297 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 3.660000 m, bearing: 36.516179 deg, deltaT: 4.454408 s, approachRate: -0.121228 m/s, LOS rate: -7.219571 deg/s, posRepo size: 4
2021-08-13T20:01:17.299Z,1628884877.299 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.660000 m,
      bearing: 36.516179 deg,
      approachRate: -0.121228 m/s,
      LOS rate: -7.219571 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 101.043953 deg,
      new cmd heading: 103.990982 deg.

2021-08-13T20:01:19.650Z,1628884879.650 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:01:20.076Z,1628884880.076 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:01:20.077Z,1628884880.077 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:01:20.077Z,1628884880.077 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:01:20.078Z,1628884880.078 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:01:20.453Z,1628884880.453 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2FA,000,002AE,18A,80,80,50,FF
2021-08-13T20:01:20.453Z,1628884880.453 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:01:20.453Z,1628884880.453 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:01:20.455Z,1628884880.455 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:01:20.854Z,1628884880.854 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:01:21.281Z,1628884881.281 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,01B,000,002B2,184,80,80,B4,FF
2021-08-13T20:01:21.281Z,1628884881.281 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:01:21.419Z,1628884881.419 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:01:21.681Z,1628884881.681 [Micromodem](INFO): Nmea in: $SNTTA,0.026268,,,,200121.02*4A

2021-08-13T20:01:21.712Z,1628884881.712 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 3.899999 m, bearing: 88.424203 deg, deltaT: 4.547290 s, approachRate: 0.052778 m/s, LOS rate: 11.415156 deg/s, posRepo size: 4
2021-08-13T20:01:21.714Z,1628884881.714 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.899999 m,
      bearing: 88.424203 deg,
      approachRate: 0.052778 m/s,
      LOS rate: 11.415156 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 46.032999 deg,
      new cmd heading: 42.475215 deg.

2021-08-13T20:01:24.109Z,1628884884.109 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:01:24.477Z,1628884884.477 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:01:24.477Z,1628884884.477 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:01:24.477Z,1628884884.477 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:01:24.478Z,1628884884.478 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:01:24.889Z,1628884884.889 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
01B,000,002B2,184,80,80,B4,FF
2021-08-13T20:01:24.889Z,1628884884.889 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:01:24.889Z,1628884884.889 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:01:24.891Z,1628884884.891 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:01:25.389Z,1628884885.389 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:01:25.777Z,1628884885.777 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F54,000,002B0,186,80,80,9B,FF
2021-08-13T20:01:25.778Z,1628884885.778 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:01:25.807Z,1628884885.807 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:01:26.189Z,1628884886.189 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200125.45*5B

2021-08-13T20:01:26.235Z,1628884886.235 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 3.779998 m, bearing: 100.666040 deg, deltaT: 4.387720 s, approachRate: -0.027349 m/s, LOS rate: 2.790022 deg/s, posRepo size: 4
2021-08-13T20:01:26.238Z,1628884886.238 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.779998 m,
      bearing: 100.666040 deg,
      approachRate: -0.027349 m/s,
      LOS rate: 2.790022 deg/s,
      cmd update: 8.370067 deg/s,
      cmd heading: 98.678500 deg,
      new cmd heading: 103.877944 deg.

2021-08-13T20:01:28.629Z,1628884888.629 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:01:29.007Z,1628884889.007 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:01:29.007Z,1628884889.007 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:01:29.008Z,1628884889.008 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:01:29.009Z,1628884889.009 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:01:29.415Z,1628884889.415 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F54,000,002B0,186,80,80,9B,FF
2021-08-13T20:01:29.415Z,1628884889.415 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:01:29.415Z,1628884889.415 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:01:29.421Z,1628884889.421 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:01:29.817Z,1628884889.817 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:01:30.225Z,1628884890.225 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F7D,000,002B0,187,80,80,9F,FF
2021-08-13T20:01:30.226Z,1628884890.226 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:01:30.296Z,1628884890.296 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:01:30.649Z,1628884890.649 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200129.99*56

2021-08-13T20:01:30.692Z,1628884890.692 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 3.779998 m, bearing: 97.027646 deg, deltaT: 4.489148 s, approachRate: 0.000000 m/s, LOS rate: -0.810487 deg/s, posRepo size: 4
2021-08-13T20:01:30.693Z,1628884890.693 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 3.78 m.
2021-08-13T20:01:30.695Z,1628884890.695 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.779998 m,
      bearing: 97.027646 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.810487 deg/s,
      cmd update: -2.431460 deg/s,
      cmd heading: 136.196171 deg,
      new cmd heading: 139.471420 deg.

2021-08-13T20:01:33.195Z,1628884893.195 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:01:33.449Z,1628884893.449 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:01:33.449Z,1628884893.449 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:01:33.449Z,1628884893.449 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:01:33.450Z,1628884893.450 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:01:33.862Z,1628884893.862 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F7D,000,002B0,187,80,80,9F,FF
2021-08-13T20:01:33.863Z,1628884893.863 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:01:33.863Z,1628884893.863 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:01:33.865Z,1628884893.865 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:01:34.260Z,1628884894.260 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:01:34.661Z,1628884894.661 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA9,000,002B2,184,80,80,AE,FF
2021-08-13T20:01:34.661Z,1628884894.661 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:01:34.683Z,1628884894.683 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:01:35.165Z,1628884895.165 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200134.43*5D

2021-08-13T20:01:35.243Z,1628884895.243 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 3.899999 m, bearing: 85.815569 deg, deltaT: 4.386736 s, approachRate: 0.027355 m/s, LOS rate: -2.555904 deg/s, posRepo size: 4
2021-08-13T20:01:35.248Z,1628884895.248 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](IMPORTANT): Docking sequence complete at range 3.90 m. Cable present.
2021-08-13T20:01:35.248Z,1628884895.248 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture] Stopped
2021-08-13T20:01:35.248Z,1628884895.248 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2021-08-13T20:01:35.248Z,1628884895.248 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:G] Running Loop=1
2021-08-13T20:01:35.493Z,1628884895.493 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:G](INFO): Docked. Homing sequence complete.
2021-08-13T20:01:35.493Z,1628884895.493 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:G] Stopped
2021-08-13T20:01:35.493Z,1628884895.493 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:H] Running Loop=1
2021-08-13T20:01:35.922Z,1628884895.922 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:H] Stopped
2021-08-13T20:01:35.923Z,1628884895.923 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-13T20:01:35.923Z,1628884895.923 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2021-08-13T20:01:35.923Z,1628884895.923 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-13T20:01:35.923Z,1628884895.923 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Stopped
2021-08-13T20:01:35.923Z,1628884895.923 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Stopped
2021-08-13T20:01:35.923Z,1628884895.923 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2021-08-13T20:01:35.924Z,1628884895.924 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-13T20:01:36.294Z,1628884896.294 [lineCaptureDepth:UpdateNumPings_Terminal] Stopped
2021-08-13T20:01:36.295Z,1628884896.295 [lineCaptureDepth:UpdateNumPings_Terminal](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal
2021-08-13T20:01:36.295Z,1628884896.295 [lineCaptureDepth:UpdateNumPings_NotTerminal] Running Loop=1
2021-08-13T20:01:36.295Z,1628884896.295 [lineCaptureDepth:UpdateNumPings_NotTerminal](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_NotTerminal
2021-08-13T20:01:36.295Z,1628884896.295 [lineCaptureDepth:UpdateNumPings_NotTerminal:A] Running Loop=1
2021-08-13T20:01:36.296Z,1628884896.296 [lineCaptureDepth:UpdateNumPings_NotTerminal:A](INFO): No longer in Terminal. Resuming normal ranging with 1.000000 count pings.
2021-08-13T20:01:36.296Z,1628884896.296 [lineCaptureDepth:UpdateNumPings_NotTerminal:A] Stopped
2021-08-13T20:01:36.296Z,1628884896.296 [lineCaptureDepth:UpdateNumPings_NotTerminal:B] Running Loop=1
2021-08-13T20:01:36.296Z,1628884896.296 [lineCaptureDepth:LineCapture:HomingSequence] Stopped
2021-08-13T20:01:36.297Z,1628884896.297 [lineCaptureDepth:LineCapture:HomingSequence](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence
2021-08-13T20:01:36.297Z,1628884896.297 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Stopped
2021-08-13T20:01:36.297Z,1628884896.297 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-08-13T20:01:36.297Z,1628884896.297 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Stopped
2021-08-13T20:01:36.297Z,1628884896.297 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-13T20:01:36.297Z,1628884896.297 [lineCaptureDepth:LineCapture:K.Wait] Running Loop=1
2021-08-13T20:01:36.297Z,1628884896.297 [lineCaptureDepth:LineCapture:K.Wait](DEBUG): Initialize Wait Component.
2021-08-13T20:01:36.690Z,1628884896.690 [lineCaptureDepth:UpdateNumPings_NotTerminal:B] Stopped
2021-08-13T20:01:36.690Z,1628884896.690 [lineCaptureDepth:UpdateNumPings_NotTerminal](INFO): Completed lineCaptureDepth:UpdateNumPings_NotTerminal
2021-08-13T20:01:37.485Z,1628884897.485 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:01:37.881Z,1628884897.881 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:01:37.881Z,1628884897.881 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:01:37.882Z,1628884897.882 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:01:37.883Z,1628884897.883 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:01:38.277Z,1628884898.277 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA9,000,002B2,184,80,80,AE,FF
2021-08-13T20:01:38.277Z,1628884898.277 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:01:38.278Z,1628884898.278 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:01:38.279Z,1628884898.279 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:01:38.685Z,1628884898.685 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:01:39.098Z,1628884899.098 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,010,000,002B2,183,80,80,9A,FF
2021-08-13T20:01:39.099Z,1628884899.099 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:01:39.102Z,1628884899.102 [Micromodem](INFO): Nmea in: $SNTTA,0.018101,0.285571,,,200138.84*5F

2021-08-13T20:01:39.934Z,1628884899.934 [lineCaptureDepth:LineCapture:K.Wait](INFO): Done Waiting.
2021-08-13T20:01:39.934Z,1628884899.934 [lineCaptureDepth:LineCapture:K.Wait] Stopped
2021-08-13T20:01:39.934Z,1628884899.934 [lineCaptureDepth:LineCapture:K.Wait](DEBUG): Uninitialize Wait Component.
2021-08-13T20:01:39.934Z,1628884899.934 [lineCaptureDepth:LineCapture:L] Running Loop=1
2021-08-13T20:01:40.355Z,1628884900.355 [lineCaptureDepth:LineCapture:L](INFO): GuidanceMode 0.000000 count 
2021-08-13T20:01:40.360Z,1628884900.360 [lineCaptureDepth:LineCapture:L] Stopped
2021-08-13T20:01:40.362Z,1628884900.362 [lineCaptureDepth:LineCapture](INFO): Completed lineCaptureDepth:LineCapture
2021-08-13T20:01:40.362Z,1628884900.362 [lineCaptureDepth:LineCapture] Stopped
2021-08-13T20:01:40.362Z,1628884900.362 [lineCaptureDepth:LineCapture](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture
2021-08-13T20:01:40.362Z,1628884900.362 [lineCaptureDepth:LineCapture:StandardEnvelopes] Stopped
2021-08-13T20:01:40.362Z,1628884900.362 [lineCaptureDepth:LineCapture:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:StandardEnvelopes
2021-08-13T20:01:40.363Z,1628884900.363 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2021-08-13T20:01:40.363Z,1628884900.363 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2021-08-13T20:01:40.363Z,1628884900.363 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Stopped
2021-08-13T20:01:40.363Z,1628884900.363 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2021-08-13T20:01:40.363Z,1628884900.363 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2021-08-13T20:01:40.363Z,1628884900.363 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2021-08-13T20:01:40.363Z,1628884900.363 [lineCaptureDepth:LineCapture:G] Stopped
2021-08-13T20:01:40.363Z,1628884900.363 [lineCaptureDepth:LineCapture:H] Stopped
2021-08-13T20:01:40.363Z,1628884900.363 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2021-08-13T20:01:40.363Z,1628884900.363 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-13T20:01:40.363Z,1628884900.363 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2021-08-13T20:01:40.363Z,1628884900.363 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2021-08-13T20:01:40.368Z,1628884900.368 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2021-08-13T20:01:40.368Z,1628884900.368 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2021-08-13T20:01:40.368Z,1628884900.368 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-08-13T20:01:40.733Z,1628884900.733 [lineCaptureDepth:Lap:B](INFO): Completed lineCaptureDepth:Lap:B
2021-08-13T20:01:40.733Z,1628884900.733 [lineCaptureDepth:Lap:B] Stopped
2021-08-13T20:01:40.733Z,1628884900.733 [lineCaptureDepth:Lap:B](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap:B
2021-08-13T20:01:40.733Z,1628884900.733 [lineCaptureDepth:Lap:C] Running Loop=1
2021-08-13T20:01:41.156Z,1628884901.156 [lineCaptureDepth:Lap:C] Stopped
2021-08-13T20:01:41.156Z,1628884901.156 [lineCaptureDepth:Lap:D] Running Loop=1
2021-08-13T20:01:41.555Z,1628884901.555 [lineCaptureDepth:Lap:D](INFO): Mode 0.000000 count 
2021-08-13T20:01:41.555Z,1628884901.555 [lineCaptureDepth:Lap:D] Stopped
2021-08-13T20:01:41.555Z,1628884901.555 [lineCaptureDepth:Lap:Docked] Running Loop=1
2021-08-13T20:01:41.555Z,1628884901.555 [lineCaptureDepth:Lap:Docked](DEBUG): Aggregate::initialize lineCaptureDepth:Lap:Docked
2021-08-13T20:01:41.556Z,1628884901.556 [lineCaptureDepth:Lap:Docked:A] Running Loop=1
2021-08-13T20:01:41.935Z,1628884901.935 [lineCaptureDepth:Lap:Docked:A](INFO): Waiting on dock for 5.000000 min 
2021-08-13T20:01:41.935Z,1628884901.935 [lineCaptureDepth:Lap:Docked:A] Stopped
2021-08-13T20:01:41.935Z,1628884901.935 [lineCaptureDepth:Lap:Docked:Docked.Docked] Running Loop=1
2021-08-13T20:01:41.935Z,1628884901.935 [lineCaptureDepth:Lap:Docked:Docked.Docked](DEBUG): Initialize.
2021-08-13T20:01:41.935Z,1628884901.935 [lineCaptureDepth:Lap:Docked:Docked.Docked](DEBUG): Initializing internal variables to default values.
2021-08-13T20:01:41.936Z,1628884901.936 [lineCaptureDepth:Lap:Docked:Docked.Docked](INFO): Maintaining depth of 6.000000 m.
2021-08-13T20:01:41.937Z,1628884901.937 [lineCaptureDepth:Lap:Docked:Docked.Docked](INFO): Maintaining pitch angle of 20.000000 degree.
2021-08-13T20:01:41.937Z,1628884901.937 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:01:42.321Z,1628884902.321 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:01:42.321Z,1628884902.321 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:01:42.321Z,1628884902.321 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:01:42.322Z,1628884902.322 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:01:42.725Z,1628884902.725 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
010,000,002B2,183,80,80,9A,FF
2021-08-13T20:01:42.725Z,1628884902.725 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:01:42.726Z,1628884902.726 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:01:42.727Z,1628884902.727 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:01:43.322Z,1628884903.322 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E7F,000,002B1,183,80,80,9A,FF
2021-08-13T20:01:43.322Z,1628884903.322 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:01:43.329Z,1628884903.329 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:01:43.997Z,1628884903.997 [Micromodem](INFO): Nmea in: $SNTTA,0.043755,,,,200143.29*4F

2021-08-13T20:01:46.028Z,1628884906.028 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:01:46.493Z,1628884906.493 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:01:46.493Z,1628884906.493 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:01:46.494Z,1628884906.494 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:01:46.494Z,1628884906.494 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:01:46.802Z,1628884906.802 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E7F,000,002B1,183,80,80,9A,FF
2021-08-13T20:01:46.802Z,1628884906.802 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:01:46.802Z,1628884906.802 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:01:46.804Z,1628884906.804 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:01:47.204Z,1628884907.204 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:01:47.609Z,1628884907.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0D9,000,002B2,186,80,80,6E,FF
2021-08-13T20:01:47.610Z,1628884907.610 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:01:48.037Z,1628884908.037 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200147.37*5A

2021-08-13T20:01:48.866Z,1628884908.866 [PowerOnly](INFO): Powering down loadControl
2021-08-13T20:01:50.451Z,1628884910.451 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:01:50.845Z,1628884910.845 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:01:50.846Z,1628884910.846 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:01:50.846Z,1628884910.846 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:01:50.847Z,1628884910.847 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:01:51.251Z,1628884911.251 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0D9,000,002B2,186,80,80,6E,FF
2021-08-13T20:01:51.251Z,1628884911.251 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:01:51.251Z,1628884911.251 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:01:51.253Z,1628884911.253 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:01:51.648Z,1628884911.648 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:01:52.053Z,1628884912.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB2,000,002B2,187,80,80,8C,FF
2021-08-13T20:01:52.053Z,1628884912.053 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:01:52.489Z,1628884912.489 [Micromodem](INFO): Nmea in: $SNTTA,0.024365,,,,200151.82*4B

2021-08-13T20:01:54.872Z,1628884914.872 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:01:55.249Z,1628884915.249 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:01:55.249Z,1628884915.249 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:01:55.249Z,1628884915.249 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:01:55.250Z,1628884915.250 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:01:55.757Z,1628884915.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EB2,000,002B2,187,80,80,8C,FF
2021-08-13T20:01:55.757Z,1628884915.757 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:01:55.758Z,1628884915.758 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:01:55.759Z,1628884915.759 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:01:56.096Z,1628884916.096 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:01:56.489Z,1628884916.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E66,000,002AE,186,80,80,8A,FF
2021-08-13T20:01:56.490Z,1628884916.490 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:01:57.313Z,1628884917.313 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200156.32*5F

2021-08-13T20:01:59.426Z,1628884919.426 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:01:59.725Z,1628884919.725 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:01:59.725Z,1628884919.725 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:01:59.725Z,1628884919.725 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:01:59.726Z,1628884919.726 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:02:00.134Z,1628884920.134 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E66,000,002AE,186,80,80,8A,FF
2021-08-13T20:02:00.135Z,1628884920.135 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:02:00.135Z,1628884920.135 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:02:00.136Z,1628884920.136 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:02:00.537Z,1628884920.537 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:02:00.941Z,1628884920.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F2F,000,002AC,186,80,80,93,FF
2021-08-13T20:02:00.941Z,1628884920.941 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:02:01.366Z,1628884921.366 [Micromodem](INFO): Nmea in: $SNTTA,0.004353,0.397338,,,200200.70*5D

2021-08-13T20:02:03.783Z,1628884923.783 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:02:04.141Z,1628884924.141 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:02:04.141Z,1628884924.141 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:02:04.141Z,1628884924.141 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:02:04.142Z,1628884924.142 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:02:04.573Z,1628884924.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F2F,000,002AC,186,80,80,93,FF
2021-08-13T20:02:04.573Z,1628884924.573 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:02:04.573Z,1628884924.573 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:02:04.575Z,1628884924.575 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:02:04.959Z,1628884924.959 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:02:05.380Z,1628884925.380 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F2B,000,002AD,187,80,80,83,FF
2021-08-13T20:02:05.380Z,1628884925.380 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:02:05.885Z,1628884925.885 [Micromodem](INFO): Nmea in: $SNTTA,0.033505,,,,200205.14*40

2021-08-13T20:02:08.227Z,1628884928.227 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:02:08.613Z,1628884928.613 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:02:08.613Z,1628884928.613 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:02:08.613Z,1628884928.613 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:02:08.614Z,1628884928.614 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:02:09.036Z,1628884929.036 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F2B,000,002AD,187,80,80,83,FF
2021-08-13T20:02:09.037Z,1628884929.037 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:02:09.037Z,1628884929.037 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:02:09.047Z,1628884929.047 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:02:09.425Z,1628884929.425 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:02:09.825Z,1628884929.825 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F2B,000,002AA,186,80,80,8D,FF
2021-08-13T20:02:09.826Z,1628884929.826 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:02:10.257Z,1628884930.257 [Micromodem](INFO): Nmea in: $SNTTA,0.019961,,,,200209.61*48

2021-08-13T20:02:12.698Z,1628884932.698 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:02:13.094Z,1628884933.094 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:02:13.094Z,1628884933.094 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:02:13.094Z,1628884933.094 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:02:13.095Z,1628884933.095 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:02:13.476Z,1628884933.476 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F2B,000,002AA,186,80,80,8D,FF
2021-08-13T20:02:13.477Z,1628884933.477 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:02:13.477Z,1628884933.477 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:02:13.478Z,1628884933.478 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:02:13.892Z,1628884933.892 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:02:14.253Z,1628884934.253 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF2,000,002AA,186,80,80,8D,FF
2021-08-13T20:02:14.253Z,1628884934.253 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:02:14.705Z,1628884934.705 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200214.05*5E

2021-08-13T20:02:17.173Z,1628884937.173 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:02:17.525Z,1628884937.525 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:02:17.525Z,1628884937.525 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:02:17.525Z,1628884937.525 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:02:17.526Z,1628884937.526 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:02:17.913Z,1628884937.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF2,000,002AA,186,80,80,8D,FF
2021-08-13T20:02:17.913Z,1628884937.913 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:02:17.913Z,1628884937.913 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:02:17.915Z,1628884937.915 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:02:18.317Z,1628884938.317 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:02:18.717Z,1628884938.717 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D80,000,002A7,189,80,80,7B,FF
2021-08-13T20:02:18.718Z,1628884938.718 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:02:19.146Z,1628884939.146 [Micromodem](INFO): Nmea in: $SNTTA,0.467361,0.069617,,,200218.48*55

2021-08-13T20:02:21.585Z,1628884941.585 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:02:21.957Z,1628884941.957 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:02:21.957Z,1628884941.957 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:02:21.957Z,1628884941.957 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:02:21.958Z,1628884941.958 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:02:22.360Z,1628884942.360 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D80,000,002A7,189,80,80,7B,FF
2021-08-13T20:02:22.360Z,1628884942.360 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:02:22.361Z,1628884942.361 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:02:22.362Z,1628884942.362 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:02:22.767Z,1628884942.767 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:02:23.165Z,1628884943.165 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E13,000,002A3,187,80,80,84,FF
2021-08-13T20:02:23.166Z,1628884943.166 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:02:23.585Z,1628884943.585 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200222.93*54

2021-08-13T20:02:26.083Z,1628884946.083 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:02:26.397Z,1628884946.397 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:02:26.397Z,1628884946.397 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:02:26.397Z,1628884946.397 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:02:26.398Z,1628884946.398 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:02:26.811Z,1628884946.811 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E13,000,002A3,187,80,80,84,FF
2021-08-13T20:02:26.811Z,1628884946.811 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:02:26.811Z,1628884946.811 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:02:26.813Z,1628884946.813 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:02:27.208Z,1628884947.208 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:02:27.610Z,1628884947.610 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E07,000,0029E,186,80,80,7D,FF
2021-08-13T20:02:27.610Z,1628884947.610 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:02:28.029Z,1628884948.029 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200227.38*50

2021-08-13T20:02:30.446Z,1628884950.446 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:02:30.834Z,1628884950.834 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:02:30.835Z,1628884950.835 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:02:30.835Z,1628884950.835 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:02:30.836Z,1628884950.836 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:02:31.246Z,1628884951.246 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E07,000,0029E,186,80,80,7D,FF
2021-08-13T20:02:31.246Z,1628884951.246 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:02:31.246Z,1628884951.246 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:02:31.248Z,1628884951.248 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:02:31.647Z,1628884951.647 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:02:32.045Z,1628884952.045 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB5,000,002A0,187,80,80,82,FF
2021-08-13T20:02:32.046Z,1628884952.046 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:02:32.506Z,1628884952.506 [Micromodem](INFO): Nmea in: $SNTTA,0.017510,,,,200231.81*49

2021-08-13T20:02:34.936Z,1628884954.936 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:02:35.249Z,1628884955.249 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:02:35.249Z,1628884955.249 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:02:35.249Z,1628884955.249 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:02:35.250Z,1628884955.250 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:02:35.650Z,1628884955.650 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EB5,000,002A0,187,80,80,82,FF
2021-08-13T20:02:35.650Z,1628884955.650 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:02:35.651Z,1628884955.651 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:02:35.653Z,1628884955.653 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:02:36.161Z,1628884956.161 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:02:36.522Z,1628884956.522 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E86,000,0029E,185,80,80,81,FF
2021-08-13T20:02:36.523Z,1628884956.523 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:02:36.917Z,1628884956.917 [Micromodem](INFO): Nmea in: $SNTTA,0.039361,,,,200236.22*4B

2021-08-13T20:02:39.366Z,1628884959.366 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:02:39.730Z,1628884959.730 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:02:39.730Z,1628884959.730 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:02:39.730Z,1628884959.730 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:02:39.731Z,1628884959.731 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:02:40.135Z,1628884960.135 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E86,000,0029E,185,80,80,81,FF
2021-08-13T20:02:40.135Z,1628884960.135 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:02:40.135Z,1628884960.135 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:02:40.137Z,1628884960.137 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:02:40.533Z,1628884960.533 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:02:40.929Z,1628884960.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DE2,000,0029B,188,80,80,7F,FF
2021-08-13T20:02:40.930Z,1628884960.930 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:02:41.366Z,1628884961.366 [Micromodem](INFO): Nmea in: $SNTTA,0.025795,0.396775,,,200240.70*58

2021-08-13T20:02:43.777Z,1628884963.777 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:02:44.173Z,1628884964.173 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:02:44.173Z,1628884964.173 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:02:44.174Z,1628884964.174 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:02:44.174Z,1628884964.174 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:02:44.538Z,1628884964.538 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DE2,000,0029B,188,80,80,7F,FF
2021-08-13T20:02:44.539Z,1628884964.539 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:02:44.539Z,1628884964.539 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:02:44.541Z,1628884964.541 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:02:44.973Z,1628884964.973 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:02:45.373Z,1628884965.373 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D90,000,00298,189,80,80,99,FF
2021-08-13T20:02:45.374Z,1628884965.374 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:02:45.397Z,1628884965.397 [Micromodem](INFO): Nmea in: $SNTTA,0.193447,0.193328,,,200245.11*51

2021-08-13T20:02:48.218Z,1628884968.218 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:02:48.618Z,1628884968.618 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:02:48.618Z,1628884968.618 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:02:48.619Z,1628884968.619 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:02:48.619Z,1628884968.619 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:02:49.024Z,1628884969.024 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D90,000,00298,189,80,80,99,FF
2021-08-13T20:02:49.024Z,1628884969.024 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:02:49.025Z,1628884969.025 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:02:49.047Z,1628884969.047 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:02:49.446Z,1628884969.446 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:02:49.834Z,1628884969.834 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D08,000,00297,18A,80,80,6E,FF
2021-08-13T20:02:49.835Z,1628884969.835 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:02:50.257Z,1628884970.257 [Micromodem](INFO): Nmea in: $SNTTA,0.045591,,,,200249.61*46

2021-08-13T20:02:52.667Z,1628884972.667 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:02:53.083Z,1628884973.083 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:02:53.083Z,1628884973.083 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:02:53.083Z,1628884973.083 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:02:53.088Z,1628884973.088 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:02:53.465Z,1628884973.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D08,000,00297,18A,80,80,6E,FF
2021-08-13T20:02:53.465Z,1628884973.465 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:02:53.465Z,1628884973.465 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:02:53.467Z,1628884973.467 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:02:53.867Z,1628884973.867 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:02:54.277Z,1628884974.277 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C97,000,00299,189,80,80,75,FF
2021-08-13T20:02:54.277Z,1628884974.277 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:02:54.678Z,1628884974.678 [Micromodem](INFO): Nmea in: $SNTTA,0.029058,,,,200254.04*43

2021-08-13T20:02:57.173Z,1628884977.173 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:02:57.514Z,1628884977.514 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:02:57.514Z,1628884977.514 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:02:57.514Z,1628884977.514 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:02:57.515Z,1628884977.515 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:02:57.913Z,1628884977.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C97,000,00299,189,80,80,75,FF
2021-08-13T20:02:57.913Z,1628884977.913 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:02:57.914Z,1628884977.914 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:02:57.915Z,1628884977.915 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:02:58.322Z,1628884978.322 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:02:58.721Z,1628884978.721 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D1A,000,00299,189,80,80,8C,FF
2021-08-13T20:02:58.722Z,1628884978.722 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:02:59.165Z,1628884979.165 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200258.48*5F

2021-08-13T20:03:01.577Z,1628884981.577 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:03:01.953Z,1628884981.953 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:03:01.953Z,1628884981.953 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:03:01.953Z,1628884981.953 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:03:01.954Z,1628884981.954 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:03:02.354Z,1628884982.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D1A,000,00299,189,80,80,8C,FF
2021-08-13T20:03:02.354Z,1628884982.354 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:03:02.354Z,1628884982.354 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:03:02.356Z,1628884982.356 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:03:02.765Z,1628884982.765 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:03:03.161Z,1628884983.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E41,000,00296,187,80,80,83,FF
2021-08-13T20:03:03.161Z,1628884983.161 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:03:03.629Z,1628884983.629 [Micromodem](INFO): Nmea in: $SNTTA,0.035105,,,,200302.92*4A

2021-08-13T20:03:05.587Z,1628884985.587 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-08-13T20:03:05.587Z,1628884985.587 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-08-13T20:03:05.587Z,1628884985.587 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-08-13T20:03:05.587Z,1628884985.587 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-13T20:03:05.587Z,1628884985.587 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-08-13T20:03:05.588Z,1628884985.588 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 2.220000 m 
2021-08-13T20:03:05.588Z,1628884985.588 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-08-13T20:03:05.588Z,1628884985.588 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-08-13T20:03:05.588Z,1628884985.588 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-08-13T20:03:06.013Z,1628884986.013 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210813T200306: (41.552319, -70.708603)
2021-08-13T20:03:06.013Z,1628884986.013 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-08-13T20:03:06.014Z,1628884986.014 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-08-13T20:03:06.014Z,1628884986.014 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-13T20:03:06.014Z,1628884986.014 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-08-13T20:03:06.014Z,1628884986.014 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-13T20:03:06.014Z,1628884986.014 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-08-13T20:03:06.014Z,1628884986.014 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-08-13T20:03:06.014Z,1628884986.014 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-08-13T20:03:06.015Z,1628884986.015 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:03:06.485Z,1628884986.485 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:03:06.485Z,1628884986.485 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:03:06.485Z,1628884986.485 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:03:06.486Z,1628884986.486 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:03:06.801Z,1628884986.801 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E41,000,00296,187,80,80,83,FF
2021-08-13T20:03:06.801Z,1628884986.801 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:03:06.801Z,1628884986.801 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:03:06.803Z,1628884986.803 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:03:07.209Z,1628884987.209 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:03:07.601Z,1628884987.601 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E2D,000,00296,187,80,80,6E,FF
2021-08-13T20:03:07.601Z,1628884987.601 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:03:08.038Z,1628884988.038 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200307.37*5C

2021-08-13T20:03:10.462Z,1628884990.462 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:03:10.830Z,1628884990.830 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:03:10.830Z,1628884990.830 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:03:10.830Z,1628884990.830 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:03:10.831Z,1628884990.831 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:03:11.237Z,1628884991.237 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E2D,000,00296,187,80,80,6E,FF
2021-08-13T20:03:11.238Z,1628884991.238 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:03:11.238Z,1628884991.238 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:03:11.240Z,1628884991.240 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:03:11.645Z,1628884991.645 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:03:12.045Z,1628884992.045 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DFC,000,00295,187,80,80,A0,FF
2021-08-13T20:03:12.045Z,1628884992.045 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:03:12.473Z,1628884992.473 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200311.81*56

2021-08-13T20:03:14.868Z,1628884994.868 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:03:15.269Z,1628884995.269 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:03:15.269Z,1628884995.269 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:03:15.270Z,1628884995.270 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:03:15.271Z,1628884995.271 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:03:15.653Z,1628884995.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DFC,000,00295,187,80,80,A0,FF
2021-08-13T20:03:15.653Z,1628884995.653 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:03:15.653Z,1628884995.653 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:03:15.655Z,1628884995.655 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:03:16.062Z,1628884996.062 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:03:16.574Z,1628884996.574 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D76,000,00299,189,80,80,87,FF
2021-08-13T20:03:16.574Z,1628884996.574 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:03:16.917Z,1628884996.917 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200316.22*58

2021-08-13T20:03:19.404Z,1628884999.404 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:03:19.721Z,1628884999.721 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:03:19.721Z,1628884999.721 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:03:19.721Z,1628884999.721 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:03:19.722Z,1628884999.722 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:03:20.125Z,1628885000.125 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D76,000,00299,189,80,80,87,FF
2021-08-13T20:03:20.125Z,1628885000.125 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:03:20.125Z,1628885000.125 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:03:20.127Z,1628885000.127 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:03:20.533Z,1628885000.533 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:03:20.937Z,1628885000.937 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DB1,000,00297,189,80,80,68,FF
2021-08-13T20:03:20.938Z,1628885000.938 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:03:21.389Z,1628885001.389 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200320.69*52

2021-08-13T20:03:23.779Z,1628885003.779 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:03:24.173Z,1628885004.173 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:03:24.173Z,1628885004.173 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:03:24.173Z,1628885004.173 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:03:24.174Z,1628885004.174 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:03:24.573Z,1628885004.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DB1,000,00297,189,80,80,68,FF
2021-08-13T20:03:24.573Z,1628885004.573 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:03:24.573Z,1628885004.573 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:03:24.575Z,1628885004.575 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:03:24.953Z,1628885004.953 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:03:25.780Z,1628885005.780 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200325.14*5D

2021-08-13T20:03:26.697Z,1628885006.697 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:03:28.217Z,1628885008.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
7,189,80,80,68,FF
2021-08-13T20:03:28.218Z,1628885008.218 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
7,189,80,80,68,FF
2021-08-13T20:03:28.218Z,1628885008.218 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T20:03:29.496Z,1628885009.496 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:03:29.830Z,1628885009.830 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:03:29.830Z,1628885009.830 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:03:29.830Z,1628885009.830 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:03:29.831Z,1628885009.831 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:03:30.233Z,1628885010.233 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
7,189,80,80,68,FF
2021-08-13T20:03:30.233Z,1628885010.233 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:03:30.233Z,1628885010.233 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:03:30.235Z,1628885010.235 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:03:30.641Z,1628885010.641 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:03:31.046Z,1628885011.046 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0AB,000,00295,186,80,80,9D,FF
2021-08-13T20:03:31.047Z,1628885011.047 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:03:31.481Z,1628885011.481 [Micromodem](INFO): Nmea in: $SNTTA,0.022998,,,,200330.80*42

2021-08-13T20:03:33.898Z,1628885013.898 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:03:34.269Z,1628885014.269 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:03:34.269Z,1628885014.269 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:03:34.269Z,1628885014.269 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:03:34.270Z,1628885014.270 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:03:34.673Z,1628885014.673 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0AB,000,00295,186,80,80,9D,FF
2021-08-13T20:03:34.674Z,1628885014.674 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:03:34.674Z,1628885014.674 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:03:34.675Z,1628885014.675 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:03:35.089Z,1628885015.089 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:03:35.505Z,1628885015.505 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0E0,000,00294,186,80,80,8C,FF
2021-08-13T20:03:35.505Z,1628885015.505 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:03:35.905Z,1628885015.905 [Micromodem](INFO): Nmea in: $SNTTA,,0.040211,,,200335.24*47

2021-08-13T20:03:38.368Z,1628885018.368 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:03:38.721Z,1628885018.721 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:03:38.721Z,1628885018.721 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:03:38.721Z,1628885018.721 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:03:38.722Z,1628885018.722 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:03:39.137Z,1628885019.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0E0,000,00294,186,80,80,8C,FF
2021-08-13T20:03:39.138Z,1628885019.138 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:03:39.138Z,1628885019.138 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:03:39.139Z,1628885019.139 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:03:39.533Z,1628885019.533 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:03:39.937Z,1628885019.937 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,117,000,00298,186,80,80,77,FF
2021-08-13T20:03:39.937Z,1628885019.937 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:03:40.373Z,1628885020.373 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200339.71*53

2021-08-13T20:03:42.809Z,1628885022.809 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:03:43.177Z,1628885023.177 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:03:43.177Z,1628885023.177 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:03:43.177Z,1628885023.177 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:03:43.178Z,1628885023.178 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:03:43.581Z,1628885023.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
117,000,00298,186,80,80,77,FF
2021-08-13T20:03:43.581Z,1628885023.581 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:03:43.581Z,1628885023.581 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:03:43.583Z,1628885023.583 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:03:44.023Z,1628885024.023 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:03:44.381Z,1628885024.381 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,119,000,00294,186,80,80,77,FF
2021-08-13T20:03:44.381Z,1628885024.381 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:03:44.811Z,1628885024.811 [Micromodem](INFO): Nmea in: $SNTTA,0.035371,,,,200344.15*46

2021-08-13T20:03:46.902Z,1628885026.902 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:03:47.221Z,1628885027.221 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:03:47.221Z,1628885027.221 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:03:47.221Z,1628885027.221 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:03:47.222Z,1628885027.222 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:03:47.613Z,1628885027.613 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
119,000,00294,186,80,80,77,FF
2021-08-13T20:03:47.613Z,1628885027.613 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:03:47.613Z,1628885027.613 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:03:47.615Z,1628885027.615 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:03:48.020Z,1628885028.020 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:03:48.421Z,1628885028.421 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E21,000,00297,186,80,80,77,FF
2021-08-13T20:03:48.422Z,1628885028.422 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:03:48.842Z,1628885028.842 [Micromodem](INFO): Nmea in: $SNTTA,0.028604,,,,200348.24*43

2021-08-13T20:03:51.295Z,1628885031.295 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:03:51.642Z,1628885031.642 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:03:51.642Z,1628885031.642 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:03:51.643Z,1628885031.643 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:03:51.643Z,1628885031.643 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:03:52.069Z,1628885032.069 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E21,000,00297,186,80,80,77,FF
2021-08-13T20:03:52.069Z,1628885032.069 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:03:52.069Z,1628885032.069 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:03:52.071Z,1628885032.071 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:03:52.460Z,1628885032.460 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:03:52.870Z,1628885032.870 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0BD,000,00293,187,80,80,61,FF
2021-08-13T20:03:52.870Z,1628885032.870 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:03:53.277Z,1628885033.277 [Micromodem](INFO): Nmea in: $SNTTA,0.036441,0.389104,,,200352.64*59

2021-08-13T20:03:55.713Z,1628885035.713 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:03:56.066Z,1628885036.066 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:03:56.066Z,1628885036.066 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:03:56.066Z,1628885036.066 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:03:56.068Z,1628885036.068 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:03:56.468Z,1628885036.468 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0BD,000,00293,187,80,80,61,FF
2021-08-13T20:03:56.468Z,1628885036.468 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:03:56.468Z,1628885036.468 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:03:56.470Z,1628885036.470 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:03:56.987Z,1628885036.987 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:03:57.313Z,1628885037.313 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D9A,000,00296,189,80,80,73,FF
2021-08-13T20:03:57.313Z,1628885037.313 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:03:57.317Z,1628885037.317 [Micromodem](INFO): Nmea in: $SNTTA,0.229995,0.229639,,,200357.04*50

2021-08-13T20:03:59.415Z,1628885039.415 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-13T20:04:00.158Z,1628885040.158 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:04:00.545Z,1628885040.545 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:04:00.545Z,1628885040.545 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:04:00.545Z,1628885040.545 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:04:00.546Z,1628885040.546 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:04:00.942Z,1628885040.942 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D9A,000,00296,189,80,80,73,FF
2021-08-13T20:04:00.942Z,1628885040.942 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:04:00.943Z,1628885040.943 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:04:00.961Z,1628885040.961 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:04:01.377Z,1628885041.377 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:04:01.751Z,1628885041.751 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E35,000,00298,187,80,80,5B,FF
2021-08-13T20:04:01.751Z,1628885041.751 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:04:04.639Z,1628885044.639 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:04:04.990Z,1628885044.990 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:04:04.990Z,1628885044.990 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:04:04.991Z,1628885044.991 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:04:04.991Z,1628885044.991 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:04:05.374Z,1628885045.374 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E35,000,00298,187,80,80,5B,FF
2021-08-13T20:04:05.374Z,1628885045.374 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:04:05.374Z,1628885045.374 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:04:05.377Z,1628885045.377 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:04:05.793Z,1628885045.793 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:04:06.162Z,1628885046.162 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CA3,000,00297,189,80,80,67,FF
2021-08-13T20:04:06.163Z,1628885046.163 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:04:06.597Z,1628885046.597 [Micromodem](INFO): Nmea in: $SNTTA,0.022808,,,,200405.95*4F

2021-08-13T20:04:09.108Z,1628885049.108 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:04:09.433Z,1628885049.433 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:04:09.433Z,1628885049.433 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:04:09.433Z,1628885049.433 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:04:09.434Z,1628885049.434 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:04:09.838Z,1628885049.838 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CA3,000,00297,189,80,80,67,FF
2021-08-13T20:04:09.838Z,1628885049.838 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:04:09.838Z,1628885049.838 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:04:09.841Z,1628885049.841 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:04:10.281Z,1628885050.281 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:04:10.673Z,1628885050.673 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0D9,000,00293,186,80,80,6E,FF
2021-08-13T20:04:10.674Z,1628885050.674 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:04:11.135Z,1628885051.135 [Micromodem](INFO): Nmea in: $SNTTA,0.116779,,,,200410.41*4D

2021-08-13T20:04:13.503Z,1628885053.503 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:04:13.888Z,1628885053.888 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:04:13.888Z,1628885053.888 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:04:13.888Z,1628885053.888 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:04:13.889Z,1628885053.889 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:04:14.273Z,1628885054.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0D9,000,00293,186,80,80,6E,FF
2021-08-13T20:04:14.273Z,1628885054.273 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:04:14.273Z,1628885054.273 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:04:14.275Z,1628885054.275 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:04:14.685Z,1628885054.685 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:04:15.139Z,1628885055.139 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0D8,000,00295,187,80,80,7E,FF
2021-08-13T20:04:15.139Z,1628885055.139 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:04:15.146Z,1628885055.146 [Micromodem](INFO): Nmea in: $SNTTA,0.325445,0.325526,,,200414.84*55

2021-08-13T20:04:17.942Z,1628885057.942 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:04:18.313Z,1628885058.313 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:04:18.313Z,1628885058.313 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:04:18.313Z,1628885058.313 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:04:18.314Z,1628885058.314 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:04:18.717Z,1628885058.717 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0D8,000,00295,187,80,80,7E,FF
2021-08-13T20:04:18.717Z,1628885058.717 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:04:18.717Z,1628885058.717 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:04:18.719Z,1628885058.719 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:04:19.162Z,1628885059.162 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:04:19.529Z,1628885059.529 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E10,000,00298,187,80,80,5F,FF
2021-08-13T20:04:19.530Z,1628885059.530 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:04:22.384Z,1628885062.384 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:04:22.757Z,1628885062.757 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:04:22.757Z,1628885062.757 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:04:22.757Z,1628885062.757 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:04:22.758Z,1628885062.758 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:04:23.165Z,1628885063.165 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E10,000,00298,187,80,80,5F,FF
2021-08-13T20:04:23.165Z,1628885063.165 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:04:23.165Z,1628885063.165 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:04:23.167Z,1628885063.167 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:04:23.633Z,1628885063.633 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:04:24.089Z,1628885064.089 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0CF,000,00297,185,80,80,92,FF
2021-08-13T20:04:24.090Z,1628885064.090 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:04:24.445Z,1628885064.445 [Micromodem](INFO): Nmea in: $SNTTA,0.027034,,,,200423.74*46

2021-08-13T20:04:26.783Z,1628885066.783 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:04:27.277Z,1628885067.277 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:04:27.277Z,1628885067.277 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:04:27.277Z,1628885067.277 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:04:27.278Z,1628885067.278 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:04:27.605Z,1628885067.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0CF,000,00297,185,80,80,92,FF
2021-08-13T20:04:27.605Z,1628885067.605 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:04:27.605Z,1628885067.605 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:04:27.607Z,1628885067.607 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:04:28.012Z,1628885068.012 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:04:28.414Z,1628885068.414 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0C4,000,00299,186,80,80,9C,FF
2021-08-13T20:04:28.414Z,1628885068.414 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:04:28.850Z,1628885068.850 [Micromodem](INFO): Nmea in: $SNTTA,0.027235,,,,200428.18*44

2021-08-13T20:04:31.300Z,1628885071.300 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:04:31.657Z,1628885071.657 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:04:31.657Z,1628885071.657 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:04:31.657Z,1628885071.657 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:04:31.658Z,1628885071.658 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:04:32.057Z,1628885072.057 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0C4,000,00299,186,80,80,9C,FF
2021-08-13T20:04:32.057Z,1628885072.057 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:04:32.057Z,1628885072.057 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:04:32.059Z,1628885072.059 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:04:32.473Z,1628885072.473 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:04:33.294Z,1628885073.294 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200432.63*5C

2021-08-13T20:04:34.091Z,1628885074.091 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:04:35.671Z,1628885075.671 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
9,186,80,80,9C,FF
2021-08-13T20:04:35.671Z,1628885075.671 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
9,186,80,80,9C,FF
2021-08-13T20:04:35.671Z,1628885075.671 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T20:04:36.904Z,1628885076.904 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:04:37.514Z,1628885077.514 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:04:37.514Z,1628885077.514 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:04:37.514Z,1628885077.514 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:04:37.515Z,1628885077.515 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:04:37.776Z,1628885077.776 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
9,186,80,80,9C,FF
2021-08-13T20:04:37.776Z,1628885077.776 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:04:37.777Z,1628885077.777 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:04:37.778Z,1628885077.778 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:04:38.148Z,1628885078.148 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:04:38.553Z,1628885078.553 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D38,000,00298,189,80,80,5E,FF
2021-08-13T20:04:38.553Z,1628885078.553 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:04:39.364Z,1628885079.364 [Micromodem](INFO): Nmea in: $SNTTA,0.083234,,,,200438.35*45

2021-08-13T20:04:41.426Z,1628885081.426 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:04:41.753Z,1628885081.753 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:04:41.753Z,1628885081.753 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:04:41.753Z,1628885081.753 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:04:41.754Z,1628885081.754 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:04:42.157Z,1628885082.157 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D38,000,00298,189,80,80,5E,FF
2021-08-13T20:04:42.157Z,1628885082.157 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:04:42.158Z,1628885082.158 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:04:42.159Z,1628885082.159 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:04:42.573Z,1628885082.573 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:04:42.969Z,1628885082.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E21,000,00297,187,80,80,64,FF
2021-08-13T20:04:42.969Z,1628885082.969 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:04:43.421Z,1628885083.421 [Micromodem](INFO): Nmea in: $SNTTA,0.120191,0.341485,,,200442.73*5F

2021-08-13T20:04:45.788Z,1628885085.788 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:04:46.193Z,1628885086.193 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:04:46.194Z,1628885086.194 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:04:46.194Z,1628885086.194 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:04:46.195Z,1628885086.195 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:04:46.587Z,1628885086.587 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E21,000,00297,187,80,80,64,FF
2021-08-13T20:04:46.587Z,1628885086.587 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:04:46.588Z,1628885086.588 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:04:46.589Z,1628885086.589 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:04:46.993Z,1628885086.993 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:04:47.489Z,1628885087.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CB0,000,00298,189,80,80,5E,FF
2021-08-13T20:04:47.489Z,1628885087.489 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:04:47.493Z,1628885087.493 [Micromodem](INFO): Nmea in: $SNTTA,0.047096,0.167149,,,200447.16*5C

2021-08-13T20:04:50.334Z,1628885090.334 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:04:50.737Z,1628885090.737 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:04:50.737Z,1628885090.737 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:04:50.737Z,1628885090.737 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:04:50.738Z,1628885090.738 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:04:51.128Z,1628885091.128 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CB0,000,00298,189,80,80,5E,FF
2021-08-13T20:04:51.129Z,1628885091.129 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:04:51.129Z,1628885091.129 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:04:51.130Z,1628885091.130 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:04:51.582Z,1628885091.582 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:04:51.968Z,1628885091.968 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D9C,000,00296,18A,80,80,56,FF
2021-08-13T20:04:51.969Z,1628885091.969 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:04:52.397Z,1628885092.397 [Micromodem](INFO): Nmea in: $SNTTA,0.026302,,,,200451.70*40

2021-08-13T20:04:54.795Z,1628885094.795 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:04:55.173Z,1628885095.173 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:04:55.173Z,1628885095.173 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:04:55.173Z,1628885095.173 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:04:55.174Z,1628885095.174 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:04:55.581Z,1628885095.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D9C,000,00296,18A,80,80,56,FF
2021-08-13T20:04:55.581Z,1628885095.581 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:04:55.581Z,1628885095.581 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:04:55.583Z,1628885095.583 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:04:55.956Z,1628885095.956 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:04:56.413Z,1628885096.413 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,08E,000,00298,187,80,80,67,FF
2021-08-13T20:04:56.413Z,1628885096.413 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:04:56.789Z,1628885096.789 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200456.15*5F

2021-08-13T20:04:59.234Z,1628885099.234 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:04:59.617Z,1628885099.617 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:04:59.617Z,1628885099.617 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:04:59.617Z,1628885099.617 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:04:59.618Z,1628885099.618 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:05:00.021Z,1628885100.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
08E,000,00298,187,80,80,67,FF
2021-08-13T20:05:00.021Z,1628885100.021 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:05:00.021Z,1628885100.021 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:05:00.023Z,1628885100.023 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:05:00.429Z,1628885100.429 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:05:00.823Z,1628885100.823 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,111,000,00296,185,80,80,74,FF
2021-08-13T20:05:00.823Z,1628885100.823 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:05:01.269Z,1628885101.269 [Micromodem](INFO): Nmea in: $SNTTA,0.409947,,,,200500.59*4C

2021-08-13T20:05:03.736Z,1628885103.736 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:05:04.150Z,1628885104.150 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:05:04.150Z,1628885104.150 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:05:04.150Z,1628885104.150 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:05:04.151Z,1628885104.151 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:05:04.501Z,1628885104.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
111,000,00296,185,80,80,74,FF
2021-08-13T20:05:04.501Z,1628885104.501 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:05:04.501Z,1628885104.501 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:05:04.503Z,1628885104.503 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:05:04.904Z,1628885104.904 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:05:05.289Z,1628885105.289 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0FF,000,00295,186,80,80,80,FF
2021-08-13T20:05:05.289Z,1628885105.289 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:05:05.293Z,1628885105.293 [Micromodem](INFO): Nmea in: $SNTTA,0.066860,0.171960,,,200505.07*5D

2021-08-13T20:05:08.115Z,1628885108.115 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:05:08.513Z,1628885108.513 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:05:08.513Z,1628885108.513 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:05:08.514Z,1628885108.514 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:05:08.515Z,1628885108.515 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:05:08.913Z,1628885108.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0FF,000,00295,186,80,80,80,FF
2021-08-13T20:05:08.913Z,1628885108.913 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:05:08.913Z,1628885108.913 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:05:08.915Z,1628885108.915 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:05:09.331Z,1628885109.331 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:05:09.382Z,1628885109.382 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T20:05:09.722Z,1628885109.722 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DDD,000,00297,188,80,80,64,FF
2021-08-13T20:05:09.722Z,1628885109.722 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:05:10.145Z,1628885110.145 [Micromodem](INFO): Nmea in: $SNTTA,0.001162,,,,200509.48*46

2021-08-13T20:05:12.587Z,1628885112.587 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:05:12.959Z,1628885112.959 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:05:12.959Z,1628885112.959 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:05:12.959Z,1628885112.959 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:05:12.960Z,1628885112.960 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:05:13.369Z,1628885113.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DDD,000,00297,188,80,80,64,FF
2021-08-13T20:05:13.369Z,1628885113.369 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:05:13.369Z,1628885113.369 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:05:13.371Z,1628885113.371 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:05:13.762Z,1628885113.762 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:05:14.161Z,1628885114.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,12A,000,00290,186,80,80,77,FF
2021-08-13T20:05:14.162Z,1628885114.162 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:05:16.997Z,1628885116.997 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:05:17.437Z,1628885117.437 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:05:17.437Z,1628885117.437 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:05:17.438Z,1628885117.438 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:05:17.438Z,1628885117.438 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:05:17.977Z,1628885117.977 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
12A,000,00290,186,80,80,77,FF
2021-08-13T20:05:17.977Z,1628885117.977 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:05:17.977Z,1628885117.977 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:05:17.979Z,1628885117.979 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:05:18.265Z,1628885118.265 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:05:18.641Z,1628885118.641 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E7C,000,00298,187,80,80,66,FF
2021-08-13T20:05:18.642Z,1628885118.642 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:05:19.098Z,1628885119.098 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T20:05:19.437Z,1628885119.437 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200518.55*50

2021-08-13T20:05:21.513Z,1628885121.513 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:05:21.861Z,1628885121.861 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:05:21.861Z,1628885121.861 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:05:21.862Z,1628885121.862 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:05:21.863Z,1628885121.863 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:05:22.257Z,1628885122.257 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E7C,000,00298,187,80,80,66,FF
2021-08-13T20:05:22.257Z,1628885122.257 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:05:22.257Z,1628885122.257 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:05:22.259Z,1628885122.259 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:05:22.669Z,1628885122.669 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:05:23.109Z,1628885123.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CB3,000,00298,189,80,80,59,FF
2021-08-13T20:05:23.110Z,1628885123.110 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:05:23.501Z,1628885123.501 [Micromodem](INFO): Nmea in: $SNTTA,0.038716,,,,200522.83*47

2021-08-13T20:05:25.925Z,1628885125.925 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:05:26.276Z,1628885126.276 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:05:26.276Z,1628885126.276 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:05:26.277Z,1628885126.277 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:05:26.278Z,1628885126.278 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:05:26.701Z,1628885126.701 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CB3,000,00298,189,80,80,59,FF
2021-08-13T20:05:26.701Z,1628885126.701 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:05:26.701Z,1628885126.701 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:05:26.703Z,1628885126.703 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:05:27.093Z,1628885127.093 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:05:27.118Z,1628885127.118 [Micromodem](INFO): Nmea in: $SNTTA,0.031808,0.110050,,,200527.27*5E

2021-08-13T20:05:27.485Z,1628885127.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D97,000,00291,189,80,80,7A,FF
2021-08-13T20:05:27.486Z,1628885127.486 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:05:29.149Z,1628885129.149 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-13T20:05:30.374Z,1628885130.374 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:05:30.745Z,1628885130.745 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:05:30.745Z,1628885130.745 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:05:30.745Z,1628885130.745 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:05:30.746Z,1628885130.746 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:05:31.292Z,1628885131.292 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D97,000,00291,189,80,80,7A,FF
2021-08-13T20:05:31.292Z,1628885131.292 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:05:31.293Z,1628885131.293 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:05:31.294Z,1628885131.294 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:05:31.629Z,1628885131.629 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:05:31.997Z,1628885131.997 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DB9,000,00299,188,80,80,8E,FF
2021-08-13T20:05:31.998Z,1628885131.998 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:05:32.467Z,1628885132.467 [Micromodem](INFO): Nmea in: $SNTTA,0.048949,,,,200531.87*42

2021-08-13T20:05:34.821Z,1628885134.821 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:05:35.209Z,1628885135.209 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:05:35.209Z,1628885135.209 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:05:35.209Z,1628885135.209 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:05:35.210Z,1628885135.210 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:05:35.605Z,1628885135.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DB9,000,00299,188,80,80,8E,FF
2021-08-13T20:05:35.605Z,1628885135.605 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:05:35.605Z,1628885135.605 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:05:35.607Z,1628885135.607 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:05:36.026Z,1628885136.026 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:05:36.383Z,1628885136.383 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,076,000,00298,187,80,80,60,FF
2021-08-13T20:05:36.384Z,1628885136.384 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:05:36.854Z,1628885136.854 [Micromodem](INFO): Nmea in: $SNTTA,0.046289,,,,200536.18*4A

2021-08-13T20:05:39.282Z,1628885139.282 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:05:39.645Z,1628885139.645 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:05:39.645Z,1628885139.645 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:05:39.645Z,1628885139.645 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:05:39.646Z,1628885139.646 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:05:40.065Z,1628885140.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
076,000,00298,187,80,80,60,FF
2021-08-13T20:05:40.065Z,1628885140.065 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:05:40.065Z,1628885140.065 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:05:40.067Z,1628885140.067 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:05:40.497Z,1628885140.497 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:05:40.877Z,1628885140.877 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DFA,000,00298,187,80,80,7B,FF
2021-08-13T20:05:40.877Z,1628885140.877 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:05:41.281Z,1628885141.281 [Micromodem](INFO): Nmea in: $SNTTA,0.005109,0.388409,,,200540.64*5C

2021-08-13T20:05:43.702Z,1628885143.702 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:05:44.137Z,1628885144.137 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:05:44.137Z,1628885144.137 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:05:44.137Z,1628885144.137 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:05:44.138Z,1628885144.138 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:05:44.633Z,1628885144.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DFA,000,00298,187,80,80,7B,FF
2021-08-13T20:05:44.633Z,1628885144.633 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:05:44.634Z,1628885144.634 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:05:44.635Z,1628885144.635 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:05:44.941Z,1628885144.941 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:05:45.328Z,1628885145.328 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D38,000,00295,189,80,80,63,FF
2021-08-13T20:05:45.329Z,1628885145.329 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:05:46.125Z,1628885146.125 [Micromodem](INFO): Nmea in: $SNTTA,0.001126,,,,200545.20*40

2021-08-13T20:05:48.223Z,1628885148.223 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:05:48.533Z,1628885148.533 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:05:48.533Z,1628885148.533 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:05:48.534Z,1628885148.534 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:05:48.535Z,1628885148.535 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:05:48.953Z,1628885148.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D38,000,00295,189,80,80,63,FF
2021-08-13T20:05:48.954Z,1628885148.954 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:05:48.954Z,1628885148.954 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:05:48.957Z,1628885148.957 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:05:49.374Z,1628885149.374 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:05:49.750Z,1628885149.750 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E6A,000,00292,186,80,80,46,FF
2021-08-13T20:05:49.750Z,1628885149.750 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:05:50.183Z,1628885150.183 [Micromodem](INFO): Nmea in: $SNTTA,0.026669,,,,200549.53*41

2021-08-13T20:05:52.611Z,1628885152.611 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:05:52.977Z,1628885152.977 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:05:52.977Z,1628885152.977 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:05:52.977Z,1628885152.977 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:05:52.978Z,1628885152.978 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:05:53.384Z,1628885153.384 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E6A,000,00292,186,80,80,46,FF
2021-08-13T20:05:53.385Z,1628885153.385 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:05:53.385Z,1628885153.385 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:05:53.387Z,1628885153.387 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:05:53.789Z,1628885153.789 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:05:54.193Z,1628885154.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0B0,000,00294,187,80,80,7B,FF
2021-08-13T20:05:54.193Z,1628885154.193 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:05:54.654Z,1628885154.654 [Micromodem](INFO): Nmea in: $SNTTA,0.003882,,,,200553.96*4F

2021-08-13T20:05:57.110Z,1628885157.110 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:05:57.399Z,1628885157.399 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:05:57.399Z,1628885157.399 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:05:57.399Z,1628885157.399 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:05:57.400Z,1628885157.400 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:05:57.948Z,1628885157.948 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0B0,000,00294,187,80,80,7B,FF
2021-08-13T20:05:57.948Z,1628885157.948 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:05:57.948Z,1628885157.948 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:05:57.950Z,1628885157.950 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:05:58.325Z,1628885158.325 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:05:58.657Z,1628885158.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E6D,000,00296,185,80,80,78,FF
2021-08-13T20:05:58.657Z,1628885158.657 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:05:59.462Z,1628885159.462 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200558.52*53

2021-08-13T20:06:01.501Z,1628885161.501 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:06:01.873Z,1628885161.873 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:06:01.873Z,1628885161.873 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:06:01.873Z,1628885161.873 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:06:01.874Z,1628885161.874 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:06:02.269Z,1628885162.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E6D,000,00296,185,80,80,78,FF
2021-08-13T20:06:02.269Z,1628885162.269 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:06:02.269Z,1628885162.269 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:06:02.271Z,1628885162.271 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:06:02.681Z,1628885162.681 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:06:03.117Z,1628885163.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A5,000,00296,186,80,80,AC,FF
2021-08-13T20:06:03.118Z,1628885163.118 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:06:03.509Z,1628885163.509 [Micromodem](INFO): Nmea in: $SNTTA,,0.286835,,,200602.84*48

2021-08-13T20:06:05.939Z,1628885165.939 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:06:06.305Z,1628885166.305 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:06:06.306Z,1628885166.306 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:06:06.306Z,1628885166.306 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:06:06.307Z,1628885166.307 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:06:06.689Z,1628885166.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0A5,000,00296,186,80,80,AC,FF
2021-08-13T20:06:06.689Z,1628885166.689 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:06:06.689Z,1628885166.689 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:06:06.691Z,1628885166.691 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:06:07.148Z,1628885167.148 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:06:07.503Z,1628885167.503 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,10A,000,00295,186,80,80,6A,FF
2021-08-13T20:06:07.503Z,1628885167.503 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:06:10.413Z,1628885170.413 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:06:10.753Z,1628885170.753 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:06:10.753Z,1628885170.753 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:06:10.753Z,1628885170.753 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:06:10.754Z,1628885170.754 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:06:11.282Z,1628885171.282 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
10A,000,00295,186,80,80,6A,FF
2021-08-13T20:06:11.282Z,1628885171.282 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:06:11.283Z,1628885171.283 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:06:11.349Z,1628885171.349 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:06:11.640Z,1628885171.640 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:06:11.992Z,1628885171.992 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E66,000,00291,186,80,80,63,FF
2021-08-13T20:06:11.993Z,1628885171.993 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:06:12.789Z,1628885172.789 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200611.92*51

2021-08-13T20:06:14.806Z,1628885174.806 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:06:15.193Z,1628885175.193 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:06:15.193Z,1628885175.193 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:06:15.193Z,1628885175.193 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:06:15.194Z,1628885175.194 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:06:15.605Z,1628885175.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E66,000,00291,186,80,80,63,FF
2021-08-13T20:06:15.605Z,1628885175.605 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:06:15.605Z,1628885175.605 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:06:15.607Z,1628885175.607 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:06:16.005Z,1628885176.005 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:06:16.405Z,1628885176.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0C2,000,00294,186,80,80,7A,FF
2021-08-13T20:06:16.405Z,1628885176.405 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:06:16.813Z,1628885176.813 [Micromodem](INFO): Nmea in: $SNTTA,0.004855,,,,200616.18*46

2021-08-13T20:06:19.247Z,1628885179.247 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:06:19.645Z,1628885179.645 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:06:19.645Z,1628885179.645 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:06:19.645Z,1628885179.645 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:06:19.645Z,1628885179.645 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:06:20.049Z,1628885180.049 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0C2,000,00294,186,80,80,7A,FF
2021-08-13T20:06:20.050Z,1628885180.050 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:06:20.050Z,1628885180.050 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:06:20.051Z,1628885180.051 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:06:20.449Z,1628885180.449 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:06:21.278Z,1628885181.278 [Micromodem](INFO): Nmea in: $SNTTA,,0.436888,,,200620.62*4B

2021-08-13T20:06:22.102Z,1628885182.102 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:06:23.685Z,1628885183.685 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
4,186,80,80,7A,FF
2021-08-13T20:06:23.685Z,1628885183.685 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
4,186,80,80,7A,FF
2021-08-13T20:06:23.685Z,1628885183.685 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T20:06:25.051Z,1628885185.051 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:06:25.317Z,1628885185.317 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:06:25.317Z,1628885185.317 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:06:25.317Z,1628885185.317 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:06:25.318Z,1628885185.318 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:06:25.748Z,1628885185.748 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
4,186,80,80,7A,FF
2021-08-13T20:06:25.748Z,1628885185.748 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:06:25.749Z,1628885185.749 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:06:25.750Z,1628885185.750 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:06:26.116Z,1628885186.116 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:06:26.513Z,1628885186.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0E3,000,00294,186,80,80,87,FF
2021-08-13T20:06:26.514Z,1628885186.514 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:06:27.335Z,1628885187.335 [Micromodem](INFO): Nmea in: $SNTTA,0.003866,,,,200626.32*4A

2021-08-13T20:06:29.424Z,1628885189.424 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:06:29.741Z,1628885189.741 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:06:29.741Z,1628885189.741 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:06:29.741Z,1628885189.741 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:06:29.742Z,1628885189.742 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:06:30.141Z,1628885190.141 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0E3,000,00294,186,80,80,87,FF
2021-08-13T20:06:30.141Z,1628885190.141 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:06:30.142Z,1628885190.142 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:06:30.143Z,1628885190.143 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:06:30.559Z,1628885190.559 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:06:30.949Z,1628885190.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,047,000,00298,185,80,80,97,FF
2021-08-13T20:06:30.949Z,1628885190.949 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:06:31.381Z,1628885191.381 [Micromodem](INFO): Nmea in: $SNTTA,0.004870,0.350357,,,200630.71*53

2021-08-13T20:06:33.802Z,1628885193.802 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:06:34.185Z,1628885194.185 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:06:34.185Z,1628885194.185 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:06:34.185Z,1628885194.185 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:06:34.186Z,1628885194.186 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:06:34.609Z,1628885194.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
047,000,00298,185,80,80,97,FF
2021-08-13T20:06:34.609Z,1628885194.609 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:06:34.609Z,1628885194.609 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:06:34.611Z,1628885194.611 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:06:35.001Z,1628885195.001 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:06:35.397Z,1628885195.397 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,09D,000,00295,186,80,80,95,FF
2021-08-13T20:06:35.397Z,1628885195.397 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:06:35.401Z,1628885195.401 [Micromodem](INFO): Nmea in: $SNTTA,0.021465,0.154780,,,200635.18*5E

2021-08-13T20:06:38.298Z,1628885198.298 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:06:38.729Z,1628885198.729 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:06:38.729Z,1628885198.729 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:06:38.729Z,1628885198.729 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:06:38.730Z,1628885198.730 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:06:39.078Z,1628885199.078 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
09D,000,00295,186,80,80,95,FF
2021-08-13T20:06:39.079Z,1628885199.079 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:06:39.086Z,1628885199.086 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:06:39.104Z,1628885199.104 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:06:39.452Z,1628885199.452 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:06:39.838Z,1628885199.838 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,065,000,00295,186,80,80,78,FF
2021-08-13T20:06:39.838Z,1628885199.838 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:06:40.657Z,1628885200.657 [Micromodem](INFO): Nmea in: $SNTTA,0.014912,,,,200639.68*4F

2021-08-13T20:06:42.301Z,1628885202.301 [lineCaptureDepth:Lap:Docked:Docked.Docked](INFO): Timed out from 2021-08-13T20:01:41.9Z
2021-08-13T20:06:42.302Z,1628885202.302 [lineCaptureDepth:Lap:Docked:Docked.Docked] Stopped
2021-08-13T20:06:42.303Z,1628885202.303 [lineCaptureDepth:Lap:Docked:Detach] Running Loop=1
2021-08-13T20:06:42.303Z,1628885202.303 [lineCaptureDepth:Lap:Docked:Detach](DEBUG): Aggregate::initialize lineCaptureDepth:Lap:Docked:Detach
2021-08-13T20:06:42.303Z,1628885202.303 [lineCaptureDepth:Lap:Docked:Detach:A] Running Loop=1
2021-08-13T20:06:42.670Z,1628885202.670 [lineCaptureDepth:Lap:Docked:Detach:A](IMPORTANT): Breaking off. Range: 2.160000 m .
2021-08-13T20:06:42.671Z,1628885202.671 [lineCaptureDepth:Lap:Docked:Detach:A] Stopped
2021-08-13T20:06:42.671Z,1628885202.671 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock] Running Loop=1
2021-08-13T20:06:42.671Z,1628885202.671 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](DEBUG): Initialize.
2021-08-13T20:06:42.671Z,1628885202.671 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](DEBUG): Initializing internal variables to default values.
2021-08-13T20:06:42.671Z,1628885202.671 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:06:43.113Z,1628885203.113 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:06:43.113Z,1628885203.113 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:06:43.113Z,1628885203.113 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:06:43.114Z,1628885203.114 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:06:43.449Z,1628885203.449 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
065,000,00295,186,80,80,78,FF
2021-08-13T20:06:43.449Z,1628885203.449 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:06:43.449Z,1628885203.449 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:06:43.451Z,1628885203.451 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:06:43.456Z,1628885203.456 [PowerOnly](INFO): Powering up loadControl
2021-08-13T20:06:43.870Z,1628885203.870 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:06:44.362Z,1628885204.362 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CA6,000,00297,189,80,80,72,FF
2021-08-13T20:06:44.362Z,1628885204.362 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:06:44.713Z,1628885204.713 [Micromodem](INFO): Nmea in: $SNTTA,0.003583,,,,200644.02*4B

2021-08-13T20:06:46.369Z,1628885206.369 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): Detaching from dock.
2021-08-13T20:06:46.760Z,1628885206.760 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): Engaging thruster for 10.0 seconds (max) to disengage.
2021-08-13T20:06:47.167Z,1628885207.167 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:06:47.514Z,1628885207.514 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:06:47.514Z,1628885207.514 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:06:47.514Z,1628885207.514 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:06:47.515Z,1628885207.515 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:06:47.922Z,1628885207.922 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CA6,000,00297,189,80,80,72,FF
2021-08-13T20:06:47.922Z,1628885207.922 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:06:47.922Z,1628885207.922 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:06:47.924Z,1628885207.924 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:06:48.340Z,1628885208.340 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:06:48.729Z,1628885208.729 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3DA,000,00293,18A,80,80,4B,FF
2021-08-13T20:06:48.730Z,1628885208.730 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:06:49.209Z,1628885209.209 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200648.50*53

2021-08-13T20:06:49.258Z,1628885209.258 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T20:06:51.755Z,1628885211.755 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:06:51.989Z,1628885211.989 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:06:51.989Z,1628885211.989 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:06:51.989Z,1628885211.989 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:06:51.990Z,1628885211.990 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:06:52.397Z,1628885212.397 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3DA,000,00293,18A,80,80,4B,FF
2021-08-13T20:06:52.397Z,1628885212.397 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:06:52.397Z,1628885212.397 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:06:52.399Z,1628885212.399 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:06:52.804Z,1628885212.804 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:06:53.173Z,1628885213.173 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD5,000,00296,185,80,80,AF,FF
2021-08-13T20:06:53.173Z,1628885213.173 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:06:53.602Z,1628885213.602 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200652.97*53

2021-08-13T20:06:56.062Z,1628885216.062 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:06:56.409Z,1628885216.409 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:06:56.409Z,1628885216.409 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:06:56.409Z,1628885216.409 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:06:56.410Z,1628885216.410 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:06:56.818Z,1628885216.818 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD5,000,00296,185,80,80,AF,FF
2021-08-13T20:06:56.818Z,1628885216.818 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:06:56.819Z,1628885216.819 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:06:56.839Z,1628885216.839 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:06:56.939Z,1628885216.939 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): Thruster off.
2021-08-13T20:06:57.227Z,1628885217.227 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:06:57.613Z,1628885217.613 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,022,000,0029F,184,80,80,C8,FF
2021-08-13T20:06:57.613Z,1628885217.613 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:06:58.051Z,1628885218.051 [Micromodem](INFO): Nmea in: $SNTTA,0.046724,,,,200657.41*40

2021-08-13T20:07:00.487Z,1628885220.487 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:07:00.873Z,1628885220.873 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:07:00.873Z,1628885220.873 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:07:00.873Z,1628885220.873 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:07:00.874Z,1628885220.874 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:07:01.269Z,1628885221.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
022,000,0029F,184,80,80,C8,FF
2021-08-13T20:07:01.269Z,1628885221.269 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:07:01.269Z,1628885221.269 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:07:01.271Z,1628885221.271 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:07:01.665Z,1628885221.665 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:07:02.066Z,1628885222.066 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,048,000,002B7,184,80,80,C0,FF
2021-08-13T20:07:02.066Z,1628885222.066 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:07:02.493Z,1628885222.493 [Micromodem](INFO): Nmea in: $SNTTA,0.033681,,,,200701.84*47

2021-08-13T20:07:05.145Z,1628885225.145 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:07:05.341Z,1628885225.341 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:07:05.341Z,1628885225.341 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:07:05.341Z,1628885225.341 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:07:05.342Z,1628885225.342 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:07:05.721Z,1628885225.721 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
048,000,002B7,184,80,80,C0,FF
2021-08-13T20:07:05.721Z,1628885225.721 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:07:05.721Z,1628885225.721 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:07:05.723Z,1628885225.723 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:07:06.157Z,1628885226.157 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:07:06.505Z,1628885226.505 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,053,000,002CD,184,80,80,B6,FF
2021-08-13T20:07:06.506Z,1628885226.506 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:07:06.941Z,1628885226.941 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200706.29*56

2021-08-13T20:07:09.388Z,1628885229.388 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:07:09.737Z,1628885229.737 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:07:09.737Z,1628885229.737 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:07:09.737Z,1628885229.737 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:07:09.738Z,1628885229.738 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:07:10.150Z,1628885230.150 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
053,000,002CD,184,80,80,B6,FF
2021-08-13T20:07:10.150Z,1628885230.150 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:07:10.151Z,1628885230.151 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:07:10.193Z,1628885230.193 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:07:10.559Z,1628885230.559 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:07:10.954Z,1628885230.954 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,087,000,002E2,187,80,80,B2,FF
2021-08-13T20:07:10.954Z,1628885230.954 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:07:11.782Z,1628885231.782 [Micromodem](INFO): Nmea in: $SNTTA,0.008043,,,,200710.83*40

2021-08-13T20:07:13.796Z,1628885233.796 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:07:14.185Z,1628885234.185 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:07:14.185Z,1628885234.185 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:07:14.186Z,1628885234.186 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:07:14.186Z,1628885234.186 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:07:14.585Z,1628885234.585 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
087,000,002E2,187,80,80,B2,FF
2021-08-13T20:07:14.585Z,1628885234.585 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:07:14.585Z,1628885234.585 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:07:14.587Z,1628885234.587 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:07:15.010Z,1628885235.010 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:07:15.393Z,1628885235.393 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0B3,000,002FB,186,80,80,A1,FF
2021-08-13T20:07:15.393Z,1628885235.393 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:07:15.840Z,1628885235.840 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200715.16*58

2021-08-13T20:07:18.346Z,1628885238.346 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:07:18.717Z,1628885238.717 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:07:18.717Z,1628885238.717 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:07:18.717Z,1628885238.717 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:07:18.718Z,1628885238.718 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:07:19.065Z,1628885239.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0B3,000,002FB,186,80,80,A1,FF
2021-08-13T20:07:19.065Z,1628885239.065 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:07:19.066Z,1628885239.066 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:07:19.078Z,1628885239.078 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:07:19.469Z,1628885239.469 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:07:19.855Z,1628885239.855 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0CC,000,0030D,186,80,80,AB,FF
2021-08-13T20:07:19.855Z,1628885239.855 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:07:20.279Z,1628885240.279 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200719.65*50

2021-08-13T20:07:22.745Z,1628885242.745 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:07:23.119Z,1628885243.119 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:07:23.119Z,1628885243.119 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:07:23.120Z,1628885243.120 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:07:23.121Z,1628885243.121 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:07:23.465Z,1628885243.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0CC,000,0030D,186,80,80,AB,FF
2021-08-13T20:07:23.465Z,1628885243.465 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:07:23.465Z,1628885243.465 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:07:23.467Z,1628885243.467 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:07:23.897Z,1628885243.897 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:07:24.277Z,1628885244.277 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0D4,000,00320,186,80,80,AF,FF
2021-08-13T20:07:24.277Z,1628885244.277 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:07:24.725Z,1628885244.725 [Micromodem](INFO): Nmea in: $SNTTA,0.009843,,,,200724.04*41

2021-08-13T20:07:24.752Z,1628885244.752 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): Detected possible detachment. Starting timer.
2021-08-13T20:07:27.186Z,1628885247.186 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:07:27.513Z,1628885247.513 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:07:27.513Z,1628885247.513 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:07:27.513Z,1628885247.513 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:07:27.514Z,1628885247.514 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:07:27.953Z,1628885247.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0D4,000,00320,186,80,80,AF,FF
2021-08-13T20:07:27.953Z,1628885247.953 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:07:27.954Z,1628885247.954 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:07:27.955Z,1628885247.955 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:07:28.320Z,1628885248.320 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:07:28.813Z,1628885248.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0F8,000,00330,187,80,80,61,FF
2021-08-13T20:07:28.814Z,1628885248.814 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:07:29.205Z,1628885249.205 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200728.53*57

2021-08-13T20:07:31.563Z,1628885251.563 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:07:32.109Z,1628885252.109 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:07:32.109Z,1628885252.109 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:07:32.109Z,1628885252.109 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:07:32.110Z,1628885252.110 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:07:32.369Z,1628885252.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0F8,000,00330,187,80,80,61,FF
2021-08-13T20:07:32.369Z,1628885252.369 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:07:32.369Z,1628885252.369 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:07:32.371Z,1628885252.371 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:07:32.789Z,1628885252.789 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:07:33.181Z,1628885253.181 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,135,000,0033D,186,80,80,3A,FF
2021-08-13T20:07:33.181Z,1628885253.181 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:07:33.617Z,1628885253.617 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200732.94*57

2021-08-13T20:07:36.030Z,1628885256.030 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:07:36.401Z,1628885256.401 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:07:36.401Z,1628885256.401 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:07:36.401Z,1628885256.401 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:07:36.402Z,1628885256.402 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:07:36.805Z,1628885256.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
135,000,0033D,186,80,80,3A,FF
2021-08-13T20:07:36.806Z,1628885256.806 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:07:36.806Z,1628885256.806 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:07:36.807Z,1628885256.807 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:07:37.223Z,1628885257.223 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:07:37.614Z,1628885257.614 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,174,000,0034F,185,80,80,BA,FF
2021-08-13T20:07:37.614Z,1628885257.614 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:07:38.061Z,1628885258.061 [Micromodem](INFO): Nmea in: $SNTTA,0.028131,,,,200737.38*43

2021-08-13T20:07:40.464Z,1628885260.464 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:07:40.849Z,1628885260.849 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:07:40.850Z,1628885260.850 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:07:40.850Z,1628885260.850 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:07:40.851Z,1628885260.851 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:07:41.261Z,1628885261.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
174,000,0034F,185,80,80,BA,FF
2021-08-13T20:07:41.261Z,1628885261.261 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:07:41.262Z,1628885261.262 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:07:41.264Z,1628885261.264 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:07:41.661Z,1628885261.661 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:07:42.069Z,1628885262.069 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,182,000,00360,186,80,80,BE,FF
2021-08-13T20:07:42.069Z,1628885262.069 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:07:42.494Z,1628885262.494 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200741.84*52

2021-08-13T20:07:44.911Z,1628885264.911 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): Detached at range: 14.34 m. Transitioning DDM to standby.
2021-08-13T20:07:44.911Z,1628885264.911 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:07:45.420Z,1628885265.420 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:07:45.420Z,1628885265.420 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:07:45.420Z,1628885265.420 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:07:45.421Z,1628885265.421 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:07:45.729Z,1628885265.729 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
182,000,00360,186,80,80,BE,FF
2021-08-13T20:07:45.729Z,1628885265.729 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:07:45.729Z,1628885265.729 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:07:45.731Z,1628885265.731 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:07:46.129Z,1628885266.129 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:07:46.533Z,1628885266.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,186,000,00374,186,80,80,88,FF
2021-08-13T20:07:46.533Z,1628885266.533 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:07:46.934Z,1628885266.934 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200746.31*5B

2021-08-13T20:07:47.386Z,1628885267.386 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): DDM at standby.
2021-08-13T20:07:47.746Z,1628885267.746 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](IMPORTANT): Undocking sequence complete.
2021-08-13T20:07:47.746Z,1628885267.746 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock] Stopped
2021-08-13T20:07:47.747Z,1628885267.747 [lineCaptureDepth:Lap:Docked:Detach](INFO): Completed lineCaptureDepth:Lap:Docked:Detach
2021-08-13T20:07:47.747Z,1628885267.747 [lineCaptureDepth:Lap:Docked:Detach] Stopped
2021-08-13T20:07:47.748Z,1628885267.748 [lineCaptureDepth:Lap:Docked:Detach](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap:Docked:Detach
2021-08-13T20:07:47.749Z,1628885267.749 [lineCaptureDepth:Lap:Docked](INFO): Completed lineCaptureDepth:Lap:Docked
2021-08-13T20:07:47.749Z,1628885267.749 [lineCaptureDepth:Lap:Docked] Stopped
2021-08-13T20:07:47.750Z,1628885267.750 [lineCaptureDepth:Lap:Docked](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap:Docked
2021-08-13T20:07:47.751Z,1628885267.751 [lineCaptureDepth:Lap](INFO): Completed lineCaptureDepth:Lap
2021-08-13T20:07:47.751Z,1628885267.751 [lineCaptureDepth:Lap] Stopped
2021-08-13T20:07:47.751Z,1628885267.751 [lineCaptureDepth:Lap](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap
2021-08-13T20:07:47.751Z,1628885267.751 [lineCaptureDepth:Lap](INFO): Running loop #3
2021-08-13T20:07:47.751Z,1628885267.751 [lineCaptureDepth:Lap] Running Loop=3
2021-08-13T20:07:47.751Z,1628885267.751 [lineCaptureDepth:Lap](DEBUG): Aggregate::initialize lineCaptureDepth:Lap
2021-08-13T20:07:47.751Z,1628885267.751 [lineCaptureDepth:Lap:A] Running Loop=1
2021-08-13T20:07:48.131Z,1628885268.131 [lineCaptureDepth:Lap:A] Stopped
2021-08-13T20:07:48.131Z,1628885268.131 [lineCaptureDepth:Lap:B] Running Loop=1
2021-08-13T20:07:48.131Z,1628885268.131 [lineCaptureDepth:Lap:B](DEBUG): Aggregate::initialize lineCaptureDepth:Lap:B
2021-08-13T20:07:48.557Z,1628885268.557 [lineCaptureDepth:LineCapture] Running Loop=1
2021-08-13T20:07:48.557Z,1628885268.557 [lineCaptureDepth:LineCapture](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture
2021-08-13T20:07:48.557Z,1628885268.557 [lineCaptureDepth:LineCapture:StandardEnvelopes] Running Loop=1
2021-08-13T20:07:48.558Z,1628885268.558 [lineCaptureDepth:LineCapture:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:StandardEnvelopes
2021-08-13T20:07:48.558Z,1628885268.558 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-08-13T20:07:48.558Z,1628885268.558 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2021-08-13T20:07:48.558Z,1628885268.558 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-08-13T20:07:48.558Z,1628885268.558 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2021-08-13T20:07:48.558Z,1628885268.558 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-08-13T20:07:48.558Z,1628885268.558 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2021-08-13T20:07:48.558Z,1628885268.558 [lineCaptureDepth:LineCapture:G] Running Loop=1
2021-08-13T20:07:48.558Z,1628885268.558 [lineCaptureDepth:LineCapture:H] Running Loop=1
2021-08-13T20:07:48.559Z,1628885268.559 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-08-13T20:07:48.559Z,1628885268.559 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-13T20:07:48.559Z,1628885268.559 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-08-13T20:07:48.559Z,1628885268.559 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-08-13T20:07:48.559Z,1628885268.559 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2021-08-13T20:07:48.559Z,1628885268.559 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-08-13T20:07:48.559Z,1628885268.559 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-08-13T20:07:48.559Z,1628885268.559 [lineCaptureDepth:LineCapture:A] Running Loop=1
2021-08-13T20:07:48.560Z,1628885268.560 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2021-08-13T20:07:48.560Z,1628885268.560 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-13T20:07:48.560Z,1628885268.560 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2021-08-13T20:07:48.560Z,1628885268.560 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2021-08-13T20:07:48.560Z,1628885268.560 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2021-08-13T20:07:48.560Z,1628885268.560 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2021-08-13T20:07:48.560Z,1628885268.560 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-08-13T20:07:48.562Z,1628885268.562 [lineCaptureDepth:LineCapture:A] Stopped
2021-08-13T20:07:48.562Z,1628885268.562 [lineCaptureDepth:LineCapture:B] Running Loop=1
2021-08-13T20:07:48.937Z,1628885268.937 [lineCaptureDepth:LineCapture:B] Stopped
2021-08-13T20:07:48.937Z,1628885268.937 [lineCaptureDepth:LineCapture:D] Running Loop=1
2021-08-13T20:07:49.355Z,1628885269.355 [lineCaptureDepth:LineCapture:D] Stopped
2021-08-13T20:07:49.355Z,1628885269.355 [lineCaptureDepth:LineCapture:E] Running Loop=1
2021-08-13T20:07:49.357Z,1628885269.357 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:07:49.705Z,1628885269.705 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:07:49.706Z,1628885269.706 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:07:49.706Z,1628885269.706 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:07:49.707Z,1628885269.707 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:07:49.731Z,1628885269.731 [lineCaptureDepth:LineCapture:E] Stopped
2021-08-13T20:07:49.731Z,1628885269.731 [lineCaptureDepth:LineCapture:F] Running Loop=1
2021-08-13T20:07:50.111Z,1628885270.111 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
186,000,00374,186,80,80,88,FF
2021-08-13T20:07:50.111Z,1628885270.111 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:07:50.111Z,1628885270.111 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:07:50.113Z,1628885270.113 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:07:50.222Z,1628885270.222 [lineCaptureDepth:LineCapture:F] Stopped
2021-08-13T20:07:50.222Z,1628885270.222 [lineCaptureDepth:LineCapture:HomingSequence] Running Loop=1
2021-08-13T20:07:50.222Z,1628885270.222 [lineCaptureDepth:LineCapture:HomingSequence](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence
2021-08-13T20:07:50.222Z,1628885270.222 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2021-08-13T20:07:50.222Z,1628885270.222 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-08-13T20:07:50.222Z,1628885270.222 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide] Running Loop=1
2021-08-13T20:07:50.222Z,1628885270.222 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-08-13T20:07:50.223Z,1628885270.223 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Running Loop=1
2021-08-13T20:07:50.223Z,1628885270.223 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize.
2021-08-13T20:07:50.223Z,1628885270.223 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2021-08-13T20:07:50.223Z,1628885270.223 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2021-08-13T20:07:50.223Z,1628885270.223 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-08-13T20:07:50.223Z,1628885270.223 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2021-08-13T20:07:50.232Z,1628885270.232 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-08-13T20:07:50.232Z,1628885270.232 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2021-08-13T20:07:50.232Z,1628885270.232 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2021-08-13T20:07:50.232Z,1628885270.232 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2021-08-13T20:07:50.232Z,1628885270.232 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2021-08-13T20:07:50.233Z,1628885270.233 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2021-08-13T20:07:50.233Z,1628885270.233 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2021-08-13T20:07:50.233Z,1628885270.233 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-13T20:07:50.233Z,1628885270.233 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2021-08-13T20:07:50.233Z,1628885270.233 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-13T20:07:50.233Z,1628885270.233 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1
2021-08-13T20:07:50.233Z,1628885270.233 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Initialize.
2021-08-13T20:07:50.233Z,1628885270.233 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2021-08-13T20:07:50.233Z,1628885270.233 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2021-08-13T20:07:50.234Z,1628885270.234 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2021-08-13T20:07:50.517Z,1628885270.517 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:07:50.550Z,1628885270.550 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Stopped
2021-08-13T20:07:50.550Z,1628885270.550 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-13T20:07:50.550Z,1628885270.550 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2021-08-13T20:07:50.551Z,1628885270.551 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-13T20:07:50.551Z,1628885270.551 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2021-08-13T20:07:50.551Z,1628885270.551 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Stopped
2021-08-13T20:07:50.551Z,1628885270.551 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Stopped
2021-08-13T20:07:50.551Z,1628885270.551 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2021-08-13T20:07:50.551Z,1628885270.551 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2021-08-13T20:07:50.551Z,1628885270.551 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-08-13T20:07:50.551Z,1628885270.551 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2021-08-13T20:07:50.551Z,1628885270.551 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-08-13T20:07:50.551Z,1628885270.551 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2021-08-13T20:07:50.551Z,1628885270.551 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2021-08-13T20:07:50.551Z,1628885270.551 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2021-08-13T20:07:50.552Z,1628885270.552 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2021-08-13T20:07:50.947Z,1628885270.947 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,138,000,0038D,185,80,80,6C,FF
2021-08-13T20:07:50.948Z,1628885270.948 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:07:51.441Z,1628885271.441 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200750.69*51

2021-08-13T20:07:53.476Z,1628885273.476 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detaching from dock.
2021-08-13T20:07:53.799Z,1628885273.799 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Engaging thruster for 10.0 seconds (max) to disengage.
2021-08-13T20:07:53.802Z,1628885273.802 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:07:54.213Z,1628885274.213 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:07:54.213Z,1628885274.213 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:07:54.213Z,1628885274.213 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:07:54.214Z,1628885274.214 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:07:54.291Z,1628885274.291 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Thruster off.
2021-08-13T20:07:54.581Z,1628885274.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
138,000,0038D,185,80,80,6C,FF
2021-08-13T20:07:54.581Z,1628885274.581 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:07:54.581Z,1628885274.581 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:07:54.583Z,1628885274.583 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:07:54.703Z,1628885274.703 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detected possible detachment. Starting timer.
2021-08-13T20:07:54.989Z,1628885274.989 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:07:55.399Z,1628885275.399 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1A4,000,00394,186,80,80,59,FF
2021-08-13T20:07:55.400Z,1628885275.400 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:07:55.866Z,1628885275.866 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200755.16*5C

2021-08-13T20:07:58.249Z,1628885278.249 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:07:58.778Z,1628885278.778 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:07:58.778Z,1628885278.778 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:07:58.779Z,1628885278.779 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:07:58.779Z,1628885278.779 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:07:59.105Z,1628885279.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1A4,000,00394,186,80,80,59,FF
2021-08-13T20:07:59.105Z,1628885279.105 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:07:59.105Z,1628885279.105 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:07:59.107Z,1628885279.107 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:07:59.473Z,1628885279.473 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:07:59.886Z,1628885279.886 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1EF,000,003A4,186,80,80,97,FF
2021-08-13T20:07:59.886Z,1628885279.886 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:08:00.665Z,1628885280.665 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200759.69*58

2021-08-13T20:08:02.746Z,1628885282.746 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:08:03.113Z,1628885283.113 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:08:03.113Z,1628885283.113 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:08:03.113Z,1628885283.113 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:08:03.114Z,1628885283.114 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:08:03.473Z,1628885283.473 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1EF,000,003A4,186,80,80,97,FF
2021-08-13T20:08:03.473Z,1628885283.473 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:08:03.473Z,1628885283.473 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:08:03.475Z,1628885283.475 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:08:03.889Z,1628885283.889 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:08:04.285Z,1628885284.285 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1A2,000,003BB,185,80,80,7B,FF
2021-08-13T20:08:04.285Z,1628885284.285 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:08:04.713Z,1628885284.713 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200804.05*55

2021-08-13T20:08:07.190Z,1628885287.190 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:08:07.513Z,1628885287.513 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:08:07.513Z,1628885287.513 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:08:07.513Z,1628885287.513 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:08:07.514Z,1628885287.514 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:08:07.917Z,1628885287.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1A2,000,003BB,185,80,80,7B,FF
2021-08-13T20:08:07.917Z,1628885287.917 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:08:07.917Z,1628885287.917 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:08:07.919Z,1628885287.919 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:08:08.324Z,1628885288.324 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:08:08.729Z,1628885288.729 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1C8,000,003C3,187,80,80,72,FF
2021-08-13T20:08:08.729Z,1628885288.730 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:08:09.189Z,1628885289.189 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200808.49*51

2021-08-13T20:08:11.599Z,1628885291.599 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:08:12.025Z,1628885292.025 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:08:12.025Z,1628885292.025 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:08:12.025Z,1628885292.025 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:08:12.026Z,1628885292.026 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:08:12.473Z,1628885292.473 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1C8,000,003C3,187,80,80,72,FF
2021-08-13T20:08:12.473Z,1628885292.473 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:08:12.473Z,1628885292.473 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:08:12.479Z,1628885292.479 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:08:12.816Z,1628885292.816 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:08:13.201Z,1628885293.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1CB,000,003D4,186,80,80,55,FF
2021-08-13T20:08:13.201Z,1628885293.201 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:08:13.989Z,1628885293.989 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200813.05*53

2021-08-13T20:08:14.805Z,1628885294.805 [PowerOnly](INFO): Powering down loadControl
2021-08-13T20:08:14.852Z,1628885294.852 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached at range: 21.30 m. Transitioning DDM to standby.
2021-08-13T20:08:16.048Z,1628885296.048 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:08:16.405Z,1628885296.405 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:08:16.406Z,1628885296.406 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:08:16.406Z,1628885296.406 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:08:16.407Z,1628885296.407 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:08:16.805Z,1628885296.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1CB,000,003D4,186,80,80,55,FF
2021-08-13T20:08:16.805Z,1628885296.805 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:08:16.805Z,1628885296.805 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:08:16.807Z,1628885296.807 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:08:17.239Z,1628885297.239 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:08:17.328Z,1628885297.328 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): DDM at standby.
2021-08-13T20:08:17.621Z,1628885297.621 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1D7,000,003E4,186,80,80,58,FF
2021-08-13T20:08:17.622Z,1628885297.622 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:08:17.637Z,1628885297.637 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](IMPORTANT): Undocking sequence complete.
2021-08-13T20:08:17.637Z,1628885297.637 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Stopped
2021-08-13T20:08:17.638Z,1628885297.638 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B] Running Loop=1
2021-08-13T20:08:18.017Z,1628885298.017 [Micromodem](INFO): Nmea in: $SNTTA,0.094074,,,,200817.38*49

2021-08-13T20:08:18.042Z,1628885298.042 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B](INFO): Transitioning to midcourse guidance.
2021-08-13T20:08:18.042Z,1628885298.042 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B] Stopped
2021-08-13T20:08:18.042Z,1628885298.042 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:C] Running Loop=1
2021-08-13T20:08:18.472Z,1628885298.472 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:C] Stopped
2021-08-13T20:08:18.472Z,1628885298.472 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-08-13T20:08:18.472Z,1628885298.472 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide] Stopped
2021-08-13T20:08:18.473Z,1628885298.473 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-08-13T20:08:18.473Z,1628885298.473 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-08-13T20:08:18.827Z,1628885298.827 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2021-08-13T20:08:18.828Z,1628885298.828 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-08-13T20:08:18.828Z,1628885298.828 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2021-08-13T20:08:18.828Z,1628885298.828 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-08-13T20:08:18.828Z,1628885298.828 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2021-08-13T20:08:18.829Z,1628885298.829 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2021-08-13T20:08:18.829Z,1628885298.829 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2021-08-13T20:08:18.829Z,1628885298.829 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2021-08-13T20:08:18.829Z,1628885298.829 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2021-08-13T20:08:18.831Z,1628885298.831 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Running Loop=1
2021-08-13T20:08:18.831Z,1628885298.831 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-08-13T20:08:18.831Z,1628885298.831 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Running Loop=1
2021-08-13T20:08:18.832Z,1628885298.832 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A](INFO): Transitioning to terminal guidance at range 22.260002 m 
2021-08-13T20:08:18.832Z,1628885298.832 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Stopped
2021-08-13T20:08:18.832Z,1628885298.832 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Running Loop=1
2021-08-13T20:08:18.834Z,1628885298.834 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A](INFO): Navigating to dock waypoint ( 41.552317 arcdeg , -70.708600 arcdeg )
2021-08-13T20:08:18.834Z,1628885298.834 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2021-08-13T20:08:18.834Z,1628885298.834 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Running Loop=1
2021-08-13T20:08:18.834Z,1628885298.834 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Initialize WaypointComponent.
2021-08-13T20:08:19.311Z,1628885299.311 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Stopped
2021-08-13T20:08:19.311Z,1628885299.311 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-08-13T20:08:19.311Z,1628885299.311 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Stopped
2021-08-13T20:08:19.311Z,1628885299.311 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-08-13T20:08:19.311Z,1628885299.311 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-08-13T20:08:19.311Z,1628885299.311 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-13T20:08:19.311Z,1628885299.311 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-08-13T20:08:19.311Z,1628885299.311 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-08-13T20:08:19.312Z,1628885299.312 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2021-08-13T20:08:19.316Z,1628885299.316 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-08-13T20:08:19.316Z,1628885299.316 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-08-13T20:08:19.658Z,1628885299.658 [lineCaptureDepth:UpdateNumPings_Terminal] Running Loop=1
2021-08-13T20:08:19.658Z,1628885299.658 [lineCaptureDepth:UpdateNumPings_Terminal](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal
2021-08-13T20:08:19.658Z,1628885299.658 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-13T20:08:19.659Z,1628885299.659 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T20:08:19.659Z,1628885299.659 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-13T20:08:19.659Z,1628885299.659 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-13T20:08:19.659Z,1628885299.659 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-13T20:08:19.659Z,1628885299.659 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-13T20:08:19.660Z,1628885299.660 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2021-08-13T20:08:19.661Z,1628885299.661 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-13T20:08:19.661Z,1628885299.661 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2021-08-13T20:08:19.661Z,1628885299.661 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-13T20:08:19.661Z,1628885299.661 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1
2021-08-13T20:08:19.661Z,1628885299.661 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Initialize.
2021-08-13T20:08:19.661Z,1628885299.661 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2021-08-13T20:08:19.661Z,1628885299.661 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2021-08-13T20:08:19.661Z,1628885299.661 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2021-08-13T20:08:19.662Z,1628885299.662 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A](INFO): Terminal guidance.
2021-08-13T20:08:19.663Z,1628885299.663 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2021-08-13T20:08:19.663Z,1628885299.663 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture] Running Loop=1
2021-08-13T20:08:19.663Z,1628885299.663 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initialize.
2021-08-13T20:08:19.663Z,1628885299.663 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initializing internal variables to default values.
2021-08-13T20:08:19.663Z,1628885299.663 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2021-08-13T20:08:19.664Z,1628885299.664 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Rollout timeout set to 900.00 sec.
2021-08-13T20:08:19.664Z,1628885299.664 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-13T20:08:19.665Z,1628885299.665 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2021-08-13T20:08:19.665Z,1628885299.665 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-08-13T20:08:19.665Z,1628885299.665 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2021-08-13T20:08:19.665Z,1628885299.665 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-08-13T20:08:19.665Z,1628885299.665 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2021-08-13T20:08:19.665Z,1628885299.665 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2021-08-13T20:08:19.665Z,1628885299.665 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2021-08-13T20:08:19.665Z,1628885299.665 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Stopped
2021-08-13T20:08:19.665Z,1628885299.665 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Uninitialize WaypointComponent.
2021-08-13T20:08:20.045Z,1628885300.045 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-13T20:08:20.046Z,1628885300.046 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T20:08:20.046Z,1628885300.046 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-13T20:08:20.046Z,1628885300.046 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T20:08:20.049Z,1628885300.049 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.260002 m, bearing: 63.679752 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-13T20:08:20.049Z,1628885300.049 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 22.26 m.
2021-08-13T20:08:20.050Z,1628885300.050 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 63.679752deg and heading rate command to 0 deg/s.
2021-08-13T20:08:20.412Z,1628885300.412 [PowerOnly](INFO): Powering up loadControl
2021-08-13T20:08:20.464Z,1628885300.464 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:08:20.933Z,1628885300.933 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:08:20.933Z,1628885300.933 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:08:20.933Z,1628885300.933 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:08:20.934Z,1628885300.934 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:08:21.277Z,1628885301.277 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1D7,000,003E4,186,80,80,58,FF
2021-08-13T20:08:21.277Z,1628885301.277 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:08:21.277Z,1628885301.277 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:08:21.279Z,1628885301.279 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:08:21.814Z,1628885301.814 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:08:22.212Z,1628885302.212 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1D8,000,003F4,187,80,80,5E,FF
2021-08-13T20:08:22.213Z,1628885302.213 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:08:22.244Z,1628885302.244 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:08:22.621Z,1628885302.621 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200821.86*59

2021-08-13T20:08:22.664Z,1628885302.664 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.219997 m, bearing: 63.928979 deg, deltaT: 4.604747 s, approachRate: 0.208479 m/s, LOS rate: 0.054124 deg/s, posRepo size: 2
2021-08-13T20:08:22.664Z,1628885302.664 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 23.22 m.
2021-08-13T20:08:22.667Z,1628885302.667 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 23.219997 m,
      bearing: 63.928979 deg,
      approachRate: 0.208479 m/s,
      LOS rate: 0.054124 deg/s,
      cmd update: 0.162372 deg/s,
      cmd heading: 63.679752 deg,
      new cmd heading: 63.679752 deg.

2021-08-13T20:08:25.096Z,1628885305.096 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:08:25.477Z,1628885305.477 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:08:25.477Z,1628885305.477 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:08:25.477Z,1628885305.477 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:08:25.478Z,1628885305.478 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:08:25.929Z,1628885305.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1D8,000,003F4,187,80,80,5E,FF
2021-08-13T20:08:25.929Z,1628885305.929 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:08:25.929Z,1628885305.929 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:08:25.930Z,1628885305.930 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:08:26.298Z,1628885306.298 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:08:26.649Z,1628885306.649 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1CD,000,00401,186,80,80,57,FF
2021-08-13T20:08:26.649Z,1628885306.649 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:08:26.698Z,1628885306.698 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:08:27.158Z,1628885307.158 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.000002 m, bearing: 65.248100 deg, deltaT: 4.453598 s, approachRate: 0.175140 m/s, LOS rate: 0.296192 deg/s, posRepo size: 3
2021-08-13T20:08:27.158Z,1628885307.158 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 24.00 m.
2021-08-13T20:08:27.160Z,1628885307.160 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 24.000002 m,
      bearing: 65.248100 deg,
      approachRate: 0.175140 m/s,
      LOS rate: 0.296192 deg/s,
      cmd update: 0.888577 deg/s,
      cmd heading: 64.402264 deg,
      new cmd heading: 64.478079 deg.

2021-08-13T20:08:27.437Z,1628885307.437 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200826.50*55

2021-08-13T20:08:29.479Z,1628885309.479 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:08:29.865Z,1628885309.865 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:08:29.865Z,1628885309.865 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:08:29.865Z,1628885309.865 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:08:29.866Z,1628885309.866 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:08:30.265Z,1628885310.265 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1CD,000,00401,186,80,80,57,FF
2021-08-13T20:08:30.265Z,1628885310.265 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:08:30.265Z,1628885310.265 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:08:30.267Z,1628885310.267 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:08:30.693Z,1628885310.693 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:08:31.111Z,1628885311.111 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,19D,000,003F9,186,80,80,9E,FF
2021-08-13T20:08:31.111Z,1628885311.111 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:08:31.174Z,1628885311.174 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:08:31.502Z,1628885311.502 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200830.84*5B

2021-08-13T20:08:31.522Z,1628885311.522 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.519997 m, bearing: 64.912677 deg, deltaT: 4.476128 s, approachRate: -0.107237 m/s, LOS rate: -0.074936 deg/s, posRepo size: 4
2021-08-13T20:08:31.523Z,1628885311.523 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 23.52 m.
2021-08-13T20:08:31.525Z,1628885311.525 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 23.519997 m,
      bearing: 64.912677 deg,
      approachRate: -0.107237 m/s,
      LOS rate: -0.074936 deg/s,
      cmd update: -0.224808 deg/s,
      cmd heading: 68.383205 deg,
      new cmd heading: 68.695523 deg.

2021-08-13T20:08:33.947Z,1628885313.947 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:08:34.321Z,1628885314.321 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:08:34.321Z,1628885314.321 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:08:34.321Z,1628885314.321 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:08:34.322Z,1628885314.322 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:08:34.697Z,1628885314.697 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
19D,000,003F9,186,80,80,9E,FF
2021-08-13T20:08:34.697Z,1628885314.697 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:08:34.697Z,1628885314.697 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:08:34.699Z,1628885314.699 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:08:35.132Z,1628885315.132 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:08:35.518Z,1628885315.518 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0D6,000,003E3,186,80,80,A5,FF
2021-08-13T20:08:35.518Z,1628885315.518 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:08:35.539Z,1628885315.539 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:08:35.957Z,1628885315.957 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200835.27*57

2021-08-13T20:08:35.979Z,1628885315.979 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.199999 m, bearing: 65.926932 deg, deltaT: 4.364529 s, approachRate: -0.302438 m/s, LOS rate: 0.232386 deg/s, posRepo size: 4
2021-08-13T20:08:35.980Z,1628885315.980 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 22.20 m.
2021-08-13T20:08:35.980Z,1628885315.980 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 22.20 m.
2021-08-13T20:08:35.981Z,1628885315.981 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-13T20:08:35.983Z,1628885315.983 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 22.199999 m,
      bearing: 65.926932 deg,
      approachRate: -0.302438 m/s,
      LOS rate: 0.232386 deg/s,
      cmd update: 0.697158 deg/s,
      cmd heading: 67.401971 deg,
      new cmd heading: 67.302207 deg.

2021-08-13T20:08:38.374Z,1628885318.374 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:08:38.813Z,1628885318.813 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:08:38.813Z,1628885318.813 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:08:38.813Z,1628885318.813 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:08:38.814Z,1628885318.814 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:08:39.301Z,1628885319.301 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0D6,000,003E3,186,80,80,A5,FF
2021-08-13T20:08:39.302Z,1628885319.302 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:08:39.302Z,1628885319.302 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:08:39.303Z,1628885319.303 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:08:39.677Z,1628885319.677 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:08:40.470Z,1628885320.470 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200839.87*51

2021-08-13T20:08:40.893Z,1628885320.893 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:08:41.245Z,1628885321.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,050,000,03665,184,80,80,7C,FF
2021-08-13T20:08:41.245Z,1628885321.245 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:08:41.335Z,1628885321.335 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:08:41.712Z,1628885321.712 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 798.000000 m, bearing: 62.060629 deg, deltaT: 5.796023 s, approachRate: 133.850403 m/s, LOS rate: -0.667061 deg/s, posRepo size: 4
2021-08-13T20:08:41.714Z,1628885321.714 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 798.000000 m,
      bearing: 62.060629 deg,
      approachRate: 133.850403 m/s,
      LOS rate: -0.667061 deg/s,
      cmd update: -2.001184 deg/s,
      cmd heading: 71.439797 deg,
      new cmd heading: 71.704939 deg.

2021-08-13T20:08:42.081Z,1628885322.081 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-13T20:08:42.081Z,1628885322.081 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T20:08:42.082Z,1628885322.082 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-13T20:08:42.082Z,1628885322.082 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-13T20:08:42.082Z,1628885322.082 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-13T20:08:42.082Z,1628885322.082 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-13T20:08:42.498Z,1628885322.498 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-13T20:08:42.499Z,1628885322.499 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T20:08:42.499Z,1628885322.499 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-13T20:08:42.499Z,1628885322.499 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T20:08:44.112Z,1628885324.112 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:08:44.473Z,1628885324.473 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:08:44.473Z,1628885324.473 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:08:44.473Z,1628885324.473 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:08:44.474Z,1628885324.474 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:08:44.886Z,1628885324.886 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
050,000,03665,184,80,80,7C,FF
2021-08-13T20:08:44.886Z,1628885324.886 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:08:44.886Z,1628885324.886 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:08:44.887Z,1628885324.887 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:08:45.360Z,1628885325.360 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:08:45.737Z,1628885325.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0E1,000,0039B,186,80,80,A5,FF
2021-08-13T20:08:45.738Z,1628885325.738 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:08:46.165Z,1628885326.165 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200845.46*57

2021-08-13T20:08:46.212Z,1628885326.212 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.879999 m, bearing: 58.197549 deg, deltaT: 4.452868 s, approachRate: -175.194946 m/s, LOS rate: -0.867549 deg/s, posRepo size: 4
2021-08-13T20:08:46.214Z,1628885326.214 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.879999 m,
      bearing: 58.197549 deg,
      approachRate: -175.194946 m/s,
      LOS rate: -0.867549 deg/s,
      cmd update: -2.602646 deg/s,
      cmd heading: 62.560534 deg,
      new cmd heading: 61.673281 deg.

2021-08-13T20:08:46.589Z,1628885326.589 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-13T20:08:46.589Z,1628885326.589 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T20:08:46.590Z,1628885326.590 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-13T20:08:46.590Z,1628885326.590 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-13T20:08:46.590Z,1628885326.590 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-13T20:08:46.590Z,1628885326.590 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-13T20:08:47.003Z,1628885327.003 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-13T20:08:47.003Z,1628885327.003 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T20:08:47.003Z,1628885327.003 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-13T20:08:47.003Z,1628885327.003 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T20:08:48.618Z,1628885328.618 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:08:48.973Z,1628885328.973 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:08:48.973Z,1628885328.973 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:08:48.973Z,1628885328.973 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:08:48.974Z,1628885328.974 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:08:49.377Z,1628885329.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0E1,000,0039B,186,80,80,A5,FF
2021-08-13T20:08:49.377Z,1628885329.377 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:08:49.377Z,1628885329.377 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:08:49.379Z,1628885329.379 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:08:49.785Z,1628885329.785 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:08:50.217Z,1628885330.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF7,000,00375,183,80,80,5A,FF
2021-08-13T20:08:50.217Z,1628885330.217 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:08:50.306Z,1628885330.306 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:08:50.625Z,1628885330.625 [Micromodem](INFO): Nmea in: $SNTTA,0.024689,,,,200849.95*4A

2021-08-13T20:08:50.660Z,1628885330.660 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.599998 m, bearing: 61.711456 deg, deltaT: 4.518340 s, approachRate: -0.504610 m/s, LOS rate: 0.777699 deg/s, posRepo size: 4
2021-08-13T20:08:50.662Z,1628885330.662 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.599998 m,
      bearing: 61.711456 deg,
      approachRate: -0.504610 m/s,
      LOS rate: 0.777699 deg/s,
      cmd update: 2.333096 deg/s,
      cmd heading: 50.748869 deg,
      new cmd heading: 49.819444 deg.

2021-08-13T20:08:53.151Z,1628885333.151 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:08:53.460Z,1628885333.460 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:08:53.460Z,1628885333.460 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:08:53.461Z,1628885333.461 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:08:53.461Z,1628885333.461 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:08:53.850Z,1628885333.850 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF7,000,00375,183,80,80,5A,FF
2021-08-13T20:08:53.850Z,1628885333.850 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:08:53.851Z,1628885333.851 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:08:53.853Z,1628885333.853 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:08:54.259Z,1628885334.259 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:08:54.631Z,1628885334.631 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB3,000,00351,186,80,80,94,FF
2021-08-13T20:08:54.631Z,1628885334.631 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:08:54.662Z,1628885334.662 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:08:55.077Z,1628885335.077 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200854.43*52

2021-08-13T20:08:55.130Z,1628885335.130 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.439999 m, bearing: 68.358254 deg, deltaT: 4.356262 s, approachRate: -0.495838 m/s, LOS rate: 1.525803 deg/s, posRepo size: 4
2021-08-13T20:08:55.132Z,1628885335.132 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.439999 m,
      bearing: 68.358254 deg,
      approachRate: -0.495838 m/s,
      LOS rate: 1.525803 deg/s,
      cmd update: 4.577410 deg/s,
      cmd heading: 60.912419 deg,
      new cmd heading: 62.011557 deg.

2021-08-13T20:08:57.490Z,1628885337.490 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:08:57.865Z,1628885337.865 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:08:57.865Z,1628885337.865 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:08:57.865Z,1628885337.865 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:08:57.866Z,1628885337.866 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:08:58.269Z,1628885338.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EB3,000,00351,186,80,80,94,FF
2021-08-13T20:08:58.269Z,1628885338.269 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:08:58.269Z,1628885338.269 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:08:58.271Z,1628885338.271 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:08:58.730Z,1628885338.730 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:08:59.129Z,1628885339.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F80,000,00330,187,80,80,9E,FF
2021-08-13T20:08:59.129Z,1628885339.129 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:08:59.251Z,1628885339.251 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:08:59.521Z,1628885339.521 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200858.85*54

2021-08-13T20:08:59.543Z,1628885339.543 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.459998 m, bearing: 62.670414 deg, deltaT: 4.588462 s, approachRate: -0.431517 m/s, LOS rate: -1.239596 deg/s, posRepo size: 4
2021-08-13T20:08:59.546Z,1628885339.546 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.459998 m,
      bearing: 62.670414 deg,
      approachRate: -0.431517 m/s,
      LOS rate: -1.239596 deg/s,
      cmd update: -3.718789 deg/s,
      cmd heading: 81.914069 deg,
      new cmd heading: 83.270164 deg.

2021-08-13T20:09:01.927Z,1628885341.927 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:09:02.318Z,1628885342.318 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:09:02.318Z,1628885342.318 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:09:02.318Z,1628885342.318 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:09:02.319Z,1628885342.319 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:09:02.709Z,1628885342.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F80,000,00330,187,80,80,9E,FF
2021-08-13T20:09:02.709Z,1628885342.709 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:09:02.709Z,1628885342.709 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:09:02.711Z,1628885342.711 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:09:03.144Z,1628885343.144 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:09:03.553Z,1628885343.553 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,094,000,0031C,186,80,80,6E,FF
2021-08-13T20:09:03.553Z,1628885343.553 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:09:03.584Z,1628885343.584 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:09:03.973Z,1628885343.973 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200903.29*5D

2021-08-13T20:09:03.996Z,1628885343.996 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.260000 m, bearing: 63.649174 deg, deltaT: 4.333697 s, approachRate: -0.276899 m/s, LOS rate: 0.225849 deg/s, posRepo size: 4
2021-08-13T20:09:03.998Z,1628885343.998 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.260000 m,
      bearing: 63.649174 deg,
      approachRate: -0.276899 m/s,
      LOS rate: 0.225849 deg/s,
      cmd update: 0.677546 deg/s,
      cmd heading: 65.797509 deg,
      new cmd heading: 64.255424 deg.

2021-08-13T20:09:06.510Z,1628885346.510 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:09:06.780Z,1628885346.780 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:09:06.781Z,1628885346.781 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:09:06.781Z,1628885346.781 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:09:06.783Z,1628885346.783 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:09:07.189Z,1628885347.189 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
094,000,0031C,186,80,80,6E,FF
2021-08-13T20:09:07.189Z,1628885347.189 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:09:07.189Z,1628885347.189 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:09:07.191Z,1628885347.191 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:09:07.580Z,1628885347.580 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:09:07.969Z,1628885347.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0DD,000,002F5,185,80,80,93,FF
2021-08-13T20:09:07.969Z,1628885347.969 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:09:08.053Z,1628885348.053 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:09:08.390Z,1628885348.390 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200907.76*53

2021-08-13T20:09:08.424Z,1628885348.424 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.919999 m, bearing: 59.771347 deg, deltaT: 4.469064 s, approachRate: -0.523600 m/s, LOS rate: -0.867704 deg/s, posRepo size: 4
2021-08-13T20:09:08.426Z,1628885348.426 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.919999 m,
      bearing: 59.771347 deg,
      approachRate: -0.523600 m/s,
      LOS rate: -0.867704 deg/s,
      cmd update: -2.603113 deg/s,
      cmd heading: 68.825684 deg,
      new cmd heading: 69.076228 deg.

2021-08-13T20:09:10.834Z,1628885350.834 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:09:11.201Z,1628885351.201 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:09:11.201Z,1628885351.201 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:09:11.201Z,1628885351.201 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:09:11.202Z,1628885351.202 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:09:11.590Z,1628885351.590 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0DD,000,002F5,185,80,80,93,FF
2021-08-13T20:09:11.590Z,1628885351.590 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:09:11.590Z,1628885351.590 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:09:11.591Z,1628885351.591 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:09:12.017Z,1628885352.017 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:09:12.403Z,1628885352.403 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,031,000,002D3,185,80,80,B7,FF
2021-08-13T20:09:12.403Z,1628885352.403 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:09:12.434Z,1628885352.434 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:09:12.861Z,1628885352.861 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200912.17*50

2021-08-13T20:09:12.877Z,1628885352.877 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.880000 m, bearing: 62.591048 deg, deltaT: 4.381184 s, approachRate: -0.465627 m/s, LOS rate: 0.643593 deg/s, posRepo size: 4
2021-08-13T20:09:12.879Z,1628885352.879 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.880000 m,
      bearing: 62.591048 deg,
      approachRate: -0.465627 m/s,
      LOS rate: 0.643593 deg/s,
      cmd update: 1.930780 deg/s,
      cmd heading: 57.421464 deg,
      new cmd heading: 56.261368 deg.

2021-08-13T20:09:14.463Z,1628885354.463 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-13T20:09:15.342Z,1628885355.342 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:09:15.626Z,1628885355.626 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:09:15.626Z,1628885355.626 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:09:15.626Z,1628885355.626 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:09:15.627Z,1628885355.627 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:09:16.050Z,1628885356.050 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
031,000,002D3,185,80,80,B7,FF
2021-08-13T20:09:16.050Z,1628885356.050 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:09:16.050Z,1628885356.050 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:09:16.053Z,1628885356.053 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:09:16.471Z,1628885356.471 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:09:16.867Z,1628885356.867 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F69,000,002B9,186,80,80,9C,FF
2021-08-13T20:09:16.867Z,1628885356.867 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:09:16.915Z,1628885356.915 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:09:17.281Z,1628885357.281 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200916.62*56

2021-08-13T20:09:17.329Z,1628885357.329 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-08-13T20:09:17.329Z,1628885357.329 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-08-13T20:09:17.329Z,1628885357.329 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-08-13T20:09:17.330Z,1628885357.330 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-13T20:09:17.330Z,1628885357.330 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-08-13T20:09:17.330Z,1628885357.330 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.319999 m 
2021-08-13T20:09:17.330Z,1628885357.330 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-08-13T20:09:17.331Z,1628885357.331 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-08-13T20:09:17.331Z,1628885357.331 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-08-13T20:09:17.334Z,1628885357.334 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.319999 m, bearing: 67.857506 deg, deltaT: 4.481053 s, approachRate: -0.348133 m/s, LOS rate: 1.175272 deg/s, posRepo size: 4
2021-08-13T20:09:17.336Z,1628885357.336 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.319999 m,
      bearing: 67.857506 deg,
      approachRate: -0.348133 m/s,
      LOS rate: 1.175272 deg/s,
      cmd update: 3.525818 deg/s,
      cmd heading: 66.073220 deg,
      new cmd heading: 66.886725 deg.

2021-08-13T20:09:17.744Z,1628885357.744 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210813T200917: (41.552319, -70.708603)
2021-08-13T20:09:17.744Z,1628885357.744 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-08-13T20:09:17.744Z,1628885357.744 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-08-13T20:09:17.745Z,1628885357.745 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-13T20:09:17.745Z,1628885357.745 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-08-13T20:09:17.745Z,1628885357.745 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-13T20:09:17.745Z,1628885357.745 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-08-13T20:09:17.745Z,1628885357.745 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-08-13T20:09:17.745Z,1628885357.745 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-08-13T20:09:19.775Z,1628885359.775 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:09:20.193Z,1628885360.193 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:09:20.193Z,1628885360.193 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:09:20.193Z,1628885360.193 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:09:20.194Z,1628885360.194 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:09:20.553Z,1628885360.553 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F69,000,002B9,186,80,80,9C,FF
2021-08-13T20:09:20.553Z,1628885360.553 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:09:20.553Z,1628885360.553 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:09:20.555Z,1628885360.555 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:09:20.980Z,1628885360.980 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:09:21.765Z,1628885361.765 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200921.13*54

2021-08-13T20:09:22.579Z,1628885362.579 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:09:24.185Z,1628885364.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
9,186,80,80,9C,FF
2021-08-13T20:09:24.185Z,1628885364.185 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
9,186,80,80,9C,FF
2021-08-13T20:09:24.185Z,1628885364.185 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T20:09:25.448Z,1628885365.448 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:09:25.785Z,1628885365.785 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:09:25.785Z,1628885365.785 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:09:25.786Z,1628885365.786 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:09:25.786Z,1628885365.786 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:09:26.201Z,1628885366.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
9,186,80,80,9C,FF
2021-08-13T20:09:26.201Z,1628885366.201 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:09:26.201Z,1628885366.201 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:09:26.203Z,1628885366.203 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:09:26.606Z,1628885366.606 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:09:26.997Z,1628885366.997 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F4D,000,002AE,187,80,80,BC,FF
2021-08-13T20:09:26.997Z,1628885366.997 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:09:27.101Z,1628885367.101 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:09:27.453Z,1628885367.453 [Micromodem](INFO): Nmea in: $SNTTA,0.028112,,,,200926.78*48

2021-08-13T20:09:27.520Z,1628885367.520 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 3.660000 m, bearing: 98.596888 deg, deltaT: 10.185530 s, approachRate: -0.064798 m/s, LOS rate: 3.017946 deg/s, posRepo size: 4
2021-08-13T20:09:27.522Z,1628885367.522 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.660000 m,
      bearing: 98.596888 deg,
      approachRate: -0.064798 m/s,
      LOS rate: 3.017946 deg/s,
      cmd update: 9.053838 deg/s,
      cmd heading: 101.972364 deg,
      new cmd heading: 103.472916 deg.

2021-08-13T20:09:29.884Z,1628885369.884 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:09:30.229Z,1628885370.229 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:09:30.229Z,1628885370.229 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:09:30.229Z,1628885370.229 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:09:30.230Z,1628885370.230 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:09:30.654Z,1628885370.654 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F4D,000,002AE,187,80,80,BC,FF
2021-08-13T20:09:30.654Z,1628885370.654 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:09:30.654Z,1628885370.654 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:09:30.657Z,1628885370.657 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:09:31.080Z,1628885371.080 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:09:31.455Z,1628885371.455 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F4A,000,002AE,186,80,80,9A,FF
2021-08-13T20:09:31.455Z,1628885371.455 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:09:31.484Z,1628885371.484 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:09:31.865Z,1628885371.865 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200931.23*56

2021-08-13T20:09:31.895Z,1628885371.895 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 3.660000 m, bearing: 114.024162 deg, deltaT: 4.382793 s, approachRate: 0.000000 m/s, LOS rate: 3.519964 deg/s, posRepo size: 4
2021-08-13T20:09:31.898Z,1628885371.898 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.660000 m,
      bearing: 114.024162 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 3.519964 deg/s,
      cmd update: 10.559892 deg/s,
      cmd heading: 141.684273 deg,
      new cmd heading: 145.444649 deg.

2021-08-13T20:09:33.196Z,1628885373.196 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-13T20:09:34.037Z,1628885374.037 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:09:34.321Z,1628885374.321 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:09:34.321Z,1628885374.321 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:09:34.321Z,1628885374.321 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:09:34.322Z,1628885374.322 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:09:34.686Z,1628885374.686 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F4A,000,002AE,186,80,80,9A,FF
2021-08-13T20:09:34.686Z,1628885374.686 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:09:34.686Z,1628885374.686 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:09:34.713Z,1628885374.713 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:09:35.160Z,1628885375.160 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:09:35.475Z,1628885375.475 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FFE,000,002AE,182,80,80,A1,FF
2021-08-13T20:09:35.476Z,1628885375.476 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:09:35.547Z,1628885375.547 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:09:35.915Z,1628885375.915 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200935.28*59

2021-08-13T20:09:35.935Z,1628885375.935 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 3.660000 m, bearing: 114.305839 deg, deltaT: 4.063051 s, approachRate: 0.000000 m/s, LOS rate: 0.069326 deg/s, posRepo size: 4
2021-08-13T20:09:35.938Z,1628885375.938 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.660000 m,
      bearing: 114.305839 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.069326 deg/s,
      cmd update: 0.207979 deg/s,
      cmd heading: 184.553622 deg,
      new cmd heading: 188.730355 deg.

2021-08-13T20:09:38.336Z,1628885378.336 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:09:38.705Z,1628885378.705 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:09:38.705Z,1628885378.705 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:09:38.705Z,1628885378.705 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:09:38.706Z,1628885378.706 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:09:39.133Z,1628885379.133 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FFE,000,002AE,182,80,80,A1,FF
2021-08-13T20:09:39.133Z,1628885379.133 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:09:39.133Z,1628885379.133 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:09:39.135Z,1628885379.135 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:09:39.609Z,1628885379.609 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:09:39.974Z,1628885379.974 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC8,000,002AE,185,80,80,9E,FF
2021-08-13T20:09:39.974Z,1628885379.974 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:09:40.027Z,1628885380.027 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:09:40.402Z,1628885380.402 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200939.71*59

2021-08-13T20:09:40.439Z,1628885380.439 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 3.660000 m, bearing: 103.114430 deg, deltaT: 4.479629 s, approachRate: 0.000000 m/s, LOS rate: -2.498289 deg/s, posRepo size: 4
2021-08-13T20:09:40.440Z,1628885380.440 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 3.66 m.
2021-08-13T20:09:40.442Z,1628885380.442 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.660000 m,
      bearing: 103.114430 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -2.498289 deg/s,
      cmd update: -7.494867 deg/s,
      cmd heading: 185.485299 deg,
      new cmd heading: 185.572604 deg.

2021-08-13T20:09:42.890Z,1628885382.890 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:09:43.217Z,1628885383.217 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:09:43.217Z,1628885383.217 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:09:43.217Z,1628885383.217 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:09:43.218Z,1628885383.218 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:09:43.622Z,1628885383.622 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC8,000,002AE,185,80,80,9E,FF
2021-08-13T20:09:43.623Z,1628885383.623 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:09:43.623Z,1628885383.623 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:09:43.625Z,1628885383.625 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:09:44.020Z,1628885384.020 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:09:44.427Z,1628885384.427 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FBB,000,002AF,184,80,80,A9,FF
2021-08-13T20:09:44.427Z,1628885384.427 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:09:44.483Z,1628885384.483 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:09:44.861Z,1628885384.861 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200944.20*57

2021-08-13T20:09:44.896Z,1628885384.896 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 3.720000 m, bearing: 81.792642 deg, deltaT: 4.456253 s, approachRate: 0.013464 m/s, LOS rate: -4.784690 deg/s, posRepo size: 4
2021-08-13T20:09:44.897Z,1628885384.897 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](IMPORTANT): Docking sequence complete at range 3.72 m. Cable present.
2021-08-13T20:09:44.897Z,1628885384.897 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture] Stopped
2021-08-13T20:09:44.897Z,1628885384.897 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2021-08-13T20:09:44.897Z,1628885384.897 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:G] Running Loop=1
2021-08-13T20:09:45.306Z,1628885385.306 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:G](INFO): Docked. Homing sequence complete.
2021-08-13T20:09:45.307Z,1628885385.307 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:G] Stopped
2021-08-13T20:09:45.307Z,1628885385.307 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:H] Running Loop=1
2021-08-13T20:09:45.670Z,1628885385.670 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:H] Stopped
2021-08-13T20:09:45.671Z,1628885385.671 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-13T20:09:45.672Z,1628885385.672 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2021-08-13T20:09:45.672Z,1628885385.672 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-13T20:09:45.672Z,1628885385.672 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Stopped
2021-08-13T20:09:45.672Z,1628885385.672 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Stopped
2021-08-13T20:09:45.672Z,1628885385.672 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2021-08-13T20:09:45.672Z,1628885385.672 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-13T20:09:46.145Z,1628885386.145 [lineCaptureDepth:UpdateNumPings_Terminal] Stopped
2021-08-13T20:09:46.145Z,1628885386.145 [lineCaptureDepth:UpdateNumPings_Terminal](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal
2021-08-13T20:09:46.145Z,1628885386.145 [lineCaptureDepth:UpdateNumPings_NotTerminal] Running Loop=1
2021-08-13T20:09:46.145Z,1628885386.145 [lineCaptureDepth:UpdateNumPings_NotTerminal](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_NotTerminal
2021-08-13T20:09:46.145Z,1628885386.145 [lineCaptureDepth:UpdateNumPings_NotTerminal:A] Running Loop=1
2021-08-13T20:09:46.146Z,1628885386.146 [lineCaptureDepth:UpdateNumPings_NotTerminal:A](INFO): No longer in Terminal. Resuming normal ranging with 1.000000 count pings.
2021-08-13T20:09:46.146Z,1628885386.146 [lineCaptureDepth:UpdateNumPings_NotTerminal:A] Stopped
2021-08-13T20:09:46.146Z,1628885386.146 [lineCaptureDepth:UpdateNumPings_NotTerminal:B] Running Loop=1
2021-08-13T20:09:46.146Z,1628885386.146 [lineCaptureDepth:LineCapture:HomingSequence] Stopped
2021-08-13T20:09:46.147Z,1628885386.147 [lineCaptureDepth:LineCapture:HomingSequence](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence
2021-08-13T20:09:46.147Z,1628885386.147 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Stopped
2021-08-13T20:09:46.147Z,1628885386.147 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-08-13T20:09:46.147Z,1628885386.147 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Stopped
2021-08-13T20:09:46.147Z,1628885386.147 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-13T20:09:46.147Z,1628885386.147 [lineCaptureDepth:LineCapture:K.Wait] Running Loop=1
2021-08-13T20:09:46.147Z,1628885386.147 [lineCaptureDepth:LineCapture:K.Wait](DEBUG): Initialize Wait Component.
2021-08-13T20:09:46.479Z,1628885386.479 [lineCaptureDepth:UpdateNumPings_NotTerminal:B] Stopped
2021-08-13T20:09:46.479Z,1628885386.479 [lineCaptureDepth:UpdateNumPings_NotTerminal](INFO): Completed lineCaptureDepth:UpdateNumPings_NotTerminal
2021-08-13T20:09:47.311Z,1628885387.311 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:09:47.701Z,1628885387.701 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:09:47.701Z,1628885387.701 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:09:47.701Z,1628885387.701 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:09:47.702Z,1628885387.702 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:09:48.033Z,1628885388.033 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FBB,000,002AF,184,80,80,A9,FF
2021-08-13T20:09:48.033Z,1628885388.033 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:09:48.033Z,1628885388.033 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:09:48.035Z,1628885388.035 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:09:48.452Z,1628885388.452 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:09:48.858Z,1628885388.858 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,217,000,002AD,188,80,80,65,FF
2021-08-13T20:09:48.858Z,1628885388.858 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:09:49.277Z,1628885389.277 [Micromodem](INFO): Nmea in: $SNTTA,0.046958,0.442457,,,200948.61*5C

2021-08-13T20:09:49.687Z,1628885389.687 [lineCaptureDepth:LineCapture:K.Wait](INFO): Done Waiting.
2021-08-13T20:09:49.687Z,1628885389.687 [lineCaptureDepth:LineCapture:K.Wait] Stopped
2021-08-13T20:09:49.687Z,1628885389.687 [lineCaptureDepth:LineCapture:K.Wait](DEBUG): Uninitialize Wait Component.
2021-08-13T20:09:49.688Z,1628885389.688 [lineCaptureDepth:LineCapture:L] Running Loop=1
2021-08-13T20:09:50.092Z,1628885390.092 [lineCaptureDepth:LineCapture:L](INFO): GuidanceMode 0.000000 count 
2021-08-13T20:09:50.093Z,1628885390.093 [lineCaptureDepth:LineCapture:L] Stopped
2021-08-13T20:09:50.097Z,1628885390.097 [lineCaptureDepth:LineCapture](INFO): Completed lineCaptureDepth:LineCapture
2021-08-13T20:09:50.097Z,1628885390.097 [lineCaptureDepth:LineCapture] Stopped
2021-08-13T20:09:50.098Z,1628885390.098 [lineCaptureDepth:LineCapture](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture
2021-08-13T20:09:50.098Z,1628885390.098 [lineCaptureDepth:LineCapture:StandardEnvelopes] Stopped
2021-08-13T20:09:50.098Z,1628885390.098 [lineCaptureDepth:LineCapture:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:StandardEnvelopes
2021-08-13T20:09:50.098Z,1628885390.098 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2021-08-13T20:09:50.098Z,1628885390.098 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2021-08-13T20:09:50.098Z,1628885390.098 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Stopped
2021-08-13T20:09:50.098Z,1628885390.098 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2021-08-13T20:09:50.098Z,1628885390.098 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2021-08-13T20:09:50.099Z,1628885390.099 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2021-08-13T20:09:50.099Z,1628885390.099 [lineCaptureDepth:LineCapture:G] Stopped
2021-08-13T20:09:50.099Z,1628885390.099 [lineCaptureDepth:LineCapture:H] Stopped
2021-08-13T20:09:50.099Z,1628885390.099 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2021-08-13T20:09:50.099Z,1628885390.099 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-13T20:09:50.099Z,1628885390.099 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2021-08-13T20:09:50.099Z,1628885390.099 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2021-08-13T20:09:50.099Z,1628885390.099 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2021-08-13T20:09:50.099Z,1628885390.099 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2021-08-13T20:09:50.099Z,1628885390.099 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-08-13T20:09:50.485Z,1628885390.485 [lineCaptureDepth:Lap:B](INFO): Completed lineCaptureDepth:Lap:B
2021-08-13T20:09:50.485Z,1628885390.485 [lineCaptureDepth:Lap:B] Stopped
2021-08-13T20:09:50.485Z,1628885390.485 [lineCaptureDepth:Lap:B](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap:B
2021-08-13T20:09:50.485Z,1628885390.485 [lineCaptureDepth:Lap:C] Running Loop=1
2021-08-13T20:09:50.895Z,1628885390.895 [lineCaptureDepth:Lap:C] Stopped
2021-08-13T20:09:50.895Z,1628885390.895 [lineCaptureDepth:Lap:D] Running Loop=1
2021-08-13T20:09:51.317Z,1628885391.317 [lineCaptureDepth:Lap:D](INFO): Mode 0.000000 count 
2021-08-13T20:09:51.317Z,1628885391.317 [lineCaptureDepth:Lap:D] Stopped
2021-08-13T20:09:51.317Z,1628885391.317 [lineCaptureDepth:Lap:Docked] Running Loop=1
2021-08-13T20:09:51.317Z,1628885391.317 [lineCaptureDepth:Lap:Docked](DEBUG): Aggregate::initialize lineCaptureDepth:Lap:Docked
2021-08-13T20:09:51.317Z,1628885391.317 [lineCaptureDepth:Lap:Docked:A] Running Loop=1
2021-08-13T20:09:51.683Z,1628885391.683 [lineCaptureDepth:Lap:Docked:A](INFO): Waiting on dock for 5.000000 min 
2021-08-13T20:09:51.683Z,1628885391.683 [lineCaptureDepth:Lap:Docked:A] Stopped
2021-08-13T20:09:51.683Z,1628885391.683 [lineCaptureDepth:Lap:Docked:Docked.Docked] Running Loop=1
2021-08-13T20:09:51.683Z,1628885391.683 [lineCaptureDepth:Lap:Docked:Docked.Docked](DEBUG): Initialize.
2021-08-13T20:09:51.683Z,1628885391.683 [lineCaptureDepth:Lap:Docked:Docked.Docked](DEBUG): Initializing internal variables to default values.
2021-08-13T20:09:51.684Z,1628885391.684 [lineCaptureDepth:Lap:Docked:Docked.Docked](INFO): Maintaining depth of 6.000000 m.
2021-08-13T20:09:51.684Z,1628885391.684 [lineCaptureDepth:Lap:Docked:Docked.Docked](INFO): Maintaining pitch angle of 20.000000 degree.
2021-08-13T20:09:51.685Z,1628885391.685 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:09:52.071Z,1628885392.071 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:09:52.071Z,1628885392.071 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:09:52.071Z,1628885392.071 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:09:52.072Z,1628885392.072 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:09:52.473Z,1628885392.473 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
217,000,002AD,188,80,80,65,FF
2021-08-13T20:09:52.473Z,1628885392.473 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:09:52.473Z,1628885392.473 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:09:52.475Z,1628885392.475 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:09:52.996Z,1628885392.996 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:09:53.321Z,1628885393.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D8D,000,002AC,189,80,80,6D,FF
2021-08-13T20:09:53.321Z,1628885393.321 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:09:53.325Z,1628885393.325 [PowerOnly](INFO): Powering down loadControl
2021-08-13T20:09:53.330Z,1628885393.330 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T20:09:53.737Z,1628885393.737 [Micromodem](INFO): Nmea in: $SNTTA,0.030158,,,,200953.05*47

2021-08-13T20:09:56.179Z,1628885396.179 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:09:56.537Z,1628885396.537 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:09:56.537Z,1628885396.537 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:09:56.537Z,1628885396.537 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:09:56.538Z,1628885396.538 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:09:56.949Z,1628885396.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D8D,000,002AC,189,80,80,6D,FF
2021-08-13T20:09:56.949Z,1628885396.949 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:09:56.949Z,1628885396.949 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:09:56.951Z,1628885396.951 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:09:57.357Z,1628885397.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:09:58.182Z,1628885398.182 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200957.53*51

2021-08-13T20:09:58.969Z,1628885398.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1E7,000,035F3,186,80,80,6A,FF
2021-08-13T20:09:58.970Z,1628885398.970 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:09:59.422Z,1628885399.422 [lineCaptureDepth:Lap:Docked:Docked.Docked](INFO): Detected possible state switch to DETACHED.
2021-08-13T20:10:01.835Z,1628885401.835 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:10:02.213Z,1628885402.213 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:10:02.213Z,1628885402.213 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:10:02.213Z,1628885402.213 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:10:02.214Z,1628885402.214 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:10:02.621Z,1628885402.621 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1E7,000,035F3,186,80,80,6A,FF
2021-08-13T20:10:02.621Z,1628885402.621 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:10:02.621Z,1628885402.621 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:10:02.623Z,1628885402.623 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:10:03.032Z,1628885403.032 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:10:03.413Z,1628885403.413 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F81,000,002AA,187,80,80,9B,FF
2021-08-13T20:10:03.414Z,1628885403.414 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:10:03.806Z,1628885403.806 [Micromodem](INFO): Nmea in: $SNTTA,0.006308,,,,201003.20*4F

2021-08-13T20:10:04.286Z,1628885404.286 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-13T20:10:06.311Z,1628885406.311 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:10:06.649Z,1628885406.649 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:10:06.649Z,1628885406.649 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:10:06.649Z,1628885406.649 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:10:06.650Z,1628885406.650 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:10:07.072Z,1628885407.072 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F81,000,002AA,187,80,80,9B,FF
2021-08-13T20:10:07.073Z,1628885407.073 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:10:07.073Z,1628885407.073 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:10:07.076Z,1628885407.076 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:10:07.453Z,1628885407.453 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:10:07.858Z,1628885407.858 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F15,000,002A8,186,80,80,91,FF
2021-08-13T20:10:07.858Z,1628885407.858 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:10:08.289Z,1628885408.289 [Micromodem](INFO): Nmea in: $SNTTA,0.070207,,,,201007.65*45

2021-08-13T20:10:10.695Z,1628885410.695 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:10:11.113Z,1628885411.113 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:10:11.113Z,1628885411.113 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:10:11.113Z,1628885411.113 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:10:11.114Z,1628885411.114 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:10:11.497Z,1628885411.497 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F15,000,002A8,186,80,80,91,FF
2021-08-13T20:10:11.497Z,1628885411.497 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:10:11.497Z,1628885411.497 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:10:11.499Z,1628885411.499 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:10:11.905Z,1628885411.905 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:10:12.305Z,1628885412.305 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED5,000,002A5,187,80,80,91,FF
2021-08-13T20:10:12.306Z,1628885412.306 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:10:12.753Z,1628885412.753 [Micromodem](INFO): Nmea in: $SNTTA,0.017909,,,,201012.07*41

2021-08-13T20:10:15.135Z,1628885415.135 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:10:15.605Z,1628885415.605 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:10:15.605Z,1628885415.605 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:10:15.605Z,1628885415.605 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:10:15.606Z,1628885415.606 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:10:15.937Z,1628885415.937 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ED5,000,002A5,187,80,80,91,FF
2021-08-13T20:10:15.937Z,1628885415.937 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:10:15.937Z,1628885415.937 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:10:15.939Z,1628885415.939 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:10:16.346Z,1628885416.346 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:10:16.741Z,1628885416.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF2,000,002A5,186,80,80,8C,FF
2021-08-13T20:10:16.741Z,1628885416.741 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:10:17.173Z,1628885417.173 [Micromodem](INFO): Nmea in: $SNTTA,0.029406,0.492205,,,201016.51*5F

2021-08-13T20:10:19.591Z,1628885419.591 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:10:19.977Z,1628885419.977 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:10:19.977Z,1628885419.977 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:10:19.978Z,1628885419.978 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:10:19.978Z,1628885419.978 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:10:20.397Z,1628885420.397 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF2,000,002A5,186,80,80,8C,FF
2021-08-13T20:10:20.397Z,1628885420.397 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:10:20.397Z,1628885420.397 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:10:20.399Z,1628885420.399 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:10:20.789Z,1628885420.789 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:10:21.205Z,1628885421.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E0B,000,002A2,186,80,80,89,FF
2021-08-13T20:10:21.206Z,1628885421.206 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:10:21.209Z,1628885421.209 [Micromodem](INFO): Nmea in: $SNTTA,0.008632,0.260918,,,201020.97*5A

2021-08-13T20:10:23.995Z,1628885423.995 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:10:24.421Z,1628885424.421 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:10:24.421Z,1628885424.421 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:10:24.421Z,1628885424.421 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:10:24.422Z,1628885424.422 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:10:24.790Z,1628885424.790 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E0B,000,002A2,186,80,80,89,FF
2021-08-13T20:10:24.790Z,1628885424.790 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:10:24.790Z,1628885424.790 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:10:24.792Z,1628885424.792 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:10:25.205Z,1628885425.205 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:10:26.098Z,1628885426.098 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201025.37*5E

2021-08-13T20:10:26.425Z,1628885426.425 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2021-08-13T20:10:26.433Z,1628885426.433 [BPC1](INFO): Received data from all battery sticks.
2021-08-13T20:10:26.461Z,1628885426.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DDD,000,035E3,188,80,80,8E,FF
2021-08-13T20:10:26.462Z,1628885426.462 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:10:29.358Z,1628885429.358 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:10:29.669Z,1628885429.669 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:10:29.669Z,1628885429.669 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:10:29.669Z,1628885429.669 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:10:29.670Z,1628885429.670 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:10:30.073Z,1628885430.073 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DDD,000,035E3,188,80,80,8E,FF
2021-08-13T20:10:30.073Z,1628885430.073 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:10:30.073Z,1628885430.073 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:10:30.075Z,1628885430.075 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:10:30.484Z,1628885430.484 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:10:30.881Z,1628885430.881 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E04,000,0029E,187,80,80,84,FF
2021-08-13T20:10:30.882Z,1628885430.882 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:10:31.313Z,1628885431.313 [Micromodem](INFO): Nmea in: $SNTTA,0.005003,0.383504,,,201030.65*52

2021-08-13T20:10:33.723Z,1628885433.723 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:10:34.085Z,1628885434.085 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:10:34.085Z,1628885434.085 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:10:34.085Z,1628885434.085 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:10:34.086Z,1628885434.086 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:10:34.521Z,1628885434.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E04,000,0029E,187,80,80,84,FF
2021-08-13T20:10:34.521Z,1628885434.521 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:10:34.521Z,1628885434.521 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:10:34.523Z,1628885434.523 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:10:34.903Z,1628885434.903 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:10:35.297Z,1628885435.297 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E16,000,0029B,186,80,80,7E,FF
2021-08-13T20:10:35.298Z,1628885435.298 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:10:35.846Z,1628885435.846 [Micromodem](INFO): Nmea in: $SNTTA,0.056860,,,,201035.10*49

2021-08-13T20:10:38.171Z,1628885438.171 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:10:38.558Z,1628885438.558 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:10:38.558Z,1628885438.558 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:10:38.558Z,1628885438.558 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:10:38.559Z,1628885438.559 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:10:38.965Z,1628885438.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E16,000,0029B,186,80,80,7E,FF
2021-08-13T20:10:38.965Z,1628885438.965 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:10:38.965Z,1628885438.965 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:10:38.967Z,1628885438.967 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:10:39.368Z,1628885439.368 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:10:39.771Z,1628885439.771 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CB6,000,00297,18A,80,80,6B,FF
2021-08-13T20:10:39.771Z,1628885439.771 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:10:40.209Z,1628885440.209 [Micromodem](INFO): Nmea in: $SNTTA,0.003556,,,,201039.54*4D

2021-08-13T20:10:42.649Z,1628885442.649 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:10:43.005Z,1628885443.005 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:10:43.005Z,1628885443.005 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:10:43.005Z,1628885443.005 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:10:43.006Z,1628885443.006 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:10:43.405Z,1628885443.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CB6,000,00297,18A,80,80,6B,FF
2021-08-13T20:10:43.405Z,1628885443.405 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:10:43.405Z,1628885443.405 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:10:43.407Z,1628885443.407 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:10:43.813Z,1628885443.813 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:10:44.185Z,1628885444.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,14C,000,00294,185,80,80,78,FF
2021-08-13T20:10:44.185Z,1628885444.185 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:10:44.645Z,1628885444.645 [Micromodem](INFO): Nmea in: $SNTTA,0.059684,,,,201043.98*43

2021-08-13T20:10:47.109Z,1628885447.109 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:10:47.468Z,1628885447.468 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:10:47.468Z,1628885447.468 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:10:47.469Z,1628885447.469 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:10:47.470Z,1628885447.470 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:10:47.854Z,1628885447.854 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
14C,000,00294,185,80,80,78,FF
2021-08-13T20:10:47.854Z,1628885447.854 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:10:47.854Z,1628885447.854 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:10:47.857Z,1628885447.857 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:10:48.261Z,1628885448.261 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:10:48.661Z,1628885448.661 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E66,000,0029A,187,80,80,8B,FF
2021-08-13T20:10:48.661Z,1628885448.661 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:10:49.117Z,1628885449.117 [Micromodem](INFO): Nmea in: $SNTTA,0.028073,,,,201048.43*46

2021-08-13T20:10:51.521Z,1628885451.521 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:10:51.897Z,1628885451.897 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:10:51.897Z,1628885451.897 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:10:51.898Z,1628885451.898 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:10:51.898Z,1628885451.898 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:10:52.325Z,1628885452.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E66,000,0029A,187,80,80,8B,FF
2021-08-13T20:10:52.325Z,1628885452.325 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:10:52.325Z,1628885452.325 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:10:52.326Z,1628885452.326 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:10:52.705Z,1628885452.705 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:10:53.117Z,1628885453.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DBA,000,00297,189,80,80,94,FF
2021-08-13T20:10:53.117Z,1628885453.117 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:10:53.536Z,1628885453.536 [Micromodem](INFO): Nmea in: $SNTTA,0.148422,,,,201052.90*44

2021-08-13T20:10:56.035Z,1628885456.035 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:10:56.329Z,1628885456.329 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:10:56.329Z,1628885456.329 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:10:56.329Z,1628885456.329 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:10:56.330Z,1628885456.330 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:10:56.748Z,1628885456.748 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DBA,000,00297,189,80,80,94,FF
2021-08-13T20:10:56.748Z,1628885456.748 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:10:56.748Z,1628885456.748 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:10:56.750Z,1628885456.750 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:10:57.145Z,1628885457.145 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:10:57.962Z,1628885457.962 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201057.32*5E

2021-08-13T20:10:58.775Z,1628885458.775 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:11:00.373Z,1628885460.373 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
7,189,80,80,94,FF
2021-08-13T20:11:00.373Z,1628885460.373 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
7,189,80,80,94,FF
2021-08-13T20:11:00.373Z,1628885460.373 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T20:11:01.625Z,1628885461.625 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:11:01.993Z,1628885461.993 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:11:01.993Z,1628885461.993 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:11:01.993Z,1628885461.993 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:11:01.994Z,1628885461.994 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:11:02.406Z,1628885462.406 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
7,189,80,80,94,FF
2021-08-13T20:11:02.406Z,1628885462.406 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:11:02.406Z,1628885462.406 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:11:02.408Z,1628885462.408 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:11:02.801Z,1628885462.801 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:11:03.210Z,1628885463.210 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E35,000,00297,186,80,80,8B,FF
2021-08-13T20:11:03.210Z,1628885463.210 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:11:06.202Z,1628885466.202 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:11:06.434Z,1628885466.434 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:11:06.434Z,1628885466.434 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:11:06.434Z,1628885466.434 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:11:06.435Z,1628885466.435 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:11:06.838Z,1628885466.838 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E35,000,00297,186,80,80,8B,FF
2021-08-13T20:11:06.838Z,1628885466.838 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:11:06.839Z,1628885466.839 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:11:06.841Z,1628885466.841 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:11:07.261Z,1628885467.261 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:11:07.645Z,1628885467.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DFC,000,00297,187,80,80,70,FF
2021-08-13T20:11:07.645Z,1628885467.645 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:11:08.090Z,1628885468.090 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201107.41*5E

2021-08-13T20:11:10.538Z,1628885470.538 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:11:10.885Z,1628885470.885 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:11:10.885Z,1628885470.885 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:11:10.885Z,1628885470.885 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:11:10.886Z,1628885470.886 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:11:11.302Z,1628885471.302 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DFC,000,00297,187,80,80,70,FF
2021-08-13T20:11:11.302Z,1628885471.302 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:11:11.302Z,1628885471.302 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:11:11.305Z,1628885471.305 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:11:11.693Z,1628885471.693 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:11:12.089Z,1628885472.089 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E39,000,00296,187,80,80,82,FF
2021-08-13T20:11:12.090Z,1628885472.090 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:11:12.518Z,1628885472.518 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201111.88*5C

2021-08-13T20:11:14.928Z,1628885474.928 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:11:15.293Z,1628885475.293 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:11:15.293Z,1628885475.293 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:11:15.293Z,1628885475.293 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:11:15.294Z,1628885475.294 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:11:15.693Z,1628885475.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E39,000,00296,187,80,80,82,FF
2021-08-13T20:11:15.693Z,1628885475.693 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:11:15.694Z,1628885475.694 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:11:15.695Z,1628885475.695 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:11:16.216Z,1628885476.216 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:11:16.533Z,1628885476.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DBF,000,00297,189,80,80,66,FF
2021-08-13T20:11:16.533Z,1628885476.533 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:11:16.965Z,1628885476.965 [Micromodem](INFO): Nmea in: $SNTTA,0.112155,,,,201116.27*43

2021-08-13T20:11:19.443Z,1628885479.443 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:11:19.773Z,1628885479.773 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:11:19.773Z,1628885479.773 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:11:19.773Z,1628885479.773 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:11:19.774Z,1628885479.774 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:11:20.177Z,1628885480.177 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DBF,000,00297,189,80,80,66,FF
2021-08-13T20:11:20.177Z,1628885480.177 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:11:20.177Z,1628885480.177 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:11:20.179Z,1628885480.179 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:11:20.577Z,1628885480.577 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:11:20.981Z,1628885480.981 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,157,000,00297,185,80,80,74,FF
2021-08-13T20:11:20.981Z,1628885480.981 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:11:21.417Z,1628885481.417 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201120.75*5C

2021-08-13T20:11:23.812Z,1628885483.812 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:11:24.211Z,1628885484.211 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:11:24.211Z,1628885484.211 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:11:24.211Z,1628885484.211 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:11:24.212Z,1628885484.212 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:11:24.585Z,1628885484.585 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
157,000,00297,185,80,80,74,FF
2021-08-13T20:11:24.586Z,1628885484.586 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:11:24.586Z,1628885484.586 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:11:24.588Z,1628885484.588 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:11:25.061Z,1628885485.061 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:11:25.083Z,1628885485.083 [Micromodem](INFO): Nmea in: *7E

2021-08-13T20:11:25.084Z,1628885485.084 [Micromodem](ERROR): Response from modem failed NMEA checksum: *7E
 expected 0
2021-08-13T20:11:25.406Z,1628885485.406 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DFA,000,00296,188,80,80,91,FF
2021-08-13T20:11:25.406Z,1628885485.406 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:11:28.271Z,1628885488.271 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:11:28.646Z,1628885488.646 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:11:28.646Z,1628885488.646 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:11:28.646Z,1628885488.646 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:11:28.647Z,1628885488.647 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:11:29.093Z,1628885489.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DFA,000,00296,188,80,80,91,FF
2021-08-13T20:11:29.093Z,1628885489.093 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:11:29.093Z,1628885489.093 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:11:29.095Z,1628885489.095 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:11:29.473Z,1628885489.473 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:11:29.893Z,1628885489.893 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DE3,000,00296,187,80,80,85,FF
2021-08-13T20:11:29.893Z,1628885489.894 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:11:30.301Z,1628885490.301 [Micromodem](INFO): Nmea in: $SNTTA,0.086648,,,,201129.67*4C

2021-08-13T20:11:32.718Z,1628885492.718 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:11:33.121Z,1628885493.121 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:11:33.121Z,1628885493.121 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:11:33.121Z,1628885493.121 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:11:33.122Z,1628885493.122 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:11:33.501Z,1628885493.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DE3,000,00296,187,80,80,85,FF
2021-08-13T20:11:33.501Z,1628885493.501 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:11:33.501Z,1628885493.501 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:11:33.503Z,1628885493.503 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:11:33.917Z,1628885493.917 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:11:34.337Z,1628885494.337 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,12B,000,00297,186,80,80,6A,FF
2021-08-13T20:11:34.350Z,1628885494.350 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:11:34.713Z,1628885494.713 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201134.08*53

2021-08-13T20:11:37.180Z,1628885497.180 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:11:37.541Z,1628885497.541 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:11:37.541Z,1628885497.541 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:11:37.541Z,1628885497.541 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:11:37.542Z,1628885497.542 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:11:37.949Z,1628885497.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
12B,000,00297,186,80,80,6A,FF
2021-08-13T20:11:37.949Z,1628885497.949 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:11:37.949Z,1628885497.949 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:11:37.951Z,1628885497.951 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:11:38.365Z,1628885498.365 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:11:38.753Z,1628885498.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D08,000,00298,189,80,80,5D,FF
2021-08-13T20:11:38.753Z,1628885498.753 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:11:39.194Z,1628885499.194 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201138.52*50

2021-08-13T20:11:41.613Z,1628885501.613 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:11:41.989Z,1628885501.989 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:11:41.989Z,1628885501.989 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:11:41.989Z,1628885501.989 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:11:41.990Z,1628885501.990 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:11:42.389Z,1628885502.389 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D08,000,00298,189,80,80,5D,FF
2021-08-13T20:11:42.389Z,1628885502.389 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:11:42.389Z,1628885502.389 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:11:42.391Z,1628885502.391 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:11:42.816Z,1628885502.816 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:11:43.197Z,1628885503.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,12B,000,00298,186,80,80,91,FF
2021-08-13T20:11:43.197Z,1628885503.197 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:11:43.630Z,1628885503.630 [Micromodem](INFO): Nmea in: $SNTTA,0.018106,,,,201142.96*45

2021-08-13T20:11:46.011Z,1628885506.011 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:11:46.505Z,1628885506.505 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:11:46.505Z,1628885506.505 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:11:46.505Z,1628885506.505 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:11:46.506Z,1628885506.506 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:11:46.838Z,1628885506.838 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
12B,000,00298,186,80,80,91,FF
2021-08-13T20:11:46.838Z,1628885506.838 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:11:46.838Z,1628885506.838 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:11:46.841Z,1628885506.841 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:11:47.253Z,1628885507.253 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:11:47.646Z,1628885507.646 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,12D,000,00298,186,80,80,66,FF
2021-08-13T20:11:47.646Z,1628885507.646 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:11:50.521Z,1628885510.521 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:11:50.885Z,1628885510.885 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:11:50.885Z,1628885510.885 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:11:50.885Z,1628885510.885 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:11:50.886Z,1628885510.886 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:11:51.317Z,1628885511.317 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
12D,000,00298,186,80,80,66,FF
2021-08-13T20:11:51.317Z,1628885511.317 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:11:51.317Z,1628885511.317 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:11:51.319Z,1628885511.319 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:11:51.709Z,1628885511.709 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:11:52.093Z,1628885512.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DC9,000,00299,189,80,80,8D,FF
2021-08-13T20:11:52.094Z,1628885512.094 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:11:54.913Z,1628885514.913 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:11:55.321Z,1628885515.321 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:11:55.322Z,1628885515.322 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:11:55.322Z,1628885515.322 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:11:55.323Z,1628885515.323 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:11:55.765Z,1628885515.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DC9,000,00299,189,80,80,8D,FF
2021-08-13T20:11:55.765Z,1628885515.765 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:11:55.766Z,1628885515.766 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:11:55.770Z,1628885515.770 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:11:56.112Z,1628885516.112 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:11:56.613Z,1628885516.613 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,131,000,00297,187,80,80,45,FF
2021-08-13T20:11:56.613Z,1628885516.613 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:11:56.959Z,1628885516.959 [Micromodem](INFO): Nmea in: $SNTTA,0.029313,,,,201156.34*4C

2021-08-13T20:11:59.421Z,1628885519.421 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:11:59.773Z,1628885519.773 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:11:59.773Z,1628885519.773 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:11:59.773Z,1628885519.773 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:11:59.774Z,1628885519.774 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:12:00.173Z,1628885520.173 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
131,000,00297,187,80,80,45,FF
2021-08-13T20:12:00.173Z,1628885520.173 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:12:00.173Z,1628885520.173 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:12:00.175Z,1628885520.175 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:12:00.576Z,1628885520.576 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:12:00.982Z,1628885520.982 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,311,000,00297,18A,80,80,47,FF
2021-08-13T20:12:00.982Z,1628885520.982 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:12:01.409Z,1628885521.409 [Micromodem](INFO): Nmea in: $SNTTA,0.024372,0.371313,,,201200.75*59

2021-08-13T20:12:03.823Z,1628885523.823 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:12:04.208Z,1628885524.208 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:12:04.208Z,1628885524.208 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:12:04.209Z,1628885524.209 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:12:04.210Z,1628885524.210 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:12:04.625Z,1628885524.625 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
311,000,00297,18A,80,80,47,FF
2021-08-13T20:12:04.626Z,1628885524.626 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:12:04.626Z,1628885524.626 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:12:04.627Z,1628885524.627 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:12:05.022Z,1628885525.022 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:12:05.039Z,1628885525.039 [Micromodem](INFO): Nmea in: 01205.20*5E

2021-08-13T20:12:05.040Z,1628885525.040 [Micromodem](ERROR): Response from modem failed NMEA checksum: 01205.20*5E
 expected 0
2021-08-13T20:12:05.429Z,1628885525.429 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,18A,000,00297,185,80,80,72,FF
2021-08-13T20:12:05.429Z,1628885525.429 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:12:08.270Z,1628885528.270 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:12:08.665Z,1628885528.665 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:12:08.665Z,1628885528.665 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:12:08.665Z,1628885528.665 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:12:08.666Z,1628885528.666 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:12:09.109Z,1628885529.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
18A,000,00297,185,80,80,72,FF
2021-08-13T20:12:09.109Z,1628885529.109 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:12:09.109Z,1628885529.109 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:12:09.111Z,1628885529.111 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:12:09.473Z,1628885529.473 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:12:09.893Z,1628885529.893 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,22D,000,00295,189,80,80,78,FF
2021-08-13T20:12:09.893Z,1628885529.893 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:12:10.305Z,1628885530.305 [Micromodem](INFO): Nmea in: $SNTTA,0.047994,,,,201209.68*41

2021-08-13T20:12:12.719Z,1628885532.719 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:12:13.133Z,1628885533.133 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:12:13.133Z,1628885533.133 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:12:13.133Z,1628885533.133 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:12:13.134Z,1628885533.134 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:12:13.501Z,1628885533.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
22D,000,00295,189,80,80,78,FF
2021-08-13T20:12:13.501Z,1628885533.501 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:12:13.502Z,1628885533.502 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:12:13.503Z,1628885533.503 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:12:13.921Z,1628885533.921 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:12:14.321Z,1628885534.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E0B,000,00297,187,80,80,6F,FF
2021-08-13T20:12:14.322Z,1628885534.322 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:12:14.753Z,1628885534.753 [Micromodem](INFO): Nmea in: $SNTTA,0.033666,,,,201214.07*45

2021-08-13T20:12:17.197Z,1628885537.197 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:12:17.549Z,1628885537.549 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:12:17.549Z,1628885537.549 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:12:17.550Z,1628885537.550 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:12:17.550Z,1628885537.550 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:12:17.957Z,1628885537.957 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E0B,000,00297,187,80,80,6F,FF
2021-08-13T20:12:17.957Z,1628885537.957 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:12:17.957Z,1628885537.957 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:12:17.959Z,1628885537.959 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:12:18.365Z,1628885538.365 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:12:18.770Z,1628885538.770 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,142,000,00296,185,80,80,62,FF
2021-08-13T20:12:18.770Z,1628885538.770 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:12:19.209Z,1628885539.209 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201218.53*50

2021-08-13T20:12:21.610Z,1628885541.610 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:12:21.997Z,1628885541.997 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:12:21.997Z,1628885541.997 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:12:21.997Z,1628885541.997 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:12:21.998Z,1628885541.998 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:12:22.393Z,1628885542.393 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
142,000,00296,185,80,80,62,FF
2021-08-13T20:12:22.393Z,1628885542.393 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:12:22.393Z,1628885542.393 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:12:22.395Z,1628885542.395 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:12:22.808Z,1628885542.808 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:12:23.221Z,1628885543.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,14D,000,0029B,186,80,80,7B,FF
2021-08-13T20:12:23.221Z,1628885543.221 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:12:23.649Z,1628885543.649 [Micromodem](INFO): Nmea in: $SNTTA,0.020755,,,,201222.97*4A

2021-08-13T20:12:26.050Z,1628885546.050 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:12:26.405Z,1628885546.405 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:12:26.405Z,1628885546.405 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:12:26.405Z,1628885546.405 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:12:26.406Z,1628885546.406 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:12:26.917Z,1628885546.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
14D,000,0029B,186,80,80,7B,FF
2021-08-13T20:12:26.917Z,1628885546.917 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:12:26.917Z,1628885546.917 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:12:26.919Z,1628885546.919 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:12:27.266Z,1628885547.266 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:12:27.653Z,1628885547.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DE8,000,00297,187,80,80,72,FF
2021-08-13T20:12:27.654Z,1628885547.654 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:12:28.470Z,1628885548.470 [Micromodem](INFO): Nmea in: $SNTTA,0.049207,,,,201227.49*41

2021-08-13T20:12:30.503Z,1628885550.503 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:12:30.893Z,1628885550.893 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:12:30.893Z,1628885550.893 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:12:30.894Z,1628885550.894 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:12:30.895Z,1628885550.895 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:12:31.310Z,1628885551.310 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DE8,000,00297,187,80,80,72,FF
2021-08-13T20:12:31.310Z,1628885551.310 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:12:31.310Z,1628885551.310 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:12:31.311Z,1628885551.311 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:12:31.694Z,1628885551.694 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:12:32.097Z,1628885552.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,117,000,00296,186,80,80,86,FF
2021-08-13T20:12:32.097Z,1628885552.097 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:12:32.109Z,1628885552.109 [Micromodem](INFO): Nmea in: $SNTTA,0.031857,0.188532,,,201231.88*50

2021-08-13T20:12:34.970Z,1628885554.970 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:12:35.293Z,1628885555.293 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:12:35.293Z,1628885555.293 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:12:35.293Z,1628885555.293 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:12:35.294Z,1628885555.294 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:12:35.725Z,1628885555.725 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
117,000,00296,186,80,80,86,FF
2021-08-13T20:12:35.725Z,1628885555.725 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:12:35.725Z,1628885555.725 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:12:35.727Z,1628885555.727 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:12:36.107Z,1628885556.107 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:12:36.509Z,1628885556.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E0D,000,00298,186,80,80,6E,FF
2021-08-13T20:12:36.509Z,1628885556.509 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:12:37.044Z,1628885557.044 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201236.30*59

2021-08-13T20:12:39.450Z,1628885559.450 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:12:39.769Z,1628885559.769 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:12:39.769Z,1628885559.769 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:12:39.769Z,1628885559.769 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:12:39.770Z,1628885559.770 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:12:40.169Z,1628885560.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E0D,000,00298,186,80,80,6E,FF
2021-08-13T20:12:40.169Z,1628885560.169 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:12:40.169Z,1628885560.169 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:12:40.171Z,1628885560.171 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:12:40.577Z,1628885560.577 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:12:40.981Z,1628885560.981 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DFE,000,00297,187,80,80,65,FF
2021-08-13T20:12:40.981Z,1628885560.981 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:12:41.407Z,1628885561.407 [Micromodem](INFO): Nmea in: $SNTTA,0.053809,0.374733,,,201240.74*58

2021-08-13T20:12:43.823Z,1628885563.823 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:12:44.220Z,1628885564.220 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:12:44.221Z,1628885564.221 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:12:44.221Z,1628885564.221 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:12:44.222Z,1628885564.222 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:12:44.628Z,1628885564.628 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DFE,000,00297,187,80,80,65,FF
2021-08-13T20:12:44.628Z,1628885564.628 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:12:44.629Z,1628885564.629 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:12:44.630Z,1628885564.630 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:12:45.035Z,1628885565.035 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:12:45.393Z,1628885565.393 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E27,000,00299,186,80,80,8D,FF
2021-08-13T20:12:45.394Z,1628885565.394 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:12:45.854Z,1628885565.854 [Micromodem](INFO): Nmea in: $SNTTA,0.019133,,,,201245.20*4B

2021-08-13T20:12:48.267Z,1628885568.267 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:12:48.653Z,1628885568.653 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:12:48.653Z,1628885568.653 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:12:48.653Z,1628885568.653 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:12:48.654Z,1628885568.654 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:12:49.082Z,1628885569.082 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E27,000,00299,186,80,80,8D,FF
2021-08-13T20:12:49.083Z,1628885569.083 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:12:49.083Z,1628885569.083 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:12:49.085Z,1628885569.085 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:12:49.465Z,1628885569.465 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:12:49.884Z,1628885569.884 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,10F,000,00293,187,80,80,78,FF
2021-08-13T20:12:49.884Z,1628885569.884 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:12:50.305Z,1628885570.305 [Micromodem](INFO): Nmea in: $SNTTA,0.019616,,,,201249.66*45

2021-08-13T20:12:52.706Z,1628885572.706 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:12:53.121Z,1628885573.121 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:12:53.121Z,1628885573.121 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:12:53.121Z,1628885573.121 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:12:53.122Z,1628885573.122 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:12:53.505Z,1628885573.505 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
10F,000,00293,187,80,80,78,FF
2021-08-13T20:12:53.506Z,1628885573.506 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:12:53.506Z,1628885573.506 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:12:53.507Z,1628885573.507 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:12:53.909Z,1628885573.909 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:12:54.329Z,1628885574.329 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,21A,000,00296,188,80,80,64,FF
2021-08-13T20:12:54.329Z,1628885574.329 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:12:54.741Z,1628885574.741 [Micromodem](INFO): Nmea in: $SNTTA,0.030360,,,,201254.08*4E

2021-08-13T20:12:57.296Z,1628885577.296 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:12:57.541Z,1628885577.541 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:12:57.541Z,1628885577.541 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:12:57.541Z,1628885577.541 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:12:57.542Z,1628885577.542 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:12:57.945Z,1628885577.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
21A,000,00296,188,80,80,64,FF
2021-08-13T20:12:57.945Z,1628885577.945 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:12:57.945Z,1628885577.945 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:12:57.947Z,1628885577.947 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:12:58.353Z,1628885578.353 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:12:58.757Z,1628885578.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CDE,000,00297,189,80,80,6F,FF
2021-08-13T20:12:58.757Z,1628885578.757 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:12:59.181Z,1628885579.181 [Micromodem](INFO): Nmea in: $SNTTA,,0.445624,,,201258.52*4E

2021-08-13T20:13:01.622Z,1628885581.622 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:13:01.987Z,1628885581.987 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:13:01.987Z,1628885581.987 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:13:01.987Z,1628885581.987 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:13:01.988Z,1628885581.988 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:13:02.389Z,1628885582.389 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CDE,000,00297,189,80,80,6F,FF
2021-08-13T20:13:02.389Z,1628885582.389 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:13:02.390Z,1628885582.390 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:13:02.391Z,1628885582.391 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:13:02.820Z,1628885582.820 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:13:03.203Z,1628885583.203 [Micromodem](INFO): Nmea in: $SNTTA,0.262724,0.262630,,,201302.97*56

2021-08-13T20:13:04.459Z,1628885584.459 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:13:06.029Z,1628885586.029 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
7,189,80,80,6F,FF
2021-08-13T20:13:06.029Z,1628885586.029 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
7,189,80,80,6F,FF
2021-08-13T20:13:06.029Z,1628885586.029 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T20:13:07.385Z,1628885587.385 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:13:07.641Z,1628885587.641 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:13:07.641Z,1628885587.641 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:13:07.641Z,1628885587.641 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:13:07.642Z,1628885587.642 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:13:08.053Z,1628885588.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
7,189,80,80,6F,FF
2021-08-13T20:13:08.053Z,1628885588.053 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:13:08.053Z,1628885588.053 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:13:08.055Z,1628885588.055 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:13:08.452Z,1628885588.452 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:13:08.854Z,1628885588.854 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0F3,000,00297,186,80,80,92,FF
2021-08-13T20:13:08.854Z,1628885588.854 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:13:09.286Z,1628885589.286 [Micromodem](INFO): Nmea in: $SNTTA,0.008753,0.393797,,,201308.63*5A

2021-08-13T20:13:11.704Z,1628885591.704 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:13:12.085Z,1628885592.085 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:13:12.085Z,1628885592.085 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:13:12.085Z,1628885592.085 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:13:12.086Z,1628885592.086 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:13:12.489Z,1628885592.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0F3,000,00297,186,80,80,92,FF
2021-08-13T20:13:12.489Z,1628885592.489 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:13:12.489Z,1628885592.489 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:13:12.491Z,1628885592.491 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:13:12.906Z,1628885592.906 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:13:13.317Z,1628885593.317 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D67,000,00297,189,80,80,70,FF
2021-08-13T20:13:13.317Z,1628885593.317 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:13:13.734Z,1628885593.734 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201313.06*5A

2021-08-13T20:13:16.145Z,1628885596.145 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:13:16.504Z,1628885596.504 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:13:16.504Z,1628885596.504 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:13:16.504Z,1628885596.504 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:13:16.505Z,1628885596.505 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:13:16.905Z,1628885596.905 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D67,000,00297,189,80,80,70,FF
2021-08-13T20:13:16.905Z,1628885596.905 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:13:16.905Z,1628885596.905 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:13:16.907Z,1628885596.907 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:13:17.415Z,1628885597.415 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:13:17.737Z,1628885597.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,077,000,00299,186,80,80,8F,FF
2021-08-13T20:13:17.738Z,1628885597.738 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:13:18.169Z,1628885598.169 [Micromodem](INFO): Nmea in: $SNTTA,0.016659,,,,201317.48*47

2021-08-13T20:13:20.617Z,1628885600.617 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:13:20.981Z,1628885600.981 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:13:20.981Z,1628885600.981 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:13:20.981Z,1628885600.981 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:13:20.982Z,1628885600.982 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:13:21.396Z,1628885601.396 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
077,000,00299,186,80,80,8F,FF
2021-08-13T20:13:21.396Z,1628885601.396 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:13:21.397Z,1628885601.397 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:13:21.398Z,1628885601.398 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:13:21.801Z,1628885601.801 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:13:22.185Z,1628885602.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F33,000,00297,187,80,80,3C,FF
2021-08-13T20:13:22.186Z,1628885602.186 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:13:22.613Z,1628885602.613 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201321.97*53

2021-08-13T20:13:25.089Z,1628885605.089 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:13:25.417Z,1628885605.417 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:13:25.417Z,1628885605.417 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:13:25.417Z,1628885605.417 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:13:25.418Z,1628885605.418 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:13:25.790Z,1628885605.790 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F33,000,00297,187,80,80,3C,FF
2021-08-13T20:13:25.790Z,1628885605.790 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:13:25.791Z,1628885605.791 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:13:25.824Z,1628885605.824 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:13:26.262Z,1628885606.262 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:13:26.405Z,1628885606.405 [CTD_Seabird](ERROR): Failed to parse device response: .73
2021-08-13T20:13:26.605Z,1628885606.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,11E,000,00297,186,80,80,8B,FF
2021-08-13T20:13:26.605Z,1628885606.605 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:13:29.130Z,1628885609.130 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:13:29.485Z,1628885609.485 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:13:29.485Z,1628885609.485 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:13:29.485Z,1628885609.485 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:13:29.486Z,1628885609.486 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:13:29.869Z,1628885609.869 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
11E,000,00297,186,80,80,8B,FF
2021-08-13T20:13:29.869Z,1628885609.869 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:13:29.869Z,1628885609.869 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:13:29.871Z,1628885609.871 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:13:30.278Z,1628885610.278 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:13:30.669Z,1628885610.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D88,000,00298,189,80,80,81,FF
2021-08-13T20:13:30.670Z,1628885610.670 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:13:31.133Z,1628885611.133 [Micromodem](INFO): Nmea in: $SNTTA,0.037238,,,,201330.45*4F

2021-08-13T20:13:33.527Z,1628885613.527 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:13:33.905Z,1628885613.905 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:13:33.905Z,1628885613.905 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:13:33.905Z,1628885613.905 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:13:33.906Z,1628885613.906 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:13:34.322Z,1628885614.322 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D88,000,00298,189,80,80,81,FF
2021-08-13T20:13:34.322Z,1628885614.322 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:13:34.322Z,1628885614.322 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:13:34.324Z,1628885614.324 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:13:34.716Z,1628885614.716 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:13:35.117Z,1628885615.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E3F,000,00297,187,80,80,73,FF
2021-08-13T20:13:35.117Z,1628885615.117 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:13:35.533Z,1628885615.533 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201334.90*50

2021-08-13T20:13:37.957Z,1628885617.957 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:13:38.353Z,1628885618.353 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:13:38.354Z,1628885618.354 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:13:38.354Z,1628885618.354 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:13:38.355Z,1628885618.355 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:13:38.753Z,1628885618.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E3F,000,00297,187,80,80,73,FF
2021-08-13T20:13:38.753Z,1628885618.753 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:13:38.754Z,1628885618.754 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:13:38.755Z,1628885618.755 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:13:39.160Z,1628885619.160 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:13:39.550Z,1628885619.550 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,188,000,00296,186,80,80,3A,FF
2021-08-13T20:13:39.551Z,1628885619.551 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:13:39.993Z,1628885619.993 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201339.33*54

2021-08-13T20:13:42.417Z,1628885622.417 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:13:42.809Z,1628885622.809 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:13:42.809Z,1628885622.809 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:13:42.809Z,1628885622.809 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:13:42.810Z,1628885622.810 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:13:43.197Z,1628885623.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
188,000,00296,186,80,80,3A,FF
2021-08-13T20:13:43.197Z,1628885623.197 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:13:43.197Z,1628885623.197 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:13:43.199Z,1628885623.199 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:13:43.600Z,1628885623.600 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:13:44.005Z,1628885624.005 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,182,000,00297,186,80,80,64,FF
2021-08-13T20:13:44.005Z,1628885624.005 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:13:44.443Z,1628885624.443 [Micromodem](INFO): Nmea in: $SNTTA,0.023560,,,,201343.77*45

2021-08-13T20:13:46.814Z,1628885626.814 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:13:47.218Z,1628885627.218 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:13:47.218Z,1628885627.218 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:13:47.219Z,1628885627.219 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:13:47.220Z,1628885627.220 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:13:47.709Z,1628885627.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
182,000,00297,186,80,80,64,FF
2021-08-13T20:13:47.709Z,1628885627.709 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:13:47.709Z,1628885627.709 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:13:47.711Z,1628885627.711 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:13:48.054Z,1628885628.054 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:13:48.449Z,1628885628.449 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DA1,000,00298,189,80,80,8C,FF
2021-08-13T20:13:48.449Z,1628885628.449 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:13:48.882Z,1628885628.882 [Micromodem](INFO): Nmea in: $SNTTA,0.003506,,,,201348.28*46

2021-08-13T20:13:51.373Z,1628885631.373 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:13:51.677Z,1628885631.677 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:13:51.677Z,1628885631.677 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:13:51.677Z,1628885631.677 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:13:51.678Z,1628885631.678 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:13:52.090Z,1628885632.090 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DA1,000,00298,189,80,80,8C,FF
2021-08-13T20:13:52.090Z,1628885632.090 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:13:52.091Z,1628885632.091 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:13:52.093Z,1628885632.093 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:13:52.485Z,1628885632.485 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:13:52.910Z,1628885632.910 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,148,000,00298,186,80,80,7A,FF
2021-08-13T20:13:52.911Z,1628885632.911 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:13:53.320Z,1628885633.320 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201352.67*58

2021-08-13T20:13:54.562Z,1628885634.562 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T20:13:55.777Z,1628885635.777 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:13:56.090Z,1628885636.090 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:13:56.090Z,1628885636.090 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:13:56.091Z,1628885636.091 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:13:56.091Z,1628885636.091 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:13:56.529Z,1628885636.529 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
148,000,00298,186,80,80,7A,FF
2021-08-13T20:13:56.529Z,1628885636.529 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:13:56.529Z,1628885636.529 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:13:56.531Z,1628885636.531 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:13:56.905Z,1628885636.905 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:13:57.309Z,1628885637.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E3A,000,00299,186,80,80,78,FF
2021-08-13T20:13:57.309Z,1628885637.309 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:13:57.842Z,1628885637.842 [Micromodem](INFO): Nmea in: $SNTTA,0.004633,,,,201357.10*41

2021-08-13T20:14:00.196Z,1628885640.196 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:14:00.565Z,1628885640.565 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:14:00.565Z,1628885640.565 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:14:00.565Z,1628885640.565 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:14:00.566Z,1628885640.566 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:14:00.973Z,1628885640.973 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E3A,000,00299,186,80,80,78,FF
2021-08-13T20:14:00.973Z,1628885640.973 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:14:00.973Z,1628885640.973 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:14:00.975Z,1628885640.975 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:14:01.456Z,1628885641.456 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:14:01.813Z,1628885641.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,074,000,00295,186,80,80,77,FF
2021-08-13T20:14:01.813Z,1628885641.813 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:14:02.232Z,1628885642.232 [Micromodem](INFO): Nmea in: $SNTTA,0.023095,,,,201401.55*4B

2021-08-13T20:14:04.656Z,1628885644.656 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:14:05.048Z,1628885645.048 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:14:05.049Z,1628885645.049 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:14:05.049Z,1628885645.049 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:14:05.051Z,1628885645.051 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:14:05.429Z,1628885645.429 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
074,000,00295,186,80,80,77,FF
2021-08-13T20:14:05.429Z,1628885645.429 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:14:05.429Z,1628885645.429 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:14:05.431Z,1628885645.431 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:14:05.839Z,1628885645.839 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:14:06.205Z,1628885646.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,098,000,00298,186,80,80,95,FF
2021-08-13T20:14:06.205Z,1628885646.205 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:14:06.682Z,1628885646.682 [Micromodem](INFO): Nmea in: $SNTTA,0.039121,,,,201406.00*49

2021-08-13T20:14:09.185Z,1628885649.185 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:14:09.481Z,1628885649.481 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:14:09.481Z,1628885649.481 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:14:09.484Z,1628885649.484 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:14:09.487Z,1628885649.487 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:14:09.914Z,1628885649.914 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
098,000,00298,186,80,80,95,FF
2021-08-13T20:14:09.914Z,1628885649.914 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:14:09.915Z,1628885649.915 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:14:09.917Z,1628885649.917 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:14:10.297Z,1628885650.297 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:14:10.689Z,1628885650.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,18D,000,00298,186,80,80,78,FF
2021-08-13T20:14:10.689Z,1628885650.689 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:14:11.137Z,1628885651.137 [Micromodem](INFO): Nmea in: $SNTTA,0.001249,,,,201410.49*45

2021-08-13T20:14:13.540Z,1628885653.540 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:14:13.909Z,1628885653.909 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:14:13.909Z,1628885653.909 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:14:13.909Z,1628885653.909 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:14:13.910Z,1628885653.910 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:14:14.333Z,1628885654.333 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
18D,000,00298,186,80,80,78,FF
2021-08-13T20:14:14.333Z,1628885654.333 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:14:14.333Z,1628885654.333 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:14:14.335Z,1628885654.335 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:14:14.729Z,1628885654.729 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:14:15.135Z,1628885655.135 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,128,000,00293,186,80,80,61,FF
2021-08-13T20:14:15.135Z,1628885655.135 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:14:15.142Z,1628885655.142 [Micromodem](INFO): Nmea in: $SNTTA,0.036223,0.292406,,,201414.91*59

2021-08-13T20:14:18.049Z,1628885658.049 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-08-13T20:14:18.049Z,1628885658.049 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-08-13T20:14:18.051Z,1628885658.051 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-08-13T20:14:18.051Z,1628885658.051 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-13T20:14:18.051Z,1628885658.051 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-08-13T20:14:18.055Z,1628885658.055 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 2.039999 m 
2021-08-13T20:14:18.055Z,1628885658.055 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-08-13T20:14:18.056Z,1628885658.056 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-08-13T20:14:18.056Z,1628885658.056 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-08-13T20:14:18.059Z,1628885658.059 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:14:18.362Z,1628885658.362 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:14:18.362Z,1628885658.362 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:14:18.363Z,1628885658.363 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:14:18.363Z,1628885658.363 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:14:18.435Z,1628885658.435 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210813T201418: (41.552319, -70.708603)
2021-08-13T20:14:18.435Z,1628885658.435 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-08-13T20:14:18.435Z,1628885658.435 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-08-13T20:14:18.438Z,1628885658.438 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-13T20:14:18.439Z,1628885658.439 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-08-13T20:14:18.439Z,1628885658.439 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-13T20:14:18.439Z,1628885658.439 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-08-13T20:14:18.439Z,1628885658.439 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-08-13T20:14:18.439Z,1628885658.439 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-08-13T20:14:18.761Z,1628885658.761 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
128,000,00293,186,80,80,61,FF
2021-08-13T20:14:18.761Z,1628885658.761 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:14:18.761Z,1628885658.761 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:14:18.763Z,1628885658.763 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:14:19.169Z,1628885659.169 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:14:19.569Z,1628885659.569 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB8,000,00297,186,80,80,5F,FF
2021-08-13T20:14:19.569Z,1628885659.569 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:14:20.001Z,1628885660.001 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201419.33*51

2021-08-13T20:14:22.411Z,1628885662.411 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:14:22.813Z,1628885662.813 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:14:22.813Z,1628885662.813 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:14:22.813Z,1628885662.813 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:14:22.814Z,1628885662.814 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:14:23.218Z,1628885663.218 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EB8,000,00297,186,80,80,5F,FF
2021-08-13T20:14:23.218Z,1628885663.218 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:14:23.218Z,1628885663.218 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:14:23.225Z,1628885663.225 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:14:23.612Z,1628885663.612 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:14:24.013Z,1628885664.013 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,126,000,00298,186,80,80,78,FF
2021-08-13T20:14:24.013Z,1628885664.013 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:14:24.449Z,1628885664.449 [Micromodem](INFO): Nmea in: $SNTTA,0.021411,,,,201423.80*49

2021-08-13T20:14:26.864Z,1628885666.864 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:14:27.215Z,1628885667.215 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:14:27.215Z,1628885667.215 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:14:27.216Z,1628885667.216 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:14:27.218Z,1628885667.218 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:14:27.621Z,1628885667.621 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
126,000,00298,186,80,80,78,FF
2021-08-13T20:14:27.621Z,1628885667.621 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:14:27.621Z,1628885667.621 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:14:27.623Z,1628885667.623 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:14:28.132Z,1628885668.132 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:14:28.457Z,1628885668.457 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DC1,000,00297,189,80,80,53,FF
2021-08-13T20:14:28.457Z,1628885668.457 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:14:28.881Z,1628885668.881 [Micromodem](INFO): Nmea in: $SNTTA,0.034484,,,,201428.20*40

2021-08-13T20:14:31.359Z,1628885671.359 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:14:31.693Z,1628885671.693 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:14:31.693Z,1628885671.693 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:14:31.693Z,1628885671.693 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:14:31.694Z,1628885671.694 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:14:32.101Z,1628885672.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DC1,000,00297,189,80,80,53,FF
2021-08-13T20:14:32.101Z,1628885672.101 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:14:32.101Z,1628885672.101 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:14:32.103Z,1628885672.103 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:14:32.505Z,1628885672.505 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:14:32.901Z,1628885672.901 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,29D,000,00293,18A,80,80,52,FF
2021-08-13T20:14:32.902Z,1628885672.902 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:14:33.347Z,1628885673.347 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201432.68*56

2021-08-13T20:14:35.781Z,1628885675.781 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:14:36.133Z,1628885676.133 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:14:36.133Z,1628885676.133 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:14:36.133Z,1628885676.133 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:14:36.134Z,1628885676.134 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:14:36.506Z,1628885676.506 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
29D,000,00293,18A,80,80,52,FF
2021-08-13T20:14:36.506Z,1628885676.506 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:14:36.507Z,1628885676.507 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:14:36.508Z,1628885676.508 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:14:36.945Z,1628885676.945 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:14:37.317Z,1628885677.317 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DD5,000,00298,188,80,80,87,FF
2021-08-13T20:14:37.318Z,1628885677.318 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:14:37.745Z,1628885677.745 [Micromodem](INFO): Nmea in: $SNTTA,0.205294,,,,201437.08*43

2021-08-13T20:14:40.195Z,1628885680.195 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:14:40.581Z,1628885680.581 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:14:40.581Z,1628885680.581 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:14:40.581Z,1628885680.581 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:14:40.582Z,1628885680.582 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:14:40.985Z,1628885680.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DD5,000,00298,188,80,80,87,FF
2021-08-13T20:14:40.985Z,1628885680.985 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:14:40.985Z,1628885680.985 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:14:40.987Z,1628885680.987 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:14:41.404Z,1628885681.404 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:14:41.793Z,1628885681.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0CC,000,00290,187,80,80,78,FF
2021-08-13T20:14:41.793Z,1628885681.793 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:14:42.229Z,1628885682.229 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201441.56*5F

2021-08-13T20:14:44.655Z,1628885684.655 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:14:45.032Z,1628885685.032 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:14:45.032Z,1628885685.032 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:14:45.033Z,1628885685.033 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:14:45.034Z,1628885685.034 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:14:45.429Z,1628885685.429 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0CC,000,00290,187,80,80,78,FF
2021-08-13T20:14:45.429Z,1628885685.429 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:14:45.429Z,1628885685.429 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:14:45.431Z,1628885685.431 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:14:45.838Z,1628885685.838 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:14:46.241Z,1628885686.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,17D,000,00295,185,80,80,70,FF
2021-08-13T20:14:46.241Z,1628885686.241 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:14:46.645Z,1628885686.645 [Micromodem](INFO): Nmea in: $SNTTA,0.024018,,,,201446.01*4B

2021-08-13T20:14:49.171Z,1628885689.171 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:14:49.481Z,1628885689.481 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:14:49.481Z,1628885689.481 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:14:49.481Z,1628885689.481 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:14:49.482Z,1628885689.482 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:14:49.905Z,1628885689.905 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
17D,000,00295,185,80,80,70,FF
2021-08-13T20:14:49.905Z,1628885689.905 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:14:49.905Z,1628885689.905 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:14:49.907Z,1628885689.907 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:14:50.309Z,1628885690.309 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:14:50.681Z,1628885690.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,136,000,00294,186,80,80,72,FF
2021-08-13T20:14:50.682Z,1628885690.682 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:14:50.685Z,1628885690.685 [Micromodem](INFO): Nmea in: $SNTTA,0.001104,0.176854,,,201450.48*5D

2021-08-13T20:14:51.925Z,1628885691.925 [lineCaptureDepth:Lap:Docked:Docked.Docked](INFO): Timed out from 2021-08-13T20:09:51.7Z
2021-08-13T20:14:51.925Z,1628885691.925 [lineCaptureDepth:Lap:Docked:Docked.Docked] Stopped
2021-08-13T20:14:51.925Z,1628885691.925 [lineCaptureDepth:Lap:Docked:Detach] Running Loop=1
2021-08-13T20:14:51.925Z,1628885691.925 [lineCaptureDepth:Lap:Docked:Detach](DEBUG): Aggregate::initialize lineCaptureDepth:Lap:Docked:Detach
2021-08-13T20:14:51.925Z,1628885691.925 [lineCaptureDepth:Lap:Docked:Detach:A] Running Loop=1
2021-08-13T20:14:52.338Z,1628885692.338 [lineCaptureDepth:Lap:Docked:Detach:A](IMPORTANT): Breaking off. Range: 2.099999 m .
2021-08-13T20:14:52.339Z,1628885692.339 [lineCaptureDepth:Lap:Docked:Detach:A] Stopped
2021-08-13T20:14:52.339Z,1628885692.339 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock] Running Loop=1
2021-08-13T20:14:52.339Z,1628885692.339 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](DEBUG): Initialize.
2021-08-13T20:14:52.339Z,1628885692.339 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](DEBUG): Initializing internal variables to default values.
2021-08-13T20:14:53.107Z,1628885693.107 [PowerOnly](INFO): Powering up loadControl
2021-08-13T20:14:53.504Z,1628885693.504 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:14:53.985Z,1628885693.985 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:14:53.985Z,1628885693.985 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:14:53.985Z,1628885693.985 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:14:53.986Z,1628885693.986 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:14:54.325Z,1628885694.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
136,000,00294,186,80,80,72,FF
2021-08-13T20:14:54.325Z,1628885694.325 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:14:54.325Z,1628885694.325 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:14:54.327Z,1628885694.327 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:14:54.725Z,1628885694.725 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:14:55.129Z,1628885695.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DFC,000,00297,187,80,80,7D,FF
2021-08-13T20:14:55.130Z,1628885695.130 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:14:55.561Z,1628885695.561 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201454.90*51

2021-08-13T20:14:55.989Z,1628885695.989 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): Detaching from dock.
2021-08-13T20:14:56.383Z,1628885696.383 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): Engaging thruster for 10.0 seconds (max) to disengage.
2021-08-13T20:14:57.971Z,1628885697.971 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:14:58.362Z,1628885698.362 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:14:58.363Z,1628885698.363 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:14:58.363Z,1628885698.363 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:14:58.364Z,1628885698.364 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:14:58.761Z,1628885698.761 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DFC,000,00297,187,80,80,7D,FF
2021-08-13T20:14:58.761Z,1628885698.761 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:14:58.761Z,1628885698.761 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:14:58.763Z,1628885698.763 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:14:59.177Z,1628885699.177 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:14:59.569Z,1628885699.569 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,414,000,00296,18A,80,80,4D,FF
2021-08-13T20:14:59.569Z,1628885699.569 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:15:00.009Z,1628885700.009 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201459.34*52

2021-08-13T20:15:02.438Z,1628885702.438 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:15:02.805Z,1628885702.805 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:15:02.805Z,1628885702.805 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:15:02.805Z,1628885702.805 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:15:02.806Z,1628885702.806 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:15:03.221Z,1628885703.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
414,000,00296,18A,80,80,4D,FF
2021-08-13T20:15:03.221Z,1628885703.221 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:15:03.221Z,1628885703.221 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:15:03.223Z,1628885703.223 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:15:03.624Z,1628885703.624 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:15:04.018Z,1628885704.018 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD8,000,00292,184,80,80,C2,FF
2021-08-13T20:15:04.018Z,1628885704.018 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:15:04.457Z,1628885704.457 [Micromodem](INFO): Nmea in: $SNTTA,0.029323,,,,201503.79*42

2021-08-13T20:15:06.471Z,1628885706.471 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): Thruster off.
2021-08-13T20:15:06.879Z,1628885706.879 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:15:07.257Z,1628885707.257 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:15:07.257Z,1628885707.257 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:15:07.257Z,1628885707.257 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:15:07.258Z,1628885707.258 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:15:07.657Z,1628885707.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD8,000,00292,184,80,80,C2,FF
2021-08-13T20:15:07.657Z,1628885707.657 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:15:07.657Z,1628885707.657 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:15:07.659Z,1628885707.659 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:15:08.068Z,1628885708.068 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:15:08.468Z,1628885708.468 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE8,000,002A4,184,80,80,BF,FF
2021-08-13T20:15:08.469Z,1628885708.469 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:15:08.907Z,1628885708.907 [Micromodem](INFO): Nmea in: $SNTTA,0.057962,,,,201508.23*40

2021-08-13T20:15:11.327Z,1628885711.327 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:15:11.724Z,1628885711.724 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:15:11.725Z,1628885711.725 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:15:11.725Z,1628885711.725 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:15:11.726Z,1628885711.726 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:15:12.093Z,1628885712.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE8,000,002A4,184,80,80,BF,FF
2021-08-13T20:15:12.094Z,1628885712.094 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:15:12.094Z,1628885712.094 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:15:12.095Z,1628885712.095 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:15:12.509Z,1628885712.509 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:15:12.909Z,1628885712.909 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,00B,000,002BF,183,80,80,B9,FF
2021-08-13T20:15:12.910Z,1628885712.910 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:15:13.345Z,1628885713.345 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201512.67*5A

2021-08-13T20:15:15.753Z,1628885715.753 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:15:16.136Z,1628885716.136 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:15:16.136Z,1628885716.136 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:15:16.137Z,1628885716.137 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:15:16.138Z,1628885716.138 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:15:16.554Z,1628885716.554 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
00B,000,002BF,183,80,80,B9,FF
2021-08-13T20:15:16.554Z,1628885716.554 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:15:16.554Z,1628885716.554 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:15:16.556Z,1628885716.556 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:15:16.944Z,1628885716.944 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:15:17.380Z,1628885717.380 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,013,000,002D4,183,80,80,A8,FF
2021-08-13T20:15:17.381Z,1628885717.381 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:15:17.773Z,1628885717.773 [Micromodem](INFO): Nmea in: $SNTTA,0.031306,,,,201517.13*45

2021-08-13T20:15:20.183Z,1628885720.183 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:15:20.578Z,1628885720.578 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:15:20.579Z,1628885720.579 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:15:20.579Z,1628885720.579 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:15:20.580Z,1628885720.580 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:15:20.985Z,1628885720.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
013,000,002D4,183,80,80,A8,FF
2021-08-13T20:15:20.986Z,1628885720.986 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:15:20.986Z,1628885720.986 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:15:20.987Z,1628885720.987 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:15:21.407Z,1628885721.407 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:15:22.233Z,1628885722.233 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201521.56*58

2021-08-13T20:15:23.092Z,1628885723.092 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:15:24.634Z,1628885724.634 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
4,183,80,80,A8,FF
2021-08-13T20:15:24.634Z,1628885724.634 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
4,183,80,80,A8,FF
2021-08-13T20:15:24.634Z,1628885724.634 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T20:15:25.081Z,1628885725.081 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T20:15:25.849Z,1628885725.849 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:15:26.246Z,1628885726.246 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:15:26.246Z,1628885726.246 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:15:26.246Z,1628885726.246 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:15:26.247Z,1628885726.247 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:15:26.637Z,1628885726.637 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
4,183,80,80,A8,FF
2021-08-13T20:15:26.637Z,1628885726.637 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:15:26.637Z,1628885726.637 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:15:26.639Z,1628885726.639 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:15:27.079Z,1628885727.079 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:15:27.458Z,1628885727.458 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,04F,000,00300,184,80,80,9E,FF
2021-08-13T20:15:27.458Z,1628885727.458 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:15:27.894Z,1628885727.894 [Micromodem](INFO): Nmea in: $SNTTA,0.038502,,,,201527.21*4C

2021-08-13T20:15:30.302Z,1628885730.302 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:15:30.677Z,1628885730.677 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:15:30.678Z,1628885730.678 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:15:30.678Z,1628885730.678 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:15:30.679Z,1628885730.679 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:15:31.118Z,1628885731.118 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
04F,000,00300,184,80,80,9E,FF
2021-08-13T20:15:31.118Z,1628885731.118 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:15:31.118Z,1628885731.118 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:15:31.121Z,1628885731.121 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:15:31.488Z,1628885731.488 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:15:31.897Z,1628885731.897 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,03C,000,00314,184,80,80,B7,FF
2021-08-13T20:15:31.897Z,1628885731.897 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:15:32.310Z,1628885732.310 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201531.69*55

2021-08-13T20:15:34.787Z,1628885734.787 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:15:35.125Z,1628885735.125 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:15:35.125Z,1628885735.125 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:15:35.125Z,1628885735.125 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:15:35.126Z,1628885735.126 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:15:35.529Z,1628885735.529 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
03C,000,00314,184,80,80,B7,FF
2021-08-13T20:15:35.529Z,1628885735.529 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:15:35.529Z,1628885735.529 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:15:35.531Z,1628885735.531 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:15:35.936Z,1628885735.936 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:15:36.750Z,1628885736.750 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201536.10*5C

2021-08-13T20:15:37.562Z,1628885737.562 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:15:39.157Z,1628885739.157 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
4,184,80,80,B7,FF
2021-08-13T20:15:39.158Z,1628885739.158 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
4,184,80,80,B7,FF
2021-08-13T20:15:39.158Z,1628885739.158 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T20:15:40.421Z,1628885740.421 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:15:40.785Z,1628885740.785 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:15:40.785Z,1628885740.785 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:15:40.785Z,1628885740.785 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:15:40.786Z,1628885740.786 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:15:41.189Z,1628885741.189 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
4,184,80,80,B7,FF
2021-08-13T20:15:41.189Z,1628885741.189 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:15:41.189Z,1628885741.189 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:15:41.191Z,1628885741.191 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:15:41.588Z,1628885741.588 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:15:41.989Z,1628885741.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,043,000,0033F,184,80,80,A9,FF
2021-08-13T20:15:41.989Z,1628885741.989 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:15:42.421Z,1628885742.421 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201541.76*5C

2021-08-13T20:15:42.479Z,1628885742.479 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): Detected possible detachment. Starting timer.
2021-08-13T20:15:44.850Z,1628885744.850 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:15:45.221Z,1628885745.221 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:15:45.221Z,1628885745.221 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:15:45.221Z,1628885745.221 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:15:45.222Z,1628885745.222 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:15:45.629Z,1628885745.629 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
043,000,0033F,184,80,80,A9,FF
2021-08-13T20:15:45.629Z,1628885745.629 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:15:45.630Z,1628885745.630 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:15:45.631Z,1628885745.631 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:15:46.036Z,1628885746.036 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:15:46.437Z,1628885746.437 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,010,000,0034F,183,80,80,88,FF
2021-08-13T20:15:46.437Z,1628885746.437 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:15:46.865Z,1628885746.865 [Micromodem](INFO): Nmea in: $SNTTA,0.039281,,,,201546.20*47

2021-08-13T20:15:49.303Z,1628885749.303 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:15:49.669Z,1628885749.669 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:15:49.669Z,1628885749.669 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:15:49.669Z,1628885749.669 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:15:49.670Z,1628885749.670 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:15:50.073Z,1628885750.073 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
010,000,0034F,183,80,80,88,FF
2021-08-13T20:15:50.073Z,1628885750.073 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:15:50.073Z,1628885750.073 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:15:50.075Z,1628885750.075 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:15:50.486Z,1628885750.486 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:15:50.913Z,1628885750.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF6,000,0035F,183,80,80,96,FF
2021-08-13T20:15:50.913Z,1628885750.913 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:15:51.305Z,1628885751.305 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201550.65*5E

2021-08-13T20:15:53.727Z,1628885753.727 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:15:54.109Z,1628885754.109 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:15:54.109Z,1628885754.109 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:15:54.109Z,1628885754.109 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:15:54.110Z,1628885754.110 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:15:54.513Z,1628885754.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF6,000,0035F,183,80,80,96,FF
2021-08-13T20:15:54.513Z,1628885754.513 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:15:54.513Z,1628885754.513 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:15:54.515Z,1628885754.515 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:15:54.921Z,1628885754.921 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:15:55.322Z,1628885755.322 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,009,000,00372,184,80,80,64,FF
2021-08-13T20:15:55.322Z,1628885755.322 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:15:55.753Z,1628885755.753 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201555.09*51

2021-08-13T20:15:58.189Z,1628885758.189 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:15:58.553Z,1628885758.553 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:15:58.553Z,1628885758.553 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:15:58.553Z,1628885758.553 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:15:58.554Z,1628885758.554 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:15:58.957Z,1628885758.957 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
009,000,00372,184,80,80,64,FF
2021-08-13T20:15:58.957Z,1628885758.957 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:15:58.957Z,1628885758.957 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:15:58.959Z,1628885758.959 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:15:59.378Z,1628885759.378 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:15:59.775Z,1628885759.775 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,010,000,00382,183,80,80,7D,FF
2021-08-13T20:15:59.775Z,1628885759.775 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:16:00.209Z,1628885760.209 [Micromodem](INFO): Nmea in: $SNTTA,0.037160,,,,201559.53*4F

2021-08-13T20:16:02.616Z,1628885762.616 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): Detached at range: 16.38 m. Transitioning DDM to standby.
2021-08-13T20:16:02.617Z,1628885762.617 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:16:03.001Z,1628885763.001 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:16:03.001Z,1628885763.001 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:16:03.001Z,1628885763.001 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:16:03.002Z,1628885763.002 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:16:03.409Z,1628885763.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
010,000,00382,183,80,80,7D,FF
2021-08-13T20:16:03.409Z,1628885763.409 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:16:03.409Z,1628885763.409 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:16:03.411Z,1628885763.411 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:16:03.822Z,1628885763.822 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:16:04.217Z,1628885764.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,03C,000,003A5,184,80,80,6D,FF
2021-08-13T20:16:04.217Z,1628885764.217 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:16:04.665Z,1628885764.665 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201603.99*58

2021-08-13T20:16:05.126Z,1628885765.126 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): DDM at standby.
2021-08-13T20:16:05.461Z,1628885765.461 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](IMPORTANT): Undocking sequence complete.
2021-08-13T20:16:05.461Z,1628885765.461 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock] Stopped
2021-08-13T20:16:05.461Z,1628885765.461 [lineCaptureDepth:Lap:Docked:Detach](INFO): Completed lineCaptureDepth:Lap:Docked:Detach
2021-08-13T20:16:05.462Z,1628885765.462 [lineCaptureDepth:Lap:Docked:Detach] Stopped
2021-08-13T20:16:05.462Z,1628885765.462 [lineCaptureDepth:Lap:Docked:Detach](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap:Docked:Detach
2021-08-13T20:16:05.462Z,1628885765.462 [lineCaptureDepth:Lap:Docked](INFO): Completed lineCaptureDepth:Lap:Docked
2021-08-13T20:16:05.462Z,1628885765.462 [lineCaptureDepth:Lap:Docked] Stopped
2021-08-13T20:16:05.462Z,1628885765.462 [lineCaptureDepth:Lap:Docked](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap:Docked
2021-08-13T20:16:05.462Z,1628885765.462 [lineCaptureDepth:Lap](INFO): Completed lineCaptureDepth:Lap
2021-08-13T20:16:05.462Z,1628885765.462 [lineCaptureDepth:Lap] Stopped
2021-08-13T20:16:05.463Z,1628885765.463 [lineCaptureDepth:Lap](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap
2021-08-13T20:16:05.463Z,1628885765.463 [lineCaptureDepth:Lap](INFO): Running loop #4
2021-08-13T20:16:05.463Z,1628885765.463 [lineCaptureDepth:Lap] Running Loop=4
2021-08-13T20:16:05.463Z,1628885765.463 [lineCaptureDepth:Lap](DEBUG): Aggregate::initialize lineCaptureDepth:Lap
2021-08-13T20:16:05.463Z,1628885765.463 [lineCaptureDepth:Lap:A] Running Loop=1
2021-08-13T20:16:05.829Z,1628885765.829 [lineCaptureDepth:Lap:A] Stopped
2021-08-13T20:16:05.829Z,1628885765.829 [lineCaptureDepth:Lap:B] Running Loop=1
2021-08-13T20:16:05.829Z,1628885765.829 [lineCaptureDepth:Lap:B](DEBUG): Aggregate::initialize lineCaptureDepth:Lap:B
2021-08-13T20:16:06.253Z,1628885766.253 [lineCaptureDepth:LineCapture] Running Loop=1
2021-08-13T20:16:06.253Z,1628885766.253 [lineCaptureDepth:LineCapture](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture
2021-08-13T20:16:06.253Z,1628885766.253 [lineCaptureDepth:LineCapture:StandardEnvelopes] Running Loop=1
2021-08-13T20:16:06.253Z,1628885766.253 [lineCaptureDepth:LineCapture:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:StandardEnvelopes
2021-08-13T20:16:06.253Z,1628885766.253 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-08-13T20:16:06.253Z,1628885766.253 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2021-08-13T20:16:06.254Z,1628885766.254 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-08-13T20:16:06.254Z,1628885766.254 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2021-08-13T20:16:06.254Z,1628885766.254 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-08-13T20:16:06.254Z,1628885766.254 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2021-08-13T20:16:06.254Z,1628885766.254 [lineCaptureDepth:LineCapture:G] Running Loop=1
2021-08-13T20:16:06.254Z,1628885766.254 [lineCaptureDepth:LineCapture:H] Running Loop=1
2021-08-13T20:16:06.254Z,1628885766.254 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-08-13T20:16:06.254Z,1628885766.254 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-13T20:16:06.254Z,1628885766.254 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-08-13T20:16:06.255Z,1628885766.255 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-08-13T20:16:06.255Z,1628885766.255 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2021-08-13T20:16:06.255Z,1628885766.255 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-08-13T20:16:06.255Z,1628885766.255 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-08-13T20:16:06.255Z,1628885766.255 [lineCaptureDepth:LineCapture:A] Running Loop=1
2021-08-13T20:16:06.255Z,1628885766.255 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2021-08-13T20:16:06.255Z,1628885766.255 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-13T20:16:06.256Z,1628885766.256 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2021-08-13T20:16:06.256Z,1628885766.256 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2021-08-13T20:16:06.256Z,1628885766.256 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2021-08-13T20:16:06.256Z,1628885766.256 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2021-08-13T20:16:06.256Z,1628885766.256 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-08-13T20:16:06.258Z,1628885766.258 [lineCaptureDepth:LineCapture:A] Stopped
2021-08-13T20:16:06.258Z,1628885766.258 [lineCaptureDepth:LineCapture:B] Running Loop=1
2021-08-13T20:16:06.631Z,1628885766.631 [lineCaptureDepth:LineCapture:B] Stopped
2021-08-13T20:16:06.631Z,1628885766.631 [lineCaptureDepth:LineCapture:D] Running Loop=1
2021-08-13T20:16:07.099Z,1628885767.099 [lineCaptureDepth:LineCapture:D] Stopped
2021-08-13T20:16:07.104Z,1628885767.104 [lineCaptureDepth:LineCapture:E] Running Loop=1
2021-08-13T20:16:07.105Z,1628885767.105 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:16:07.409Z,1628885767.409 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:16:07.409Z,1628885767.409 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:16:07.409Z,1628885767.409 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:16:07.410Z,1628885767.410 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:16:07.483Z,1628885767.483 [lineCaptureDepth:LineCapture:E] Stopped
2021-08-13T20:16:07.483Z,1628885767.483 [lineCaptureDepth:LineCapture:F] Running Loop=1
2021-08-13T20:16:07.817Z,1628885767.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
03C,000,003A5,184,80,80,6D,FF
2021-08-13T20:16:07.817Z,1628885767.817 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:16:07.817Z,1628885767.817 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:16:07.819Z,1628885767.819 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:16:07.920Z,1628885767.920 [lineCaptureDepth:LineCapture:F] Stopped
2021-08-13T20:16:07.920Z,1628885767.920 [lineCaptureDepth:LineCapture:HomingSequence] Running Loop=1
2021-08-13T20:16:07.921Z,1628885767.921 [lineCaptureDepth:LineCapture:HomingSequence](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence
2021-08-13T20:16:07.921Z,1628885767.921 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2021-08-13T20:16:07.921Z,1628885767.921 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-08-13T20:16:07.921Z,1628885767.921 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide] Running Loop=1
2021-08-13T20:16:07.921Z,1628885767.921 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-08-13T20:16:07.921Z,1628885767.921 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Running Loop=1
2021-08-13T20:16:07.921Z,1628885767.921 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize.
2021-08-13T20:16:07.921Z,1628885767.921 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2021-08-13T20:16:07.922Z,1628885767.922 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2021-08-13T20:16:07.922Z,1628885767.922 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-08-13T20:16:07.922Z,1628885767.922 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2021-08-13T20:16:07.922Z,1628885767.922 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-08-13T20:16:07.922Z,1628885767.922 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2021-08-13T20:16:07.922Z,1628885767.922 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2021-08-13T20:16:07.923Z,1628885767.923 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2021-08-13T20:16:07.923Z,1628885767.923 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2021-08-13T20:16:07.923Z,1628885767.923 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2021-08-13T20:16:07.923Z,1628885767.923 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2021-08-13T20:16:07.923Z,1628885767.923 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-13T20:16:07.923Z,1628885767.923 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2021-08-13T20:16:07.923Z,1628885767.923 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-13T20:16:07.923Z,1628885767.923 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1
2021-08-13T20:16:07.923Z,1628885767.923 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Initialize.
2021-08-13T20:16:07.928Z,1628885767.928 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2021-08-13T20:16:07.928Z,1628885767.928 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2021-08-13T20:16:07.928Z,1628885767.928 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2021-08-13T20:16:08.237Z,1628885768.237 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:16:08.291Z,1628885768.291 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Stopped
2021-08-13T20:16:08.291Z,1628885768.291 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-13T20:16:08.291Z,1628885768.291 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2021-08-13T20:16:08.291Z,1628885768.291 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-13T20:16:08.291Z,1628885768.291 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2021-08-13T20:16:08.291Z,1628885768.291 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Stopped
2021-08-13T20:16:08.291Z,1628885768.291 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Stopped
2021-08-13T20:16:08.291Z,1628885768.291 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2021-08-13T20:16:08.291Z,1628885768.291 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2021-08-13T20:16:08.291Z,1628885768.291 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-08-13T20:16:08.296Z,1628885768.296 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2021-08-13T20:16:08.296Z,1628885768.296 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-08-13T20:16:08.296Z,1628885768.296 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2021-08-13T20:16:08.296Z,1628885768.296 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2021-08-13T20:16:08.296Z,1628885768.296 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2021-08-13T20:16:08.296Z,1628885768.296 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2021-08-13T20:16:08.625Z,1628885768.625 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF6,000,003A2,183,80,80,98,FF
2021-08-13T20:16:08.625Z,1628885768.625 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:16:09.185Z,1628885769.185 [Micromodem](INFO): Nmea in: $SNTTA,0.036043,,,,201608.39*45

2021-08-13T20:16:11.229Z,1628885771.229 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detaching from dock.
2021-08-13T20:16:11.231Z,1628885771.231 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:16:11.481Z,1628885771.481 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:16:11.481Z,1628885771.481 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:16:11.481Z,1628885771.481 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:16:11.482Z,1628885771.482 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:16:11.531Z,1628885771.531 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Engaging thruster for 10.0 seconds (max) to disengage.
2021-08-13T20:16:11.889Z,1628885771.889 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF6,000,003A2,183,80,80,98,FF
2021-08-13T20:16:11.889Z,1628885771.889 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:16:11.889Z,1628885771.889 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:16:11.891Z,1628885771.891 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:16:11.975Z,1628885771.975 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Thruster off.
2021-08-13T20:16:12.297Z,1628885772.297 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:16:12.341Z,1628885772.341 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detected possible detachment. Starting timer.
2021-08-13T20:16:12.693Z,1628885772.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,001,000,003B2,183,80,80,AD,FF
2021-08-13T20:16:12.693Z,1628885772.693 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:16:13.150Z,1628885773.150 [Micromodem](INFO): Nmea in: $SNTTA,0.042798,,,,201612.46*44

2021-08-13T20:16:15.563Z,1628885775.563 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:16:15.929Z,1628885775.929 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:16:15.929Z,1628885775.929 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:16:15.929Z,1628885775.929 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:16:15.930Z,1628885775.930 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:16:16.329Z,1628885776.329 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
001,000,003B2,183,80,80,AD,FF
2021-08-13T20:16:16.329Z,1628885776.329 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:16:16.329Z,1628885776.329 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:16:16.331Z,1628885776.331 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:16:16.737Z,1628885776.737 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:16:17.169Z,1628885777.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,009,000,003C2,183,80,80,59,FF
2021-08-13T20:16:17.169Z,1628885777.169 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:16:17.173Z,1628885777.173 [Micromodem](INFO): Nmea in: $SNTTA,0.294033,0.293908,,,201616.90*53

2021-08-13T20:16:20.012Z,1628885780.012 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:16:20.369Z,1628885780.369 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:16:20.369Z,1628885780.369 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:16:20.369Z,1628885780.369 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:16:20.370Z,1628885780.370 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:16:20.773Z,1628885780.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
009,000,003C2,183,80,80,59,FF
2021-08-13T20:16:20.773Z,1628885780.773 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:16:20.773Z,1628885780.773 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:16:20.775Z,1628885780.775 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:16:21.180Z,1628885781.180 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:16:21.581Z,1628885781.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,035,000,003D3,184,80,80,65,FF
2021-08-13T20:16:21.581Z,1628885781.581 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:16:22.033Z,1628885782.033 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201621.35*5E

2021-08-13T20:16:24.423Z,1628885784.423 [PowerOnly](INFO): Powering down loadControl
2021-08-13T20:16:24.469Z,1628885784.469 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:16:24.827Z,1628885784.827 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:16:24.827Z,1628885784.827 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:16:24.827Z,1628885784.827 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:16:24.828Z,1628885784.828 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:16:25.225Z,1628885785.225 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
035,000,003D3,184,80,80,65,FF
2021-08-13T20:16:25.225Z,1628885785.225 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:16:25.225Z,1628885785.225 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:16:25.227Z,1628885785.227 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:16:25.633Z,1628885785.633 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:16:26.029Z,1628885786.029 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,04F,000,003E3,184,80,80,90,FF
2021-08-13T20:16:26.030Z,1628885786.030 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:16:26.469Z,1628885786.469 [Micromodem](INFO): Nmea in: $SNTTA,0.039004,,,,201625.80*44

2021-08-13T20:16:28.874Z,1628885788.874 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:16:29.266Z,1628885789.266 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:16:29.266Z,1628885789.266 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:16:29.267Z,1628885789.267 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:16:29.267Z,1628885789.267 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:16:29.681Z,1628885789.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
04F,000,003E3,184,80,80,90,FF
2021-08-13T20:16:29.681Z,1628885789.681 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:16:29.681Z,1628885789.681 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:16:29.683Z,1628885789.683 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:16:30.069Z,1628885790.069 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:16:30.477Z,1628885790.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,068,000,003F3,186,80,80,85,FF
2021-08-13T20:16:30.477Z,1628885790.477 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:16:30.906Z,1628885790.906 [Micromodem](INFO): Nmea in: $SNTTA,0.034706,,,,201630.25*47

2021-08-13T20:16:32.552Z,1628885792.552 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached at range: 23.16 m. Transitioning DDM to standby.
2021-08-13T20:16:33.345Z,1628885793.345 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:16:33.723Z,1628885793.723 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:16:33.723Z,1628885793.723 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:16:33.723Z,1628885793.723 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:16:33.724Z,1628885793.724 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:16:34.105Z,1628885794.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
068,000,003F3,186,80,80,85,FF
2021-08-13T20:16:34.105Z,1628885794.105 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:16:34.105Z,1628885794.105 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:16:34.107Z,1628885794.107 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:16:34.541Z,1628885794.541 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:16:34.941Z,1628885794.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,093,000,00402,186,80,80,74,FF
2021-08-13T20:16:34.941Z,1628885794.941 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:16:34.956Z,1628885794.956 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): DDM at standby.
2021-08-13T20:16:35.353Z,1628885795.353 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201634.68*52

2021-08-13T20:16:35.401Z,1628885795.401 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](IMPORTANT): Undocking sequence complete.
2021-08-13T20:16:35.402Z,1628885795.402 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Stopped
2021-08-13T20:16:35.402Z,1628885795.402 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B] Running Loop=1
2021-08-13T20:16:35.737Z,1628885795.737 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B](INFO): Transitioning to midcourse guidance.
2021-08-13T20:16:35.737Z,1628885795.737 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B] Stopped
2021-08-13T20:16:35.737Z,1628885795.737 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:C] Running Loop=1
2021-08-13T20:16:36.168Z,1628885796.168 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:C] Stopped
2021-08-13T20:16:36.168Z,1628885796.168 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-08-13T20:16:36.168Z,1628885796.168 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide] Stopped
2021-08-13T20:16:36.169Z,1628885796.169 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-08-13T20:16:36.169Z,1628885796.169 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-08-13T20:16:36.569Z,1628885796.569 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2021-08-13T20:16:36.569Z,1628885796.569 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-08-13T20:16:36.570Z,1628885796.570 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2021-08-13T20:16:36.570Z,1628885796.570 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-08-13T20:16:36.570Z,1628885796.570 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2021-08-13T20:16:36.570Z,1628885796.570 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2021-08-13T20:16:36.570Z,1628885796.570 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2021-08-13T20:16:36.570Z,1628885796.570 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2021-08-13T20:16:36.570Z,1628885796.570 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2021-08-13T20:16:36.571Z,1628885796.571 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Running Loop=1
2021-08-13T20:16:36.576Z,1628885796.576 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-08-13T20:16:36.576Z,1628885796.576 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Running Loop=1
2021-08-13T20:16:36.577Z,1628885796.577 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A](INFO): Transitioning to terminal guidance at range 24.059999 m 
2021-08-13T20:16:36.577Z,1628885796.577 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Stopped
2021-08-13T20:16:36.577Z,1628885796.577 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Running Loop=1
2021-08-13T20:16:36.578Z,1628885796.578 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A](INFO): Navigating to dock waypoint ( 41.552317 arcdeg , -70.708600 arcdeg )
2021-08-13T20:16:36.578Z,1628885796.578 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2021-08-13T20:16:36.578Z,1628885796.578 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Running Loop=1
2021-08-13T20:16:36.578Z,1628885796.578 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Initialize WaypointComponent.
2021-08-13T20:16:36.971Z,1628885796.971 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Stopped
2021-08-13T20:16:36.972Z,1628885796.972 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-08-13T20:16:36.972Z,1628885796.972 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Stopped
2021-08-13T20:16:36.972Z,1628885796.972 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-08-13T20:16:36.972Z,1628885796.972 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-08-13T20:16:36.973Z,1628885796.973 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-13T20:16:36.973Z,1628885796.973 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-08-13T20:16:36.973Z,1628885796.973 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-08-13T20:16:36.973Z,1628885796.973 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2021-08-13T20:16:36.973Z,1628885796.973 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-08-13T20:16:36.973Z,1628885796.973 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-08-13T20:16:37.374Z,1628885797.374 [lineCaptureDepth:UpdateNumPings_Terminal] Running Loop=1
2021-08-13T20:16:37.374Z,1628885797.374 [lineCaptureDepth:UpdateNumPings_Terminal](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal
2021-08-13T20:16:37.374Z,1628885797.374 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-13T20:16:37.374Z,1628885797.374 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T20:16:37.375Z,1628885797.375 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-13T20:16:37.375Z,1628885797.375 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-13T20:16:37.375Z,1628885797.375 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-13T20:16:37.375Z,1628885797.375 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-13T20:16:37.380Z,1628885797.380 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2021-08-13T20:16:37.381Z,1628885797.381 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-13T20:16:37.381Z,1628885797.381 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2021-08-13T20:16:37.381Z,1628885797.381 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-13T20:16:37.381Z,1628885797.381 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1
2021-08-13T20:16:37.381Z,1628885797.381 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Initialize.
2021-08-13T20:16:37.381Z,1628885797.381 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2021-08-13T20:16:37.381Z,1628885797.381 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2021-08-13T20:16:37.381Z,1628885797.381 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2021-08-13T20:16:37.383Z,1628885797.383 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A](INFO): Terminal guidance.
2021-08-13T20:16:37.383Z,1628885797.383 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2021-08-13T20:16:37.383Z,1628885797.383 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture] Running Loop=1
2021-08-13T20:16:37.383Z,1628885797.383 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initialize.
2021-08-13T20:16:37.383Z,1628885797.383 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initializing internal variables to default values.
2021-08-13T20:16:37.383Z,1628885797.383 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2021-08-13T20:16:37.388Z,1628885797.388 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Rollout timeout set to 900.00 sec.
2021-08-13T20:16:37.389Z,1628885797.389 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-13T20:16:37.389Z,1628885797.389 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2021-08-13T20:16:37.389Z,1628885797.389 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-08-13T20:16:37.389Z,1628885797.389 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2021-08-13T20:16:37.389Z,1628885797.389 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-08-13T20:16:37.389Z,1628885797.389 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2021-08-13T20:16:37.389Z,1628885797.389 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2021-08-13T20:16:37.389Z,1628885797.389 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2021-08-13T20:16:37.389Z,1628885797.389 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Stopped
2021-08-13T20:16:37.390Z,1628885797.390 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Uninitialize WaypointComponent.
2021-08-13T20:16:37.777Z,1628885797.777 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-13T20:16:37.777Z,1628885797.777 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T20:16:37.777Z,1628885797.777 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-13T20:16:37.777Z,1628885797.777 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T20:16:37.785Z,1628885797.785 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.059999 m, bearing: 65.384171 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-13T20:16:37.785Z,1628885797.785 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 24.06 m.
2021-08-13T20:16:37.786Z,1628885797.786 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 65.384171deg and heading rate command to 0 deg/s.
2021-08-13T20:16:37.794Z,1628885797.794 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:16:38.117Z,1628885798.117 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:16:38.117Z,1628885798.117 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:16:38.117Z,1628885798.117 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:16:38.118Z,1628885798.118 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:16:38.126Z,1628885798.126 [PowerOnly](INFO): Powering up loadControl
2021-08-13T20:16:38.637Z,1628885798.637 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
093,000,00402,186,80,80,74,FF
2021-08-13T20:16:38.637Z,1628885798.637 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:16:38.638Z,1628885798.638 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:16:38.639Z,1628885798.639 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:16:39.001Z,1628885799.001 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:16:39.395Z,1628885799.395 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0E5,000,00414,186,80,80,57,FF
2021-08-13T20:16:39.395Z,1628885799.395 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:16:39.459Z,1628885799.459 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:16:39.810Z,1628885799.810 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201639.21*52

2021-08-13T20:16:39.877Z,1628885799.877 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.140001 m, bearing: 62.633900 deg, deltaT: 4.501074 s, approachRate: 0.239943 m/s, LOS rate: -0.611026 deg/s, posRepo size: 2
2021-08-13T20:16:39.877Z,1628885799.877 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 25.14 m.
2021-08-13T20:16:39.879Z,1628885799.879 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 25.140001 m,
      bearing: 62.633900 deg,
      approachRate: 0.239943 m/s,
      LOS rate: -0.611026 deg/s,
      cmd update: -1.833077 deg/s,
      cmd heading: 65.384171 deg,
      new cmd heading: 65.384171 deg.

2021-08-13T20:16:40.634Z,1628885800.634 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T20:16:42.222Z,1628885802.222 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:16:42.610Z,1628885802.610 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:16:42.610Z,1628885802.610 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:16:42.610Z,1628885802.610 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:16:42.611Z,1628885802.611 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:16:42.997Z,1628885802.997 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0E5,000,00414,186,80,80,57,FF
2021-08-13T20:16:42.997Z,1628885802.997 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:16:42.997Z,1628885802.997 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:16:42.999Z,1628885802.999 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:16:43.396Z,1628885803.396 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:16:44.235Z,1628885804.235 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201643.57*5E

2021-08-13T20:16:45.105Z,1628885805.105 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:16:46.625Z,1628885806.625 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
4,186,80,80,57,FF
2021-08-13T20:16:46.625Z,1628885806.625 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
4,186,80,80,57,FF
2021-08-13T20:16:46.625Z,1628885806.625 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T20:16:47.893Z,1628885807.893 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:16:48.249Z,1628885808.249 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:16:48.249Z,1628885808.249 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:16:48.249Z,1628885808.249 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:16:48.250Z,1628885808.250 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:16:48.645Z,1628885808.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
4,186,80,80,57,FF
2021-08-13T20:16:48.645Z,1628885808.645 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:16:48.645Z,1628885808.645 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:16:48.647Z,1628885808.647 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:16:49.095Z,1628885809.095 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:16:49.872Z,1628885809.872 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201649.22*56

2021-08-13T20:16:50.269Z,1628885810.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,159,000,03518,186,80,80,57,FF
2021-08-13T20:16:50.270Z,1628885810.270 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:16:50.323Z,1628885810.323 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:16:50.718Z,1628885810.718 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 778.020081 m, bearing: 58.279136 deg, deltaT: 10.863404 s, approachRate: 69.304253 m/s, LOS rate: -0.400866 deg/s, posRepo size: 3
2021-08-13T20:16:50.722Z,1628885810.722 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 778.020081 m,
      bearing: 58.279136 deg,
      approachRate: 69.304253 m/s,
      LOS rate: -0.400866 deg/s,
      cmd update: -1.202597 deg/s,
      cmd heading: 45.492555 deg,
      new cmd heading: 44.740347 deg.

2021-08-13T20:16:51.155Z,1628885811.155 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-13T20:16:51.155Z,1628885811.155 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T20:16:51.156Z,1628885811.156 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-13T20:16:51.156Z,1628885811.156 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-13T20:16:51.156Z,1628885811.156 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-13T20:16:51.157Z,1628885811.157 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-13T20:16:51.511Z,1628885811.511 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-13T20:16:51.511Z,1628885811.511 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T20:16:51.511Z,1628885811.511 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-13T20:16:51.511Z,1628885811.511 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T20:16:53.183Z,1628885813.183 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:16:53.493Z,1628885813.493 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:16:53.493Z,1628885813.493 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:16:53.493Z,1628885813.493 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:16:53.494Z,1628885813.494 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:16:53.901Z,1628885813.901 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
159,000,03518,186,80,80,57,FF
2021-08-13T20:16:53.901Z,1628885813.901 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:16:53.901Z,1628885813.901 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:16:53.903Z,1628885813.903 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:16:54.319Z,1628885814.319 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:16:54.701Z,1628885814.701 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,035,000,003E9,185,80,80,5C,FF
2021-08-13T20:16:54.702Z,1628885814.702 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:16:55.153Z,1628885815.153 [Micromodem](INFO): Nmea in: $SNTTA,0.114627,,,,201654.48*4F

2021-08-13T20:16:55.188Z,1628885815.188 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.560001 m, bearing: 59.984784 deg, deltaT: 4.475036 s, approachRate: -168.816544 m/s, LOS rate: 0.381147 deg/s, posRepo size: 4
2021-08-13T20:16:55.189Z,1628885815.189 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 22.56 m.
2021-08-13T20:16:55.189Z,1628885815.189 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 22.56 m.
2021-08-13T20:16:55.189Z,1628885815.189 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-13T20:16:55.191Z,1628885815.191 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 22.560001 m,
      bearing: 59.984784 deg,
      approachRate: -168.816544 m/s,
      LOS rate: 0.381147 deg/s,
      cmd update: 1.143442 deg/s,
      cmd heading: 40.117970 deg,
      new cmd heading: 39.623412 deg.

2021-08-13T20:16:55.576Z,1628885815.576 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-13T20:16:55.577Z,1628885815.577 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T20:16:55.577Z,1628885815.577 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-13T20:16:55.577Z,1628885815.577 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-13T20:16:55.577Z,1628885815.577 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-13T20:16:55.577Z,1628885815.577 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-13T20:16:55.950Z,1628885815.950 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-13T20:16:55.951Z,1628885815.951 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T20:16:55.951Z,1628885815.951 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-13T20:16:55.951Z,1628885815.951 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T20:16:57.604Z,1628885817.604 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:16:57.952Z,1628885817.952 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:16:57.952Z,1628885817.952 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:16:57.952Z,1628885817.952 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:16:57.953Z,1628885817.953 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:16:58.341Z,1628885818.341 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
035,000,003E9,185,80,80,5C,FF
2021-08-13T20:16:58.341Z,1628885818.341 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:16:58.341Z,1628885818.341 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:16:58.343Z,1628885818.343 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:16:58.753Z,1628885818.753 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:16:59.161Z,1628885819.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EEE,000,003C9,186,80,80,AB,FF
2021-08-13T20:16:59.161Z,1628885819.161 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:16:59.233Z,1628885819.233 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:16:59.610Z,1628885819.610 [Micromodem](INFO): Nmea in: $SNTTA,0.046078,,,,201658.92*4E

2021-08-13T20:16:59.719Z,1628885819.719 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.639997 m, bearing: 59.999018 deg, deltaT: 4.435399 s, approachRate: -0.432882 m/s, LOS rate: 0.003209 deg/s, posRepo size: 4
2021-08-13T20:16:59.725Z,1628885819.725 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 20.639997 m,
      bearing: 59.999018 deg,
      approachRate: -0.432882 m/s,
      LOS rate: 0.003209 deg/s,
      cmd update: 0.009628 deg/s,
      cmd heading: 45.205885 deg,
      new cmd heading: 45.769290 deg.

2021-08-13T20:17:02.011Z,1628885822.011 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:17:02.385Z,1628885822.385 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:17:02.385Z,1628885822.385 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:17:02.385Z,1628885822.385 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:17:02.386Z,1628885822.386 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:17:02.789Z,1628885822.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EEE,000,003C9,186,80,80,AB,FF
2021-08-13T20:17:02.789Z,1628885822.789 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:17:02.789Z,1628885822.789 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:17:02.791Z,1628885822.791 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:17:03.192Z,1628885823.192 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:17:03.598Z,1628885823.598 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DF1,000,003AC,187,80,80,B1,FF
2021-08-13T20:17:03.598Z,1628885823.598 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:17:03.628Z,1628885823.628 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:17:04.037Z,1628885824.037 [Micromodem](INFO): Nmea in: $SNTTA,0.272022,,,,201703.36*45

2021-08-13T20:17:04.079Z,1628885824.079 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.899998 m, bearing: 66.790883 deg, deltaT: 4.394877 s, approachRate: -0.395915 m/s, LOS rate: 1.545405 deg/s, posRepo size: 4
2021-08-13T20:17:04.081Z,1628885824.081 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.899998 m,
      bearing: 66.790883 deg,
      approachRate: -0.395915 m/s,
      LOS rate: 1.545405 deg/s,
      cmd update: 4.636215 deg/s,
      cmd heading: 45.248231 deg,
      new cmd heading: 45.252601 deg.

2021-08-13T20:17:06.439Z,1628885826.439 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:17:06.826Z,1628885826.826 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:17:06.826Z,1628885826.826 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:17:06.826Z,1628885826.826 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:17:06.827Z,1628885826.827 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:17:07.233Z,1628885827.233 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DF1,000,003AC,187,80,80,B1,FF
2021-08-13T20:17:07.234Z,1628885827.234 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:17:07.234Z,1628885827.234 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:17:07.235Z,1628885827.235 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:17:07.640Z,1628885827.640 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:17:08.037Z,1628885828.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA1,000,0038A,186,80,80,81,FF
2021-08-13T20:17:08.037Z,1628885828.037 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:17:08.058Z,1628885828.058 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:17:08.485Z,1628885828.485 [Micromodem](INFO): Nmea in: $SNTTA,0.026621,,,,201707.81*4B

2021-08-13T20:17:08.510Z,1628885828.510 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.860001 m, bearing: 66.510524 deg, deltaT: 4.429344 s, approachRate: -0.460564 m/s, LOS rate: -0.063296 deg/s, posRepo size: 4
2021-08-13T20:17:08.512Z,1628885828.512 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.860001 m,
      bearing: 66.510524 deg,
      approachRate: -0.460564 m/s,
      LOS rate: -0.063296 deg/s,
      cmd update: -0.189887 deg/s,
      cmd heading: 65.785676 deg,
      new cmd heading: 67.897926 deg.

2021-08-13T20:17:10.909Z,1628885830.909 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:17:11.265Z,1628885831.265 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:17:11.265Z,1628885831.265 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:17:11.265Z,1628885831.265 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:17:11.266Z,1628885831.266 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:17:11.669Z,1628885831.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EA1,000,0038A,186,80,80,81,FF
2021-08-13T20:17:11.669Z,1628885831.669 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:17:11.669Z,1628885831.669 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:17:11.671Z,1628885831.671 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:17:12.087Z,1628885832.087 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:17:12.473Z,1628885832.473 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,003,000,00368,183,80,80,95,FF
2021-08-13T20:17:12.474Z,1628885832.474 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:17:12.535Z,1628885832.535 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:17:12.926Z,1628885832.926 [Micromodem](INFO): Nmea in: $SNTTA,0.033358,,,,201712.25*4E

2021-08-13T20:17:12.952Z,1628885832.952 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.820001 m, bearing: 63.648614 deg, deltaT: 4.482580 s, approachRate: -0.455095 m/s, LOS rate: -0.638452 deg/s, posRepo size: 4
2021-08-13T20:17:12.954Z,1628885832.954 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.820001 m,
      bearing: 63.648614 deg,
      approachRate: -0.455095 m/s,
      LOS rate: -0.638452 deg/s,
      cmd update: -1.915355 deg/s,
      cmd heading: 64.942400 deg,
      new cmd heading: 64.855699 deg.

2021-08-13T20:17:15.376Z,1628885835.376 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:17:15.709Z,1628885835.709 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:17:15.709Z,1628885835.709 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:17:15.709Z,1628885835.709 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:17:15.710Z,1628885835.710 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:17:16.121Z,1628885836.121 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
003,000,00368,183,80,80,95,FF
2021-08-13T20:17:16.121Z,1628885836.121 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:17:16.121Z,1628885836.121 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:17:16.123Z,1628885836.123 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:17:16.558Z,1628885836.558 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:17:16.925Z,1628885836.925 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,03A,000,00348,184,80,80,B6,FF
2021-08-13T20:17:16.925Z,1628885836.925 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:17:16.945Z,1628885836.945 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:17:17.357Z,1628885837.357 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201716.69*52

2021-08-13T20:17:17.412Z,1628885837.412 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.899998 m, bearing: 61.883809 deg, deltaT: 4.405014 s, approachRate: -0.435868 m/s, LOS rate: -0.400635 deg/s, posRepo size: 4
2021-08-13T20:17:17.414Z,1628885837.414 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.899998 m,
      bearing: 61.883809 deg,
      approachRate: -0.435868 m/s,
      LOS rate: -0.400635 deg/s,
      cmd update: -1.201906 deg/s,
      cmd heading: 56.425424 deg,
      new cmd heading: 55.525881 deg.

2021-08-13T20:17:19.777Z,1628885839.777 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:17:20.157Z,1628885840.157 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:17:20.157Z,1628885840.157 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:17:20.158Z,1628885840.158 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:17:20.158Z,1628885840.158 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:17:20.589Z,1628885840.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
03A,000,00348,184,80,80,B6,FF
2021-08-13T20:17:20.589Z,1628885840.589 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:17:20.589Z,1628885840.589 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:17:20.591Z,1628885840.591 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:17:20.964Z,1628885840.964 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:17:21.379Z,1628885841.379 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F69,000,00325,186,80,80,63,FF
2021-08-13T20:17:21.379Z,1628885841.379 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:17:21.439Z,1628885841.439 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:17:21.795Z,1628885841.795 [Micromodem](INFO): Nmea in: $SNTTA,0.033786,,,,201721.16*49

2021-08-13T20:17:21.861Z,1628885841.861 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.800001 m, bearing: 63.036403 deg, deltaT: 4.493714 s, approachRate: -0.467319 m/s, LOS rate: 0.256490 deg/s, posRepo size: 4
2021-08-13T20:17:21.863Z,1628885841.863 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.800001 m,
      bearing: 63.036403 deg,
      approachRate: -0.467319 m/s,
      LOS rate: 0.256490 deg/s,
      cmd update: 0.769471 deg/s,
      cmd heading: 51.048535 deg,
      new cmd heading: 50.518787 deg.

2021-08-13T20:17:24.219Z,1628885844.219 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:17:24.605Z,1628885844.605 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:17:24.605Z,1628885844.605 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:17:24.605Z,1628885844.605 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:17:24.606Z,1628885844.606 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:17:25.007Z,1628885845.007 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F69,000,00325,186,80,80,63,FF
2021-08-13T20:17:25.008Z,1628885845.008 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:17:25.009Z,1628885845.009 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:17:25.014Z,1628885845.014 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:17:25.417Z,1628885845.417 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:17:25.813Z,1628885845.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE6,000,00304,187,80,80,8C,FF
2021-08-13T20:17:25.814Z,1628885845.814 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:17:25.881Z,1628885845.881 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:17:26.253Z,1628885846.253 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201725.59*51

2021-08-13T20:17:26.275Z,1628885846.275 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.820000 m, bearing: 66.235650 deg, deltaT: 4.441751 s, approachRate: -0.445770 m/s, LOS rate: 0.720267 deg/s, posRepo size: 4
2021-08-13T20:17:26.277Z,1628885846.277 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.820000 m,
      bearing: 66.235650 deg,
      approachRate: -0.445770 m/s,
      LOS rate: 0.720267 deg/s,
      cmd update: 2.160801 deg/s,
      cmd heading: 54.477985 deg,
      new cmd heading: 54.787673 deg.

2021-08-13T20:17:28.704Z,1628885848.704 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:17:29.057Z,1628885849.057 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:17:29.057Z,1628885849.057 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:17:29.058Z,1628885849.058 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:17:29.060Z,1628885849.060 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:17:29.454Z,1628885849.454 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE6,000,00304,187,80,80,8C,FF
2021-08-13T20:17:29.455Z,1628885849.455 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:17:29.455Z,1628885849.455 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:17:29.457Z,1628885849.457 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:17:29.862Z,1628885849.862 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:17:29.895Z,1628885849.895 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T20:17:30.259Z,1628885850.259 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED6,000,002E5,186,80,80,AA,FF
2021-08-13T20:17:30.259Z,1628885850.259 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:17:30.279Z,1628885850.279 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:17:30.709Z,1628885850.709 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201730.03*5A

2021-08-13T20:17:30.749Z,1628885850.749 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 6.960000 m, bearing: 71.018968 deg, deltaT: 4.398429 s, approachRate: -0.422878 m/s, LOS rate: 1.087506 deg/s, posRepo size: 4
2021-08-13T20:17:30.751Z,1628885850.751 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.960000 m,
      bearing: 71.018968 deg,
      approachRate: -0.422878 m/s,
      LOS rate: 1.087506 deg/s,
      cmd update: 3.262518 deg/s,
      cmd heading: 63.992503 deg,
      new cmd heading: 65.014549 deg.

2021-08-13T20:17:33.166Z,1628885853.166 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:17:33.492Z,1628885853.492 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:17:33.492Z,1628885853.492 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:17:33.493Z,1628885853.493 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:17:33.494Z,1628885853.494 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:17:33.905Z,1628885853.905 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ED6,000,002E5,186,80,80,AA,FF
2021-08-13T20:17:33.905Z,1628885853.905 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:17:33.905Z,1628885853.905 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:17:33.907Z,1628885853.907 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:17:34.306Z,1628885854.306 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:17:34.705Z,1628885854.705 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F44,000,002C7,186,80,80,BB,FF
2021-08-13T20:17:34.706Z,1628885854.706 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:17:34.758Z,1628885854.758 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:17:35.149Z,1628885855.149 [Micromodem](INFO): Nmea in: $SNTTA,0.005706,,,,201734.48*4B

2021-08-13T20:17:35.209Z,1628885855.209 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.160000 m, bearing: 74.815338 deg, deltaT: 4.479024 s, approachRate: -0.401873 m/s, LOS rate: 0.847589 deg/s, posRepo size: 4
2021-08-13T20:17:35.211Z,1628885855.211 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.160000 m,
      bearing: 74.815338 deg,
      approachRate: -0.401873 m/s,
      LOS rate: 0.847589 deg/s,
      cmd update: 2.542766 deg/s,
      cmd heading: 78.605533 deg,
      new cmd heading: 80.071183 deg.

2021-08-13T20:17:37.608Z,1628885857.608 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:17:37.933Z,1628885857.933 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:17:37.933Z,1628885857.933 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:17:37.933Z,1628885857.933 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:17:37.934Z,1628885857.934 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:17:38.337Z,1628885858.337 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F44,000,002C7,186,80,80,BB,FF
2021-08-13T20:17:38.337Z,1628885858.337 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:17:38.337Z,1628885858.337 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:17:38.339Z,1628885858.339 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:17:38.762Z,1628885858.762 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:17:39.145Z,1628885859.145 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FBB,000,002B3,185,80,80,86,FF
2021-08-13T20:17:39.145Z,1628885859.145 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:17:39.209Z,1628885859.209 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:17:39.605Z,1628885859.605 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201738.91*59

2021-08-13T20:17:39.681Z,1628885859.681 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 3.959999 m, bearing: 83.083459 deg, deltaT: 4.450886 s, approachRate: -0.269609 m/s, LOS rate: 1.857635 deg/s, posRepo size: 4
2021-08-13T20:17:39.683Z,1628885859.683 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.959999 m,
      bearing: 83.083459 deg,
      approachRate: -0.269609 m/s,
      LOS rate: 1.857635 deg/s,
      cmd update: 5.572905 deg/s,
      cmd heading: 89.923271 deg,
      new cmd heading: 91.120571 deg.

2021-08-13T20:17:42.015Z,1628885862.015 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:17:42.377Z,1628885862.377 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:17:42.377Z,1628885862.377 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:17:42.377Z,1628885862.377 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:17:42.378Z,1628885862.378 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:17:42.789Z,1628885862.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FBB,000,002B3,185,80,80,86,FF
2021-08-13T20:17:42.789Z,1628885862.789 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:17:42.789Z,1628885862.789 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:17:42.791Z,1628885862.791 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:17:43.189Z,1628885863.189 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:17:43.605Z,1628885863.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0D1,000,002AC,186,80,80,56,FF
2021-08-13T20:17:43.605Z,1628885863.605 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:17:43.676Z,1628885863.676 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:17:44.034Z,1628885864.034 [Micromodem](INFO): Nmea in: $SNTTA,0.022905,,,,201743.36*4A

2021-08-13T20:17:44.060Z,1628885864.060 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 3.539999 m, bearing: 83.112768 deg, deltaT: 4.467259 s, approachRate: -0.094017 m/s, LOS rate: 0.006561 deg/s, posRepo size: 4
2021-08-13T20:17:44.062Z,1628885864.062 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.539999 m,
      bearing: 83.112768 deg,
      approachRate: -0.094017 m/s,
      LOS rate: 0.006561 deg/s,
      cmd update: 0.019682 deg/s,
      cmd heading: 114.750730 deg,
      new cmd heading: 116.973166 deg.

2021-08-13T20:17:46.449Z,1628885866.449 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:17:46.846Z,1628885866.846 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:17:46.847Z,1628885866.847 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:17:46.847Z,1628885866.847 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:17:46.848Z,1628885866.848 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:17:47.229Z,1628885867.229 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0D1,000,002AC,186,80,80,56,FF
2021-08-13T20:17:47.229Z,1628885867.229 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:17:47.229Z,1628885867.229 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:17:47.231Z,1628885867.231 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:17:47.708Z,1628885867.708 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:17:48.105Z,1628885868.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,04F,000,002AF,184,80,80,A8,FF
2021-08-13T20:17:48.105Z,1628885868.105 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:17:48.147Z,1628885868.147 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:17:48.533Z,1628885868.533 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201747.80*51

2021-08-13T20:17:48.583Z,1628885868.583 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 3.720000 m, bearing: 100.162661 deg, deltaT: 4.479194 s, approachRate: 0.040186 m/s, LOS rate: 3.806465 deg/s, posRepo size: 4
2021-08-13T20:17:48.589Z,1628885868.589 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.720000 m,
      bearing: 100.162661 deg,
      approachRate: 0.040186 m/s,
      LOS rate: 3.806465 deg/s,
      cmd update: 11.419395 deg/s,
      cmd heading: 114.838957 deg,
      new cmd heading: 114.847598 deg.

2021-08-13T20:17:50.947Z,1628885870.947 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:17:51.333Z,1628885871.333 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:17:51.333Z,1628885871.333 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:17:51.333Z,1628885871.333 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:17:51.334Z,1628885871.334 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:17:51.742Z,1628885871.742 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
04F,000,002AF,184,80,80,A8,FF
2021-08-13T20:17:51.742Z,1628885871.742 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:17:51.742Z,1628885871.742 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:17:51.744Z,1628885871.744 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:17:52.145Z,1628885872.145 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:17:52.558Z,1628885872.558 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,015,000,002B0,183,80,80,B9,FF
2021-08-13T20:17:52.558Z,1628885872.558 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:17:52.617Z,1628885872.617 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:17:52.985Z,1628885872.985 [Micromodem](INFO): Nmea in: $SNTTA,0.008303,,,,201752.32*4A

2021-08-13T20:17:53.082Z,1628885873.082 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 3.779998 m, bearing: 94.470416 deg, deltaT: 4.461215 s, approachRate: 0.013449 m/s, LOS rate: -1.275941 deg/s, posRepo size: 4
2021-08-13T20:17:53.089Z,1628885873.089 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.779998 m,
      bearing: 94.470416 deg,
      approachRate: 0.013449 m/s,
      LOS rate: -1.275941 deg/s,
      cmd update: -3.827822 deg/s,
      cmd heading: 165.838398 deg,
      new cmd heading: 171.236928 deg.

2021-08-13T20:17:55.446Z,1628885875.446 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:17:55.801Z,1628885875.801 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:17:55.801Z,1628885875.801 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:17:55.801Z,1628885875.801 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:17:55.802Z,1628885875.802 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:17:56.197Z,1628885876.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
015,000,002B0,183,80,80,B9,FF
2021-08-13T20:17:56.197Z,1628885876.197 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:17:56.197Z,1628885876.197 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:17:56.199Z,1628885876.199 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:17:56.620Z,1628885876.620 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:17:57.006Z,1628885877.006 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FDF,000,002AE,184,80,80,94,FF
2021-08-13T20:17:57.007Z,1628885877.007 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:17:57.100Z,1628885877.100 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:17:57.453Z,1628885877.453 [Micromodem](INFO): Nmea in: $SNTTA,0.008728,,,,201756.77*42

2021-08-13T20:17:57.553Z,1628885877.553 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 3.660000 m, bearing: 81.303491 deg, deltaT: 4.483766 s, approachRate: -0.026763 m/s, LOS rate: -2.936577 deg/s, posRepo size: 4
2021-08-13T20:17:57.553Z,1628885877.553 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 3.66 m.
2021-08-13T20:17:57.555Z,1628885877.555 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.660000 m,
      bearing: 81.303491 deg,
      approachRate: -0.026763 m/s,
      LOS rate: -2.936577 deg/s,
      cmd update: -8.809732 deg/s,
      cmd heading: 148.675763 deg,
      new cmd heading: 146.943007 deg.

2021-08-13T20:17:59.909Z,1628885879.909 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:18:00.269Z,1628885880.269 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:18:00.269Z,1628885880.269 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:18:00.269Z,1628885880.269 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:18:00.270Z,1628885880.270 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:18:00.673Z,1628885880.673 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FDF,000,002AE,184,80,80,94,FF
2021-08-13T20:18:00.673Z,1628885880.673 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:18:00.673Z,1628885880.673 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:18:00.675Z,1628885880.675 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:18:01.144Z,1628885881.144 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:18:01.550Z,1628885881.550 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE0,000,002B0,185,80,80,B6,FF
2021-08-13T20:18:01.551Z,1628885881.551 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:18:01.601Z,1628885881.601 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:18:01.977Z,1628885881.977 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201801.25*53

2021-08-13T20:18:01.999Z,1628885881.999 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 3.779998 m, bearing: 67.347994 deg, deltaT: 4.500484 s, approachRate: 0.026663 m/s, LOS rate: -3.100888 deg/s, posRepo size: 4
2021-08-13T20:18:02.000Z,1628885882.000 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](IMPORTANT): Docking sequence complete at range 3.78 m. Cable present.
2021-08-13T20:18:02.000Z,1628885882.000 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture] Stopped
2021-08-13T20:18:02.001Z,1628885882.001 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2021-08-13T20:18:02.001Z,1628885882.001 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:G] Running Loop=1
2021-08-13T20:18:02.346Z,1628885882.346 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:G](INFO): Docked. Homing sequence complete.
2021-08-13T20:18:02.346Z,1628885882.346 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:G] Stopped
2021-08-13T20:18:02.346Z,1628885882.346 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:H] Running Loop=1
2021-08-13T20:18:02.784Z,1628885882.784 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:H] Stopped
2021-08-13T20:18:02.785Z,1628885882.785 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-13T20:18:02.785Z,1628885882.785 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2021-08-13T20:18:02.785Z,1628885882.785 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-13T20:18:02.785Z,1628885882.785 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Stopped
2021-08-13T20:18:02.785Z,1628885882.785 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Stopped
2021-08-13T20:18:02.786Z,1628885882.786 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2021-08-13T20:18:02.786Z,1628885882.786 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-13T20:18:03.165Z,1628885883.165 [lineCaptureDepth:UpdateNumPings_Terminal] Stopped
2021-08-13T20:18:03.166Z,1628885883.166 [lineCaptureDepth:UpdateNumPings_Terminal](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal
2021-08-13T20:18:03.166Z,1628885883.166 [lineCaptureDepth:UpdateNumPings_NotTerminal] Running Loop=1
2021-08-13T20:18:03.166Z,1628885883.166 [lineCaptureDepth:UpdateNumPings_NotTerminal](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_NotTerminal
2021-08-13T20:18:03.166Z,1628885883.166 [lineCaptureDepth:UpdateNumPings_NotTerminal:A] Running Loop=1
2021-08-13T20:18:03.167Z,1628885883.167 [lineCaptureDepth:UpdateNumPings_NotTerminal:A](INFO): No longer in Terminal. Resuming normal ranging with 1.000000 count pings.
2021-08-13T20:18:03.167Z,1628885883.167 [lineCaptureDepth:UpdateNumPings_NotTerminal:A] Stopped
2021-08-13T20:18:03.167Z,1628885883.167 [lineCaptureDepth:UpdateNumPings_NotTerminal:B] Running Loop=1
2021-08-13T20:18:03.167Z,1628885883.167 [lineCaptureDepth:LineCapture:HomingSequence] Stopped
2021-08-13T20:18:03.167Z,1628885883.167 [lineCaptureDepth:LineCapture:HomingSequence](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence
2021-08-13T20:18:03.167Z,1628885883.167 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Stopped
2021-08-13T20:18:03.168Z,1628885883.168 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-08-13T20:18:03.168Z,1628885883.168 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Stopped
2021-08-13T20:18:03.169Z,1628885883.169 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-13T20:18:03.169Z,1628885883.169 [lineCaptureDepth:LineCapture:K.Wait] Running Loop=1
2021-08-13T20:18:03.169Z,1628885883.169 [lineCaptureDepth:LineCapture:K.Wait](DEBUG): Initialize Wait Component.
2021-08-13T20:18:03.591Z,1628885883.591 [lineCaptureDepth:UpdateNumPings_NotTerminal:B] Stopped
2021-08-13T20:18:03.591Z,1628885883.591 [lineCaptureDepth:UpdateNumPings_NotTerminal](INFO): Completed lineCaptureDepth:UpdateNumPings_NotTerminal
2021-08-13T20:18:04.362Z,1628885884.362 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:18:04.747Z,1628885884.747 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:18:04.747Z,1628885884.747 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:18:04.747Z,1628885884.747 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:18:04.748Z,1628885884.748 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:18:05.137Z,1628885885.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE0,000,002B0,185,80,80,B6,FF
2021-08-13T20:18:05.137Z,1628885885.137 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:18:05.137Z,1628885885.137 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:18:05.139Z,1628885885.139 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:18:05.580Z,1628885885.580 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:18:05.945Z,1628885885.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB6,000,002AF,184,80,80,96,FF
2021-08-13T20:18:05.945Z,1628885885.945 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:18:06.365Z,1628885886.365 [Micromodem](INFO): Nmea in: $SNTTA,0.030543,,,,201805.71*49

2021-08-13T20:18:06.817Z,1628885886.817 [lineCaptureDepth:LineCapture:K.Wait](INFO): Done Waiting.
2021-08-13T20:18:06.817Z,1628885886.817 [lineCaptureDepth:LineCapture:K.Wait] Stopped
2021-08-13T20:18:06.818Z,1628885886.818 [lineCaptureDepth:LineCapture:K.Wait](DEBUG): Uninitialize Wait Component.
2021-08-13T20:18:06.818Z,1628885886.818 [lineCaptureDepth:LineCapture:L] Running Loop=1
2021-08-13T20:18:07.201Z,1628885887.201 [lineCaptureDepth:LineCapture:L](INFO): GuidanceMode 0.000000 count 
2021-08-13T20:18:07.201Z,1628885887.201 [lineCaptureDepth:LineCapture:L] Stopped
2021-08-13T20:18:07.203Z,1628885887.203 [lineCaptureDepth:LineCapture](INFO): Completed lineCaptureDepth:LineCapture
2021-08-13T20:18:07.203Z,1628885887.203 [lineCaptureDepth:LineCapture] Stopped
2021-08-13T20:18:07.203Z,1628885887.203 [lineCaptureDepth:LineCapture](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture
2021-08-13T20:18:07.203Z,1628885887.203 [lineCaptureDepth:LineCapture:StandardEnvelopes] Stopped
2021-08-13T20:18:07.204Z,1628885887.204 [lineCaptureDepth:LineCapture:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:StandardEnvelopes
2021-08-13T20:18:07.204Z,1628885887.204 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2021-08-13T20:18:07.204Z,1628885887.204 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2021-08-13T20:18:07.204Z,1628885887.204 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Stopped
2021-08-13T20:18:07.204Z,1628885887.204 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2021-08-13T20:18:07.204Z,1628885887.204 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2021-08-13T20:18:07.204Z,1628885887.204 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2021-08-13T20:18:07.204Z,1628885887.204 [lineCaptureDepth:LineCapture:G] Stopped
2021-08-13T20:18:07.205Z,1628885887.205 [lineCaptureDepth:LineCapture:H] Stopped
2021-08-13T20:18:07.205Z,1628885887.205 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2021-08-13T20:18:07.205Z,1628885887.205 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-13T20:18:07.205Z,1628885887.205 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2021-08-13T20:18:07.205Z,1628885887.205 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2021-08-13T20:18:07.205Z,1628885887.205 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2021-08-13T20:18:07.205Z,1628885887.205 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2021-08-13T20:18:07.205Z,1628885887.205 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-08-13T20:18:07.644Z,1628885887.644 [lineCaptureDepth:Lap:B](INFO): Completed lineCaptureDepth:Lap:B
2021-08-13T20:18:07.644Z,1628885887.644 [lineCaptureDepth:Lap:B] Stopped
2021-08-13T20:18:07.644Z,1628885887.644 [lineCaptureDepth:Lap:B](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap:B
2021-08-13T20:18:07.644Z,1628885887.644 [lineCaptureDepth:Lap:C] Running Loop=1
2021-08-13T20:18:08.006Z,1628885888.006 [lineCaptureDepth:Lap:C] Stopped
2021-08-13T20:18:08.007Z,1628885888.007 [lineCaptureDepth:Lap:D] Running Loop=1
2021-08-13T20:18:08.397Z,1628885888.397 [lineCaptureDepth:Lap:D](INFO): Mode 0.000000 count 
2021-08-13T20:18:08.397Z,1628885888.397 [lineCaptureDepth:Lap:D] Stopped
2021-08-13T20:18:08.397Z,1628885888.397 [lineCaptureDepth:Lap:Docked] Running Loop=1
2021-08-13T20:18:08.397Z,1628885888.397 [lineCaptureDepth:Lap:Docked](DEBUG): Aggregate::initialize lineCaptureDepth:Lap:Docked
2021-08-13T20:18:08.398Z,1628885888.398 [lineCaptureDepth:Lap:Docked:A] Running Loop=1
2021-08-13T20:18:08.808Z,1628885888.808 [lineCaptureDepth:Lap:Docked:A](INFO): Waiting on dock for 5.000000 min 
2021-08-13T20:18:08.808Z,1628885888.808 [lineCaptureDepth:Lap:Docked:A] Stopped
2021-08-13T20:18:08.809Z,1628885888.809 [lineCaptureDepth:Lap:Docked:Docked.Docked] Running Loop=1
2021-08-13T20:18:08.809Z,1628885888.809 [lineCaptureDepth:Lap:Docked:Docked.Docked](DEBUG): Initialize.
2021-08-13T20:18:08.809Z,1628885888.809 [lineCaptureDepth:Lap:Docked:Docked.Docked](DEBUG): Initializing internal variables to default values.
2021-08-13T20:18:08.809Z,1628885888.809 [lineCaptureDepth:Lap:Docked:Docked.Docked](INFO): Maintaining depth of 6.000000 m.
2021-08-13T20:18:08.810Z,1628885888.810 [lineCaptureDepth:Lap:Docked:Docked.Docked](INFO): Maintaining pitch angle of 20.000000 degree.
2021-08-13T20:18:08.810Z,1628885888.810 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:18:09.177Z,1628885889.177 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:18:09.177Z,1628885889.177 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:18:09.177Z,1628885889.177 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:18:09.178Z,1628885889.178 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:18:09.578Z,1628885889.578 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB6,000,002AF,184,80,80,96,FF
2021-08-13T20:18:09.578Z,1628885889.578 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:18:09.578Z,1628885889.578 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:18:09.580Z,1628885889.580 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:18:10.089Z,1628885890.089 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:18:10.425Z,1628885890.425 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA1,000,002B0,187,80,80,A2,FF
2021-08-13T20:18:10.425Z,1628885890.425 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:18:10.429Z,1628885890.429 [PowerOnly](INFO): Powering down loadControl
2021-08-13T20:18:13.301Z,1628885893.301 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:18:13.657Z,1628885893.657 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:18:13.657Z,1628885893.657 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:18:13.657Z,1628885893.657 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:18:13.658Z,1628885893.658 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:18:14.065Z,1628885894.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA1,000,002B0,187,80,80,A2,FF
2021-08-13T20:18:14.065Z,1628885894.065 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:18:14.065Z,1628885894.065 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:18:14.067Z,1628885894.067 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:18:14.469Z,1628885894.469 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:18:14.865Z,1628885894.865 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,01B,000,002B0,184,80,80,78,FF
2021-08-13T20:18:14.866Z,1628885894.866 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:18:15.293Z,1628885895.293 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201814.64*52

2021-08-13T20:18:17.737Z,1628885897.737 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:18:18.098Z,1628885898.098 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:18:18.098Z,1628885898.098 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:18:18.098Z,1628885898.098 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:18:18.099Z,1628885898.099 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:18:18.509Z,1628885898.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
01B,000,002B0,184,80,80,78,FF
2021-08-13T20:18:18.509Z,1628885898.509 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:18:18.509Z,1628885898.509 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:18:18.511Z,1628885898.511 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:18:18.913Z,1628885898.913 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:18:19.313Z,1628885899.313 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D4D,000,002AC,18A,80,80,82,FF
2021-08-13T20:18:19.313Z,1628885899.313 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:18:19.762Z,1628885899.762 [Micromodem](INFO): Nmea in: $SNTTA,,0.164310,,,201819.08*4A

2021-08-13T20:18:22.122Z,1628885902.122 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:18:22.628Z,1628885902.628 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:18:22.628Z,1628885902.628 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:18:22.629Z,1628885902.629 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:18:22.629Z,1628885902.629 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:18:22.945Z,1628885902.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D4D,000,002AC,18A,80,80,82,FF
2021-08-13T20:18:22.946Z,1628885902.946 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:18:22.946Z,1628885902.946 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:18:22.947Z,1628885902.947 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:18:23.359Z,1628885903.359 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:18:23.753Z,1628885903.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E73,000,002AB,185,80,80,82,FF
2021-08-13T20:18:23.754Z,1628885903.754 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:18:24.185Z,1628885904.185 [Micromodem](INFO): Nmea in: $SNTTA,0.071825,,,,201823.52*44

2021-08-13T20:18:26.641Z,1628885906.641 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:18:26.985Z,1628885906.985 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:18:26.985Z,1628885906.985 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:18:26.985Z,1628885906.985 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:18:26.986Z,1628885906.986 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:18:27.386Z,1628885907.386 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E73,000,002AB,185,80,80,82,FF
2021-08-13T20:18:27.386Z,1628885907.386 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:18:27.386Z,1628885907.386 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:18:27.389Z,1628885907.389 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:18:27.801Z,1628885907.801 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:18:28.201Z,1628885908.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E03,000,002A9,187,80,80,89,FF
2021-08-13T20:18:28.202Z,1628885908.202 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:18:28.631Z,1628885908.631 [Micromodem](INFO): Nmea in: $SNTTA,0.005621,,,,201827.96*41

2021-08-13T20:18:29.073Z,1628885909.073 [RDI_PathfinderUp](ERROR): DVL BIT error. See manual. Result code: 38
2021-08-13T20:18:31.037Z,1628885911.037 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:18:31.425Z,1628885911.425 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:18:31.426Z,1628885911.426 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:18:31.426Z,1628885911.426 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:18:31.427Z,1628885911.427 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:18:31.805Z,1628885911.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E03,000,002A9,187,80,80,89,FF
2021-08-13T20:18:31.805Z,1628885911.805 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:18:31.805Z,1628885911.805 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:18:31.807Z,1628885911.807 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:18:32.208Z,1628885912.208 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:18:32.721Z,1628885912.721 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F7E,000,002A3,186,80,80,83,FF
2021-08-13T20:18:32.721Z,1628885912.721 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:18:33.110Z,1628885913.110 [Micromodem](INFO): Nmea in: $SNTTA,0.066045,,,,201832.38*40

2021-08-13T20:18:35.484Z,1628885915.484 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:18:35.873Z,1628885915.873 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:18:35.873Z,1628885915.873 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:18:35.874Z,1628885915.874 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:18:35.874Z,1628885915.874 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:18:36.282Z,1628885916.282 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F7E,000,002A3,186,80,80,83,FF
2021-08-13T20:18:36.282Z,1628885916.282 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:18:36.282Z,1628885916.282 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:18:36.283Z,1628885916.283 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:18:36.697Z,1628885916.697 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:18:37.110Z,1628885917.110 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED5,000,002A7,186,80,80,8A,FF
2021-08-13T20:18:37.111Z,1628885917.111 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:18:37.513Z,1628885917.513 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201836.86*5E

2021-08-13T20:18:39.945Z,1628885919.945 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:18:40.313Z,1628885920.313 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:18:40.313Z,1628885920.313 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:18:40.313Z,1628885920.313 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:18:40.314Z,1628885920.314 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:18:40.725Z,1628885920.725 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ED5,000,002A7,186,80,80,8A,FF
2021-08-13T20:18:40.725Z,1628885920.725 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:18:40.725Z,1628885920.725 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:18:40.727Z,1628885920.727 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:18:41.097Z,1628885921.097 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:18:41.534Z,1628885921.534 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DA5,000,002A4,189,80,80,89,FF
2021-08-13T20:18:41.535Z,1628885921.535 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:18:41.929Z,1628885921.929 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201841.30*53

2021-08-13T20:18:44.378Z,1628885924.378 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:18:44.757Z,1628885924.757 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:18:44.757Z,1628885924.757 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:18:44.757Z,1628885924.757 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:18:44.758Z,1628885924.758 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:18:45.171Z,1628885925.171 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DA5,000,002A4,189,80,80,89,FF
2021-08-13T20:18:45.172Z,1628885925.172 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:18:45.173Z,1628885925.173 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:18:45.177Z,1628885925.177 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:18:45.601Z,1628885925.601 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:18:46.004Z,1628885926.004 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DE1,000,002A1,189,80,80,88,FF
2021-08-13T20:18:46.005Z,1628885926.005 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:18:46.401Z,1628885926.401 [Micromodem](INFO): Nmea in: $SNTTA,0.036497,,,,201845.75*47

2021-08-13T20:18:48.841Z,1628885928.841 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:18:49.205Z,1628885929.205 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:18:49.205Z,1628885929.205 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:18:49.205Z,1628885929.205 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:18:49.206Z,1628885929.206 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:18:49.609Z,1628885929.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DE1,000,002A1,189,80,80,88,FF
2021-08-13T20:18:49.609Z,1628885929.609 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:18:49.609Z,1628885929.609 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:18:49.611Z,1628885929.611 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:18:50.016Z,1628885930.016 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:18:50.417Z,1628885930.417 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E4B,000,002A0,185,80,80,82,FF
2021-08-13T20:18:50.418Z,1628885930.418 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:18:50.878Z,1628885930.878 [Micromodem](INFO): Nmea in: $SNTTA,0.060302,,,,201850.19*41

2021-08-13T20:18:53.299Z,1628885933.299 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:18:53.645Z,1628885933.645 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:18:53.645Z,1628885933.645 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:18:53.645Z,1628885933.645 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:18:53.646Z,1628885933.646 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:18:54.046Z,1628885934.046 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E4B,000,002A0,185,80,80,82,FF
2021-08-13T20:18:54.046Z,1628885934.046 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:18:54.046Z,1628885934.046 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:18:54.048Z,1628885934.048 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:18:54.465Z,1628885934.465 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:18:54.865Z,1628885934.865 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DE7,000,0029E,188,80,80,82,FF
2021-08-13T20:18:54.865Z,1628885934.865 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:18:55.289Z,1628885935.289 [Micromodem](INFO): Nmea in: $SNTTA,0.041634,,,,201854.62*4A

2021-08-13T20:18:57.699Z,1628885937.699 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:18:58.093Z,1628885938.093 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:18:58.093Z,1628885938.093 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:18:58.093Z,1628885938.093 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:18:58.094Z,1628885938.094 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:18:58.493Z,1628885938.493 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DE7,000,0029E,188,80,80,82,FF
2021-08-13T20:18:58.493Z,1628885938.493 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:18:58.493Z,1628885938.493 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:18:58.495Z,1628885938.495 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:18:58.900Z,1628885938.900 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:18:59.301Z,1628885939.301 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DDD,000,0029B,189,80,80,84,FF
2021-08-13T20:18:59.301Z,1628885939.301 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:18:59.757Z,1628885939.757 [Micromodem](INFO): Nmea in: $SNTTA,0.029830,,,,201859.07*40

2021-08-13T20:19:02.114Z,1628885942.114 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:19:02.501Z,1628885942.501 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:19:02.501Z,1628885942.501 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:19:02.501Z,1628885942.501 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:19:02.502Z,1628885942.502 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:19:03.014Z,1628885943.014 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DDD,000,0029B,189,80,80,84,FF
2021-08-13T20:19:03.014Z,1628885943.014 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:19:03.015Z,1628885943.015 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:19:03.023Z,1628885943.023 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:19:03.345Z,1628885943.345 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:19:03.745Z,1628885943.745 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0D6,000,00297,185,80,80,8F,FF
2021-08-13T20:19:03.745Z,1628885943.745 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:19:04.593Z,1628885944.593 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201903.60*51

2021-08-13T20:19:06.642Z,1628885946.642 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:19:06.977Z,1628885946.977 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:19:06.977Z,1628885946.977 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:19:06.977Z,1628885946.977 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:19:06.978Z,1628885946.978 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:19:07.385Z,1628885947.385 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0D6,000,00297,185,80,80,8F,FF
2021-08-13T20:19:07.385Z,1628885947.385 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:19:07.385Z,1628885947.385 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:19:07.387Z,1628885947.387 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:19:07.808Z,1628885947.808 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:19:08.193Z,1628885948.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DF4,000,00296,187,80,80,6B,FF
2021-08-13T20:19:08.194Z,1628885948.194 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:19:08.621Z,1628885948.621 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201907.96*5C

2021-08-13T20:19:11.085Z,1628885951.085 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:19:11.406Z,1628885951.406 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:19:11.407Z,1628885951.407 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:19:11.407Z,1628885951.407 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:19:11.408Z,1628885951.408 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:19:11.842Z,1628885951.842 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DF4,000,00296,187,80,80,6B,FF
2021-08-13T20:19:11.842Z,1628885951.842 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:19:11.842Z,1628885951.842 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:19:11.849Z,1628885951.849 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:19:12.200Z,1628885952.200 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:19:12.601Z,1628885952.601 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E10,000,00295,187,80,80,8C,FF
2021-08-13T20:19:12.601Z,1628885952.601 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:19:13.145Z,1628885953.145 [Micromodem](INFO): Nmea in: $SNTTA,0.003551,,,,201912.42*4D

2021-08-13T20:19:15.205Z,1628885955.205 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:19:15.457Z,1628885955.457 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:19:15.457Z,1628885955.457 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:19:15.457Z,1628885955.457 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:19:15.458Z,1628885955.458 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:19:15.881Z,1628885955.881 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E10,000,00295,187,80,80,8C,FF
2021-08-13T20:19:15.882Z,1628885955.882 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:19:15.882Z,1628885955.882 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:19:15.883Z,1628885955.883 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:19:16.272Z,1628885956.272 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:19:16.681Z,1628885956.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E2D,000,00296,187,80,80,92,FF
2021-08-13T20:19:16.682Z,1628885956.682 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:19:17.117Z,1628885957.117 [Micromodem](INFO): Nmea in: $SNTTA,0.003569,0.469556,,,201916.47*54

2021-08-13T20:19:17.930Z,1628885957.930 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-13T20:19:18.737Z,1628885958.737 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-08-13T20:19:18.737Z,1628885958.737 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-08-13T20:19:18.738Z,1628885958.738 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-08-13T20:19:18.738Z,1628885958.738 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-13T20:19:18.738Z,1628885958.738 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-08-13T20:19:18.738Z,1628885958.738 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 2.220000 m 
2021-08-13T20:19:18.739Z,1628885958.739 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-08-13T20:19:18.739Z,1628885958.739 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-08-13T20:19:18.739Z,1628885958.739 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-08-13T20:19:19.177Z,1628885959.177 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210813T201919: (41.552319, -70.708603)
2021-08-13T20:19:19.177Z,1628885959.177 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-08-13T20:19:19.177Z,1628885959.177 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-08-13T20:19:19.177Z,1628885959.177 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-13T20:19:19.177Z,1628885959.177 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-08-13T20:19:19.178Z,1628885959.178 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-13T20:19:19.178Z,1628885959.178 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-08-13T20:19:19.178Z,1628885959.178 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-08-13T20:19:19.178Z,1628885959.178 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-08-13T20:19:19.555Z,1628885959.555 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:19:19.914Z,1628885959.914 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:19:19.914Z,1628885959.914 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:19:19.915Z,1628885959.915 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:19:19.916Z,1628885959.916 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:19:20.309Z,1628885960.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E2D,000,00296,187,80,80,92,FF
2021-08-13T20:19:20.309Z,1628885960.309 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:19:20.310Z,1628885960.310 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:19:20.311Z,1628885960.311 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:19:20.720Z,1628885960.720 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:19:21.122Z,1628885961.122 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E6E,000,00296,186,80,80,82,FF
2021-08-13T20:19:21.123Z,1628885961.123 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:19:21.134Z,1628885961.134 [Micromodem](INFO): Nmea in: $SNTTA,0.301948,0.006232,,,201920.89*55

2021-08-13T20:19:23.963Z,1628885963.963 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:19:24.361Z,1628885964.361 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:19:24.361Z,1628885964.361 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:19:24.361Z,1628885964.361 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:19:24.362Z,1628885964.362 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:19:24.754Z,1628885964.754 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E6E,000,00296,186,80,80,82,FF
2021-08-13T20:19:24.754Z,1628885964.754 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:19:24.754Z,1628885964.754 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:19:24.756Z,1628885964.756 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:19:25.173Z,1628885965.173 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:19:25.565Z,1628885965.565 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F8B,000,0029B,187,80,80,8B,FF
2021-08-13T20:19:25.565Z,1628885965.565 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:19:26.005Z,1628885966.005 [Micromodem](INFO): Nmea in: $SNTTA,0.003661,,,,201925.33*4F

2021-08-13T20:19:28.429Z,1628885968.429 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:19:28.793Z,1628885968.793 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:19:28.793Z,1628885968.793 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:19:28.793Z,1628885968.793 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:19:28.794Z,1628885968.794 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:19:29.205Z,1628885969.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F8B,000,0029B,187,80,80,8B,FF
2021-08-13T20:19:29.205Z,1628885969.205 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:19:29.205Z,1628885969.205 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:19:29.207Z,1628885969.207 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:19:29.621Z,1628885969.621 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:19:30.005Z,1628885970.005 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E7C,000,00298,186,80,80,63,FF
2021-08-13T20:19:30.005Z,1628885970.005 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:19:30.433Z,1628885970.433 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201929.78*50

2021-08-13T20:19:32.859Z,1628885972.859 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:19:33.309Z,1628885973.309 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:19:33.309Z,1628885973.309 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:19:33.309Z,1628885973.309 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:19:33.310Z,1628885973.310 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:19:33.651Z,1628885973.651 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E7C,000,00298,186,80,80,63,FF
2021-08-13T20:19:33.651Z,1628885973.651 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:19:33.651Z,1628885973.651 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:19:33.653Z,1628885973.653 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:19:33.674Z,1628885973.674 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T20:19:34.049Z,1628885974.049 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:19:34.453Z,1628885974.453 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D9F,000,0029A,188,80,80,85,FF
2021-08-13T20:19:34.453Z,1628885974.453 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:19:34.885Z,1628885974.885 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201934.22*53

2021-08-13T20:19:37.328Z,1628885977.328 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:19:37.685Z,1628885977.685 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:19:37.685Z,1628885977.685 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:19:37.685Z,1628885977.685 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:19:37.686Z,1628885977.686 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:19:38.089Z,1628885978.089 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D9F,000,0029A,188,80,80,85,FF
2021-08-13T20:19:38.089Z,1628885978.089 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:19:38.089Z,1628885978.089 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:19:38.091Z,1628885978.091 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:19:38.497Z,1628885978.497 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:19:38.897Z,1628885978.897 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E45,000,00298,187,80,80,6A,FF
2021-08-13T20:19:38.897Z,1628885978.897 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:19:39.310Z,1628885979.310 [Micromodem](INFO): Nmea in: $SNTTA,0.372726,0.372782,,,201938.66*51

2021-08-13T20:19:41.711Z,1628885981.711 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:19:42.143Z,1628885982.143 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:19:42.144Z,1628885982.144 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:19:42.145Z,1628885982.145 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:19:42.146Z,1628885982.146 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:19:42.501Z,1628885982.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E45,000,00298,187,80,80,6A,FF
2021-08-13T20:19:42.501Z,1628885982.501 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:19:42.501Z,1628885982.501 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:19:42.503Z,1628885982.503 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:19:42.915Z,1628885982.915 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:19:43.410Z,1628885983.410 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CE9,000,00298,189,80,80,87,FF
2021-08-13T20:19:43.410Z,1628885983.410 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:19:43.413Z,1628885983.413 [Micromodem](INFO): Nmea in: $SNTTA,0.166934,0.166796,,,201943.07*52

2021-08-13T20:19:46.191Z,1628885986.191 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:19:46.593Z,1628885986.593 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:19:46.593Z,1628885986.593 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:19:46.593Z,1628885986.593 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:19:46.594Z,1628885986.594 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:19:46.992Z,1628885986.992 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CE9,000,00298,189,80,80,87,FF
2021-08-13T20:19:46.992Z,1628885986.992 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:19:46.992Z,1628885986.992 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:19:46.994Z,1628885986.994 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:19:47.380Z,1628885987.380 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:19:47.794Z,1628885987.794 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E46,000,0029A,186,80,80,7F,FF
2021-08-13T20:19:47.794Z,1628885987.794 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:19:48.202Z,1628885988.202 [Micromodem](INFO): Nmea in: $SNTTA,0.022032,,,,201947.57*4A

2021-08-13T20:19:50.643Z,1628885990.643 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:19:51.046Z,1628885991.046 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:19:51.046Z,1628885991.046 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:19:51.047Z,1628885991.047 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:19:51.049Z,1628885991.049 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:19:51.421Z,1628885991.421 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E46,000,0029A,186,80,80,7F,FF
2021-08-13T20:19:51.421Z,1628885991.421 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:19:51.421Z,1628885991.421 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:19:51.423Z,1628885991.423 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:19:51.799Z,1628885991.799 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:19:52.225Z,1628885992.225 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D98,000,00298,189,80,80,90,FF
2021-08-13T20:19:52.225Z,1628885992.225 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:19:52.637Z,1628885992.637 [Micromodem](INFO): Nmea in: $SNTTA,0.021713,,,,201952.00*4B

2021-08-13T20:19:55.155Z,1628885995.155 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:19:55.461Z,1628885995.461 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:19:55.461Z,1628885995.461 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:19:55.461Z,1628885995.461 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:19:55.462Z,1628885995.462 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:19:55.866Z,1628885995.866 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D98,000,00298,189,80,80,90,FF
2021-08-13T20:19:55.866Z,1628885995.866 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:19:55.867Z,1628885995.867 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:19:55.870Z,1628885995.870 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:19:56.273Z,1628885996.273 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:19:56.670Z,1628885996.670 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E09,000,00297,186,80,80,6C,FF
2021-08-13T20:19:56.671Z,1628885996.671 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:19:57.137Z,1628885997.137 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201956.44*57

2021-08-13T20:19:59.550Z,1628885999.550 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:19:59.913Z,1628885999.913 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:19:59.914Z,1628885999.914 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:19:59.914Z,1628885999.914 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:19:59.915Z,1628885999.915 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:20:00.315Z,1628886000.315 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E09,000,00297,186,80,80,6C,FF
2021-08-13T20:20:00.315Z,1628886000.315 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:20:00.315Z,1628886000.315 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:20:00.317Z,1628886000.317 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:20:00.712Z,1628886000.712 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:20:01.129Z,1628886001.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E12,000,00297,187,80,80,78,FF
2021-08-13T20:20:01.129Z,1628886001.129 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:20:01.133Z,1628886001.133 [Micromodem](INFO): Nmea in: $SNTTA,0.074203,0.261022,,,202000.89*58

2021-08-13T20:20:03.958Z,1628886003.958 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:20:04.345Z,1628886004.345 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:20:04.345Z,1628886004.345 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:20:04.346Z,1628886004.346 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:20:04.347Z,1628886004.347 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:20:04.779Z,1628886004.779 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E12,000,00297,187,80,80,78,FF
2021-08-13T20:20:04.779Z,1628886004.779 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:20:04.779Z,1628886004.779 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:20:04.781Z,1628886004.781 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:20:05.157Z,1628886005.157 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:20:05.585Z,1628886005.585 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0BD,000,00295,186,80,80,85,FF
2021-08-13T20:20:05.585Z,1628886005.585 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:20:05.988Z,1628886005.988 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202005.35*5D

2021-08-13T20:20:08.399Z,1628886008.399 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:20:08.794Z,1628886008.794 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:20:08.794Z,1628886008.794 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:20:08.795Z,1628886008.795 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:20:08.796Z,1628886008.796 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:20:09.193Z,1628886009.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0BD,000,00295,186,80,80,85,FF
2021-08-13T20:20:09.193Z,1628886009.193 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:20:09.193Z,1628886009.193 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:20:09.195Z,1628886009.195 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:20:09.605Z,1628886009.605 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:20:10.001Z,1628886010.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E87,000,00297,186,80,80,62,FF
2021-08-13T20:20:10.002Z,1628886010.002 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:20:10.445Z,1628886010.445 [Micromodem](INFO): Nmea in: $SNTTA,0.015234,,,,202009.77*48

2021-08-13T20:20:12.856Z,1628886012.856 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:20:13.201Z,1628886013.201 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:20:13.201Z,1628886013.201 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:20:13.201Z,1628886013.201 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:20:13.202Z,1628886013.202 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:20:13.713Z,1628886013.713 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E87,000,00297,186,80,80,62,FF
2021-08-13T20:20:13.713Z,1628886013.713 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:20:13.714Z,1628886013.714 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:20:13.715Z,1628886013.715 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:20:14.044Z,1628886014.044 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:20:14.445Z,1628886014.445 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,054,000,00296,184,80,80,82,FF
2021-08-13T20:20:14.445Z,1628886014.445 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:20:15.274Z,1628886015.274 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202014.29*50

2021-08-13T20:20:17.326Z,1628886017.326 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:20:17.677Z,1628886017.677 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:20:17.677Z,1628886017.677 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:20:17.677Z,1628886017.677 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:20:17.678Z,1628886017.678 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:20:18.089Z,1628886018.089 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
054,000,00296,184,80,80,82,FF
2021-08-13T20:20:18.089Z,1628886018.089 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:20:18.089Z,1628886018.089 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:20:18.091Z,1628886018.091 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:20:18.490Z,1628886018.490 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:20:18.893Z,1628886018.893 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D1E,000,00299,189,80,80,84,FF
2021-08-13T20:20:18.893Z,1628886018.893 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:20:19.317Z,1628886019.317 [Micromodem](INFO): Nmea in: $SNTTA,0.084524,0.374331,,,202018.66*59

2021-08-13T20:20:21.745Z,1628886021.745 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:20:22.101Z,1628886022.101 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:20:22.101Z,1628886022.101 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:20:22.101Z,1628886022.101 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:20:22.102Z,1628886022.102 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:20:22.525Z,1628886022.525 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D1E,000,00299,189,80,80,84,FF
2021-08-13T20:20:22.525Z,1628886022.525 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:20:22.525Z,1628886022.525 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:20:22.527Z,1628886022.527 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:20:22.901Z,1628886022.901 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:20:23.305Z,1628886023.305 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,178,000,00294,186,80,80,78,FF
2021-08-13T20:20:23.305Z,1628886023.305 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:20:23.842Z,1628886023.842 [Micromodem](INFO): Nmea in: $SNTTA,0.101844,,,,202023.10*48

2021-08-13T20:20:26.205Z,1628886026.205 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:20:26.600Z,1628886026.600 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:20:26.600Z,1628886026.600 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:20:26.601Z,1628886026.601 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:20:26.602Z,1628886026.602 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:20:26.973Z,1628886026.973 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
178,000,00294,186,80,80,78,FF
2021-08-13T20:20:26.973Z,1628886026.973 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:20:26.973Z,1628886026.973 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:20:26.975Z,1628886026.975 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:20:27.381Z,1628886027.381 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:20:27.781Z,1628886027.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,04B,000,00298,184,80,80,90,FF
2021-08-13T20:20:27.782Z,1628886027.782 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:20:28.217Z,1628886028.217 [Micromodem](INFO): Nmea in: $SNTTA,0.066796,,,,202027.55*4D

2021-08-13T20:20:30.655Z,1628886030.655 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:20:31.020Z,1628886031.020 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:20:31.020Z,1628886031.020 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:20:31.021Z,1628886031.021 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:20:31.022Z,1628886031.022 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:20:31.421Z,1628886031.421 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
04B,000,00298,184,80,80,90,FF
2021-08-13T20:20:31.422Z,1628886031.422 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:20:31.422Z,1628886031.422 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:20:31.423Z,1628886031.423 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:20:31.834Z,1628886031.834 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:20:32.197Z,1628886032.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E36,000,00296,187,80,80,66,FF
2021-08-13T20:20:32.197Z,1628886032.197 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:20:32.653Z,1628886032.653 [Micromodem](INFO): Nmea in: $SNTTA,0.030915,,,,202032.00*4F

2021-08-13T20:20:35.131Z,1628886035.131 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:20:35.461Z,1628886035.461 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:20:35.462Z,1628886035.462 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:20:35.462Z,1628886035.462 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:20:35.463Z,1628886035.463 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:20:35.861Z,1628886035.861 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E36,000,00296,187,80,80,66,FF
2021-08-13T20:20:35.861Z,1628886035.861 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:20:35.862Z,1628886035.862 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:20:35.863Z,1628886035.863 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:20:36.269Z,1628886036.269 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:20:36.669Z,1628886036.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DF7,000,00297,187,80,80,71,FF
2021-08-13T20:20:36.669Z,1628886036.669 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:20:37.137Z,1628886037.137 [Micromodem](INFO): Nmea in: $SNTTA,0.171621,,,,202036.43*40

2021-08-13T20:20:39.546Z,1628886039.546 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:20:39.905Z,1628886039.905 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:20:39.905Z,1628886039.905 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:20:39.905Z,1628886039.905 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:20:39.906Z,1628886039.906 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:20:40.305Z,1628886040.305 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DF7,000,00297,187,80,80,71,FF
2021-08-13T20:20:40.305Z,1628886040.305 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:20:40.305Z,1628886040.305 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:20:40.307Z,1628886040.307 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:20:40.713Z,1628886040.713 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:20:41.121Z,1628886041.121 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FCB,000,00296,185,80,80,27,FF
2021-08-13T20:20:41.121Z,1628886041.121 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:20:41.557Z,1628886041.557 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202040.88*5A

2021-08-13T20:20:44.035Z,1628886044.035 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:20:44.349Z,1628886044.349 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:20:44.349Z,1628886044.349 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:20:44.349Z,1628886044.349 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:20:44.350Z,1628886044.350 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:20:44.753Z,1628886044.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FCB,000,00296,185,80,80,27,FF
2021-08-13T20:20:44.753Z,1628886044.753 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:20:44.753Z,1628886044.753 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:20:44.755Z,1628886044.755 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:20:45.156Z,1628886045.156 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:20:45.593Z,1628886045.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DDC,000,00295,188,80,80,63,FF
2021-08-13T20:20:45.593Z,1628886045.593 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:20:45.993Z,1628886045.993 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202045.33*5F

2021-08-13T20:20:48.399Z,1628886048.399 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:20:48.794Z,1628886048.794 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:20:48.795Z,1628886048.795 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:20:48.795Z,1628886048.795 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:20:48.796Z,1628886048.796 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:20:49.193Z,1628886049.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DDC,000,00295,188,80,80,63,FF
2021-08-13T20:20:49.193Z,1628886049.193 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:20:49.194Z,1628886049.194 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:20:49.195Z,1628886049.195 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:20:49.601Z,1628886049.601 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:20:50.005Z,1628886050.005 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D14,000,00296,18A,80,80,64,FF
2021-08-13T20:20:50.006Z,1628886050.006 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:20:50.433Z,1628886050.433 [Micromodem](INFO): Nmea in: $SNTTA,0.023898,,,,202049.77*45

2021-08-13T20:20:50.438Z,1628886050.438 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T20:20:52.870Z,1628886052.870 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:20:53.201Z,1628886053.201 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:20:53.201Z,1628886053.201 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:20:53.201Z,1628886053.201 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:20:53.202Z,1628886053.202 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:20:53.606Z,1628886053.606 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D14,000,00296,18A,80,80,64,FF
2021-08-13T20:20:53.606Z,1628886053.606 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:20:53.606Z,1628886053.606 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:20:53.608Z,1628886053.608 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:20:54.117Z,1628886054.117 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:20:54.449Z,1628886054.449 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DC9,000,00297,188,80,80,71,FF
2021-08-13T20:20:54.450Z,1628886054.450 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:20:54.902Z,1628886054.902 [Micromodem](INFO): Nmea in: $SNTTA,0.018567,,,,202054.18*45

2021-08-13T20:20:57.316Z,1628886057.316 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:20:57.681Z,1628886057.681 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:20:57.681Z,1628886057.681 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:20:57.682Z,1628886057.682 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:20:57.682Z,1628886057.682 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:20:58.085Z,1628886058.085 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DC9,000,00297,188,80,80,71,FF
2021-08-13T20:20:58.085Z,1628886058.085 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:20:58.085Z,1628886058.085 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:20:58.087Z,1628886058.087 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:20:58.495Z,1628886058.495 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:20:58.893Z,1628886058.893 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D81,000,00298,18A,80,80,67,FF
2021-08-13T20:20:58.894Z,1628886058.894 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:20:59.317Z,1628886059.317 [Micromodem](INFO): Nmea in: $SNTTA,0.414540,0.374039,,,202058.66*59

2021-08-13T20:21:01.771Z,1628886061.771 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:21:02.121Z,1628886062.121 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:21:02.121Z,1628886062.121 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:21:02.121Z,1628886062.121 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:21:02.122Z,1628886062.122 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:21:02.517Z,1628886062.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D81,000,00298,18A,80,80,67,FF
2021-08-13T20:21:02.517Z,1628886062.517 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:21:02.517Z,1628886062.517 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:21:02.519Z,1628886062.519 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:21:02.940Z,1628886062.940 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:21:03.328Z,1628886063.328 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E2B,000,00296,186,80,80,69,FF
2021-08-13T20:21:03.328Z,1628886063.328 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:21:03.733Z,1628886063.733 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202103.09*55

2021-08-13T20:21:06.179Z,1628886066.179 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:21:06.593Z,1628886066.593 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:21:06.594Z,1628886066.594 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:21:06.594Z,1628886066.594 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:21:06.595Z,1628886066.595 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:21:06.977Z,1628886066.977 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E2B,000,00296,186,80,80,69,FF
2021-08-13T20:21:06.977Z,1628886066.977 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:21:06.977Z,1628886066.977 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:21:06.979Z,1628886066.979 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:21:07.385Z,1628886067.385 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:21:07.781Z,1628886067.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FFC,000,0029A,183,80,80,78,FF
2021-08-13T20:21:07.781Z,1628886067.781 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:21:08.225Z,1628886068.225 [Micromodem](INFO): Nmea in: $SNTTA,0.003617,,,,202107.55*45

2021-08-13T20:21:08.281Z,1628886068.281 [CTD_Seabird](ERROR): Failed to parse device response: .95
2021-08-13T20:21:10.654Z,1628886070.654 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:21:11.024Z,1628886071.024 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:21:11.025Z,1628886071.025 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:21:11.025Z,1628886071.025 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:21:11.027Z,1628886071.027 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:21:11.431Z,1628886071.431 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FFC,000,0029A,183,80,80,78,FF
2021-08-13T20:21:11.432Z,1628886071.432 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:21:11.432Z,1628886071.432 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:21:11.434Z,1628886071.434 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:21:11.826Z,1628886071.826 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:21:12.238Z,1628886072.238 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D4B,000,00296,18A,80,80,5C,FF
2021-08-13T20:21:12.238Z,1628886072.238 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:21:12.630Z,1628886072.630 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202112.01*5D

2021-08-13T20:21:15.132Z,1628886075.132 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:21:15.469Z,1628886075.469 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:21:15.470Z,1628886075.470 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:21:15.470Z,1628886075.470 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:21:15.471Z,1628886075.471 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:21:15.869Z,1628886075.869 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D4B,000,00296,18A,80,80,5C,FF
2021-08-13T20:21:15.869Z,1628886075.869 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:21:15.869Z,1628886075.869 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:21:15.871Z,1628886075.871 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:21:16.283Z,1628886076.283 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:21:16.673Z,1628886076.673 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CA1,000,00297,189,80,80,6C,FF
2021-08-13T20:21:16.673Z,1628886076.673 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:21:17.129Z,1628886077.129 [Micromodem](INFO): Nmea in: $SNTTA,0.021253,0.482241,,,202116.45*57

2021-08-13T20:21:17.965Z,1628886077.965 [CBIT](IMPORTANT): Beginning ground fault scan
2021-08-13T20:21:18.322Z,1628886078.322 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-13T20:21:19.326Z,1628886079.326 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-13T20:21:19.565Z,1628886079.565 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:21:19.909Z,1628886079.909 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:21:19.909Z,1628886079.909 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:21:19.909Z,1628886079.909 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:21:19.910Z,1628886079.910 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:21:20.305Z,1628886080.305 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CA1,000,00297,189,80,80,6C,FF
2021-08-13T20:21:20.305Z,1628886080.305 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:21:20.306Z,1628886080.306 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:21:20.309Z,1628886080.309 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:21:20.344Z,1628886080.344 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-13T20:21:20.712Z,1628886080.712 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:21:21.126Z,1628886081.126 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E53,000,00297,186,80,80,5B,FF
2021-08-13T20:21:21.127Z,1628886081.127 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:21:21.342Z,1628886081.342 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-13T20:21:21.569Z,1628886081.569 [Micromodem](INFO): Nmea in: $SNTTA,0.304922,,,,202120.88*4D

2021-08-13T20:21:22.345Z,1628886082.345 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-13T20:21:23.350Z,1628886083.350 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-13T20:21:23.943Z,1628886083.943 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:21:24.356Z,1628886084.356 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-13T20:21:24.411Z,1628886084.411 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:21:24.411Z,1628886084.411 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:21:24.411Z,1628886084.411 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:21:24.412Z,1628886084.412 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:21:24.749Z,1628886084.749 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E53,000,00297,186,80,80,5B,FF
2021-08-13T20:21:24.749Z,1628886084.749 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:21:24.749Z,1628886084.749 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:21:24.751Z,1628886084.751 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:21:25.157Z,1628886085.157 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:21:25.358Z,1628886085.358 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-13T20:21:25.581Z,1628886085.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E73,000,00297,186,80,80,6F,FF
2021-08-13T20:21:25.582Z,1628886085.582 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:21:25.986Z,1628886085.986 [Micromodem](INFO): Nmea in: $SNTTA,0.095906,,,,202125.33*45

2021-08-13T20:21:26.362Z,1628886086.362 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-13T20:21:27.366Z,1628886087.366 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-13T20:21:28.370Z,1628886088.370 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-13T20:21:28.423Z,1628886088.423 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:21:28.797Z,1628886088.797 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:21:28.797Z,1628886088.797 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:21:28.797Z,1628886088.797 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:21:28.798Z,1628886088.798 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:21:28.889Z,1628886088.889 [CBIT](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): -0.005867
CHAN A1 (24V): -0.023784
CHAN A2 (12V): -0.005502
CHAN A3 (5V): -0.001728
CHAN B0 (3.3V): 0.000693
CHAN B1 (3.15aV): 0.000140
CHAN B2 (3.15bV): 0.000825
CHAN B3 (GND): 0.001295
OPEN: 0.006748
Full Scale Calc: 4.765 mA, -1.589 mA
2021-08-13T20:21:29.201Z,1628886089.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E73,000,00297,186,80,80,6F,FF
2021-08-13T20:21:29.202Z,1628886089.202 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:21:29.202Z,1628886089.202 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:21:29.204Z,1628886089.204 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:21:29.596Z,1628886089.596 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:21:30.434Z,1628886090.434 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202129.78*5B

2021-08-13T20:21:31.259Z,1628886091.259 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:21:32.801Z,1628886092.801 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
7,186,80,80,6F,FF
2021-08-13T20:21:32.801Z,1628886092.801 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
7,186,80,80,6F,FF
2021-08-13T20:21:32.801Z,1628886092.801 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T20:21:34.025Z,1628886094.025 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:21:34.516Z,1628886094.516 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:21:34.516Z,1628886094.516 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:21:34.517Z,1628886094.517 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:21:34.518Z,1628886094.518 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:21:34.868Z,1628886094.868 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
7,186,80,80,6F,FF
2021-08-13T20:21:34.868Z,1628886094.868 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:21:34.868Z,1628886094.868 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:21:34.870Z,1628886094.870 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:21:35.262Z,1628886095.262 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:21:35.657Z,1628886095.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,05B,000,00298,184,80,80,96,FF
2021-08-13T20:21:35.657Z,1628886095.657 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:21:36.093Z,1628886096.093 [Micromodem](INFO): Nmea in: $SNTTA,0.106352,,,,202135.44*44

2021-08-13T20:21:38.516Z,1628886098.516 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:21:38.904Z,1628886098.904 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:21:38.904Z,1628886098.904 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:21:38.904Z,1628886098.904 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:21:38.905Z,1628886098.905 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:21:39.293Z,1628886099.293 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
05B,000,00298,184,80,80,96,FF
2021-08-13T20:21:39.293Z,1628886099.293 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:21:39.293Z,1628886099.293 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:21:39.295Z,1628886099.295 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:21:39.707Z,1628886099.707 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:21:40.101Z,1628886100.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D50,000,00297,189,80,80,6D,FF
2021-08-13T20:21:40.101Z,1628886100.101 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:21:40.541Z,1628886100.541 [Micromodem](INFO): Nmea in: $SNTTA,0.007606,,,,202139.87*43

2021-08-13T20:21:42.919Z,1628886102.919 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:21:43.337Z,1628886103.337 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:21:43.337Z,1628886103.337 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:21:43.337Z,1628886103.337 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:21:43.338Z,1628886103.338 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:21:43.705Z,1628886103.705 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D50,000,00297,189,80,80,6D,FF
2021-08-13T20:21:43.705Z,1628886103.705 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:21:43.705Z,1628886103.705 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:21:43.707Z,1628886103.707 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:21:44.133Z,1628886104.133 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:21:44.617Z,1628886104.617 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,07D,000,00295,186,80,80,77,FF
2021-08-13T20:21:44.617Z,1628886104.617 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:21:44.965Z,1628886104.965 [Micromodem](INFO): Nmea in: $SNTTA,0.079518,,,,202144.28*49

2021-08-13T20:21:47.418Z,1628886107.418 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:21:47.781Z,1628886107.781 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:21:47.781Z,1628886107.781 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:21:47.781Z,1628886107.781 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:21:47.782Z,1628886107.782 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:21:48.181Z,1628886108.181 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
07D,000,00295,186,80,80,77,FF
2021-08-13T20:21:48.181Z,1628886108.181 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:21:48.181Z,1628886108.181 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:21:48.183Z,1628886108.183 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:21:48.608Z,1628886108.608 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:21:48.993Z,1628886108.993 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DC3,000,0029A,189,80,80,7E,FF
2021-08-13T20:21:48.994Z,1628886108.994 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:21:49.409Z,1628886109.409 [Micromodem](INFO): Nmea in: $SNTTA,0.433715,0.433402,,,202148.76*57

2021-08-13T20:21:51.867Z,1628886111.867 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:21:52.221Z,1628886112.221 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:21:52.221Z,1628886112.221 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:21:52.221Z,1628886112.221 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:21:52.222Z,1628886112.222 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:21:52.634Z,1628886112.634 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DC3,000,0029A,189,80,80,7E,FF
2021-08-13T20:21:52.634Z,1628886112.634 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:21:52.634Z,1628886112.634 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:21:52.636Z,1628886112.636 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:21:53.007Z,1628886113.007 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:21:53.035Z,1628886113.035 [Micromodem](INFO): Nmea in: 02153.21*59

2021-08-13T20:21:53.036Z,1628886113.036 [Micromodem](ERROR): Response from modem failed NMEA checksum: 02153.21*59
 expected 0
2021-08-13T20:21:53.439Z,1628886113.439 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D6A,000,00297,189,80,80,5A,FF
2021-08-13T20:21:53.439Z,1628886113.439 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:21:56.285Z,1628886116.285 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:21:56.674Z,1628886116.674 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:21:56.674Z,1628886116.674 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:21:56.675Z,1628886116.675 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:21:56.675Z,1628886116.675 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:21:57.107Z,1628886117.107 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D6A,000,00297,189,80,80,5A,FF
2021-08-13T20:21:57.107Z,1628886117.107 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:21:57.107Z,1628886117.107 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:21:57.110Z,1628886117.110 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:21:57.476Z,1628886117.476 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:21:57.887Z,1628886117.887 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E47,000,00299,187,80,80,5A,FF
2021-08-13T20:21:57.887Z,1628886117.887 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:21:58.298Z,1628886118.298 [Micromodem](INFO): Nmea in: $SNTTA,0.005981,,,,202157.68*48

2021-08-13T20:22:00.734Z,1628886120.734 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:22:01.121Z,1628886121.121 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:22:01.121Z,1628886121.121 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:22:01.122Z,1628886121.122 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:22:01.122Z,1628886121.122 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:22:01.516Z,1628886121.516 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E47,000,00299,187,80,80,5A,FF
2021-08-13T20:22:01.516Z,1628886121.516 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:22:01.517Z,1628886121.517 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:22:01.522Z,1628886121.522 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:22:01.930Z,1628886121.930 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:22:02.321Z,1628886122.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E0D,000,00297,186,80,80,6B,FF
2021-08-13T20:22:02.321Z,1628886122.321 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:22:02.769Z,1628886122.769 [Micromodem](INFO): Nmea in: $SNTTA,0.176684,,,,202202.09*43

2021-08-13T20:22:04.910Z,1628886124.910 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:22:05.149Z,1628886125.149 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:22:05.149Z,1628886125.149 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:22:05.149Z,1628886125.149 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:22:05.150Z,1628886125.150 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:22:05.593Z,1628886125.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E0D,000,00297,186,80,80,6B,FF
2021-08-13T20:22:05.593Z,1628886125.593 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:22:05.593Z,1628886125.593 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:22:05.595Z,1628886125.595 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:22:05.965Z,1628886125.965 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:22:06.357Z,1628886126.357 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,07F,000,00293,186,80,80,8A,FF
2021-08-13T20:22:06.358Z,1628886126.358 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:22:09.257Z,1628886129.257 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:22:09.597Z,1628886129.597 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:22:09.597Z,1628886129.597 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:22:09.597Z,1628886129.597 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:22:09.598Z,1628886129.598 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:22:10.001Z,1628886130.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
07F,000,00293,186,80,80,8A,FF
2021-08-13T20:22:10.001Z,1628886130.001 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:22:10.002Z,1628886130.002 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:22:10.003Z,1628886130.003 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:22:10.412Z,1628886130.412 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:22:10.809Z,1628886130.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,18A,000,00296,186,80,80,6E,FF
2021-08-13T20:22:10.809Z,1628886130.809 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:22:11.237Z,1628886131.237 [Micromodem](INFO): Nmea in: $SNTTA,0.003550,0.416093,,,202210.58*5A

2021-08-13T20:22:13.677Z,1628886133.677 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:22:14.013Z,1628886134.013 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:22:14.013Z,1628886134.013 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:22:14.013Z,1628886134.013 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:22:14.014Z,1628886134.014 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:22:14.413Z,1628886134.413 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
18A,000,00296,186,80,80,6E,FF
2021-08-13T20:22:14.413Z,1628886134.413 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:22:14.413Z,1628886134.413 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:22:14.415Z,1628886134.415 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:22:14.934Z,1628886134.934 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:22:15.253Z,1628886135.253 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CFE,000,00297,189,80,80,6B,FF
2021-08-13T20:22:15.253Z,1628886135.253 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:22:15.257Z,1628886135.257 [Micromodem](INFO): Nmea in: $SNTTA,0.018558,0.208432,,,202214.99*57

2021-08-13T20:22:18.099Z,1628886138.099 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:22:18.491Z,1628886138.491 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:22:18.491Z,1628886138.491 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:22:18.491Z,1628886138.491 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:22:18.492Z,1628886138.492 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:22:18.898Z,1628886138.898 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CFE,000,00297,189,80,80,6B,FF
2021-08-13T20:22:18.899Z,1628886138.899 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:22:18.899Z,1628886138.899 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:22:18.900Z,1628886138.900 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:22:19.297Z,1628886139.297 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:22:19.701Z,1628886139.701 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E09,000,00297,187,80,80,61,FF
2021-08-13T20:22:19.701Z,1628886139.701 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:22:20.133Z,1628886140.133 [Micromodem](INFO): Nmea in: $SNTTA,0.006127,,,,202219.48*44

2021-08-13T20:22:22.546Z,1628886142.546 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:22:22.937Z,1628886142.937 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:22:22.938Z,1628886142.938 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:22:22.938Z,1628886142.938 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:22:22.939Z,1628886142.939 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:22:23.317Z,1628886143.317 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E09,000,00297,187,80,80,61,FF
2021-08-13T20:22:23.317Z,1628886143.317 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:22:23.317Z,1628886143.317 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:22:23.319Z,1628886143.319 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:22:23.744Z,1628886143.744 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:22:24.115Z,1628886144.115 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,187,000,00296,185,80,80,69,FF
2021-08-13T20:22:24.116Z,1628886144.116 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:22:24.573Z,1628886144.573 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202223.89*5C

2021-08-13T20:22:26.991Z,1628886146.991 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:22:27.373Z,1628886147.373 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:22:27.373Z,1628886147.373 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:22:27.373Z,1628886147.373 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:22:27.374Z,1628886147.374 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:22:27.785Z,1628886147.785 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
187,000,00296,185,80,80,69,FF
2021-08-13T20:22:27.785Z,1628886147.785 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:22:27.785Z,1628886147.785 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:22:27.787Z,1628886147.787 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:22:28.188Z,1628886148.188 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:22:28.601Z,1628886148.601 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E0D,000,00297,187,80,80,5B,FF
2021-08-13T20:22:28.601Z,1628886148.601 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:22:29.017Z,1628886149.017 [Micromodem](INFO): Nmea in: $SNTTA,0.108996,,,,202228.36*42

2021-08-13T20:22:31.460Z,1628886151.460 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:22:31.814Z,1628886151.814 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:22:31.814Z,1628886151.814 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:22:31.815Z,1628886151.815 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:22:31.815Z,1628886151.815 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:22:32.229Z,1628886152.229 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E0D,000,00297,187,80,80,5B,FF
2021-08-13T20:22:32.230Z,1628886152.230 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:22:32.230Z,1628886152.230 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:22:32.231Z,1628886152.231 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:22:32.666Z,1628886152.666 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:22:33.040Z,1628886153.040 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DE8,000,00297,187,80,80,77,FF
2021-08-13T20:22:33.041Z,1628886153.041 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:22:33.422Z,1628886153.422 [Micromodem](INFO): Nmea in: $SNTTA,0.344026,0.344032,,,202232.80*50

2021-08-13T20:22:35.877Z,1628886155.877 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:22:36.261Z,1628886156.261 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:22:36.261Z,1628886156.261 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:22:36.261Z,1628886156.261 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:22:36.262Z,1628886156.262 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:22:36.678Z,1628886156.678 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DE8,000,00297,187,80,80,77,FF
2021-08-13T20:22:36.679Z,1628886156.679 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:22:36.679Z,1628886156.679 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:22:36.681Z,1628886156.681 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:22:37.109Z,1628886157.109 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:22:37.482Z,1628886157.482 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D5A,000,00297,189,80,80,6E,FF
2021-08-13T20:22:37.482Z,1628886157.482 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:22:37.897Z,1628886157.897 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202237.25*5F

2021-08-13T20:22:40.315Z,1628886160.315 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:22:40.711Z,1628886160.711 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:22:40.712Z,1628886160.712 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:22:40.712Z,1628886160.712 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:22:40.713Z,1628886160.713 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:22:41.113Z,1628886161.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D5A,000,00297,189,80,80,6E,FF
2021-08-13T20:22:41.113Z,1628886161.113 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:22:41.113Z,1628886161.113 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:22:41.115Z,1628886161.115 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:22:41.520Z,1628886161.520 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:22:41.921Z,1628886161.921 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DE8,000,00295,188,80,80,7E,FF
2021-08-13T20:22:41.922Z,1628886161.922 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:22:42.350Z,1628886162.350 [Micromodem](INFO): Nmea in: $SNTTA,0.016967,,,,202241.69*47

2021-08-13T20:22:44.751Z,1628886164.751 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:22:45.229Z,1628886165.229 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:22:45.229Z,1628886165.229 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:22:45.230Z,1628886165.230 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:22:45.230Z,1628886165.230 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:22:45.566Z,1628886165.566 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DE8,000,00295,188,80,80,7E,FF
2021-08-13T20:22:45.566Z,1628886165.566 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:22:45.566Z,1628886165.566 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:22:45.570Z,1628886165.570 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:22:45.961Z,1628886165.961 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:22:46.370Z,1628886166.370 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CBB,000,00297,189,80,80,5D,FF
2021-08-13T20:22:46.371Z,1628886166.371 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:22:46.820Z,1628886166.820 [Micromodem](INFO): Nmea in: $SNTTA,0.087240,,,,202246.14*4C

2021-08-13T20:22:49.258Z,1628886169.258 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:22:49.613Z,1628886169.613 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:22:49.614Z,1628886169.614 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:22:49.614Z,1628886169.614 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:22:49.615Z,1628886169.615 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:22:50.009Z,1628886170.009 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CBB,000,00297,189,80,80,5D,FF
2021-08-13T20:22:50.009Z,1628886170.009 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:22:50.010Z,1628886170.010 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:22:50.011Z,1628886170.011 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:22:50.409Z,1628886170.409 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:22:50.805Z,1628886170.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,079,000,00296,186,80,80,8C,FF
2021-08-13T20:22:50.806Z,1628886170.806 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:22:51.238Z,1628886171.238 [Micromodem](INFO): Nmea in: $SNTTA,0.031852,,,,202250.59*46

2021-08-13T20:22:53.636Z,1628886173.636 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:22:54.029Z,1628886174.029 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:22:54.030Z,1628886174.030 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:22:54.030Z,1628886174.030 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:22:54.031Z,1628886174.031 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:22:54.409Z,1628886174.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
079,000,00296,186,80,80,8C,FF
2021-08-13T20:22:54.409Z,1628886174.409 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:22:54.410Z,1628886174.410 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:22:54.411Z,1628886174.411 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:22:54.826Z,1628886174.826 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:22:55.330Z,1628886175.330 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,049,000,00293,184,80,80,8F,FF
2021-08-13T20:22:55.331Z,1628886175.331 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:22:55.355Z,1628886175.355 [Micromodem](INFO): Nmea in: $SNTTA,0.026591,0.253396,,,202254.98*5D

2021-08-13T20:22:58.091Z,1628886178.091 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:22:58.481Z,1628886178.481 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:22:58.481Z,1628886178.481 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:22:58.481Z,1628886178.481 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:22:58.482Z,1628886178.482 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:22:58.889Z,1628886178.889 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
049,000,00293,184,80,80,8F,FF
2021-08-13T20:22:58.889Z,1628886178.889 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:22:58.889Z,1628886178.889 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:22:58.891Z,1628886178.891 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:22:59.297Z,1628886179.297 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:22:59.693Z,1628886179.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E53,000,00292,186,80,80,64,FF
2021-08-13T20:22:59.694Z,1628886179.694 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:23:00.137Z,1628886180.137 [Micromodem](INFO): Nmea in: $SNTTA,0.069061,,,,202259.47*45

2021-08-13T20:23:02.546Z,1628886182.546 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:23:02.925Z,1628886182.925 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:23:02.925Z,1628886182.925 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:23:02.925Z,1628886182.925 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:23:02.926Z,1628886182.926 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:23:03.329Z,1628886183.329 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E53,000,00292,186,80,80,64,FF
2021-08-13T20:23:03.329Z,1628886183.329 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:23:03.329Z,1628886183.329 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:23:03.331Z,1628886183.331 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:23:03.706Z,1628886183.706 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:23:04.141Z,1628886184.141 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D65,000,0029A,189,80,80,5E,FF
2021-08-13T20:23:04.141Z,1628886184.141 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:23:04.561Z,1628886184.561 [Micromodem](INFO): Nmea in: $SNTTA,0.036187,,,,202303.91*43

2021-08-13T20:23:06.978Z,1628886186.978 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:23:07.369Z,1628886187.369 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:23:07.369Z,1628886187.369 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:23:07.369Z,1628886187.369 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:23:07.370Z,1628886187.370 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:23:07.778Z,1628886187.778 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D65,000,0029A,189,80,80,5E,FF
2021-08-13T20:23:07.778Z,1628886187.778 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:23:07.778Z,1628886187.778 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:23:07.780Z,1628886187.780 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:23:08.181Z,1628886188.181 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:23:08.601Z,1628886188.601 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,077,000,00297,187,80,80,88,FF
2021-08-13T20:23:08.601Z,1628886188.601 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:23:09.024Z,1628886189.024 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202308.35*53

2021-08-13T20:23:09.091Z,1628886189.091 [lineCaptureDepth:Lap:Docked:Docked.Docked](INFO): Timed out from 2021-08-13T20:18:08.8Z
2021-08-13T20:23:09.091Z,1628886189.091 [lineCaptureDepth:Lap:Docked:Docked.Docked] Stopped
2021-08-13T20:23:09.093Z,1628886189.093 [lineCaptureDepth:Lap:Docked:Detach] Running Loop=1
2021-08-13T20:23:09.094Z,1628886189.094 [lineCaptureDepth:Lap:Docked:Detach](DEBUG): Aggregate::initialize lineCaptureDepth:Lap:Docked:Detach
2021-08-13T20:23:09.094Z,1628886189.094 [lineCaptureDepth:Lap:Docked:Detach:A] Running Loop=1
2021-08-13T20:23:09.417Z,1628886189.417 [lineCaptureDepth:Lap:Docked:Detach:A](IMPORTANT): Breaking off. Range: 2.280001 m .
2021-08-13T20:23:09.417Z,1628886189.417 [lineCaptureDepth:Lap:Docked:Detach:A] Stopped
2021-08-13T20:23:09.417Z,1628886189.417 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock] Running Loop=1
2021-08-13T20:23:09.417Z,1628886189.417 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](DEBUG): Initialize.
2021-08-13T20:23:09.417Z,1628886189.417 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](DEBUG): Initializing internal variables to default values.
2021-08-13T20:23:10.193Z,1628886190.193 [PowerOnly](INFO): Powering up loadControl
2021-08-13T20:23:11.443Z,1628886191.443 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:23:11.817Z,1628886191.817 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:23:11.817Z,1628886191.817 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:23:11.817Z,1628886191.817 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:23:11.818Z,1628886191.818 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:23:12.221Z,1628886192.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
077,000,00297,187,80,80,88,FF
2021-08-13T20:23:12.221Z,1628886192.221 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:23:12.221Z,1628886192.221 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:23:12.223Z,1628886192.223 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:23:12.648Z,1628886192.648 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:23:13.071Z,1628886193.071 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E3F,000,00293,185,80,80,94,FF
2021-08-13T20:23:13.072Z,1628886193.072 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:23:13.122Z,1628886193.122 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): Detaching from dock.
2021-08-13T20:23:13.474Z,1628886193.474 [Micromodem](INFO): Nmea in: $SNTTA,0.001024,,,,202312.80*4F

2021-08-13T20:23:13.493Z,1628886193.493 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): Engaging thruster for 10.0 seconds (max) to disengage.
2021-08-13T20:23:15.892Z,1628886195.892 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:23:16.253Z,1628886196.253 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:23:16.253Z,1628886196.253 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:23:16.253Z,1628886196.253 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:23:16.254Z,1628886196.254 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:23:16.657Z,1628886196.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E3F,000,00293,185,80,80,94,FF
2021-08-13T20:23:16.658Z,1628886196.658 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:23:16.658Z,1628886196.658 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:23:16.659Z,1628886196.659 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:23:17.108Z,1628886197.108 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:23:17.474Z,1628886197.474 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD3,000,00296,185,80,80,7B,FF
2021-08-13T20:23:17.474Z,1628886197.474 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:23:17.926Z,1628886197.926 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202317.23*5A

2021-08-13T20:23:20.311Z,1628886200.311 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:23:20.713Z,1628886200.713 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:23:20.713Z,1628886200.713 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:23:20.713Z,1628886200.713 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:23:20.714Z,1628886200.714 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:23:21.113Z,1628886201.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD3,000,00296,185,80,80,7B,FF
2021-08-13T20:23:21.113Z,1628886201.113 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:23:21.113Z,1628886201.113 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:23:21.115Z,1628886201.115 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:23:21.517Z,1628886201.517 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:23:21.919Z,1628886201.919 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,027,000,00297,185,80,80,C3,FF
2021-08-13T20:23:21.919Z,1628886201.919 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:23:22.345Z,1628886202.345 [Micromodem](INFO): Nmea in: $SNTTA,0.033364,,,,202321.69*4E

2021-08-13T20:23:23.571Z,1628886203.571 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): Thruster off.
2021-08-13T20:23:24.759Z,1628886204.759 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:23:25.149Z,1628886205.149 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:23:25.149Z,1628886205.149 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:23:25.149Z,1628886205.149 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:23:25.150Z,1628886205.150 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:23:25.549Z,1628886205.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
027,000,00297,185,80,80,C3,FF
2021-08-13T20:23:25.549Z,1628886205.549 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:23:25.549Z,1628886205.549 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:23:25.551Z,1628886205.551 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:23:25.969Z,1628886205.969 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:23:26.354Z,1628886206.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,058,000,002AB,183,80,80,B4,FF
2021-08-13T20:23:26.354Z,1628886206.354 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:23:26.797Z,1628886206.797 [Micromodem](INFO): Nmea in: $SNTTA,0.004534,,,,202326.12*42

2021-08-13T20:23:29.215Z,1628886209.215 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:23:29.589Z,1628886209.589 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:23:29.589Z,1628886209.589 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:23:29.589Z,1628886209.589 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:23:29.590Z,1628886209.590 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:23:30.001Z,1628886210.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
058,000,002AB,183,80,80,B4,FF
2021-08-13T20:23:30.001Z,1628886210.001 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:23:30.001Z,1628886210.001 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:23:30.003Z,1628886210.003 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:23:30.404Z,1628886210.404 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:23:30.801Z,1628886210.801 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,079,000,002C0,187,80,80,C0,FF
2021-08-13T20:23:30.801Z,1628886210.801 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:23:31.245Z,1628886211.245 [Micromodem](INFO): Nmea in: $SNTTA,0.005433,,,,202330.58*4C

2021-08-13T20:23:33.655Z,1628886213.655 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:23:34.085Z,1628886214.085 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:23:34.085Z,1628886214.085 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:23:34.085Z,1628886214.085 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:23:34.086Z,1628886214.086 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:23:34.445Z,1628886214.445 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
079,000,002C0,187,80,80,C0,FF
2021-08-13T20:23:34.445Z,1628886214.445 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:23:34.445Z,1628886214.445 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:23:34.447Z,1628886214.447 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:23:34.847Z,1628886214.847 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:23:35.249Z,1628886215.249 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0BF,000,002D7,186,80,80,BC,FF
2021-08-13T20:23:35.249Z,1628886215.249 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:23:35.697Z,1628886215.697 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202335.02*59

2021-08-13T20:23:38.087Z,1628886218.087 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:23:38.482Z,1628886218.482 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:23:38.482Z,1628886218.482 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:23:38.483Z,1628886218.483 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:23:38.484Z,1628886218.484 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:23:38.893Z,1628886218.893 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0BF,000,002D7,186,80,80,BC,FF
2021-08-13T20:23:38.893Z,1628886218.893 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:23:38.894Z,1628886218.894 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:23:38.895Z,1628886218.895 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:23:39.289Z,1628886219.289 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:23:39.690Z,1628886219.690 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0D9,000,002E9,186,80,80,80,FF
2021-08-13T20:23:39.691Z,1628886219.691 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:23:40.129Z,1628886220.129 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202339.47*54

2021-08-13T20:23:42.546Z,1628886222.546 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:23:42.921Z,1628886222.921 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:23:42.921Z,1628886222.921 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:23:42.921Z,1628886222.921 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:23:42.922Z,1628886222.922 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:23:43.325Z,1628886223.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0D9,000,002E9,186,80,80,80,FF
2021-08-13T20:23:43.325Z,1628886223.325 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:23:43.325Z,1628886223.325 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:23:43.327Z,1628886223.327 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:23:43.732Z,1628886223.732 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:23:44.137Z,1628886224.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,106,000,002FA,186,80,80,B4,FF
2021-08-13T20:23:44.137Z,1628886224.137 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:23:44.573Z,1628886224.573 [Micromodem](INFO): Nmea in: $SNTTA,0.043723,,,,202343.90*4C

2021-08-13T20:23:46.979Z,1628886226.979 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:23:47.365Z,1628886227.365 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:23:47.365Z,1628886227.365 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:23:47.365Z,1628886227.365 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:23:47.366Z,1628886227.366 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:23:47.769Z,1628886227.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
106,000,002FA,186,80,80,B4,FF
2021-08-13T20:23:47.769Z,1628886227.769 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:23:47.769Z,1628886227.769 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:23:47.771Z,1628886227.771 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:23:48.186Z,1628886228.186 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:23:48.577Z,1628886228.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,109,000,0031A,186,80,80,74,FF
2021-08-13T20:23:48.577Z,1628886228.577 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:23:49.048Z,1628886229.048 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202348.34*56

2021-08-13T20:23:49.136Z,1628886229.136 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): Detected possible detachment. Starting timer.
2021-08-13T20:23:51.452Z,1628886231.452 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:23:51.813Z,1628886231.813 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:23:51.813Z,1628886231.813 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:23:51.813Z,1628886231.813 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:23:51.814Z,1628886231.814 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:23:52.225Z,1628886232.225 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
109,000,0031A,186,80,80,74,FF
2021-08-13T20:23:52.225Z,1628886232.225 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:23:52.225Z,1628886232.225 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:23:52.227Z,1628886232.227 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:23:52.621Z,1628886232.621 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:23:53.097Z,1628886233.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,169,000,00320,186,80,80,A4,FF
2021-08-13T20:23:53.097Z,1628886233.097 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:23:53.470Z,1628886233.470 [Micromodem](INFO): Nmea in: $SNTTA,0.037967,,,,202352.80*40

2021-08-13T20:23:55.886Z,1628886235.886 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:23:56.281Z,1628886236.281 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:23:56.281Z,1628886236.281 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:23:56.281Z,1628886236.281 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:23:56.282Z,1628886236.282 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:23:56.667Z,1628886236.667 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
169,000,00320,186,80,80,A4,FF
2021-08-13T20:23:56.667Z,1628886236.667 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:23:56.667Z,1628886236.667 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:23:56.668Z,1628886236.668 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:23:57.113Z,1628886237.113 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:23:57.478Z,1628886237.478 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,183,000,0034B,185,80,80,69,FF
2021-08-13T20:23:57.478Z,1628886237.478 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:24:00.331Z,1628886240.331 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:24:00.701Z,1628886240.701 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:24:00.701Z,1628886240.701 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:24:00.701Z,1628886240.701 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:24:00.702Z,1628886240.702 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:24:01.117Z,1628886241.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
183,000,0034B,185,80,80,69,FF
2021-08-13T20:24:01.117Z,1628886241.117 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:24:01.118Z,1628886241.118 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:24:01.121Z,1628886241.121 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:24:01.513Z,1628886241.513 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:24:01.922Z,1628886241.922 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,234,000,00340,189,80,80,A9,FF
2021-08-13T20:24:01.922Z,1628886241.922 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:24:02.341Z,1628886242.341 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202401.69*54

2021-08-13T20:24:04.759Z,1628886244.759 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:24:05.160Z,1628886245.160 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:24:05.160Z,1628886245.160 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:24:05.160Z,1628886245.160 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:24:05.161Z,1628886245.161 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:24:05.549Z,1628886245.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
234,000,00340,189,80,80,A9,FF
2021-08-13T20:24:05.549Z,1628886245.549 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:24:05.549Z,1628886245.549 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:24:05.551Z,1628886245.551 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:24:05.958Z,1628886245.958 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:24:06.365Z,1628886246.365 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,281,000,00350,189,80,80,8B,FF
2021-08-13T20:24:06.365Z,1628886246.365 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:24:06.793Z,1628886246.793 [Micromodem](INFO): Nmea in: $SNTTA,0.044040,,,,202406.13*44

2021-08-13T20:24:09.258Z,1628886249.258 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): Detached at range: 13.38 m. Transitioning DDM to standby.
2021-08-13T20:24:09.259Z,1628886249.259 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:24:09.589Z,1628886249.589 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:24:09.590Z,1628886249.590 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:24:09.590Z,1628886249.590 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:24:09.591Z,1628886249.591 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:24:10.009Z,1628886250.009 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
281,000,00350,189,80,80,8B,FF
2021-08-13T20:24:10.009Z,1628886250.009 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:24:10.010Z,1628886250.010 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:24:10.013Z,1628886250.013 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:24:10.396Z,1628886250.396 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:24:10.805Z,1628886250.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,281,000,00362,189,80,80,70,FF
2021-08-13T20:24:10.806Z,1628886250.806 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:24:11.249Z,1628886251.249 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202410.58*56

2021-08-13T20:24:11.711Z,1628886251.711 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): DDM at standby.
2021-08-13T20:24:12.075Z,1628886252.075 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](IMPORTANT): Undocking sequence complete.
2021-08-13T20:24:12.075Z,1628886252.075 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock] Stopped
2021-08-13T20:24:12.075Z,1628886252.075 [lineCaptureDepth:Lap:Docked:Detach](INFO): Completed lineCaptureDepth:Lap:Docked:Detach
2021-08-13T20:24:12.075Z,1628886252.075 [lineCaptureDepth:Lap:Docked:Detach] Stopped
2021-08-13T20:24:12.076Z,1628886252.076 [lineCaptureDepth:Lap:Docked:Detach](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap:Docked:Detach
2021-08-13T20:24:12.076Z,1628886252.076 [lineCaptureDepth:Lap:Docked](INFO): Completed lineCaptureDepth:Lap:Docked
2021-08-13T20:24:12.076Z,1628886252.076 [lineCaptureDepth:Lap:Docked] Stopped
2021-08-13T20:24:12.076Z,1628886252.076 [lineCaptureDepth:Lap:Docked](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap:Docked
2021-08-13T20:24:12.077Z,1628886252.077 [lineCaptureDepth:Lap](INFO): Completed lineCaptureDepth:Lap
2021-08-13T20:24:12.077Z,1628886252.077 [lineCaptureDepth:Lap] Stopped
2021-08-13T20:24:12.077Z,1628886252.077 [lineCaptureDepth:Lap](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap
2021-08-13T20:24:12.077Z,1628886252.077 [lineCaptureDepth:Lap](INFO): Running loop #5
2021-08-13T20:24:12.077Z,1628886252.077 [lineCaptureDepth:Lap] Running Loop=5
2021-08-13T20:24:12.077Z,1628886252.077 [lineCaptureDepth:Lap](DEBUG): Aggregate::initialize lineCaptureDepth:Lap
2021-08-13T20:24:12.077Z,1628886252.077 [lineCaptureDepth:Lap:A] Running Loop=1
2021-08-13T20:24:12.439Z,1628886252.439 [lineCaptureDepth:Lap:A] Stopped
2021-08-13T20:24:12.439Z,1628886252.439 [lineCaptureDepth:Lap:B] Running Loop=1
2021-08-13T20:24:12.444Z,1628886252.444 [lineCaptureDepth:Lap:B](DEBUG): Aggregate::initialize lineCaptureDepth:Lap:B
2021-08-13T20:24:12.878Z,1628886252.878 [lineCaptureDepth:LineCapture] Running Loop=1
2021-08-13T20:24:12.878Z,1628886252.878 [lineCaptureDepth:LineCapture](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture
2021-08-13T20:24:12.878Z,1628886252.878 [lineCaptureDepth:LineCapture:StandardEnvelopes] Running Loop=1
2021-08-13T20:24:12.878Z,1628886252.878 [lineCaptureDepth:LineCapture:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:StandardEnvelopes
2021-08-13T20:24:12.879Z,1628886252.879 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-08-13T20:24:12.879Z,1628886252.879 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2021-08-13T20:24:12.879Z,1628886252.879 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-08-13T20:24:12.879Z,1628886252.879 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2021-08-13T20:24:12.879Z,1628886252.879 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-08-13T20:24:12.879Z,1628886252.879 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2021-08-13T20:24:12.879Z,1628886252.879 [lineCaptureDepth:LineCapture:G] Running Loop=1
2021-08-13T20:24:12.879Z,1628886252.879 [lineCaptureDepth:LineCapture:H] Running Loop=1
2021-08-13T20:24:12.879Z,1628886252.879 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-08-13T20:24:12.880Z,1628886252.880 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-13T20:24:12.880Z,1628886252.880 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-08-13T20:24:12.880Z,1628886252.880 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-08-13T20:24:12.880Z,1628886252.880 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2021-08-13T20:24:12.880Z,1628886252.880 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-08-13T20:24:12.881Z,1628886252.881 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-08-13T20:24:12.881Z,1628886252.881 [lineCaptureDepth:LineCapture:A] Running Loop=1
2021-08-13T20:24:12.881Z,1628886252.881 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2021-08-13T20:24:12.881Z,1628886252.881 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-13T20:24:12.881Z,1628886252.881 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2021-08-13T20:24:12.881Z,1628886252.881 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2021-08-13T20:24:12.881Z,1628886252.881 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2021-08-13T20:24:12.881Z,1628886252.881 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2021-08-13T20:24:12.882Z,1628886252.882 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-08-13T20:24:12.883Z,1628886252.883 [lineCaptureDepth:LineCapture:A] Stopped
2021-08-13T20:24:12.883Z,1628886252.883 [lineCaptureDepth:LineCapture:B] Running Loop=1
2021-08-13T20:24:13.291Z,1628886253.291 [lineCaptureDepth:LineCapture:B] Stopped
2021-08-13T20:24:13.291Z,1628886253.291 [lineCaptureDepth:LineCapture:D] Running Loop=1
2021-08-13T20:24:13.619Z,1628886253.619 [lineCaptureDepth:LineCapture:D] Stopped
2021-08-13T20:24:13.619Z,1628886253.619 [lineCaptureDepth:LineCapture:E] Running Loop=1
2021-08-13T20:24:13.636Z,1628886253.636 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:24:14.009Z,1628886254.009 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:24:14.009Z,1628886254.009 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:24:14.009Z,1628886254.009 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:24:14.010Z,1628886254.010 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:24:14.079Z,1628886254.079 [lineCaptureDepth:LineCapture:E] Stopped
2021-08-13T20:24:14.079Z,1628886254.079 [lineCaptureDepth:LineCapture:F] Running Loop=1
2021-08-13T20:24:14.421Z,1628886254.421 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
281,000,00362,189,80,80,70,FF
2021-08-13T20:24:14.421Z,1628886254.421 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:24:14.421Z,1628886254.421 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:24:14.423Z,1628886254.423 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:24:14.517Z,1628886254.517 [lineCaptureDepth:LineCapture:F] Stopped
2021-08-13T20:24:14.517Z,1628886254.517 [lineCaptureDepth:LineCapture:HomingSequence] Running Loop=1
2021-08-13T20:24:14.518Z,1628886254.518 [lineCaptureDepth:LineCapture:HomingSequence](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence
2021-08-13T20:24:14.518Z,1628886254.518 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2021-08-13T20:24:14.518Z,1628886254.518 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-08-13T20:24:14.518Z,1628886254.518 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide] Running Loop=1
2021-08-13T20:24:14.519Z,1628886254.519 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-08-13T20:24:14.519Z,1628886254.519 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Running Loop=1
2021-08-13T20:24:14.519Z,1628886254.519 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize.
2021-08-13T20:24:14.522Z,1628886254.522 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2021-08-13T20:24:14.523Z,1628886254.523 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2021-08-13T20:24:14.523Z,1628886254.523 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-08-13T20:24:14.523Z,1628886254.523 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2021-08-13T20:24:14.523Z,1628886254.523 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-08-13T20:24:14.523Z,1628886254.523 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2021-08-13T20:24:14.523Z,1628886254.523 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2021-08-13T20:24:14.523Z,1628886254.523 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2021-08-13T20:24:14.523Z,1628886254.523 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2021-08-13T20:24:14.532Z,1628886254.532 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2021-08-13T20:24:14.532Z,1628886254.532 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2021-08-13T20:24:14.532Z,1628886254.532 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-13T20:24:14.532Z,1628886254.532 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2021-08-13T20:24:14.532Z,1628886254.532 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-13T20:24:14.533Z,1628886254.533 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1
2021-08-13T20:24:14.533Z,1628886254.533 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Initialize.
2021-08-13T20:24:14.533Z,1628886254.533 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2021-08-13T20:24:14.533Z,1628886254.533 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2021-08-13T20:24:14.533Z,1628886254.533 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2021-08-13T20:24:14.825Z,1628886254.825 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:24:14.914Z,1628886254.914 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Stopped
2021-08-13T20:24:14.914Z,1628886254.914 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-13T20:24:14.914Z,1628886254.914 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2021-08-13T20:24:14.915Z,1628886254.915 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-13T20:24:14.915Z,1628886254.915 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2021-08-13T20:24:14.915Z,1628886254.915 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Stopped
2021-08-13T20:24:14.915Z,1628886254.915 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Stopped
2021-08-13T20:24:14.915Z,1628886254.915 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2021-08-13T20:24:14.915Z,1628886254.915 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2021-08-13T20:24:14.915Z,1628886254.915 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-08-13T20:24:14.915Z,1628886254.915 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2021-08-13T20:24:14.920Z,1628886254.920 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-08-13T20:24:14.920Z,1628886254.920 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2021-08-13T20:24:14.920Z,1628886254.920 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2021-08-13T20:24:14.920Z,1628886254.920 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2021-08-13T20:24:14.920Z,1628886254.920 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2021-08-13T20:24:15.223Z,1628886255.223 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2D1,000,00373,188,80,80,AE,FF
2021-08-13T20:24:15.223Z,1628886255.223 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:24:15.750Z,1628886255.750 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202414.99*5F

2021-08-13T20:24:17.735Z,1628886257.735 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detaching from dock.
2021-08-13T20:24:18.127Z,1628886258.127 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Engaging thruster for 10.0 seconds (max) to disengage.
2021-08-13T20:24:18.133Z,1628886258.133 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:24:18.477Z,1628886258.477 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:24:18.477Z,1628886258.477 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:24:18.477Z,1628886258.477 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:24:18.478Z,1628886258.478 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:24:18.502Z,1628886258.502 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Thruster off.
2021-08-13T20:24:18.889Z,1628886258.889 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2D1,000,00373,188,80,80,AE,FF
2021-08-13T20:24:18.890Z,1628886258.890 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:24:18.890Z,1628886258.890 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:24:18.892Z,1628886258.892 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:24:18.981Z,1628886258.981 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detected possible detachment. Starting timer.
2021-08-13T20:24:19.313Z,1628886259.313 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:24:19.693Z,1628886259.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,320,000,00387,189,80,80,AC,FF
2021-08-13T20:24:19.693Z,1628886259.693 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:24:20.129Z,1628886260.129 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202419.46*50

2021-08-13T20:24:22.538Z,1628886262.538 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:24:22.921Z,1628886262.921 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:24:22.921Z,1628886262.921 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:24:22.921Z,1628886262.921 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:24:22.922Z,1628886262.922 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:24:23.329Z,1628886263.329 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
320,000,00387,189,80,80,AC,FF
2021-08-13T20:24:23.329Z,1628886263.329 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:24:23.329Z,1628886263.329 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:24:23.331Z,1628886263.331 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:24:23.732Z,1628886263.732 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:24:24.135Z,1628886264.135 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,320,000,0038E,189,80,80,81,FF
2021-08-13T20:24:24.135Z,1628886264.135 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:24:24.573Z,1628886264.573 [Micromodem](INFO): Nmea in: $SNTTA,0.028529,,,,202423.90*48

2021-08-13T20:24:27.045Z,1628886267.045 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:24:27.373Z,1628886267.373 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:24:27.373Z,1628886267.373 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:24:27.373Z,1628886267.373 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:24:27.374Z,1628886267.374 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:24:27.779Z,1628886267.779 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
320,000,0038E,189,80,80,81,FF
2021-08-13T20:24:27.779Z,1628886267.779 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:24:27.779Z,1628886267.779 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:24:27.781Z,1628886267.781 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:24:28.193Z,1628886268.193 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:24:28.585Z,1628886268.585 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,33F,000,0039E,189,80,80,5F,FF
2021-08-13T20:24:28.586Z,1628886268.586 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:24:29.045Z,1628886269.045 [Micromodem](INFO): Nmea in: $SNTTA,0.073458,,,,202428.36*46

2021-08-13T20:24:31.494Z,1628886271.494 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:24:31.813Z,1628886271.813 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:24:31.813Z,1628886271.813 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:24:31.814Z,1628886271.814 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:24:31.815Z,1628886271.815 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:24:32.221Z,1628886272.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
33F,000,0039E,189,80,80,5F,FF
2021-08-13T20:24:32.222Z,1628886272.222 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:24:32.222Z,1628886272.222 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:24:32.223Z,1628886272.223 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:24:32.629Z,1628886272.629 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:24:33.048Z,1628886273.048 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,38C,000,003B3,189,80,80,9A,FF
2021-08-13T20:24:33.050Z,1628886273.050 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:24:33.462Z,1628886273.462 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202432.80*53

2021-08-13T20:24:35.921Z,1628886275.921 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:24:36.257Z,1628886276.257 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:24:36.257Z,1628886276.257 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:24:36.257Z,1628886276.257 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:24:36.258Z,1628886276.258 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:24:36.661Z,1628886276.661 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
38C,000,003B3,189,80,80,9A,FF
2021-08-13T20:24:36.661Z,1628886276.661 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:24:36.661Z,1628886276.661 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:24:36.663Z,1628886276.663 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:24:37.124Z,1628886277.124 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:24:37.465Z,1628886277.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,407,000,003C5,189,80,80,96,FF
2021-08-13T20:24:37.466Z,1628886277.466 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:24:37.492Z,1628886277.492 [Micromodem](INFO): Nmea in: 37,COPROC,0.20.0.39330*7B

2021-08-13T20:24:37.493Z,1628886277.493 [Micromodem](ERROR): Response from modem failed NMEA checksum: 37,COPROC,0.20.0.39330*7B
 expected 0
2021-08-13T20:24:39.207Z,1628886279.207 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached at range: 20.40 m. Transitioning DDM to standby.
2021-08-13T20:24:40.327Z,1628886280.327 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:24:40.709Z,1628886280.709 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:24:40.709Z,1628886280.709 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:24:40.710Z,1628886280.710 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:24:40.710Z,1628886280.710 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:24:41.125Z,1628886281.125 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
407,000,003C5,189,80,80,96,FF
2021-08-13T20:24:41.125Z,1628886281.125 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:24:41.125Z,1628886281.125 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:24:41.127Z,1628886281.127 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:24:41.541Z,1628886281.541 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:24:41.557Z,1628886281.557 [PowerOnly](INFO): Powering down loadControl
2021-08-13T20:24:41.585Z,1628886281.585 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): DDM at standby.
2021-08-13T20:24:41.921Z,1628886281.921 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,436,000,003DD,18A,80,80,61,FF
2021-08-13T20:24:41.922Z,1628886281.922 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:24:41.937Z,1628886281.937 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](IMPORTANT): Undocking sequence complete.
2021-08-13T20:24:41.937Z,1628886281.937 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Stopped
2021-08-13T20:24:41.937Z,1628886281.937 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B] Running Loop=1
2021-08-13T20:24:42.323Z,1628886282.323 [Micromodem](INFO): Nmea in: $SNTTA,0.060062,,,,202441.70*44

2021-08-13T20:24:42.363Z,1628886282.363 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B](INFO): Transitioning to midcourse guidance.
2021-08-13T20:24:42.364Z,1628886282.364 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B] Stopped
2021-08-13T20:24:42.364Z,1628886282.364 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:C] Running Loop=1
2021-08-13T20:24:42.751Z,1628886282.751 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:C] Stopped
2021-08-13T20:24:42.751Z,1628886282.751 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-08-13T20:24:42.751Z,1628886282.751 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide] Stopped
2021-08-13T20:24:42.751Z,1628886282.751 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-08-13T20:24:42.751Z,1628886282.751 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-08-13T20:24:43.160Z,1628886283.160 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2021-08-13T20:24:43.160Z,1628886283.160 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-08-13T20:24:43.160Z,1628886283.160 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2021-08-13T20:24:43.160Z,1628886283.160 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-08-13T20:24:43.160Z,1628886283.160 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2021-08-13T20:24:43.161Z,1628886283.161 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2021-08-13T20:24:43.161Z,1628886283.161 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2021-08-13T20:24:43.161Z,1628886283.161 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2021-08-13T20:24:43.161Z,1628886283.161 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2021-08-13T20:24:43.162Z,1628886283.162 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Running Loop=1
2021-08-13T20:24:43.162Z,1628886283.162 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-08-13T20:24:43.162Z,1628886283.162 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Running Loop=1
2021-08-13T20:24:43.163Z,1628886283.163 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A](INFO): Transitioning to terminal guidance at range 21.840002 m 
2021-08-13T20:24:43.163Z,1628886283.163 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Stopped
2021-08-13T20:24:43.163Z,1628886283.163 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Running Loop=1
2021-08-13T20:24:43.164Z,1628886283.164 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A](INFO): Navigating to dock waypoint ( 41.552317 arcdeg , -70.708600 arcdeg )
2021-08-13T20:24:43.164Z,1628886283.164 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2021-08-13T20:24:43.164Z,1628886283.164 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Running Loop=1
2021-08-13T20:24:43.165Z,1628886283.165 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Initialize WaypointComponent.
2021-08-13T20:24:43.539Z,1628886283.539 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Stopped
2021-08-13T20:24:43.540Z,1628886283.540 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-08-13T20:24:43.540Z,1628886283.540 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Stopped
2021-08-13T20:24:43.540Z,1628886283.540 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-08-13T20:24:43.540Z,1628886283.540 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-08-13T20:24:43.540Z,1628886283.540 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-13T20:24:43.541Z,1628886283.541 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-08-13T20:24:43.541Z,1628886283.541 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-08-13T20:24:43.541Z,1628886283.541 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2021-08-13T20:24:43.541Z,1628886283.541 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-08-13T20:24:43.541Z,1628886283.541 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-08-13T20:24:43.977Z,1628886283.977 [lineCaptureDepth:UpdateNumPings_Terminal] Running Loop=1
2021-08-13T20:24:43.978Z,1628886283.978 [lineCaptureDepth:UpdateNumPings_Terminal](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal
2021-08-13T20:24:43.978Z,1628886283.978 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-13T20:24:43.978Z,1628886283.978 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T20:24:43.978Z,1628886283.978 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-13T20:24:43.979Z,1628886283.979 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-13T20:24:43.979Z,1628886283.979 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-13T20:24:43.979Z,1628886283.979 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-13T20:24:43.980Z,1628886283.980 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2021-08-13T20:24:43.980Z,1628886283.980 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-13T20:24:43.980Z,1628886283.980 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2021-08-13T20:24:43.980Z,1628886283.980 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-13T20:24:43.981Z,1628886283.981 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1
2021-08-13T20:24:43.981Z,1628886283.981 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Initialize.
2021-08-13T20:24:43.981Z,1628886283.981 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2021-08-13T20:24:43.981Z,1628886283.981 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2021-08-13T20:24:43.981Z,1628886283.981 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2021-08-13T20:24:43.982Z,1628886283.982 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A](INFO): Terminal guidance.
2021-08-13T20:24:43.982Z,1628886283.982 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2021-08-13T20:24:43.982Z,1628886283.982 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture] Running Loop=1
2021-08-13T20:24:43.982Z,1628886283.982 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initialize.
2021-08-13T20:24:43.983Z,1628886283.983 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initializing internal variables to default values.
2021-08-13T20:24:43.983Z,1628886283.983 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2021-08-13T20:24:43.983Z,1628886283.983 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Rollout timeout set to 900.00 sec.
2021-08-13T20:24:43.988Z,1628886283.988 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-13T20:24:43.988Z,1628886283.988 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2021-08-13T20:24:43.989Z,1628886283.989 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-08-13T20:24:43.989Z,1628886283.989 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2021-08-13T20:24:43.989Z,1628886283.989 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-08-13T20:24:43.989Z,1628886283.989 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2021-08-13T20:24:43.989Z,1628886283.989 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2021-08-13T20:24:43.989Z,1628886283.989 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2021-08-13T20:24:43.989Z,1628886283.989 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Stopped
2021-08-13T20:24:43.989Z,1628886283.989 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Uninitialize WaypointComponent.
2021-08-13T20:24:44.337Z,1628886284.337 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-13T20:24:44.338Z,1628886284.338 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T20:24:44.338Z,1628886284.338 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-13T20:24:44.338Z,1628886284.338 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T20:24:44.347Z,1628886284.347 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.840002 m, bearing: 55.866911 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-13T20:24:44.347Z,1628886284.347 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 21.84 m.
2021-08-13T20:24:44.353Z,1628886284.353 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 55.866911deg and heading rate command to 0 deg/s.
2021-08-13T20:24:44.711Z,1628886284.711 [PowerOnly](INFO): Powering up loadControl
2021-08-13T20:24:44.781Z,1628886284.781 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:24:45.305Z,1628886285.305 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:24:45.305Z,1628886285.305 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:24:45.305Z,1628886285.305 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:24:45.306Z,1628886285.306 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:24:45.690Z,1628886285.690 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
436,000,003DD,18A,80,80,61,FF
2021-08-13T20:24:45.690Z,1628886285.690 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:24:45.690Z,1628886285.690 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:24:45.692Z,1628886285.692 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:24:46.241Z,1628886286.241 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:24:46.657Z,1628886286.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,46C,000,003E6,189,80,80,9B,FF
2021-08-13T20:24:46.658Z,1628886286.658 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:24:46.750Z,1628886286.750 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:24:47.065Z,1628886287.065 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202446.27*5D

2021-08-13T20:24:47.079Z,1628886287.079 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T20:24:47.117Z,1628886287.117 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.379997 m, bearing: 55.265946 deg, deltaT: 4.810992 s, approachRate: 0.112242 m/s, LOS rate: -0.124915 deg/s, posRepo size: 2
2021-08-13T20:24:47.118Z,1628886287.118 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 22.38 m.
2021-08-13T20:24:47.124Z,1628886287.124 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 22.379997 m,
      bearing: 55.265946 deg,
      approachRate: 0.112242 m/s,
      LOS rate: -0.124915 deg/s,
      cmd update: -0.374745 deg/s,
      cmd heading: 55.866911 deg,
      new cmd heading: 55.866911 deg.

2021-08-13T20:24:49.468Z,1628886289.468 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:24:49.846Z,1628886289.846 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:24:49.847Z,1628886289.847 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:24:49.847Z,1628886289.847 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:24:49.848Z,1628886289.848 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:24:50.253Z,1628886290.253 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
46C,000,003E6,189,80,80,9B,FF
2021-08-13T20:24:50.253Z,1628886290.253 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:24:50.253Z,1628886290.253 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:24:50.255Z,1628886290.255 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:24:50.651Z,1628886290.651 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:24:51.097Z,1628886291.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FDA,000,003F6,185,80,80,43,FF
2021-08-13T20:24:51.097Z,1628886291.097 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:24:51.201Z,1628886291.201 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:24:51.501Z,1628886291.501 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202450.83*54

2021-08-13T20:24:51.518Z,1628886291.518 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.339998 m, bearing: 116.892800 deg, deltaT: 4.450765 s, approachRate: 0.215693 m/s, LOS rate: 13.846352 deg/s, posRepo size: 3
2021-08-13T20:24:51.518Z,1628886291.518 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 23.34 m.
2021-08-13T20:24:51.519Z,1628886291.519 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.846352 deg/s. Setting heading cmd to target bearing of 116.892800deg and heading rate command to 0 deg/s.
2021-08-13T20:24:53.949Z,1628886293.949 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:24:54.313Z,1628886294.313 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:24:54.313Z,1628886294.313 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:24:54.313Z,1628886294.313 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:24:54.314Z,1628886294.314 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:24:54.693Z,1628886294.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FDA,000,003F6,185,80,80,43,FF
2021-08-13T20:24:54.693Z,1628886294.693 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:24:54.694Z,1628886294.694 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:24:54.697Z,1628886294.697 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:24:55.121Z,1628886295.121 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:24:55.142Z,1628886295.142 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-13T20:24:55.503Z,1628886295.503 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,429,000,003E9,189,80,80,88,FF
2021-08-13T20:24:55.503Z,1628886295.503 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:24:55.595Z,1628886295.595 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:24:55.957Z,1628886295.957 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202455.27*5F

2021-08-13T20:24:55.976Z,1628886295.976 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.560001 m, bearing: 55.199256 deg, deltaT: 4.393553 s, approachRate: -0.177532 m/s, LOS rate: -14.041835 deg/s, posRepo size: 4
2021-08-13T20:24:55.976Z,1628886295.976 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 22.56 m.
2021-08-13T20:24:55.977Z,1628886295.977 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -14.041835 deg/s. Setting heading cmd to target bearing of 55.199256deg and heading rate command to 0 deg/s.
2021-08-13T20:24:58.367Z,1628886298.367 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:24:58.737Z,1628886298.737 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:24:58.737Z,1628886298.737 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:24:58.737Z,1628886298.737 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:24:58.738Z,1628886298.738 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:24:59.133Z,1628886299.133 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
429,000,003E9,189,80,80,88,FF
2021-08-13T20:24:59.133Z,1628886299.133 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:24:59.133Z,1628886299.133 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:24:59.135Z,1628886299.135 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:24:59.549Z,1628886299.549 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:24:59.945Z,1628886299.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3B1,000,003DC,189,80,80,AE,FF
2021-08-13T20:24:59.945Z,1628886299.945 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:25:00.002Z,1628886300.002 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:25:00.390Z,1628886300.390 [Micromodem](INFO): Nmea in: $SNTTA,0.050814,,,,202459.71*46

2021-08-13T20:25:00.440Z,1628886300.440 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.779999 m, bearing: 55.657033 deg, deltaT: 4.413395 s, approachRate: -0.176735 m/s, LOS rate: 0.103724 deg/s, posRepo size: 4
2021-08-13T20:25:00.441Z,1628886300.441 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 21.78 m.
2021-08-13T20:25:00.441Z,1628886300.441 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 21.78 m.
2021-08-13T20:25:00.441Z,1628886300.441 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-13T20:25:00.443Z,1628886300.443 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 21.779999 m,
      bearing: 55.657033 deg,
      approachRate: -0.176735 m/s,
      LOS rate: 0.103724 deg/s,
      cmd update: 0.311173 deg/s,
      cmd heading: 55.199256 deg,
      new cmd heading: 55.199256 deg.

2021-08-13T20:25:02.831Z,1628886302.831 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:25:03.173Z,1628886303.173 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:25:03.173Z,1628886303.173 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:25:03.173Z,1628886303.173 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:25:03.174Z,1628886303.174 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:25:03.581Z,1628886303.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3B1,000,003DC,189,80,80,AE,FF
2021-08-13T20:25:03.581Z,1628886303.581 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:25:03.581Z,1628886303.581 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:25:03.583Z,1628886303.583 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:25:04.009Z,1628886304.009 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:25:04.393Z,1628886304.393 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3CF,000,003CC,189,80,80,B3,FF
2021-08-13T20:25:04.394Z,1628886304.394 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:25:04.441Z,1628886304.441 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:25:04.843Z,1628886304.843 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202504.16*58

2021-08-13T20:25:04.869Z,1628886304.869 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.820002 m, bearing: 51.987141 deg, deltaT: 4.432930 s, approachRate: -0.216560 m/s, LOS rate: -0.827870 deg/s, posRepo size: 4
2021-08-13T20:25:04.871Z,1628886304.871 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 20.820002 m,
      bearing: 51.987141 deg,
      approachRate: -0.216560 m/s,
      LOS rate: -0.827870 deg/s,
      cmd update: -2.483611 deg/s,
      cmd heading: 56.575296 deg,
      new cmd heading: 56.717856 deg.

2021-08-13T20:25:05.226Z,1628886305.226 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T20:25:07.297Z,1628886307.297 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:25:07.625Z,1628886307.625 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:25:07.625Z,1628886307.625 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:25:07.625Z,1628886307.625 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:25:07.626Z,1628886307.626 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:25:08.037Z,1628886308.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3CF,000,003CC,189,80,80,B3,FF
2021-08-13T20:25:08.038Z,1628886308.038 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:25:08.038Z,1628886308.038 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:25:08.040Z,1628886308.040 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:25:08.441Z,1628886308.441 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:25:08.842Z,1628886308.842 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2D8,000,003BA,188,80,80,BE,FF
2021-08-13T20:25:08.843Z,1628886308.843 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:25:08.897Z,1628886308.897 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:25:09.308Z,1628886309.308 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202508.61*54

2021-08-13T20:25:09.394Z,1628886309.394 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.740000 m, bearing: 47.758991 deg, deltaT: 4.455549 s, approachRate: -0.242395 m/s, LOS rate: -0.948963 deg/s, posRepo size: 4
2021-08-13T20:25:09.396Z,1628886309.396 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.740000 m,
      bearing: 47.758991 deg,
      approachRate: -0.242395 m/s,
      LOS rate: -0.948963 deg/s,
      cmd update: -2.846888 deg/s,
      cmd heading: 45.452089 deg,
      new cmd heading: 44.198844 deg.

2021-08-13T20:25:11.699Z,1628886311.699 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:25:12.069Z,1628886312.069 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:25:12.069Z,1628886312.069 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:25:12.069Z,1628886312.069 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:25:12.070Z,1628886312.070 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:25:12.473Z,1628886312.473 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2D8,000,003BA,188,80,80,BE,FF
2021-08-13T20:25:12.473Z,1628886312.473 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:25:12.473Z,1628886312.473 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:25:12.475Z,1628886312.475 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:25:12.903Z,1628886312.903 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:25:13.281Z,1628886313.281 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,202,000,00398,187,80,80,A1,FF
2021-08-13T20:25:13.282Z,1628886313.282 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:25:13.354Z,1628886313.354 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:25:13.713Z,1628886313.713 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202513.05*5C

2021-08-13T20:25:13.751Z,1628886313.751 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.700001 m, bearing: 41.301372 deg, deltaT: 4.457655 s, approachRate: -0.457640 m/s, LOS rate: -1.448658 deg/s, posRepo size: 4
2021-08-13T20:25:13.754Z,1628886313.754 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.700001 m,
      bearing: 41.301372 deg,
      approachRate: -0.457640 m/s,
      LOS rate: -1.448658 deg/s,
      cmd update: -4.345975 deg/s,
      cmd heading: 32.763015 deg,
      new cmd heading: 31.611349 deg.

2021-08-13T20:25:15.339Z,1628886315.339 [RDI_Pathfinder](ERROR): only read 1 of 4 data items
2021-08-13T20:25:15.356Z,1628886315.356 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-08-13T20:25:15.356Z,1628886315.356 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-08-13T20:25:15.356Z,1628886315.356 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-08-13T20:25:15.356Z,1628886315.356 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-13T20:25:15.357Z,1628886315.357 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-08-13T20:25:15.892Z,1628886315.892 [Micromodem](INFO): Outgoing frame #1, 64 bytes: B2AB1661240000005D00000400320000000000000000151D80030C5669C08C799859D4EB072C54A7739D4A64893325B5A46B8DC1BD62153ABF9EECC4FBEEB3B8
2021-08-13T20:25:15.893Z,1628886315.893 [Micromodem](INFO): Outgoing frame #2, 5 bytes: 9D78184000
2021-08-13T20:25:15.893Z,1628886315.893 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,2*6A

2021-08-13T20:25:15.970Z,1628886315.970 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:25:16.121Z,1628886316.121 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:25:16.121Z,1628886316.121 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:25:16.121Z,1628886316.121 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:25:16.122Z,1628886316.122 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:25:16.131Z,1628886316.131 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,2*68

2021-08-13T20:25:16.535Z,1628886316.535 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
202,000,00398,187,80,80,A1,FF
2021-08-13T20:25:16.535Z,1628886316.535 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:25:16.535Z,1628886316.535 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:25:16.537Z,1628886316.537 [Micromodem](INFO): Nmea in: $CADRQ,202516,1,10,0,64,1*74

2021-08-13T20:25:16.538Z,1628886316.538 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,B2AB1661240000005D00000400320000000000000000151D80030C5669C08C799859D4EB072C54A7739D4A64893325B5A46B8DC1BD62153ABF9EECC4FBEEB3B8*32

2021-08-13T20:25:16.934Z,1628886316.934 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-08-13T20:25:16.934Z,1628886316.934 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:25:17.335Z,1628886317.335 [Micromodem](INFO): Nmea in: $CADRQ,202517,1,10,0,64,2*76

2021-08-13T20:25:17.335Z,1628886317.335 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,202517,1,10,0,64,2*76

2021-08-13T20:25:17.769Z,1628886317.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0C9,000,00379,186,80,80,B4,FF
2021-08-13T20:25:17.770Z,1628886317.770 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:25:17.775Z,1628886317.775 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:25:17.846Z,1628886317.846 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:25:18.186Z,1628886318.186 [Micromodem](INFO): Nmea in: $SNTTA,0.132971,,,,202517.51*48

2021-08-13T20:25:18.208Z,1628886318.208 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.840000 m, bearing: 43.123356 deg, deltaT: 4.492184 s, approachRate: -0.414053 m/s, LOS rate: 0.405590 deg/s, posRepo size: 4
2021-08-13T20:25:18.210Z,1628886318.210 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.840000 m,
      bearing: 43.123356 deg,
      approachRate: -0.414053 m/s,
      LOS rate: 0.405590 deg/s,
      cmd update: 1.216769 deg/s,
      cmd heading: 13.268327 deg,
      new cmd heading: 11.637817 deg.

2021-08-13T20:25:20.603Z,1628886320.603 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:25:20.977Z,1628886320.977 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:25:20.977Z,1628886320.977 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:25:20.977Z,1628886320.977 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:25:20.978Z,1628886320.978 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:25:21.378Z,1628886321.378 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0C9,000,00379,186,80,80,B4,FF
2021-08-13T20:25:21.378Z,1628886321.378 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:25:21.378Z,1628886321.378 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:25:21.380Z,1628886321.380 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:25:21.789Z,1628886321.789 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:25:22.185Z,1628886322.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA6,000,0035A,186,80,80,88,FF
2021-08-13T20:25:22.185Z,1628886322.185 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:25:22.278Z,1628886322.278 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:25:22.629Z,1628886322.629 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202521.95*54

2021-08-13T20:25:22.671Z,1628886322.671 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.980000 m, bearing: 42.829446 deg, deltaT: 4.431030 s, approachRate: -0.419767 m/s, LOS rate: -0.066330 deg/s, posRepo size: 4
2021-08-13T20:25:22.678Z,1628886322.678 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.980000 m,
      bearing: 42.829446 deg,
      approachRate: -0.419767 m/s,
      LOS rate: -0.066330 deg/s,
      cmd update: -0.198990 deg/s,
      cmd heading: 18.657890 deg,
      new cmd heading: 19.155863 deg.

2021-08-13T20:25:25.112Z,1628886325.112 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-13T20:25:25.149Z,1628886325.149 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:25:25.421Z,1628886325.421 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:25:25.421Z,1628886325.421 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:25:25.421Z,1628886325.421 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:25:25.422Z,1628886325.422 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:25:25.827Z,1628886325.827 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA6,000,0035A,186,80,80,88,FF
2021-08-13T20:25:25.827Z,1628886325.827 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:25:25.828Z,1628886325.828 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:25:25.830Z,1628886325.830 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:25:26.228Z,1628886326.228 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:25:26.634Z,1628886326.634 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DE8,000,00338,188,80,80,67,FF
2021-08-13T20:25:26.634Z,1628886326.634 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:25:26.702Z,1628886326.702 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:25:27.098Z,1628886327.098 [Micromodem](INFO): Nmea in: $SNTTA,0.036491,,,,202526.41*4D

2021-08-13T20:25:27.171Z,1628886327.171 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.940001 m, bearing: 50.479039 deg, deltaT: 4.424768 s, approachRate: -0.461041 m/s, LOS rate: 1.728812 deg/s, posRepo size: 4
2021-08-13T20:25:27.177Z,1628886327.177 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.940001 m,
      bearing: 50.479039 deg,
      approachRate: -0.461041 m/s,
      LOS rate: 1.728812 deg/s,
      cmd update: 5.186437 deg/s,
      cmd heading: 17.777243 deg,
      new cmd heading: 17.680992 deg.

2021-08-13T20:25:29.530Z,1628886329.530 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:25:29.869Z,1628886329.869 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:25:29.869Z,1628886329.869 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:25:29.869Z,1628886329.869 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:25:29.870Z,1628886329.870 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:25:30.265Z,1628886330.265 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DE8,000,00338,188,80,80,67,FF
2021-08-13T20:25:30.265Z,1628886330.265 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:25:30.265Z,1628886330.265 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:25:30.267Z,1628886330.267 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:25:30.729Z,1628886330.729 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:25:31.129Z,1628886331.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D14,000,0031F,189,80,80,B5,FF
2021-08-13T20:25:31.130Z,1628886331.130 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:25:31.227Z,1628886331.227 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:25:31.541Z,1628886331.541 [Micromodem](INFO): Nmea in: $SNTTA,0.033397,,,,202530.84*47

2021-08-13T20:25:31.596Z,1628886331.596 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.439999 m, bearing: 44.957931 deg, deltaT: 4.530382 s, approachRate: -0.331099 m/s, LOS rate: -1.218685 deg/s, posRepo size: 4
2021-08-13T20:25:31.598Z,1628886331.598 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.439999 m,
      bearing: 44.957931 deg,
      approachRate: -0.331099 m/s,
      LOS rate: -1.218685 deg/s,
      cmd update: -3.656055 deg/s,
      cmd heading: 41.235115 deg,
      new cmd heading: 43.236172 deg.

2021-08-13T20:25:33.982Z,1628886333.982 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:25:34.349Z,1628886334.349 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:25:34.349Z,1628886334.349 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:25:34.349Z,1628886334.349 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:25:34.350Z,1628886334.350 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:25:34.753Z,1628886334.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D14,000,0031F,189,80,80,B5,FF
2021-08-13T20:25:34.753Z,1628886334.753 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:25:34.753Z,1628886334.753 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:25:34.755Z,1628886334.755 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:25:35.131Z,1628886335.131 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-13T20:25:35.495Z,1628886335.495 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:25:36.242Z,1628886336.242 [Micromodem](INFO): Nmea in: $SNTTA,0.092830,,,,202535.33*43

2021-08-13T20:25:36.698Z,1628886336.698 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:25:38.293Z,1628886338.293 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
F,189,80,80,B5,FF
2021-08-13T20:25:38.294Z,1628886338.294 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
F,189,80,80,B5,FF
2021-08-13T20:25:38.294Z,1628886338.294 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T20:25:39.524Z,1628886339.524 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:25:39.925Z,1628886339.925 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:25:39.925Z,1628886339.925 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:25:39.925Z,1628886339.925 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:25:39.926Z,1628886339.926 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:25:40.317Z,1628886340.317 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
F,189,80,80,B5,FF
2021-08-13T20:25:40.317Z,1628886340.317 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:25:40.317Z,1628886340.317 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:25:40.319Z,1628886340.319 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:25:40.720Z,1628886340.720 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:25:41.125Z,1628886341.125 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,002F8,189,80,80,A6,FF
2021-08-13T20:25:41.126Z,1628886341.126 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:25:41.202Z,1628886341.202 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:25:41.561Z,1628886341.561 [Micromodem](INFO): Nmea in: $SNTTA,0.030542,,,,202540.89*40

2021-08-13T20:25:41.737Z,1628886341.737 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.100000 m, bearing: 91.944400 deg, deltaT: 9.969774 s, approachRate: -0.234709 m/s, LOS rate: 4.712892 deg/s, posRepo size: 4
2021-08-13T20:25:41.738Z,1628886341.738 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.100000 m,
      bearing: 91.944400 deg,
      approachRate: -0.234709 m/s,
      LOS rate: 4.712892 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 4.714763 deg,
      new cmd heading: 2.751801 deg.

2021-08-13T20:25:43.757Z,1628886343.757 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:25:43.993Z,1628886343.993 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:25:43.993Z,1628886343.993 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:25:43.994Z,1628886343.994 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:25:43.994Z,1628886343.994 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:25:44.393Z,1628886344.393 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,002F8,189,80,80,A6,FF
2021-08-13T20:25:44.393Z,1628886344.393 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:25:44.393Z,1628886344.393 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:25:44.395Z,1628886344.395 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:25:44.792Z,1628886344.792 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:25:45.626Z,1628886345.626 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202544.97*55

2021-08-13T20:25:46.450Z,1628886346.450 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:25:46.810Z,1628886346.810 [Micromodem](INFO): Nmea in: $CAERR,202547,DATA_TIMEOUT,2*4B

2021-08-13T20:25:47.218Z,1628886347.218 [Micromodem](INFO): Nmea in: $CATXP,64*70

2021-08-13T20:25:48.021Z,1628886348.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
8,189,80,80,A6,FF
2021-08-13T20:25:48.021Z,1628886348.021 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
8,189,80,80,A6,FF
2021-08-13T20:25:48.022Z,1628886348.022 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T20:25:48.839Z,1628886348.839 [Micromodem](INFO): Nmea in: $CATXF,64*66

2021-08-13T20:25:49.239Z,1628886349.239 [Micromodem](INFO): Nmea in: $CAXST,7,20210813,202547.152346,3,0,200,4000,14500,1,1,10,1,2,1,3,64,14500*55

2021-08-13T20:25:49.325Z,1628886349.325 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:25:49.669Z,1628886349.669 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:25:49.669Z,1628886349.669 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:25:49.669Z,1628886349.669 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:25:49.670Z,1628886349.670 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:25:50.056Z,1628886350.056 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
8,189,80,80,A6,FF
2021-08-13T20:25:50.058Z,1628886350.058 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:25:50.059Z,1628886350.059 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:25:50.074Z,1628886350.074 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:25:50.578Z,1628886350.578 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:25:50.973Z,1628886350.973 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D9A,000,00314,189,80,80,93,FF
2021-08-13T20:25:50.973Z,1628886350.973 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:25:51.084Z,1628886351.084 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:25:51.397Z,1628886351.397 [Micromodem](INFO): Nmea in: $SNTTA,0.024195,,,,202550.65*48

2021-08-13T20:25:51.487Z,1628886351.487 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.780002 m, bearing: 47.667262 deg, deltaT: 9.881900 s, approachRate: 0.170008 m/s, LOS rate: -4.480630 deg/s, posRepo size: 4
2021-08-13T20:25:51.493Z,1628886351.493 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.780002 m,
      bearing: 47.667262 deg,
      approachRate: 0.170008 m/s,
      LOS rate: -4.480630 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 123.286598 deg,
      new cmd heading: 128.167178 deg.

2021-08-13T20:25:53.867Z,1628886353.867 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:25:54.205Z,1628886354.205 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:25:54.205Z,1628886354.205 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:25:54.205Z,1628886354.205 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:25:54.206Z,1628886354.206 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:25:54.639Z,1628886354.639 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D9A,000,00314,189,80,80,93,FF
2021-08-13T20:25:54.639Z,1628886354.639 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:25:54.639Z,1628886354.639 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:25:54.641Z,1628886354.641 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:25:55.097Z,1628886355.097 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:25:55.473Z,1628886355.473 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DA1,000,00325,189,80,80,67,FF
2021-08-13T20:25:55.474Z,1628886355.474 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:25:55.569Z,1628886355.569 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:25:55.901Z,1628886355.901 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202555.22*5B

2021-08-13T20:25:55.955Z,1628886355.955 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.800001 m, bearing: 62.790475 deg, deltaT: 4.484238 s, approachRate: 0.227463 m/s, LOS rate: 3.372527 deg/s, posRepo size: 4
2021-08-13T20:25:55.957Z,1628886355.957 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.800001 m,
      bearing: 62.790475 deg,
      approachRate: 0.227463 m/s,
      LOS rate: 3.372527 deg/s,
      cmd update: 10.117581 deg/s,
      cmd heading: 69.560064 deg,
      new cmd heading: 64.792344 deg.

2021-08-13T20:25:57.291Z,1628886357.291 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-13T20:25:58.461Z,1628886358.461 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:25:58.801Z,1628886358.801 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:25:58.802Z,1628886358.802 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:25:58.802Z,1628886358.802 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:25:58.803Z,1628886358.803 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:25:59.215Z,1628886359.215 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DA1,000,00325,189,80,80,67,FF
2021-08-13T20:25:59.215Z,1628886359.215 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:25:59.215Z,1628886359.215 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:25:59.217Z,1628886359.217 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:25:59.633Z,1628886359.633 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:26:00.029Z,1628886360.029 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1B4,000,0033A,186,80,80,78,FF
2021-08-13T20:26:00.029Z,1628886360.029 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:26:00.120Z,1628886360.120 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:26:00.453Z,1628886360.453 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202559.79*59

2021-08-13T20:26:00.701Z,1628886360.701 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.059997 m, bearing: 29.613709 deg, deltaT: 4.551778 s, approachRate: 0.276814 m/s, LOS rate: -7.288748 deg/s, posRepo size: 4
2021-08-13T20:26:00.703Z,1628886360.703 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.059997 m,
      bearing: 29.613709 deg,
      approachRate: 0.276814 m/s,
      LOS rate: -7.288748 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 115.676755 deg,
      new cmd heading: 121.596562 deg.

2021-08-13T20:26:02.690Z,1628886362.690 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:26:02.925Z,1628886362.925 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:26:02.925Z,1628886362.925 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:26:02.925Z,1628886362.925 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:26:02.926Z,1628886362.926 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:26:03.373Z,1628886363.373 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1B4,000,0033A,186,80,80,78,FF
2021-08-13T20:26:03.373Z,1628886363.373 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:26:03.374Z,1628886363.374 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:26:03.375Z,1628886363.375 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:26:03.775Z,1628886363.775 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:26:04.173Z,1628886364.173 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D00,000,00331,188,80,80,7F,FF
2021-08-13T20:26:04.174Z,1628886364.174 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:26:04.239Z,1628886364.239 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:26:04.629Z,1628886364.629 [Micromodem](INFO): Nmea in: $SNTTA,0.033307,,,,202603.95*4D

2021-08-13T20:26:04.680Z,1628886364.680 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.520001 m, bearing: 108.536610 deg, deltaT: 4.123248 s, approachRate: -0.130964 m/s, LOS rate: 19.140955 deg/s, posRepo size: 4
2021-08-13T20:26:04.681Z,1628886364.681 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 19.140955 deg/s. Setting heading cmd to target bearing of 108.536610deg and heading rate command to 0 deg/s.
2021-08-13T20:26:07.307Z,1628886367.307 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:26:07.449Z,1628886367.449 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:26:07.449Z,1628886367.449 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:26:07.449Z,1628886367.449 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:26:07.450Z,1628886367.450 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:26:07.839Z,1628886367.839 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D00,000,00331,188,80,80,7F,FF
2021-08-13T20:26:07.839Z,1628886367.839 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:26:07.839Z,1628886367.839 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:26:07.869Z,1628886367.869 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:26:08.252Z,1628886368.252 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:26:08.647Z,1628886368.647 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CFE,000,0032B,189,80,80,82,FF
2021-08-13T20:26:08.648Z,1628886368.648 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:26:08.731Z,1628886368.731 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:26:09.117Z,1628886369.117 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202608.44*50

2021-08-13T20:26:09.314Z,1628886369.314 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.159998 m, bearing: 123.245299 deg, deltaT: 4.487274 s, approachRate: -0.080228 m/s, LOS rate: 3.277868 deg/s, posRepo size: 4
2021-08-13T20:26:09.316Z,1628886369.316 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.159998 m,
      bearing: 123.245299 deg,
      approachRate: -0.080228 m/s,
      LOS rate: 3.277868 deg/s,
      cmd update: 9.833603 deg/s,
      cmd heading: 108.536610 deg,
      new cmd heading: 108.536610 deg.

2021-08-13T20:26:11.285Z,1628886371.285 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:26:11.629Z,1628886371.629 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:26:11.629Z,1628886371.629 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:26:11.629Z,1628886371.629 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:26:11.630Z,1628886371.630 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:26:12.021Z,1628886372.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CFE,000,0032B,189,80,80,82,FF
2021-08-13T20:26:12.021Z,1628886372.021 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:26:12.022Z,1628886372.022 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:26:12.023Z,1628886372.023 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:26:12.425Z,1628886372.425 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:26:12.834Z,1628886372.834 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CC8,000,00327,189,80,80,94,FF
2021-08-13T20:26:12.834Z,1628886372.834 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:26:12.919Z,1628886372.919 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:26:13.269Z,1628886373.269 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202612.60*5D

2021-08-13T20:26:13.531Z,1628886373.531 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.920002 m, bearing: 136.979963 deg, deltaT: 4.187672 s, approachRate: -0.057310 m/s, LOS rate: 3.279785 deg/s, posRepo size: 4
2021-08-13T20:26:13.546Z,1628886373.546 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.920002 m,
      bearing: 136.979963 deg,
      approachRate: -0.057310 m/s,
      LOS rate: 3.279785 deg/s,
      cmd update: 9.839355 deg/s,
      cmd heading: 149.715903 deg,
      new cmd heading: 155.799766 deg.

2021-08-13T20:26:15.547Z,1628886375.547 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:26:15.729Z,1628886375.729 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:26:15.729Z,1628886375.729 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:26:15.729Z,1628886375.729 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:26:15.730Z,1628886375.730 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:26:16.129Z,1628886376.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CC8,000,00327,189,80,80,94,FF
2021-08-13T20:26:16.129Z,1628886376.129 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:26:16.129Z,1628886376.129 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:26:16.131Z,1628886376.131 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:26:16.536Z,1628886376.536 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:26:16.945Z,1628886376.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C5B,000,0031D,188,80,80,75,FF
2021-08-13T20:26:16.945Z,1628886376.945 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:26:17.002Z,1628886377.002 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:26:17.386Z,1628886377.386 [Micromodem](INFO): Nmea in: $SNTTA,0.052428,,,,202616.70*4F

2021-08-13T20:26:17.422Z,1628886377.422 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.319998 m, bearing: 157.091537 deg, deltaT: 4.082999 s, approachRate: -0.146952 m/s, LOS rate: 4.925687 deg/s, posRepo size: 4
2021-08-13T20:26:17.422Z,1628886377.422 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 10.32 m.
2021-08-13T20:26:17.425Z,1628886377.425 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.319998 m,
      bearing: 157.091537 deg,
      approachRate: -0.146952 m/s,
      LOS rate: 4.925687 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 189.929777 deg,
      new cmd heading: 194.094816 deg.

2021-08-13T20:26:17.771Z,1628886377.771 [PowerOnly](INFO): Powering down loadControl
2021-08-13T20:26:20.027Z,1628886380.027 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:26:20.221Z,1628886380.221 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:26:20.221Z,1628886380.221 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:26:20.221Z,1628886380.221 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:26:20.222Z,1628886380.222 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:26:20.617Z,1628886380.617 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C5B,000,0031D,188,80,80,75,FF
2021-08-13T20:26:20.617Z,1628886380.617 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:26:20.617Z,1628886380.617 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:26:20.619Z,1628886380.619 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:26:21.073Z,1628886381.073 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:26:21.084Z,1628886381.084 [Micromodem](ERROR): Buffer fill timout failure.
2021-08-13T20:26:21.433Z,1628886381.433 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B03,000,0030B,18A,80,80,84,FF
2021-08-13T20:26:21.434Z,1628886381.434 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:26:21.594Z,1628886381.594 [Micromodem](INFO): Outgoing frame #1, 64 bytes: B2AB1661240000005D00000400320000000000000000151D80030C5669C08C799859D4EB072C54A7739D4A64893325B5A46B8DC1BD62153ABF9EECC4FBEEB3B8
2021-08-13T20:26:21.594Z,1628886381.594 [Micromodem](INFO): Outgoing frame #2, 5 bytes: 9D78184000
2021-08-13T20:26:21.595Z,1628886381.595 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,2*6A

2021-08-13T20:26:21.700Z,1628886381.700 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:26:21.973Z,1628886381.973 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,2*68

2021-08-13T20:26:22.153Z,1628886382.153 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.240001 m, bearing: 191.858702 deg, deltaT: 4.699528 s, approachRate: -0.229810 m/s, LOS rate: 7.398012 deg/s, posRepo size: 4
2021-08-13T20:26:22.153Z,1628886382.153 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Stopped intercept timer at range: 9.24 m.
2021-08-13T20:26:22.155Z,1628886382.155 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.240001 m,
      bearing: 191.858702 deg,
      approachRate: -0.229810 m/s,
      LOS rate: 7.398012 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 246.213415 deg,
      new cmd heading: 251.775991 deg.

2021-08-13T20:26:22.517Z,1628886382.517 [Micromodem](INFO): Nmea in: $CADRQ,202622,1,10,0,64,1*70

2021-08-13T20:26:22.518Z,1628886382.518 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,B2AB1661240000005D00000400320000000000000000151D80030C5669C08C799859D4EB072C54A7739D4A64893325B5A46B8DC1BD62153ABF9EECC4FBEEB3B8*32

2021-08-13T20:26:22.909Z,1628886382.909 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202621.19*53

2021-08-13T20:26:22.909Z,1628886382.909 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,,,,,202621.19*53

2021-08-13T20:26:24.111Z,1628886384.111 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-08-13T20:26:24.502Z,1628886384.502 [Micromodem](INFO): Nmea in: $CADRQ,202623,1,10,0,64,2*72

2021-08-13T20:26:24.503Z,1628886384.503 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,9D78184000*36

2021-08-13T20:26:24.585Z,1628886384.585 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:26:24.930Z,1628886384.930 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:26:24.930Z,1628886384.930 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:26:24.931Z,1628886384.931 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:26:24.931Z,1628886384.931 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:26:24.937Z,1628886384.937 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,5*7E

2021-08-13T20:26:25.317Z,1628886385.317 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B03,000,0030B,18A,80,80,84,FF
2021-08-13T20:26:25.317Z,1628886385.317 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:26:25.317Z,1628886385.317 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:26:25.319Z,1628886385.319 [Micromodem](INFO): Nmea in: $CATXP,69*7D

2021-08-13T20:26:25.320Z,1628886385.320 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:26:25.415Z,1628886385.415 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-13T20:26:27.455Z,1628886387.455 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:26:27.734Z,1628886387.734 [Micromodem](INFO): Nmea in: $CATXF,69*6B

2021-08-13T20:26:27.734Z,1628886387.734 [Micromodem](ERROR): Response from modem unexpected: $CATXF,69*6B

2021-08-13T20:26:28.153Z,1628886388.153 [Micromodem](INFO): Nmea in: $CAXST,7,20210813,202625.048174,3,0,200,4000,14500,1,1,10,1,2,2,3,69,14500*55

2021-08-13T20:26:28.154Z,1628886388.154 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210813,202625.048174,3,0,200,4000,14500,1,1,10,1,2,2,3,69,14500*55

2021-08-13T20:26:30.238Z,1628886390.238 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-08-13T20:26:30.267Z,1628886390.267 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:26:30.601Z,1628886390.601 [Micromodem](INFO): Nmea in: $CAACK,10,1,2,1*78

2021-08-13T20:26:30.603Z,1628886390.603 [Micromodem](INFO): Sent 61 bytes from file Logs/20210813T172818/Courier0036.lzma.parts
2021-08-13T20:26:30.603Z,1628886390.603 [Micromodem](INFO): Packets left to send: 0
2021-08-13T20:26:31.037Z,1628886391.037 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.104756
2021-08-13T20:26:31.053Z,1628886391.053 [Micromodem](INFO): Nmea in: $CACST,6,0,20210813202629.690002,06,32767,45,0108,0150,07,00,00,00,00,1,010,001,0,4,1,0,150,26.9,7.81,18,-4.81,-01,-0.16,48,14500,4000*4B

2021-08-13T20:26:31.054Z,1628886391.054 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210813202629.690002,06,32767,45,0108,0150,07,00,00,00,00,1,010,001,0,4,1,0,150,26.9,7.81,18,-4.81,-01,-0.16,48,14500,4000*4B

2021-08-13T20:26:31.314Z,1628886391.314 [lineCaptureDepth:MicromodemComms] Stopped
2021-08-13T20:26:31.314Z,1628886391.314 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-08-13T20:26:31.314Z,1628886391.314 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-08-13T20:26:31.314Z,1628886391.314 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-13T20:26:31.314Z,1628886391.314 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-08-13T20:26:33.037Z,1628886393.037 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:26:33.213Z,1628886393.213 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:26:33.213Z,1628886393.213 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:26:33.213Z,1628886393.213 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:26:33.214Z,1628886393.214 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:26:33.589Z,1628886393.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B03,000,0030B,18A,80,80,84,FF
2021-08-13T20:26:33.589Z,1628886393.589 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:26:33.589Z,1628886393.589 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:26:35.635Z,1628886395.635 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:26:36.426Z,1628886396.426 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:26:36.825Z,1628886396.825 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:26:37.245Z,1628886397.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E25,000,002F8,186,80,80,AB,FF
2021-08-13T20:26:37.245Z,1628886397.245 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:26:37.330Z,1628886397.330 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:26:37.674Z,1628886397.674 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202637.00*5C

2021-08-13T20:26:37.692Z,1628886397.692 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.100000 m, bearing: 196.009996 deg, deltaT: 15.629178 s, approachRate: -0.072941 m/s, LOS rate: 0.265612 deg/s, posRepo size: 4
2021-08-13T20:26:37.694Z,1628886397.694 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.100000 m,
      bearing: 196.009996 deg,
      approachRate: -0.072941 m/s,
      LOS rate: 0.265612 deg/s,
      cmd update: 0.796835 deg/s,
      cmd heading: 73.873079 deg,
      new cmd heading: 78.248207 deg.

2021-08-13T20:26:40.082Z,1628886400.082 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:26:40.453Z,1628886400.453 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:26:40.453Z,1628886400.453 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:26:40.454Z,1628886400.454 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:26:40.455Z,1628886400.455 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:26:40.866Z,1628886400.866 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E25,000,002F8,186,80,80,AB,FF
2021-08-13T20:26:40.866Z,1628886400.866 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:26:40.866Z,1628886400.866 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:26:40.868Z,1628886400.868 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:26:41.286Z,1628886401.286 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:26:41.669Z,1628886401.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,06F,000,00303,187,80,80,70,FF
2021-08-13T20:26:41.669Z,1628886401.669 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:26:41.714Z,1628886401.714 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:26:42.131Z,1628886402.131 [Micromodem](INFO): Nmea in: $SNTTA,0.031481,,,,202641.44*4C

2021-08-13T20:26:42.186Z,1628886402.186 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.759999 m, bearing: 152.414169 deg, deltaT: 4.383875 s, approachRate: 0.150551 m/s, LOS rate: -9.944587 deg/s, posRepo size: 4
2021-08-13T20:26:42.198Z,1628886402.198 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.759999 m,
      bearing: 152.414169 deg,
      approachRate: 0.150551 m/s,
      LOS rate: -9.944587 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 77.366467 deg,
      new cmd heading: 77.720947 deg.

2021-08-13T20:26:44.541Z,1628886404.541 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:26:44.905Z,1628886404.905 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:26:44.905Z,1628886404.905 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:26:44.905Z,1628886404.905 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:26:44.906Z,1628886404.906 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:26:45.313Z,1628886405.313 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
06F,000,00303,187,80,80,70,FF
2021-08-13T20:26:45.313Z,1628886405.313 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:26:45.313Z,1628886405.313 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:26:45.315Z,1628886405.315 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:26:45.722Z,1628886405.722 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:26:46.121Z,1628886406.121 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F9F,000,00338,186,80,80,6F,FF
2021-08-13T20:26:46.121Z,1628886406.121 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:26:46.211Z,1628886406.211 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:26:46.575Z,1628886406.575 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202645.89*58

2021-08-13T20:26:46.769Z,1628886406.769 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.940001 m, bearing: 149.049167 deg, deltaT: 4.501418 s, approachRate: 0.706445 m/s, LOS rate: -0.747543 deg/s, posRepo size: 4
2021-08-13T20:26:46.771Z,1628886406.771 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.940001 m,
      bearing: 149.049167 deg,
      approachRate: 0.706445 m/s,
      LOS rate: -0.747543 deg/s,
      cmd update: -2.242628 deg/s,
      cmd heading: 23.450358 deg,
      new cmd heading: 16.668546 deg.

2021-08-13T20:26:49.123Z,1628886409.123 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:26:49.450Z,1628886409.450 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:26:49.450Z,1628886409.450 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:26:49.450Z,1628886409.450 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:26:49.451Z,1628886409.451 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:26:49.865Z,1628886409.865 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F9F,000,00338,186,80,80,6F,FF
2021-08-13T20:26:49.865Z,1628886409.865 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:26:49.865Z,1628886409.865 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:26:49.867Z,1628886409.867 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:26:50.261Z,1628886410.261 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:26:50.665Z,1628886410.665 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE1,000,00356,187,80,80,92,FF
2021-08-13T20:26:50.666Z,1628886410.666 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:26:50.731Z,1628886410.731 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:26:51.122Z,1628886411.122 [Micromodem](INFO): Nmea in: $SNTTA,0.043711,,,,202650.44*43

2021-08-13T20:26:51.199Z,1628886411.199 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.739999 m, bearing: 140.362081 deg, deltaT: 4.515070 s, approachRate: 0.398664 m/s, LOS rate: -1.924020 deg/s, posRepo size: 4
2021-08-13T20:26:51.206Z,1628886411.206 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.739999 m,
      bearing: 140.362081 deg,
      approachRate: 0.398664 m/s,
      LOS rate: -1.924020 deg/s,
      cmd update: -5.772061 deg/s,
      cmd heading: 13.306207 deg,
      new cmd heading: 12.330747 deg.

2021-08-13T20:26:53.537Z,1628886413.537 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:26:53.909Z,1628886413.909 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:26:53.909Z,1628886413.909 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:26:53.909Z,1628886413.909 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:26:53.910Z,1628886413.910 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:26:54.305Z,1628886414.305 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE1,000,00356,187,80,80,92,FF
2021-08-13T20:26:54.305Z,1628886414.305 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:26:54.305Z,1628886414.305 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:26:54.307Z,1628886414.307 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:26:54.705Z,1628886414.705 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:26:55.127Z,1628886415.127 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,151,000,00388,187,80,80,34,FF
2021-08-13T20:26:55.130Z,1628886415.130 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:26:55.262Z,1628886415.262 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:26:55.545Z,1628886415.545 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202654.88*59

2021-08-13T20:26:55.586Z,1628886415.586 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.740000 m, bearing: 94.889947 deg, deltaT: 4.531302 s, approachRate: 0.662062 m/s, LOS rate: -10.035115 deg/s, posRepo size: 4
2021-08-13T20:26:55.592Z,1628886415.592 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.740000 m,
      bearing: 94.889947 deg,
      approachRate: 0.662062 m/s,
      LOS rate: -10.035115 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 347.174242 deg,
      new cmd heading: 345.263465 deg.

2021-08-13T20:26:57.958Z,1628886417.958 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:26:58.337Z,1628886418.337 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:26:58.338Z,1628886418.338 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:26:58.338Z,1628886418.338 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:26:58.339Z,1628886418.339 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:26:58.757Z,1628886418.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
151,000,00388,187,80,80,34,FF
2021-08-13T20:26:58.757Z,1628886418.757 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:26:58.757Z,1628886418.757 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:26:58.759Z,1628886418.759 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:26:59.152Z,1628886419.152 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:26:59.550Z,1628886419.550 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3BE,000,003A1,189,80,80,56,FF
2021-08-13T20:26:59.550Z,1628886419.550 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:26:59.570Z,1628886419.570 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:26:59.985Z,1628886419.985 [Micromodem](INFO): Nmea in: $SNTTA,,0.041745,,,202659.33*49

2021-08-13T20:27:00.030Z,1628886420.030 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.240002 m, bearing: 48.432448 deg, deltaT: 4.308196 s, approachRate: 0.348174 m/s, LOS rate: -10.783515 deg/s, posRepo size: 4
2021-08-13T20:27:00.031Z,1628886420.031 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 18.24 m. Rolling out.
2021-08-13T20:27:00.031Z,1628886420.031 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-08-13T20:27:00.401Z,1628886420.401 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2021-08-13T20:27:00.402Z,1628886420.402 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-13T20:27:00.402Z,1628886420.402 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2021-08-13T20:27:00.402Z,1628886420.402 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2021-08-13T20:27:00.402Z,1628886420.402 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2021-08-13T20:27:00.402Z,1628886420.402 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2021-08-13T20:27:00.402Z,1628886420.402 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-08-13T20:27:02.429Z,1628886422.429 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:27:02.796Z,1628886422.796 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:27:02.796Z,1628886422.796 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:27:02.796Z,1628886422.796 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:27:02.797Z,1628886422.797 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:27:03.213Z,1628886423.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3BE,000,003A1,189,80,80,56,FF
2021-08-13T20:27:03.213Z,1628886423.213 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:27:03.213Z,1628886423.213 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:27:03.215Z,1628886423.215 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:27:03.607Z,1628886423.607 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:27:03.620Z,1628886423.620 [NAL9602](INFO): Not Powering down - fast GPS
2021-08-13T20:27:04.001Z,1628886424.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,22F,000,003C3,188,80,80,81,FF
2021-08-13T20:27:04.001Z,1628886424.001 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:27:04.053Z,1628886424.053 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:27:04.419Z,1628886424.419 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202703.79*54

2021-08-13T20:27:04.457Z,1628886424.457 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.280001 m, bearing: 54.609432 deg, deltaT: 4.482717 s, approachRate: 0.455081 m/s, LOS rate: 1.377955 deg/s, posRepo size: 4
2021-08-13T20:27:06.872Z,1628886426.872 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:27:07.254Z,1628886427.254 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:27:07.254Z,1628886427.254 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:27:07.254Z,1628886427.254 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:27:07.255Z,1628886427.255 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:27:07.629Z,1628886427.629 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
22F,000,003C3,188,80,80,81,FF
2021-08-13T20:27:07.630Z,1628886427.630 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:27:07.630Z,1628886427.630 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:27:07.632Z,1628886427.632 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:27:08.041Z,1628886428.041 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:27:08.451Z,1628886428.451 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1D2,000,003D0,186,80,80,7F,FF
2021-08-13T20:27:08.452Z,1628886428.452 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:27:08.482Z,1628886428.482 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:27:08.885Z,1628886428.885 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202708.21*52

2021-08-13T20:27:08.931Z,1628886428.931 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.059998 m, bearing: 50.612952 deg, deltaT: 4.428754 s, approachRate: 0.176121 m/s, LOS rate: -0.902394 deg/s, posRepo size: 4
2021-08-13T20:27:11.335Z,1628886431.335 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:27:11.677Z,1628886431.677 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:27:11.678Z,1628886431.678 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:27:11.678Z,1628886431.678 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:27:11.679Z,1628886431.679 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:27:12.085Z,1628886432.085 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1D2,000,003D0,186,80,80,7F,FF
2021-08-13T20:27:12.085Z,1628886432.085 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:27:12.085Z,1628886432.085 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:27:12.087Z,1628886432.087 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:27:12.484Z,1628886432.484 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:27:12.502Z,1628886432.502 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T20:27:13.394Z,1628886433.394 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202712.66*5A

2021-08-13T20:27:14.131Z,1628886434.131 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:27:15.713Z,1628886435.713 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
0,186,80,80,7F,FF
2021-08-13T20:27:15.713Z,1628886435.713 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
0,186,80,80,7F,FF
2021-08-13T20:27:15.713Z,1628886435.713 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T20:27:16.970Z,1628886436.970 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:27:17.333Z,1628886437.333 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:27:17.333Z,1628886437.333 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:27:17.334Z,1628886437.334 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:27:17.335Z,1628886437.335 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:27:17.738Z,1628886437.738 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
0,186,80,80,7F,FF
2021-08-13T20:27:17.738Z,1628886437.738 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:27:17.738Z,1628886437.738 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:27:17.768Z,1628886437.768 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:27:18.144Z,1628886438.144 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:27:18.545Z,1628886438.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,003D4,189,80,80,78,FF
2021-08-13T20:27:18.546Z,1628886438.546 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:27:18.622Z,1628886438.622 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:27:18.962Z,1628886438.962 [Micromodem](INFO): Nmea in: $SNTTA,0.033333,,,,202718.34*4A

2021-08-13T20:27:18.999Z,1628886438.999 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.299999 m, bearing: 354.681506 deg, deltaT: 10.140583 s, approachRate: 0.023667 m/s, LOS rate: -5.515605 deg/s, posRepo size: 4
2021-08-13T20:27:21.495Z,1628886441.495 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:27:21.773Z,1628886441.773 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:27:21.773Z,1628886441.773 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:27:21.774Z,1628886441.774 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:27:21.775Z,1628886441.775 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:27:22.193Z,1628886442.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,003D4,189,80,80,78,FF
2021-08-13T20:27:22.193Z,1628886442.193 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:27:22.194Z,1628886442.194 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:27:22.209Z,1628886442.209 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:27:22.595Z,1628886442.595 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:27:22.987Z,1628886442.987 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,003D8,189,80,80,99,FF
2021-08-13T20:27:22.988Z,1628886442.988 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:27:23.090Z,1628886443.090 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:27:23.418Z,1628886443.418 [Micromodem](INFO): Nmea in: $SNTTA,0.035854,0.313836,,,202722.78*55

2021-08-13T20:27:23.485Z,1628886443.485 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.540003 m, bearing: 348.594714 deg, deltaT: 4.467699 s, approachRate: 0.053720 m/s, LOS rate: -1.362400 deg/s, posRepo size: 4
2021-08-13T20:27:25.860Z,1628886445.860 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:27:26.241Z,1628886446.241 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:27:26.242Z,1628886446.242 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:27:26.242Z,1628886446.242 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:27:26.243Z,1628886446.243 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:27:26.617Z,1628886446.617 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,003D8,189,80,80,99,FF
2021-08-13T20:27:26.617Z,1628886446.617 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:27:26.617Z,1628886446.617 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:27:26.619Z,1628886446.619 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:27:27.044Z,1628886447.044 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:27:27.430Z,1628886447.430 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,003D5,189,80,80,8B,FF
2021-08-13T20:27:27.430Z,1628886447.430 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:27:27.433Z,1628886447.433 [Micromodem](INFO): Nmea in: $SNTTA,0.148088,0.148532,,,202727.19*50

2021-08-13T20:27:27.501Z,1628886447.501 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:27:27.874Z,1628886447.874 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.359999 m, bearing: 341.787720 deg, deltaT: 4.411256 s, approachRate: -0.040806 m/s, LOS rate: -1.543097 deg/s, posRepo size: 4
2021-08-13T20:27:30.308Z,1628886450.308 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:27:30.657Z,1628886450.657 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:27:30.657Z,1628886450.657 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:27:30.657Z,1628886450.657 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:27:30.658Z,1628886450.658 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:27:31.105Z,1628886451.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,003D5,189,80,80,8B,FF
2021-08-13T20:27:31.105Z,1628886451.105 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:27:31.105Z,1628886451.105 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:27:31.107Z,1628886451.107 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:27:31.474Z,1628886451.474 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:27:31.881Z,1628886451.881 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,003E0,189,80,80,5F,FF
2021-08-13T20:27:31.881Z,1628886451.881 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:27:31.935Z,1628886451.935 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:27:32.295Z,1628886452.295 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202731.68*55

2021-08-13T20:27:32.350Z,1628886452.350 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.020000 m, bearing: 338.406367 deg, deltaT: 4.433474 s, approachRate: 0.148868 m/s, LOS rate: -0.762687 deg/s, posRepo size: 4
2021-08-13T20:27:34.725Z,1628886454.725 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:27:35.124Z,1628886455.124 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:27:35.125Z,1628886455.125 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:27:35.125Z,1628886455.125 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:27:35.126Z,1628886455.126 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:27:35.509Z,1628886455.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,003E0,189,80,80,5F,FF
2021-08-13T20:27:35.509Z,1628886455.509 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:27:35.509Z,1628886455.509 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:27:35.511Z,1628886455.511 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:27:35.933Z,1628886455.933 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:27:36.313Z,1628886456.313 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,003D5,189,80,80,7C,FF
2021-08-13T20:27:36.313Z,1628886456.313 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:27:36.367Z,1628886456.367 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:27:36.749Z,1628886456.749 [Micromodem](INFO): Nmea in: $SNTTA,0.033680,,,,202736.08*44

2021-08-13T20:27:36.784Z,1628886456.784 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.359999 m, bearing: 335.287867 deg, deltaT: 4.436901 s, approachRate: -0.148753 m/s, LOS rate: -0.702856 deg/s, posRepo size: 4
2021-08-13T20:27:39.237Z,1628886459.237 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:27:39.549Z,1628886459.549 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:27:39.549Z,1628886459.549 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:27:39.549Z,1628886459.549 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:27:39.550Z,1628886459.550 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:27:39.969Z,1628886459.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,003D5,189,80,80,7C,FF
2021-08-13T20:27:39.969Z,1628886459.969 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:27:39.969Z,1628886459.969 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:27:39.971Z,1628886459.971 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:27:40.357Z,1628886460.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:27:40.761Z,1628886460.761 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,003D3,189,80,80,8B,FF
2021-08-13T20:27:40.762Z,1628886460.762 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:27:40.781Z,1628886460.781 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:27:41.200Z,1628886461.200 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202740.55*5D

2021-08-13T20:27:41.275Z,1628886461.275 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.239996 m, bearing: 333.385659 deg, deltaT: 4.409712 s, approachRate: -0.027213 m/s, LOS rate: -0.431368 deg/s, posRepo size: 4
2021-08-13T20:27:43.616Z,1628886463.616 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:27:43.993Z,1628886463.993 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:27:43.993Z,1628886463.993 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:27:43.994Z,1628886463.994 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:27:43.995Z,1628886463.995 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:27:44.397Z,1628886464.397 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,003D3,189,80,80,8B,FF
2021-08-13T20:27:44.397Z,1628886464.397 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:27:44.398Z,1628886464.398 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:27:44.399Z,1628886464.399 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:27:44.805Z,1628886464.805 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:27:45.253Z,1628886465.253 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,003D3,189,80,80,75,FF
2021-08-13T20:27:45.253Z,1628886465.253 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:27:45.257Z,1628886465.257 [Micromodem](INFO): Nmea in: $SNTTA,0.091558,0.258925,,,202744.97*56

2021-08-13T20:27:45.364Z,1628886465.364 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:27:45.636Z,1628886465.636 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.239996 m, bearing: 331.801137 deg, deltaT: 4.582875 s, approachRate: 0.000000 m/s, LOS rate: -0.345748 deg/s, posRepo size: 4
2021-08-13T20:27:46.454Z,1628886466.454 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T20:27:48.060Z,1628886468.060 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:27:48.433Z,1628886468.433 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:27:48.433Z,1628886468.433 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:27:48.433Z,1628886468.433 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:27:48.434Z,1628886468.434 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:27:48.838Z,1628886468.838 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,003D3,189,80,80,75,FF
2021-08-13T20:27:48.838Z,1628886468.838 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:27:48.838Z,1628886468.838 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:27:48.841Z,1628886468.841 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:27:49.257Z,1628886469.257 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:27:50.070Z,1628886470.070 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202749.41*51

2021-08-13T20:27:50.897Z,1628886470.897 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:27:51.302Z,1628886471.302 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T20:27:52.477Z,1628886472.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
3,189,80,80,75,FF
2021-08-13T20:27:52.477Z,1628886472.477 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
3,189,80,80,75,FF
2021-08-13T20:27:52.477Z,1628886472.477 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T20:27:53.712Z,1628886473.712 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:27:54.101Z,1628886474.101 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:27:54.101Z,1628886474.101 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:27:54.101Z,1628886474.101 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:27:54.102Z,1628886474.102 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:27:54.497Z,1628886474.497 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
3,189,80,80,75,FF
2021-08-13T20:27:54.497Z,1628886474.497 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:27:54.497Z,1628886474.497 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:27:54.499Z,1628886474.499 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:27:54.908Z,1628886474.908 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:27:55.329Z,1628886475.329 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-13T20:27:55.726Z,1628886475.726 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202755.07*5E

2021-08-13T20:27:56.557Z,1628886476.557 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:27:58.129Z,1628886478.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
3,189,80,80,75,FF
2021-08-13T20:27:58.130Z,1628886478.130 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
3,189,80,80,75,FF
2021-08-13T20:27:58.130Z,1628886478.130 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T20:27:59.402Z,1628886479.402 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:27:59.757Z,1628886479.757 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:27:59.757Z,1628886479.757 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:27:59.757Z,1628886479.757 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:27:59.758Z,1628886479.758 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:28:00.186Z,1628886480.186 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
3,189,80,80,75,FF
2021-08-13T20:28:00.186Z,1628886480.186 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:28:00.187Z,1628886480.187 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:28:00.201Z,1628886480.201 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:28:00.250Z,1628886480.250 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T20:28:00.564Z,1628886480.564 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:28:01.383Z,1628886481.383 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202800.77*56

2021-08-13T20:28:02.219Z,1628886482.219 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:28:03.785Z,1628886483.785 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
3,189,80,80,75,FF
2021-08-13T20:28:03.786Z,1628886483.786 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
3,189,80,80,75,FF
2021-08-13T20:28:03.786Z,1628886483.786 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T20:28:05.089Z,1628886485.089 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:28:05.409Z,1628886485.409 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:28:05.409Z,1628886485.409 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:28:05.409Z,1628886485.409 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:28:05.410Z,1628886485.410 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:28:05.468Z,1628886485.468 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T20:28:05.809Z,1628886485.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
3,189,80,80,75,FF
2021-08-13T20:28:05.810Z,1628886485.810 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:28:05.810Z,1628886485.810 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:28:05.811Z,1628886485.811 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:28:06.245Z,1628886486.245 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:28:07.073Z,1628886487.073 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202806.38*5B

2021-08-13T20:28:07.882Z,1628886487.882 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:28:09.097Z,1628886489.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
3,189,80,80,75,FF
2021-08-13T20:28:09.098Z,1628886489.098 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
3,189,80,80,75,FF
2021-08-13T20:28:09.098Z,1628886489.098 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T20:28:10.693Z,1628886490.693 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:28:11.125Z,1628886491.125 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:28:11.125Z,1628886491.125 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:28:11.125Z,1628886491.125 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:28:11.126Z,1628886491.126 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:28:11.477Z,1628886491.477 [DUSBL_Hydroid](INFO): DUSBL response received:4
!U1,P
,80,63,E4
3,189,80,80,75,FF
2021-08-13T20:28:11.477Z,1628886491.477 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:28:11.477Z,1628886491.477 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:28:11.479Z,1628886491.479 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:28:11.876Z,1628886491.876 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:28:12.693Z,1628886492.693 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202812.05*50

2021-08-13T20:28:13.219Z,1628886493.219 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:28:15.133Z,1628886495.133 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
3,189,80,80,75,FF
2021-08-13T20:28:15.133Z,1628886495.133 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
3,189,80,80,75,FF
2021-08-13T20:28:15.133Z,1628886495.133 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T20:28:15.517Z,1628886495.517 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T20:28:15.935Z,1628886495.935 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:28:16.321Z,1628886496.321 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:28:16.321Z,1628886496.321 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:28:16.321Z,1628886496.321 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:28:16.322Z,1628886496.322 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:28:16.725Z,1628886496.725 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
3,189,80,80,75,FF
2021-08-13T20:28:16.725Z,1628886496.725 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:28:16.725Z,1628886496.725 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:28:16.727Z,1628886496.727 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:28:17.147Z,1628886497.147 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:28:18.762Z,1628886498.762 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:28:20.354Z,1628886500.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
3,189,80,80,75,FF
2021-08-13T20:28:20.354Z,1628886500.354 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
3,189,80,80,75,FF
2021-08-13T20:28:20.354Z,1628886500.354 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T20:28:21.583Z,1628886501.583 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:28:21.973Z,1628886501.973 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:28:21.973Z,1628886501.973 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:28:21.973Z,1628886501.973 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:28:21.974Z,1628886501.974 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:28:22.379Z,1628886502.379 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
3,189,80,80,75,FF
2021-08-13T20:28:22.379Z,1628886502.379 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:28:22.379Z,1628886502.379 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:28:22.382Z,1628886502.382 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:28:22.797Z,1628886502.797 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:28:23.194Z,1628886503.194 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,003CA,189,80,80,B4,FF
2021-08-13T20:28:23.195Z,1628886503.195 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:28:23.278Z,1628886503.278 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:28:23.613Z,1628886503.613 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202822.95*5A

2021-08-13T20:28:23.648Z,1628886503.648 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.700001 m, bearing: 325.345707 deg, deltaT: 37.914110 s, approachRate: -0.014243 m/s, LOS rate: -0.170265 deg/s, posRepo size: 4
2021-08-13T20:28:25.299Z,1628886505.299 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-13T20:28:26.030Z,1628886506.030 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:28:26.409Z,1628886506.409 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:28:26.409Z,1628886506.409 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:28:26.409Z,1628886506.409 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:28:26.410Z,1628886506.410 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:28:26.822Z,1628886506.822 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,003CA,189,80,80,B4,FF
2021-08-13T20:28:26.822Z,1628886506.822 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:28:26.823Z,1628886506.823 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:28:26.825Z,1628886506.825 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:28:27.248Z,1628886507.248 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:28:27.633Z,1628886507.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4AE,000,003D7,189,80,80,5E,FF
2021-08-13T20:28:27.634Z,1628886507.634 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:28:27.653Z,1628886507.653 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:28:28.065Z,1628886508.065 [Micromodem](INFO): Nmea in: $SNTTA,0.067968,,,,202827.40*4F

2021-08-13T20:28:28.090Z,1628886508.090 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.480000 m, bearing: 329.427373 deg, deltaT: 4.375089 s, approachRate: 0.178282 m/s, LOS rate: 0.932933 deg/s, posRepo size: 4
2021-08-13T20:28:30.454Z,1628886510.454 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-13T20:28:30.490Z,1628886510.490 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:28:30.868Z,1628886510.868 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:28:30.868Z,1628886510.868 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:28:30.869Z,1628886510.869 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:28:30.870Z,1628886510.870 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:28:31.261Z,1628886511.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
4AE,000,003D7,189,80,80,5E,FF
2021-08-13T20:28:31.261Z,1628886511.261 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:28:31.261Z,1628886511.261 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:28:31.263Z,1628886511.263 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:28:31.797Z,1628886511.797 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:28:32.207Z,1628886512.207 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4C1,000,003D8,189,80,80,81,FF
2021-08-13T20:28:32.207Z,1628886512.207 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:28:32.261Z,1628886512.261 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:28:32.609Z,1628886512.609 [Micromodem](INFO): Nmea in: $SNTTA,0.059619,,,,202831.84*44

2021-08-13T20:28:32.631Z,1628886512.631 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.540003 m, bearing: 328.737524 deg, deltaT: 4.607753 s, approachRate: 0.013022 m/s, LOS rate: -0.149715 deg/s, posRepo size: 4
2021-08-13T20:28:35.127Z,1628886515.127 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:28:35.429Z,1628886515.429 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:28:35.429Z,1628886515.429 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:28:35.429Z,1628886515.429 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:28:35.430Z,1628886515.430 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:28:35.838Z,1628886515.838 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
4C1,000,003D8,189,80,80,81,FF
2021-08-13T20:28:35.838Z,1628886515.838 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:28:35.838Z,1628886515.838 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:28:35.841Z,1628886515.841 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:28:36.257Z,1628886516.257 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:28:36.651Z,1628886516.651 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,457,000,003CE,18A,80,80,B4,FF
2021-08-13T20:28:36.651Z,1628886516.651 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:28:36.670Z,1628886516.670 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:28:37.121Z,1628886517.121 [Micromodem](INFO): Nmea in: $SNTTA,0.061142,0.486617,,,202836.43*5E

2021-08-13T20:28:37.209Z,1628886517.209 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.939997 m, bearing: 334.346721 deg, deltaT: 4.409086 s, approachRate: -0.136084 m/s, LOS rate: 1.272191 deg/s, posRepo size: 4
2021-08-13T20:28:39.205Z,1628886519.205 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:28:39.477Z,1628886519.477 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:28:39.477Z,1628886519.477 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:28:39.477Z,1628886519.477 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:28:39.478Z,1628886519.478 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:28:39.893Z,1628886519.893 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
457,000,003CE,18A,80,80,B4,FF
2021-08-13T20:28:39.893Z,1628886519.893 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:28:39.893Z,1628886519.893 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:28:39.895Z,1628886519.895 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:28:40.291Z,1628886520.291 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:28:40.693Z,1628886520.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,40D,000,003D1,189,80,80,8A,FF
2021-08-13T20:28:40.694Z,1628886520.694 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:28:40.745Z,1628886520.745 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:28:41.137Z,1628886521.137 [Micromodem](INFO): Nmea in: $SNTTA,0.042977,,,,202840.47*40

2021-08-13T20:28:41.256Z,1628886521.256 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.120001 m, bearing: 338.211816 deg, deltaT: 4.074650 s, approachRate: 0.044177 m/s, LOS rate: 0.948571 deg/s, posRepo size: 4
2021-08-13T20:28:43.553Z,1628886523.553 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:28:43.929Z,1628886523.929 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:28:43.929Z,1628886523.929 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:28:43.929Z,1628886523.929 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:28:43.930Z,1628886523.930 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:28:44.329Z,1628886524.329 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
40D,000,003D1,189,80,80,8A,FF
2021-08-13T20:28:44.329Z,1628886524.329 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:28:44.330Z,1628886524.330 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:28:44.331Z,1628886524.331 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:28:44.744Z,1628886524.744 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:28:45.156Z,1628886525.156 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3B0,000,003DA,189,80,80,83,FF
2021-08-13T20:28:45.157Z,1628886525.157 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:28:45.163Z,1628886525.163 [Micromodem](INFO): Nmea in: $SNTTA,0.292344,0.293394,,,202844.90*53

2021-08-13T20:28:45.335Z,1628886525.335 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:28:45.590Z,1628886525.590 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.659998 m, bearing: 342.965354 deg, deltaT: 4.589875 s, approachRate: 0.117650 m/s, LOS rate: 1.035658 deg/s, posRepo size: 4
2021-08-13T20:28:47.996Z,1628886527.996 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:28:48.361Z,1628886528.361 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:28:48.361Z,1628886528.361 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:28:48.362Z,1628886528.362 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:28:48.363Z,1628886528.363 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:28:48.785Z,1628886528.785 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3B0,000,003DA,189,80,80,83,FF
2021-08-13T20:28:48.785Z,1628886528.785 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:28:48.785Z,1628886528.785 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:28:48.787Z,1628886528.787 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:28:49.189Z,1628886529.189 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:28:49.589Z,1628886529.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,394,000,003D7,189,80,80,AB,FF
2021-08-13T20:28:49.590Z,1628886529.590 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:28:49.609Z,1628886529.609 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:28:50.013Z,1628886530.013 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202849.36*5E

2021-08-13T20:28:50.059Z,1628886530.059 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.480000 m, bearing: 344.234321 deg, deltaT: 4.274363 s, approachRate: -0.042111 m/s, LOS rate: 0.296879 deg/s, posRepo size: 4
2021-08-13T20:28:52.463Z,1628886532.463 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:28:52.826Z,1628886532.826 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:28:52.826Z,1628886532.826 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:28:52.826Z,1628886532.826 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:28:52.827Z,1628886532.827 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:28:53.241Z,1628886533.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
394,000,003D7,189,80,80,AB,FF
2021-08-13T20:28:53.241Z,1628886533.241 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:28:53.241Z,1628886533.241 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:28:53.243Z,1628886533.243 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:28:53.635Z,1628886533.635 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:28:54.021Z,1628886534.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,361,000,003D1,189,80,80,82,FF
2021-08-13T20:28:54.022Z,1628886534.022 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:28:54.073Z,1628886534.073 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:28:54.453Z,1628886534.453 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202853.82*5A

2021-08-13T20:28:54.491Z,1628886534.491 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.120001 m, bearing: 346.033257 deg, deltaT: 4.464373 s, approachRate: -0.080638 m/s, LOS rate: 0.402954 deg/s, posRepo size: 4
2021-08-13T20:28:56.900Z,1628886536.900 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:28:57.272Z,1628886537.272 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:28:57.272Z,1628886537.272 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:28:57.272Z,1628886537.272 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:28:57.273Z,1628886537.273 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:28:57.657Z,1628886537.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
361,000,003D1,189,80,80,82,FF
2021-08-13T20:28:57.657Z,1628886537.657 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:28:57.658Z,1628886537.658 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:28:57.661Z,1628886537.661 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:28:58.073Z,1628886538.073 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:28:58.462Z,1628886538.462 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,364,000,003DE,189,80,80,AB,FF
2021-08-13T20:28:58.463Z,1628886538.463 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:28:58.530Z,1628886538.530 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:28:58.917Z,1628886538.917 [Micromodem](INFO): Nmea in: $SNTTA,0.064675,,,,202858.23*42

2021-08-13T20:28:58.940Z,1628886538.940 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.900000 m, bearing: 345.206613 deg, deltaT: 4.456464 s, approachRate: 0.175026 m/s, LOS rate: -0.185493 deg/s, posRepo size: 4
2021-08-13T20:29:01.385Z,1628886541.385 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:29:01.698Z,1628886541.698 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:29:01.699Z,1628886541.699 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:29:01.699Z,1628886541.699 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:29:01.700Z,1628886541.700 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:29:02.101Z,1628886542.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
364,000,003DE,189,80,80,AB,FF
2021-08-13T20:29:02.101Z,1628886542.101 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:29:02.101Z,1628886542.101 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:29:02.103Z,1628886542.103 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:29:02.527Z,1628886542.527 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:29:02.913Z,1628886542.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,35E,000,003DF,189,80,80,88,FF
2021-08-13T20:29:02.913Z,1628886542.913 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:29:02.965Z,1628886542.965 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:29:03.330Z,1628886543.330 [Micromodem](INFO): Nmea in: $SNTTA,0.406818,0.407074,,,202902.68*58

2021-08-13T20:29:03.416Z,1628886543.416 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.959997 m, bearing: 344.813412 deg, deltaT: 4.434825 s, approachRate: 0.013529 m/s, LOS rate: -0.088662 deg/s, posRepo size: 4
2021-08-13T20:29:05.777Z,1628886545.777 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:29:06.149Z,1628886546.149 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:29:06.149Z,1628886546.149 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:29:06.150Z,1628886546.150 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:29:06.150Z,1628886546.150 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:29:06.549Z,1628886546.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
35E,000,003DF,189,80,80,88,FF
2021-08-13T20:29:06.549Z,1628886546.549 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:29:06.549Z,1628886546.549 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:29:06.551Z,1628886546.551 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:29:06.956Z,1628886546.956 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:29:07.365Z,1628886547.365 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,323,000,003E4,189,80,80,99,FF
2021-08-13T20:29:07.366Z,1628886547.366 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:29:07.489Z,1628886547.489 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:29:07.797Z,1628886547.797 [Micromodem](INFO): Nmea in: $SNTTA,0.027453,,,,202907.13*4B

2021-08-13T20:29:07.820Z,1628886547.820 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.260002 m, bearing: 347.232583 deg, deltaT: 4.523870 s, approachRate: 0.066316 m/s, LOS rate: 0.534757 deg/s, posRepo size: 4
2021-08-13T20:29:10.239Z,1628886550.239 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:29:10.594Z,1628886550.594 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:29:10.594Z,1628886550.594 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:29:10.595Z,1628886550.595 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:29:10.595Z,1628886550.595 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:29:10.997Z,1628886550.997 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
323,000,003E4,189,80,80,99,FF
2021-08-13T20:29:10.997Z,1628886550.997 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:29:10.997Z,1628886550.997 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:29:10.999Z,1628886550.999 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:29:11.404Z,1628886551.404 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:29:11.801Z,1628886551.801 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2F9,000,003E8,189,80,80,9A,FF
2021-08-13T20:29:11.802Z,1628886551.802 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:29:11.827Z,1628886551.827 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:29:12.262Z,1628886552.262 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202911.57*55

2021-08-13T20:29:12.324Z,1628886552.324 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.499998 m, bearing: 348.788582 deg, deltaT: 4.339188 s, approachRate: 0.055309 m/s, LOS rate: 0.358592 deg/s, posRepo size: 4
2021-08-13T20:29:14.670Z,1628886554.670 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:29:15.041Z,1628886555.041 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:29:15.041Z,1628886555.041 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:29:15.041Z,1628886555.041 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:29:15.043Z,1628886555.043 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:29:15.437Z,1628886555.437 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2F9,000,003E8,189,80,80,9A,FF
2021-08-13T20:29:15.437Z,1628886555.437 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:29:15.437Z,1628886555.437 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:29:15.439Z,1628886555.439 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:29:15.855Z,1628886555.855 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:29:16.253Z,1628886556.253 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2C9,000,003EB,189,80,80,6D,FF
2021-08-13T20:29:16.253Z,1628886556.253 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:29:16.319Z,1628886556.319 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:29:16.693Z,1628886556.693 [Micromodem](INFO): Nmea in: $SNTTA,0.070847,,,,202916.01*43

2021-08-13T20:29:16.727Z,1628886556.727 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.679996 m, bearing: 350.455995 deg, deltaT: 4.495876 s, approachRate: 0.040036 m/s, LOS rate: 0.370876 deg/s, posRepo size: 4
2021-08-13T20:29:19.172Z,1628886559.172 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:29:19.477Z,1628886559.477 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:29:19.477Z,1628886559.477 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:29:19.477Z,1628886559.477 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:29:19.478Z,1628886559.478 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:29:19.895Z,1628886559.895 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2C9,000,003EB,189,80,80,6D,FF
2021-08-13T20:29:19.895Z,1628886559.895 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:29:19.895Z,1628886559.895 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:29:19.897Z,1628886559.897 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:29:20.325Z,1628886560.325 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:29:20.693Z,1628886560.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,29D,000,003F4,189,80,80,7B,FF
2021-08-13T20:29:20.693Z,1628886560.693 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:29:20.770Z,1628886560.770 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:29:21.141Z,1628886561.141 [Micromodem](INFO): Nmea in: $SNTTA,0.053022,,,,202920.47*4E

2021-08-13T20:29:21.269Z,1628886561.269 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.219997 m, bearing: 352.574665 deg, deltaT: 4.446581 s, approachRate: 0.121442 m/s, LOS rate: 0.476472 deg/s, posRepo size: 4
2021-08-13T20:29:23.565Z,1628886563.565 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:29:23.921Z,1628886563.921 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:29:23.921Z,1628886563.921 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:29:23.921Z,1628886563.921 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:29:23.922Z,1628886563.922 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:29:24.329Z,1628886564.329 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
29D,000,003F4,189,80,80,7B,FF
2021-08-13T20:29:24.329Z,1628886564.329 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:29:24.329Z,1628886564.329 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:29:24.331Z,1628886564.331 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:29:24.738Z,1628886564.738 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:29:25.137Z,1628886565.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,275,000,003F2,189,80,80,7B,FF
2021-08-13T20:29:25.137Z,1628886565.137 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:29:25.296Z,1628886565.296 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:29:25.578Z,1628886565.578 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.099997 m, bearing: 354.376087 deg, deltaT: 4.526270 s, approachRate: -0.026512 m/s, LOS rate: 0.397992 deg/s, posRepo size: 4
2021-08-13T20:29:27.989Z,1628886567.989 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:29:28.365Z,1628886568.365 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:29:28.365Z,1628886568.365 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:29:28.365Z,1628886568.365 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:29:28.366Z,1628886568.366 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:29:28.769Z,1628886568.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
275,000,003F2,189,80,80,7B,FF
2021-08-13T20:29:28.769Z,1628886568.769 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:29:28.769Z,1628886568.769 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:29:28.771Z,1628886568.771 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:29:29.207Z,1628886569.207 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:29:29.581Z,1628886569.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,260,000,003F9,189,80,80,7C,FF
2021-08-13T20:29:29.581Z,1628886569.581 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:29:29.625Z,1628886569.625 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:29:30.022Z,1628886570.022 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202929.34*5B

2021-08-13T20:29:30.038Z,1628886570.038 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.519997 m, bearing: 355.457442 deg, deltaT: 4.328270 s, approachRate: 0.097036 m/s, LOS rate: 0.249836 deg/s, posRepo size: 4
2021-08-13T20:29:32.453Z,1628886572.453 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:29:32.809Z,1628886572.809 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:29:32.809Z,1628886572.809 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:29:32.809Z,1628886572.809 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:29:32.810Z,1628886572.810 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:29:33.248Z,1628886573.248 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
260,000,003F9,189,80,80,7C,FF
2021-08-13T20:29:33.249Z,1628886573.249 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:29:33.249Z,1628886573.249 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:29:33.250Z,1628886573.250 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:29:33.629Z,1628886573.629 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:29:34.021Z,1628886574.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,253,000,00406,188,80,80,7C,FF
2021-08-13T20:29:34.021Z,1628886574.021 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:29:34.067Z,1628886574.067 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:29:34.469Z,1628886574.469 [Micromodem](INFO): Nmea in: $SNTTA,0.028978,,,,202933.82*4F

2021-08-13T20:29:34.511Z,1628886574.511 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.300001 m, bearing: 356.201605 deg, deltaT: 4.442056 s, approachRate: 0.175595 m/s, LOS rate: 0.167527 deg/s, posRepo size: 4
2021-08-13T20:29:36.879Z,1628886576.879 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:29:37.253Z,1628886577.253 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:29:37.253Z,1628886577.253 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:29:37.253Z,1628886577.253 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:29:37.254Z,1628886577.254 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:29:37.661Z,1628886577.661 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
253,000,00406,188,80,80,7C,FF
2021-08-13T20:29:37.661Z,1628886577.661 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:29:37.661Z,1628886577.661 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:29:37.663Z,1628886577.663 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:29:38.065Z,1628886578.065 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:29:38.469Z,1628886578.469 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,22D,000,00407,189,80,80,8E,FF
2021-08-13T20:29:38.469Z,1628886578.469 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:29:38.528Z,1628886578.528 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:29:38.901Z,1628886578.901 [Micromodem](INFO): Nmea in: $SNTTA,0.044116,,,,202938.24*42

2021-08-13T20:29:38.931Z,1628886578.931 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.359999 m, bearing: 358.394178 deg, deltaT: 4.461125 s, approachRate: 0.013449 m/s, LOS rate: 0.491484 deg/s, posRepo size: 4
2021-08-13T20:29:41.354Z,1628886581.354 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:29:41.701Z,1628886581.701 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:29:41.701Z,1628886581.701 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:29:41.701Z,1628886581.701 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:29:41.702Z,1628886581.702 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:29:42.105Z,1628886582.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
22D,000,00407,189,80,80,8E,FF
2021-08-13T20:29:42.105Z,1628886582.105 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:29:42.105Z,1628886582.105 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:29:42.107Z,1628886582.107 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:29:42.521Z,1628886582.521 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:29:42.917Z,1628886582.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,24A,000,0040E,189,80,80,6D,FF
2021-08-13T20:29:42.917Z,1628886582.917 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:29:42.937Z,1628886582.937 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:29:43.349Z,1628886583.349 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202942.68*5F

2021-08-13T20:29:43.406Z,1628886583.406 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.779999 m, bearing: 357.118135 deg, deltaT: 4.408726 s, approachRate: 0.095266 m/s, LOS rate: -0.289436 deg/s, posRepo size: 4
2021-08-13T20:29:45.773Z,1628886585.773 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:29:46.145Z,1628886586.145 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:29:46.145Z,1628886586.145 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:29:46.145Z,1628886586.145 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:29:46.147Z,1628886586.147 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:29:46.549Z,1628886586.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
24A,000,0040E,189,80,80,6D,FF
2021-08-13T20:29:46.549Z,1628886586.549 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:29:46.549Z,1628886586.549 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:29:46.551Z,1628886586.551 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:29:46.948Z,1628886586.948 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:29:47.350Z,1628886587.350 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,214,000,00414,186,80,80,63,FF
2021-08-13T20:29:47.350Z,1628886587.350 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:29:47.354Z,1628886587.354 [Micromodem](INFO): Nmea in: $SNTTA,0.142929,0.182421,,,202947.12*5E

2021-08-13T20:29:47.426Z,1628886587.426 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:29:47.799Z,1628886587.799 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.140001 m, bearing: 0.266072 deg, deltaT: 4.488982 s, approachRate: 0.080197 m/s, LOS rate: 0.701260 deg/s, posRepo size: 4
2021-08-13T20:29:50.234Z,1628886590.234 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:29:50.589Z,1628886590.589 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:29:50.589Z,1628886590.589 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:29:50.589Z,1628886590.589 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:29:50.590Z,1628886590.590 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:29:50.999Z,1628886590.999 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
214,000,00414,186,80,80,63,FF
2021-08-13T20:29:50.999Z,1628886590.999 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:29:50.000Z,1628886591.000 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:29:51.001Z,1628886591.001 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:29:51.414Z,1628886591.414 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:29:51.801Z,1628886591.801 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1F9,000,0041C,187,80,80,AD,FF
2021-08-13T20:29:51.801Z,1628886591.801 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:29:51.821Z,1628886591.821 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:29:52.250Z,1628886592.250 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202951.57*51

2021-08-13T20:29:52.276Z,1628886592.276 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.619999 m, bearing: 2.126065 deg, deltaT: 4.395144 s, approachRate: 0.109211 m/s, LOS rate: 0.423193 deg/s, posRepo size: 4
2021-08-13T20:29:54.662Z,1628886594.662 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:29:55.036Z,1628886595.036 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:29:55.036Z,1628886595.036 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:29:55.037Z,1628886595.037 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:29:55.038Z,1628886595.038 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:29:55.441Z,1628886595.441 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1F9,000,0041C,187,80,80,AD,FF
2021-08-13T20:29:55.441Z,1628886595.441 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:29:55.441Z,1628886595.441 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:29:55.443Z,1628886595.443 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:29:55.843Z,1628886595.843 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:29:56.249Z,1628886596.249 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1EA,000,00423,186,80,80,83,FF
2021-08-13T20:29:56.249Z,1628886596.249 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:29:56.315Z,1628886596.315 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:29:56.669Z,1628886596.669 [Micromodem](INFO): Nmea in: $SNTTA,0.077510,,,,202956.02*4C

2021-08-13T20:29:56.775Z,1628886596.775 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.039999 m, bearing: 3.360096 deg, deltaT: 4.494212 s, approachRate: 0.093454 m/s, LOS rate: 0.274582 deg/s, posRepo size: 4
2021-08-13T20:29:59.203Z,1628886599.203 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:29:59.489Z,1628886599.489 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:29:59.489Z,1628886599.489 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:29:59.489Z,1628886599.489 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:29:59.490Z,1628886599.490 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:29:59.893Z,1628886599.893 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1EA,000,00423,186,80,80,83,FF
2021-08-13T20:29:59.893Z,1628886599.893 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:29:59.894Z,1628886599.894 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:29:59.895Z,1628886599.895 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:30:00.318Z,1628886600.318 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:30:00.689Z,1628886600.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1E1,000,0042B,187,80,80,9D,FF
2021-08-13T20:30:00.689Z,1628886600.689 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:30:00.709Z,1628886600.709 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:30:01.138Z,1628886601.138 [Micromodem](INFO): Nmea in: $SNTTA,,0.470777,,,203000.47*46

2021-08-13T20:30:01.227Z,1628886601.227 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.519999 m, bearing: 4.623619 deg, deltaT: 4.393638 s, approachRate: 0.109249 m/s, LOS rate: 0.287580 deg/s, posRepo size: 4
2021-08-13T20:30:03.219Z,1628886603.219 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:30:03.532Z,1628886603.532 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:30:03.532Z,1628886603.532 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:30:03.533Z,1628886603.533 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:30:03.533Z,1628886603.533 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:30:03.917Z,1628886603.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1E1,000,0042B,187,80,80,9D,FF
2021-08-13T20:30:03.917Z,1628886603.917 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:30:03.917Z,1628886603.917 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:30:03.919Z,1628886603.919 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:30:04.334Z,1628886604.334 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:30:04.781Z,1628886604.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1D7,000,00432,186,80,80,9D,FF
2021-08-13T20:30:04.782Z,1628886604.782 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:30:04.841Z,1628886604.841 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:30:05.196Z,1628886605.196 [Micromodem](INFO): Nmea in: $SNTTA,0.457580,,,,203004.49*43

2021-08-13T20:30:05.254Z,1628886605.254 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.939999 m, bearing: 8.697617 deg, deltaT: 4.132783 s, approachRate: 0.101626 m/s, LOS rate: 0.985776 deg/s, posRepo size: 4
2021-08-13T20:30:07.593Z,1628886607.593 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:30:07.960Z,1628886607.960 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:30:07.961Z,1628886607.961 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:30:07.961Z,1628886607.961 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:30:07.962Z,1628886607.962 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:30:08.370Z,1628886608.370 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1D7,000,00432,186,80,80,9D,FF
2021-08-13T20:30:08.370Z,1628886608.370 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:30:08.371Z,1628886608.371 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:30:08.374Z,1628886608.374 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:30:08.772Z,1628886608.772 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:30:09.177Z,1628886609.177 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1BE,000,0043B,186,80,80,5B,FF
2021-08-13T20:30:09.178Z,1628886609.178 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:30:09.277Z,1628886609.277 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:30:09.597Z,1628886609.597 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203008.95*5B

2021-08-13T20:30:09.644Z,1628886609.644 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.480000 m, bearing: 12.778650 deg, deltaT: 4.435674 s, approachRate: 0.121740 m/s, LOS rate: 0.920048 deg/s, posRepo size: 4
2021-08-13T20:30:12.034Z,1628886612.034 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:30:12.405Z,1628886612.405 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:30:12.405Z,1628886612.405 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:30:12.406Z,1628886612.406 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:30:12.407Z,1628886612.407 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:30:12.805Z,1628886612.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1BE,000,0043B,186,80,80,5B,FF
2021-08-13T20:30:12.805Z,1628886612.805 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:30:12.805Z,1628886612.805 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:30:12.807Z,1628886612.807 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:30:13.247Z,1628886613.247 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:30:13.621Z,1628886613.621 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1C5,000,00448,186,80,80,68,FF
2021-08-13T20:30:13.621Z,1628886613.621 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:30:13.669Z,1628886613.669 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:30:14.050Z,1628886614.050 [Micromodem](INFO): Nmea in: $SNTTA,0.043516,,,,203013.38*4D

2021-08-13T20:30:14.091Z,1628886614.091 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.259996 m, bearing: 12.659002 deg, deltaT: 4.391768 s, approachRate: 0.177604 m/s, LOS rate: -0.027244 deg/s, posRepo size: 4
2021-08-13T20:30:16.498Z,1628886616.498 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:30:16.846Z,1628886616.846 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:30:16.846Z,1628886616.846 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:30:16.846Z,1628886616.846 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:30:16.847Z,1628886616.847 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:30:17.249Z,1628886617.249 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1C5,000,00448,186,80,80,68,FF
2021-08-13T20:30:17.249Z,1628886617.249 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:30:17.249Z,1628886617.249 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:30:17.251Z,1628886617.251 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:30:17.675Z,1628886617.675 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:30:18.061Z,1628886618.061 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1B3,000,00449,185,80,80,69,FF
2021-08-13T20:30:18.061Z,1628886618.061 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:30:18.105Z,1628886618.105 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:30:18.505Z,1628886618.505 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203017.82*53

2021-08-13T20:30:18.536Z,1628886618.536 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.320000 m, bearing: 14.035286 deg, deltaT: 4.435849 s, approachRate: 0.013527 m/s, LOS rate: 0.310264 deg/s, posRepo size: 4
2021-08-13T20:30:20.926Z,1628886620.926 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:30:21.293Z,1628886621.293 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:30:21.293Z,1628886621.293 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:30:21.293Z,1628886621.293 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:30:21.294Z,1628886621.294 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:30:21.697Z,1628886621.697 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1B3,000,00449,185,80,80,69,FF
2021-08-13T20:30:21.697Z,1628886621.697 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:30:21.697Z,1628886621.697 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:30:21.699Z,1628886621.699 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:30:22.113Z,1628886622.113 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:30:22.509Z,1628886622.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1A1,000,00453,187,80,80,A0,FF
2021-08-13T20:30:22.509Z,1628886622.509 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:30:22.582Z,1628886622.582 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:30:22.941Z,1628886622.941 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203022.27*5A

2021-08-13T20:30:22.993Z,1628886622.993 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.920000 m, bearing: 15.024492 deg, deltaT: 4.477600 s, approachRate: 0.134000 m/s, LOS rate: 0.220923 deg/s, posRepo size: 4
2021-08-13T20:30:25.461Z,1628886625.461 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:30:25.737Z,1628886625.737 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:30:25.737Z,1628886625.737 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:30:25.737Z,1628886625.737 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:30:25.738Z,1628886625.738 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:30:26.153Z,1628886626.153 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1A1,000,00453,187,80,80,A0,FF
2021-08-13T20:30:26.154Z,1628886626.154 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:30:26.154Z,1628886626.154 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:30:26.155Z,1628886626.155 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:30:26.549Z,1628886626.549 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:30:26.943Z,1628886626.943 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,187,000,0045A,185,80,80,54,FF
2021-08-13T20:30:26.943Z,1628886626.943 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:30:26.962Z,1628886626.962 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:30:27.389Z,1628886627.389 [Micromodem](INFO): Nmea in: $SNTTA,0.044841,,,,203026.73*4C

2021-08-13T20:30:27.446Z,1628886627.446 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.340000 m, bearing: 16.796475 deg, deltaT: 4.379936 s, approachRate: 0.095892 m/s, LOS rate: 0.404568 deg/s, posRepo size: 4
2021-08-13T20:30:29.466Z,1628886629.466 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:30:29.781Z,1628886629.781 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:30:29.781Z,1628886629.781 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:30:29.781Z,1628886629.781 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:30:29.782Z,1628886629.782 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:30:30.200Z,1628886630.200 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
187,000,0045A,185,80,80,54,FF
2021-08-13T20:30:30.201Z,1628886630.201 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:30:30.201Z,1628886630.201 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:30:30.205Z,1628886630.205 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:30:30.608Z,1628886630.608 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:30:31.001Z,1628886631.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,17E,000,00464,186,80,80,99,FF
2021-08-13T20:30:31.002Z,1628886631.002 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:30:31.089Z,1628886631.089 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:30:31.429Z,1628886631.429 [Micromodem](INFO): Nmea in: $SNTTA,0.046739,,,,203030.78*42

2021-08-13T20:30:31.488Z,1628886631.488 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.939999 m, bearing: 17.872448 deg, deltaT: 4.127599 s, approachRate: 0.145363 m/s, LOS rate: 0.260678 deg/s, posRepo size: 4
2021-08-13T20:30:33.855Z,1628886633.855 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:30:34.241Z,1628886634.241 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:30:34.241Z,1628886634.241 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:30:34.241Z,1628886634.241 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:30:34.242Z,1628886634.242 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:30:34.633Z,1628886634.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
17E,000,00464,186,80,80,99,FF
2021-08-13T20:30:34.633Z,1628886634.633 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:30:34.634Z,1628886634.634 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:30:34.635Z,1628886634.635 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:30:35.075Z,1628886635.075 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:30:35.441Z,1628886635.441 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,148,000,0046C,186,80,80,7C,FF
2021-08-13T20:30:35.441Z,1628886635.441 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:30:35.445Z,1628886635.445 [Micromodem](INFO): Nmea in: $SNTTA,0.020191,0.139264,,,203035.21*5A

2021-08-13T20:30:35.473Z,1628886635.473 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:30:35.888Z,1628886635.888 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.419996 m, bearing: 20.785295 deg, deltaT: 4.383226 s, approachRate: 0.109508 m/s, LOS rate: 0.664544 deg/s, posRepo size: 4
2021-08-13T20:30:38.312Z,1628886638.312 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:30:38.673Z,1628886638.673 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:30:38.673Z,1628886638.673 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:30:38.673Z,1628886638.673 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:30:38.674Z,1628886638.674 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:30:39.105Z,1628886639.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
148,000,0046C,186,80,80,7C,FF
2021-08-13T20:30:39.105Z,1628886639.105 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:30:39.105Z,1628886639.105 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:30:39.107Z,1628886639.107 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:30:39.494Z,1628886639.494 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:30:39.893Z,1628886639.893 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,157,000,00475,185,80,80,72,FF
2021-08-13T20:30:39.893Z,1628886639.893 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:30:39.953Z,1628886639.953 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:30:40.302Z,1628886640.302 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203039.68*5B

2021-08-13T20:30:40.384Z,1628886640.384 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.959999 m, bearing: 19.554524 deg, deltaT: 4.479542 s, approachRate: 0.120549 m/s, LOS rate: -0.274754 deg/s, posRepo size: 4
2021-08-13T20:30:42.769Z,1628886642.769 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:30:43.125Z,1628886643.125 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:30:43.125Z,1628886643.125 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:30:43.125Z,1628886643.125 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:30:43.126Z,1628886643.126 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:30:43.533Z,1628886643.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
157,000,00475,185,80,80,72,FF
2021-08-13T20:30:43.533Z,1628886643.533 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:30:43.533Z,1628886643.533 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:30:43.535Z,1628886643.535 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:30:43.928Z,1628886643.928 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:30:44.333Z,1628886644.333 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,11B,000,00487,185,80,80,64,FF
2021-08-13T20:30:44.333Z,1628886644.333 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:30:44.387Z,1628886644.387 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:30:44.757Z,1628886644.757 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203044.11*5F

2021-08-13T20:30:44.773Z,1628886644.773 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.040001 m, bearing: 22.431577 deg, deltaT: 4.438965 s, approachRate: 0.243300 m/s, LOS rate: 0.648136 deg/s, posRepo size: 4
2021-08-13T20:30:47.257Z,1628886647.257 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:30:47.561Z,1628886647.561 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:30:47.561Z,1628886647.561 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:30:47.561Z,1628886647.561 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:30:47.562Z,1628886647.562 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:30:47.973Z,1628886647.973 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
11B,000,00487,185,80,80,64,FF
2021-08-13T20:30:47.974Z,1628886647.974 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:30:47.974Z,1628886647.974 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:30:47.975Z,1628886647.975 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:30:48.373Z,1628886648.373 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:30:48.777Z,1628886648.777 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,10F,000,0048A,186,80,80,8D,FF
2021-08-13T20:30:48.777Z,1628886648.777 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:30:48.797Z,1628886648.797 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:30:49.213Z,1628886649.213 [Micromodem](INFO): Nmea in: $SNTTA,0.109981,,,,203048.55*45

2021-08-13T20:30:49.286Z,1628886649.286 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.220001 m, bearing: 23.201593 deg, deltaT: 4.405385 s, approachRate: 0.040859 m/s, LOS rate: 0.174790 deg/s, posRepo size: 4
2021-08-13T20:30:51.634Z,1628886651.634 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:30:52.009Z,1628886652.009 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:30:52.009Z,1628886652.009 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:30:52.009Z,1628886652.009 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:30:52.010Z,1628886652.010 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:30:52.413Z,1628886652.413 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
10F,000,0048A,186,80,80,8D,FF
2021-08-13T20:30:52.413Z,1628886652.413 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:30:52.413Z,1628886652.413 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:30:52.415Z,1628886652.415 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:30:52.821Z,1628886652.821 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:30:53.248Z,1628886653.248 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0C2,000,0049B,186,80,80,A4,FF
2021-08-13T20:30:53.249Z,1628886653.249 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:30:53.252Z,1628886653.252 [Micromodem](INFO): Nmea in: $SNTTA,0.031843,0.209150,,,203052.99*5A

2021-08-13T20:30:53.328Z,1628886653.328 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:30:53.651Z,1628886653.651 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 33.239998 m, bearing: 26.500383 deg, deltaT: 4.531354 s, approachRate: 0.225098 m/s, LOS rate: 0.727992 deg/s, posRepo size: 4
2021-08-13T20:30:56.086Z,1628886656.086 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:30:56.449Z,1628886656.449 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:30:56.449Z,1628886656.449 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:30:56.449Z,1628886656.449 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:30:56.450Z,1628886656.450 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:30:56.854Z,1628886656.854 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0C2,000,0049B,186,80,80,A4,FF
2021-08-13T20:30:56.854Z,1628886656.854 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:30:56.854Z,1628886656.854 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:30:56.861Z,1628886656.861 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:30:57.261Z,1628886657.261 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:30:57.666Z,1628886657.666 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0D4,000,0049E,186,80,80,AE,FF
2021-08-13T20:30:57.666Z,1628886657.666 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:30:57.686Z,1628886657.686 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:30:58.097Z,1628886658.097 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203057.44*5D

2021-08-13T20:30:58.119Z,1628886658.119 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 33.419998 m, bearing: 25.069362 deg, deltaT: 4.357190 s, approachRate: 0.041311 m/s, LOS rate: -0.328427 deg/s, posRepo size: 4
2021-08-13T20:31:00.541Z,1628886660.541 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:31:00.901Z,1628886660.901 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:31:00.901Z,1628886660.901 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:31:00.901Z,1628886660.901 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:31:00.902Z,1628886660.902 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:31:01.297Z,1628886661.297 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0D4,000,0049E,186,80,80,AE,FF
2021-08-13T20:31:01.297Z,1628886661.297 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:31:01.297Z,1628886661.297 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:31:01.299Z,1628886661.299 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:31:01.765Z,1628886661.765 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:31:02.180Z,1628886662.180 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0B3,000,004A9,186,80,80,96,FF
2021-08-13T20:31:02.181Z,1628886662.181 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:31:02.254Z,1628886662.254 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:31:02.585Z,1628886662.585 [Micromodem](INFO): Nmea in: $SNTTA,0.054548,,,,203101.87*46

2021-08-13T20:31:02.614Z,1628886662.614 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.079998 m, bearing: 26.459594 deg, deltaT: 4.568457 s, approachRate: 0.144469 m/s, LOS rate: 0.304311 deg/s, posRepo size: 4
2021-08-13T20:31:05.068Z,1628886665.068 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:31:05.405Z,1628886665.405 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:31:05.405Z,1628886665.405 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:31:05.405Z,1628886665.405 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:31:05.406Z,1628886665.406 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:31:05.805Z,1628886665.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0B3,000,004A9,186,80,80,96,FF
2021-08-13T20:31:05.805Z,1628886665.805 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:31:05.805Z,1628886665.805 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:31:05.807Z,1628886665.807 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:31:06.235Z,1628886666.235 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:31:06.605Z,1628886666.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,099,000,004B4,186,80,80,AA,FF
2021-08-13T20:31:06.605Z,1628886666.605 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:31:06.625Z,1628886666.625 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:31:07.071Z,1628886667.071 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203106.38*53

2021-08-13T20:31:07.136Z,1628886667.136 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.740002 m, bearing: 28.486298 deg, deltaT: 4.370693 s, approachRate: 0.151007 m/s, LOS rate: 0.463703 deg/s, posRepo size: 4
2021-08-13T20:31:09.476Z,1628886669.476 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:31:09.853Z,1628886669.853 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:31:09.854Z,1628886669.854 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:31:09.854Z,1628886669.854 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:31:09.855Z,1628886669.855 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:31:10.257Z,1628886670.257 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
099,000,004B4,186,80,80,AA,FF
2021-08-13T20:31:10.257Z,1628886670.257 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:31:10.257Z,1628886670.257 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:31:10.259Z,1628886670.259 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:31:10.654Z,1628886670.654 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:31:11.090Z,1628886671.090 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,093,000,004BC,186,80,80,61,FF
2021-08-13T20:31:11.090Z,1628886671.090 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:31:11.093Z,1628886671.093 [Micromodem](INFO): Nmea in: $SNTTA,0.036221,0.287084,,,203110.83*51

2021-08-13T20:31:11.216Z,1628886671.216 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:31:11.501Z,1628886671.501 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.220001 m, bearing: 29.270007 deg, deltaT: 4.591220 s, approachRate: 0.104547 m/s, LOS rate: 0.170697 deg/s, posRepo size: 4
2021-08-13T20:31:13.919Z,1628886673.919 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:31:14.282Z,1628886674.282 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:31:14.282Z,1628886674.282 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:31:14.282Z,1628886674.282 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:31:14.283Z,1628886674.283 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:31:14.693Z,1628886674.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
093,000,004BC,186,80,80,61,FF
2021-08-13T20:31:14.693Z,1628886674.693 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:31:14.693Z,1628886674.693 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:31:14.695Z,1628886674.695 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:31:15.112Z,1628886675.112 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:31:15.497Z,1628886675.497 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A2,000,004C7,186,80,80,A2,FF
2021-08-13T20:31:15.497Z,1628886675.497 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:31:15.551Z,1628886675.551 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:31:15.949Z,1628886675.949 [Micromodem](INFO): Nmea in: $SNTTA,0.057374,,,,203115.27*43

2021-08-13T20:31:15.972Z,1628886675.972 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.880001 m, bearing: 29.237820 deg, deltaT: 4.334844 s, approachRate: 0.152255 m/s, LOS rate: -0.007425 deg/s, posRepo size: 4
2021-08-13T20:31:18.361Z,1628886678.361 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:31:18.721Z,1628886678.721 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:31:18.721Z,1628886678.721 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:31:18.721Z,1628886678.721 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:31:18.722Z,1628886678.722 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:31:19.141Z,1628886679.141 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0A2,000,004C7,186,80,80,A2,FF
2021-08-13T20:31:19.141Z,1628886679.141 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:31:19.141Z,1628886679.141 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:31:19.143Z,1628886679.143 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:31:19.548Z,1628886679.548 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:31:19.945Z,1628886679.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0AA,000,004D2,186,80,80,B1,FF
2021-08-13T20:31:19.946Z,1628886679.946 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:31:19.997Z,1628886679.997 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:31:20.381Z,1628886680.381 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203119.71*50

2021-08-13T20:31:20.407Z,1628886680.407 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.539997 m, bearing: 29.291263 deg, deltaT: 4.446722 s, approachRate: 0.148423 m/s, LOS rate: 0.012018 deg/s, posRepo size: 4
2021-08-13T20:31:22.791Z,1628886682.791 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:31:23.204Z,1628886683.204 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:31:23.204Z,1628886683.204 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:31:23.205Z,1628886683.205 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:31:23.205Z,1628886683.205 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:31:23.573Z,1628886683.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0AA,000,004D2,186,80,80,B1,FF
2021-08-13T20:31:23.573Z,1628886683.573 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:31:23.573Z,1628886683.573 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:31:23.575Z,1628886683.575 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:31:24.003Z,1628886684.003 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:31:24.385Z,1628886684.385 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,09B,000,004DB,186,80,80,A1,FF
2021-08-13T20:31:24.385Z,1628886684.385 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:31:24.439Z,1628886684.439 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:31:24.827Z,1628886684.827 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203124.15*5C

2021-08-13T20:31:24.854Z,1628886684.854 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.080002 m, bearing: 30.211419 deg, deltaT: 4.445989 s, approachRate: 0.121459 m/s, LOS rate: 0.206963 deg/s, posRepo size: 4
2021-08-13T20:31:27.324Z,1628886687.324 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:31:27.621Z,1628886687.621 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:31:27.621Z,1628886687.621 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:31:27.621Z,1628886687.621 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:31:27.622Z,1628886687.622 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:31:28.037Z,1628886688.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
09B,000,004DB,186,80,80,A1,FF
2021-08-13T20:31:28.037Z,1628886688.037 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:31:28.037Z,1628886688.037 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:31:28.039Z,1628886688.039 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:31:28.443Z,1628886688.443 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:31:28.846Z,1628886688.846 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,091,000,004E6,186,80,80,8B,FF
2021-08-13T20:31:28.847Z,1628886688.847 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:31:28.903Z,1628886688.903 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:31:29.278Z,1628886689.278 [Micromodem](INFO): Nmea in: $SNTTA,0.064908,,,,203128.61*4E

2021-08-13T20:31:29.343Z,1628886689.343 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.739998 m, bearing: 31.126958 deg, deltaT: 4.459458 s, approachRate: 0.147999 m/s, LOS rate: 0.205303 deg/s, posRepo size: 4
2021-08-13T20:31:31.702Z,1628886691.702 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:31:32.066Z,1628886692.066 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:31:32.066Z,1628886692.066 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:31:32.066Z,1628886692.066 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:31:32.067Z,1628886692.067 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:31:32.473Z,1628886692.473 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
091,000,004E6,186,80,80,8B,FF
2021-08-13T20:31:32.473Z,1628886692.473 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:31:32.473Z,1628886692.473 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:31:32.475Z,1628886692.475 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:31:32.887Z,1628886692.887 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:31:33.289Z,1628886693.289 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,086,000,004F0,186,80,80,7A,FF
2021-08-13T20:31:33.289Z,1628886693.289 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:31:33.293Z,1628886693.293 [Micromodem](INFO): Nmea in: $SNTTA,0.181081,0.181081,,,203133.05*5B

2021-08-13T20:31:33.384Z,1628886693.384 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:31:33.739Z,1628886693.739 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.340000 m, bearing: 31.656366 deg, deltaT: 4.480923 s, approachRate: 0.133901 m/s, LOS rate: 0.118147 deg/s, posRepo size: 4
2021-08-13T20:31:36.153Z,1628886696.153 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:31:36.509Z,1628886696.509 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:31:36.509Z,1628886696.509 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:31:36.509Z,1628886696.509 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:31:36.510Z,1628886696.510 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:31:36.913Z,1628886696.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
086,000,004F0,186,80,80,7A,FF
2021-08-13T20:31:36.913Z,1628886696.913 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:31:36.914Z,1628886696.914 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:31:36.917Z,1628886696.917 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:31:37.321Z,1628886697.321 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:31:37.722Z,1628886697.722 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,09B,000,004FB,186,80,80,71,FF
2021-08-13T20:31:37.722Z,1628886697.722 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:31:37.750Z,1628886697.750 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:31:38.148Z,1628886698.148 [Micromodem](INFO): Nmea in: $SNTTA,0.062979,,,,203137.49*4A

2021-08-13T20:31:38.220Z,1628886698.220 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.999996 m, bearing: 31.152845 deg, deltaT: 4.366009 s, approachRate: 0.151167 m/s, LOS rate: -0.115328 deg/s, posRepo size: 4
2021-08-13T20:31:40.577Z,1628886700.577 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:31:40.965Z,1628886700.965 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:31:40.965Z,1628886700.965 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:31:40.965Z,1628886700.965 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:31:40.966Z,1628886700.966 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:31:41.361Z,1628886701.361 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
09B,000,004FB,186,80,80,71,FF
2021-08-13T20:31:41.361Z,1628886701.361 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:31:41.361Z,1628886701.361 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:31:41.363Z,1628886701.363 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:31:41.765Z,1628886701.765 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:31:42.172Z,1628886702.172 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,099,000,00506,186,80,80,9F,FF
2021-08-13T20:31:42.173Z,1628886702.173 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:31:42.252Z,1628886702.252 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:31:42.601Z,1628886702.601 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203141.94*56

2021-08-13T20:31:42.680Z,1628886702.680 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.660000 m, bearing: 31.400893 deg, deltaT: 4.502642 s, approachRate: 0.146581 m/s, LOS rate: 0.055090 deg/s, posRepo size: 4
2021-08-13T20:31:45.084Z,1628886705.084 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:31:45.421Z,1628886705.421 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:31:45.421Z,1628886705.421 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:31:45.421Z,1628886705.421 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:31:45.422Z,1628886705.422 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:31:45.805Z,1628886705.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
099,000,00506,186,80,80,9F,FF
2021-08-13T20:31:45.805Z,1628886705.805 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:31:45.805Z,1628886705.805 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:31:45.807Z,1628886705.807 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:31:46.251Z,1628886706.251 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:31:46.609Z,1628886706.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,093,000,0050D,186,80,80,A6,FF
2021-08-13T20:31:46.609Z,1628886706.609 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:31:46.665Z,1628886706.665 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:31:47.117Z,1628886707.117 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203146.38*57

2021-08-13T20:31:47.210Z,1628886707.210 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.080002 m, bearing: 32.103904 deg, deltaT: 4.412434 s, approachRate: 0.095186 m/s, LOS rate: 0.159325 deg/s, posRepo size: 4
2021-08-13T20:31:47.463Z,1628886707.463 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-13T20:31:47.463Z,1628886707.463 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T20:31:47.480Z,1628886707.480 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-13T20:31:47.481Z,1628886707.481 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-13T20:31:47.481Z,1628886707.481 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-13T20:31:47.481Z,1628886707.481 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-13T20:31:47.867Z,1628886707.867 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-13T20:31:47.867Z,1628886707.867 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T20:31:47.867Z,1628886707.867 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-13T20:31:47.867Z,1628886707.867 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T20:31:49.490Z,1628886709.490 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:31:49.848Z,1628886709.848 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:31:49.848Z,1628886709.848 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:31:49.848Z,1628886709.848 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:31:49.849Z,1628886709.849 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:31:50.257Z,1628886710.257 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
093,000,0050D,186,80,80,A6,FF
2021-08-13T20:31:50.257Z,1628886710.257 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:31:50.257Z,1628886710.257 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:31:50.259Z,1628886710.259 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:31:50.670Z,1628886710.670 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:31:51.123Z,1628886711.123 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,08C,000,0051C,186,80,80,B6,FF
2021-08-13T20:31:51.144Z,1628886711.144 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:31:51.150Z,1628886711.150 [Micromodem](INFO): Nmea in: $SNTTA,0.328241,0.328360,,,203150.83*52

2021-08-13T20:31:51.512Z,1628886711.512 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.980000 m, bearing: 33.313513 deg, deltaT: 4.606975 s, approachRate: 0.195355 m/s, LOS rate: 0.262560 deg/s, posRepo size: 4
2021-08-13T20:31:53.921Z,1628886713.921 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:31:54.293Z,1628886714.293 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:31:54.293Z,1628886714.293 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:31:54.293Z,1628886714.293 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:31:54.294Z,1628886714.294 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:31:54.701Z,1628886714.701 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
08C,000,0051C,186,80,80,B6,FF
2021-08-13T20:31:54.701Z,1628886714.701 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:31:54.701Z,1628886714.701 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:31:54.703Z,1628886714.703 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:31:55.133Z,1628886715.133 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:31:55.509Z,1628886715.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,08F,000,00B18,186,80,80,6C,FF
2021-08-13T20:31:55.510Z,1628886715.510 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:31:55.948Z,1628886715.948 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203155.28*54

2021-08-13T20:31:55.971Z,1628886715.971 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 132.900009 m, bearing: 33.299177 deg, deltaT: 4.281440 s, approachRate: 21.469416 m/s, LOS rate: -0.003349 deg/s, posRepo size: 4
2021-08-13T20:31:58.371Z,1628886718.371 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:31:58.737Z,1628886718.737 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:31:58.737Z,1628886718.737 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:31:58.737Z,1628886718.737 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:31:58.738Z,1628886718.738 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:31:59.141Z,1628886719.141 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
08F,000,00B18,186,80,80,6C,FF
2021-08-13T20:31:59.141Z,1628886719.141 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:31:59.141Z,1628886719.141 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:31:59.146Z,1628886719.146 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:31:59.559Z,1628886719.559 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:31:59.949Z,1628886719.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0B5,000,00537,186,80,80,5D,FF
2021-08-13T20:31:59.949Z,1628886719.949 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:32:00.393Z,1628886720.393 [Micromodem](INFO): Nmea in: $SNTTA,0.052505,,,,203159.72*4E

2021-08-13T20:32:00.469Z,1628886720.469 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.599998 m, bearing: 32.267357 deg, deltaT: 4.443298 s, approachRate: -20.322744 m/s, LOS rate: -0.232219 deg/s, posRepo size: 4
2021-08-13T20:32:02.794Z,1628886722.794 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:32:03.204Z,1628886723.204 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:32:03.204Z,1628886723.204 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:32:03.204Z,1628886723.204 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:32:03.205Z,1628886723.205 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:32:03.585Z,1628886723.585 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0B5,000,00537,186,80,80,5D,FF
2021-08-13T20:32:03.585Z,1628886723.585 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:32:03.585Z,1628886723.585 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:32:03.587Z,1628886723.587 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:32:03.990Z,1628886723.990 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:32:04.398Z,1628886724.398 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,095,000,00540,185,80,80,96,FF
2021-08-13T20:32:04.398Z,1628886724.398 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:32:04.826Z,1628886724.826 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203204.16*5E

2021-08-13T20:32:04.873Z,1628886724.873 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.139999 m, bearing: 33.674462 deg, deltaT: 4.429981 s, approachRate: 0.121897 m/s, LOS rate: 0.317632 deg/s, posRepo size: 4
2021-08-13T20:32:07.299Z,1628886727.299 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:32:07.630Z,1628886727.630 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:32:07.631Z,1628886727.631 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:32:07.631Z,1628886727.631 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:32:07.632Z,1628886727.632 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:32:08.029Z,1628886728.029 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
095,000,00540,185,80,80,96,FF
2021-08-13T20:32:08.029Z,1628886728.029 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:32:08.029Z,1628886728.029 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:32:08.031Z,1628886728.031 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:32:08.445Z,1628886728.445 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:32:08.838Z,1628886728.838 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,081,000,00546,187,80,80,B6,FF
2021-08-13T20:32:08.838Z,1628886728.838 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:32:09.270Z,1628886729.270 [Micromodem](INFO): Nmea in: $SNTTA,0.065955,0.442428,,,203208.60*55

2021-08-13T20:32:09.315Z,1628886729.315 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.500000 m, bearing: 34.936903 deg, deltaT: 4.470248 s, approachRate: 0.080533 m/s, LOS rate: 0.282410 deg/s, posRepo size: 4
2021-08-13T20:32:11.691Z,1628886731.691 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:32:12.069Z,1628886732.069 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:32:12.069Z,1628886732.069 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:32:12.069Z,1628886732.069 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:32:12.070Z,1628886732.070 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:32:12.473Z,1628886732.473 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
081,000,00546,187,80,80,B6,FF
2021-08-13T20:32:12.473Z,1628886732.473 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:32:12.473Z,1628886732.473 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:32:12.475Z,1628886732.475 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:32:12.893Z,1628886732.893 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:32:13.298Z,1628886733.298 [Micromodem](INFO): Nmea in: $SNTTA,0.179983,0.180108,,,203213.05*57

2021-08-13T20:32:14.529Z,1628886734.529 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:32:16.117Z,1628886736.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,187,80,80,B6,FF
2021-08-13T20:32:16.117Z,1628886736.117 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,187,80,80,B6,FF
2021-08-13T20:32:16.118Z,1628886736.118 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T20:32:17.393Z,1628886737.393 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:32:17.725Z,1628886737.725 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:32:17.725Z,1628886737.725 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:32:17.725Z,1628886737.725 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:32:17.726Z,1628886737.726 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:32:18.129Z,1628886738.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,187,80,80,B6,FF
2021-08-13T20:32:18.129Z,1628886738.129 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:32:18.129Z,1628886738.129 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:32:18.131Z,1628886738.131 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:32:18.548Z,1628886738.548 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:32:18.945Z,1628886738.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,07A,000,00564,186,80,80,A0,FF
2021-08-13T20:32:18.946Z,1628886738.946 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:32:19.371Z,1628886739.371 [Micromodem](INFO): Nmea in: $SNTTA,0.051173,,,,203218.71*4D

2021-08-13T20:32:19.443Z,1628886739.443 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.299999 m, bearing: 35.803274 deg, deltaT: 10.067439 s, approachRate: 0.178794 m/s, LOS rate: 0.086057 deg/s, posRepo size: 4
2021-08-13T20:32:21.786Z,1628886741.786 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:32:22.188Z,1628886742.188 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:32:22.188Z,1628886742.188 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:32:22.189Z,1628886742.189 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:32:22.190Z,1628886742.190 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:32:22.573Z,1628886742.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
07A,000,00564,186,80,80,A0,FF
2021-08-13T20:32:22.573Z,1628886742.573 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:32:22.574Z,1628886742.574 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:32:22.575Z,1628886742.575 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:32:22.980Z,1628886742.980 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:32:23.382Z,1628886743.382 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,07D,000,00570,186,80,80,8F,FF
2021-08-13T20:32:23.382Z,1628886743.382 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:32:23.401Z,1628886743.401 [Micromodem](INFO): Nmea in: $SNTTA,0.044280,0.128018,,,203223.15*50

2021-08-13T20:32:23.830Z,1628886743.830 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.019997 m, bearing: 36.371099 deg, deltaT: 4.528740 s, approachRate: 0.158984 m/s, LOS rate: 0.125382 deg/s, posRepo size: 4
2021-08-13T20:32:26.278Z,1628886746.278 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:32:26.625Z,1628886746.625 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:32:26.625Z,1628886746.625 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:32:26.625Z,1628886746.625 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:32:26.626Z,1628886746.626 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:32:27.029Z,1628886747.029 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
07D,000,00570,186,80,80,8F,FF
2021-08-13T20:32:27.029Z,1628886747.029 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:32:27.030Z,1628886747.030 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:32:27.051Z,1628886747.051 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:32:27.443Z,1628886747.443 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:32:27.834Z,1628886747.834 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,071,000,0057B,186,80,80,A2,FF
2021-08-13T20:32:27.834Z,1628886747.834 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:32:28.275Z,1628886748.275 [Micromodem](INFO): Nmea in: $SNTTA,0.075274,,,,203227.62*41

2021-08-13T20:32:28.301Z,1628886748.301 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.680000 m, bearing: 36.880648 deg, deltaT: 4.392611 s, approachRate: 0.150253 m/s, LOS rate: 0.116001 deg/s, posRepo size: 4
2021-08-13T20:32:30.694Z,1628886750.694 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:32:31.100Z,1628886751.100 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:32:31.101Z,1628886751.101 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:32:31.101Z,1628886751.101 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:32:31.102Z,1628886751.102 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:32:31.469Z,1628886751.469 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
071,000,0057B,186,80,80,A2,FF
2021-08-13T20:32:31.470Z,1628886751.470 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:32:31.470Z,1628886751.470 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:32:31.471Z,1628886751.471 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:32:31.876Z,1628886751.876 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:32:32.281Z,1628886752.281 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,077,000,00586,186,80,80,A0,FF
2021-08-13T20:32:32.281Z,1628886752.281 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:32:32.697Z,1628886752.697 [Micromodem](INFO): Nmea in: $SNTTA,0.050471,,,,203232.04*41

2021-08-13T20:32:32.740Z,1628886752.740 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.339996 m, bearing: 36.741736 deg, deltaT: 4.448737 s, approachRate: 0.148356 m/s, LOS rate: -0.031225 deg/s, posRepo size: 4
2021-08-13T20:32:35.160Z,1628886755.160 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:32:35.505Z,1628886755.505 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:32:35.505Z,1628886755.505 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:32:35.505Z,1628886755.505 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:32:35.506Z,1628886755.506 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:32:35.914Z,1628886755.914 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
077,000,00586,186,80,80,A0,FF
2021-08-13T20:32:35.914Z,1628886755.914 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:32:35.914Z,1628886755.914 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:32:35.916Z,1628886755.916 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:32:36.317Z,1628886756.317 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:32:37.127Z,1628886757.127 [Micromodem](INFO): Nmea in: $SNTTA,0.457849,0.457555,,,203236.49*55

2021-08-13T20:32:37.937Z,1628886757.937 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,063,000,037F2,187,80,80,BA,FF
2021-08-13T20:32:37.937Z,1628886757.937 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:32:38.365Z,1628886758.365 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 821.820068 m, bearing: 38.500028 deg, deltaT: 5.641972 s, approachRate: 137.271164 m/s, LOS rate: 0.311645 deg/s, posRepo size: 4
2021-08-13T20:32:40.787Z,1628886760.787 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:32:41.168Z,1628886761.168 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:32:41.169Z,1628886761.169 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:32:41.170Z,1628886761.170 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:32:41.171Z,1628886761.171 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:32:41.567Z,1628886761.567 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
063,000,037F2,187,80,80,BA,FF
2021-08-13T20:32:41.567Z,1628886761.567 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:32:41.567Z,1628886761.567 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:32:41.569Z,1628886761.569 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:32:41.979Z,1628886761.979 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:32:42.365Z,1628886762.365 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,060,000,005A6,185,80,80,8A,FF
2021-08-13T20:32:42.366Z,1628886762.366 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:32:42.801Z,1628886762.801 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203242.14*5E

2021-08-13T20:32:42.849Z,1628886762.849 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.259998 m, bearing: 39.180533 deg, deltaT: 4.418148 s, approachRate: -174.860611 m/s, LOS rate: 0.154025 deg/s, posRepo size: 4
2021-08-13T20:32:45.298Z,1628886765.298 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:32:45.601Z,1628886765.601 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:32:45.601Z,1628886765.601 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:32:45.601Z,1628886765.601 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:32:45.602Z,1628886765.602 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:32:46.014Z,1628886766.014 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
060,000,005A6,185,80,80,8A,FF
2021-08-13T20:32:46.014Z,1628886766.014 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:32:46.014Z,1628886766.014 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:32:46.017Z,1628886766.017 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:32:46.428Z,1628886766.428 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:32:47.243Z,1628886767.243 [Micromodem](INFO): Nmea in: $SNTTA,0.409376,0.449935,,,203246.59*5A

2021-08-13T20:32:47.318Z,1628886767.318 [RDI_PathfinderUp](ERROR): only read 1 of 4 data items
2021-08-13T20:32:48.062Z,1628886768.062 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:32:49.641Z,1628886769.641 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,185,80,80,8A,FF
2021-08-13T20:32:49.641Z,1628886769.641 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,185,80,80,8A,FF
2021-08-13T20:32:49.641Z,1628886769.641 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T20:32:50.888Z,1628886770.888 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:32:51.257Z,1628886771.257 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:32:51.257Z,1628886771.257 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:32:51.257Z,1628886771.257 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:32:51.258Z,1628886771.258 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:32:51.293Z,1628886771.293 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,185,80,80,8A,FF
2021-08-13T20:32:51.293Z,1628886771.293 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:32:51.293Z,1628886771.293 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:32:51.294Z,1628886771.294 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:32:51.682Z,1628886771.682 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:32:52.069Z,1628886772.069 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,067,000,005BD,187,80,80,AD,FF
2021-08-13T20:32:52.069Z,1628886772.069 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:32:52.487Z,1628886772.487 [Micromodem](INFO): Nmea in: $SNTTA,0.283522,,,,203251.87*44

2021-08-13T20:32:52.567Z,1628886772.567 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 50.639996 m, bearing: 39.209462 deg, deltaT: 9.693898 s, approachRate: 0.142357 m/s, LOS rate: 0.002984 deg/s, posRepo size: 4
2021-08-13T20:32:54.952Z,1628886774.952 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:32:55.297Z,1628886775.297 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:32:55.297Z,1628886775.297 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:32:55.297Z,1628886775.297 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:32:55.298Z,1628886775.298 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:32:55.701Z,1628886775.701 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
067,000,005BD,187,80,80,AD,FF
2021-08-13T20:32:55.701Z,1628886775.701 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:32:55.701Z,1628886775.701 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:32:55.703Z,1628886775.703 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:32:56.109Z,1628886776.109 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:32:56.513Z,1628886776.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,077,000,005CF,186,80,80,84,FF
2021-08-13T20:32:56.513Z,1628886776.513 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:32:56.958Z,1628886776.958 [Micromodem](INFO): Nmea in: $SNTTA,0.045551,,,,203256.28*4A

2021-08-13T20:32:56.979Z,1628886776.979 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.719997 m, bearing: 38.868438 deg, deltaT: 4.492926 s, approachRate: 0.240378 m/s, LOS rate: -0.075903 deg/s, posRepo size: 4
2021-08-13T20:32:59.420Z,1628886779.420 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:32:59.751Z,1628886779.751 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:32:59.751Z,1628886779.751 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:32:59.753Z,1628886779.753 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:32:59.754Z,1628886779.754 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:33:00.154Z,1628886780.154 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
077,000,005CF,186,80,80,84,FF
2021-08-13T20:33:00.154Z,1628886780.154 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:33:00.154Z,1628886780.154 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:33:00.156Z,1628886780.156 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:33:00.558Z,1628886780.558 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:33:00.954Z,1628886780.954 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,06D,000,005D9,186,80,80,64,FF
2021-08-13T20:33:00.955Z,1628886780.955 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:33:01.381Z,1628886781.381 [Micromodem](INFO): Nmea in: $SNTTA,0.379621,0.379659,,,203300.73*57

2021-08-13T20:33:01.451Z,1628886781.451 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.319996 m, bearing: 40.087350 deg, deltaT: 4.392435 s, approachRate: 0.136598 m/s, LOS rate: 0.277503 deg/s, posRepo size: 4
2021-08-13T20:33:03.802Z,1628886783.802 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:33:04.209Z,1628886784.209 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:33:04.209Z,1628886784.209 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:33:04.209Z,1628886784.209 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:33:04.210Z,1628886784.210 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:33:04.586Z,1628886784.586 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
06D,000,005D9,186,80,80,64,FF
2021-08-13T20:33:04.586Z,1628886784.586 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:33:04.587Z,1628886784.587 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:33:04.589Z,1628886784.589 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:33:05.034Z,1628886785.034 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:33:05.409Z,1628886785.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,08B,000,005E5,186,80,80,7C,FF
2021-08-13T20:33:05.410Z,1628886785.410 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:33:05.843Z,1628886785.843 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.040001 m, bearing: 39.978747 deg, deltaT: 4.560152 s, approachRate: 0.157891 m/s, LOS rate: -0.023816 deg/s, posRepo size: 4
2021-08-13T20:33:08.297Z,1628886788.297 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:33:08.641Z,1628886788.641 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:33:08.641Z,1628886788.641 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:33:08.641Z,1628886788.641 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:33:08.642Z,1628886788.642 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:33:09.041Z,1628886789.041 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
08B,000,005E5,186,80,80,7C,FF
2021-08-13T20:33:09.041Z,1628886789.041 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:33:09.042Z,1628886789.042 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:33:09.047Z,1628886789.047 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:33:09.445Z,1628886789.445 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:33:09.842Z,1628886789.842 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0B1,000,005EF,186,80,80,B6,FF
2021-08-13T20:33:09.842Z,1628886789.842 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:33:10.287Z,1628886790.287 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203309.62*51

2021-08-13T20:33:10.313Z,1628886790.313 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.639999 m, bearing: 39.101901 deg, deltaT: 4.358258 s, approachRate: 0.137669 m/s, LOS rate: -0.201192 deg/s, posRepo size: 4
2021-08-13T20:33:12.702Z,1628886792.702 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:33:13.098Z,1628886793.098 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:33:13.098Z,1628886793.098 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:33:13.099Z,1628886793.099 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:33:13.099Z,1628886793.099 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:33:13.121Z,1628886793.121 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0B1,000,005EF,186,80,80,B6,FF
2021-08-13T20:33:13.122Z,1628886793.122 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:33:13.122Z,1628886793.122 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:33:13.124Z,1628886793.124 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:33:13.480Z,1628886793.480 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:33:13.885Z,1628886793.885 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0BB,000,005FB,186,80,80,BF,FF
2021-08-13T20:33:13.886Z,1628886793.886 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:33:14.307Z,1628886794.307 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203313.70*59

2021-08-13T20:33:14.349Z,1628886794.349 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 54.359993 m, bearing: 39.388577 deg, deltaT: 4.012693 s, approachRate: 0.179429 m/s, LOS rate: 0.071442 deg/s, posRepo size: 4
2021-08-13T20:33:16.722Z,1628886796.722 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:33:17.117Z,1628886797.117 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:33:17.117Z,1628886797.117 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:33:17.117Z,1628886797.117 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:33:17.118Z,1628886797.118 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:33:17.517Z,1628886797.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0BB,000,005FB,186,80,80,BF,FF
2021-08-13T20:33:17.517Z,1628886797.517 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:33:17.518Z,1628886797.518 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:33:17.519Z,1628886797.519 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:33:17.930Z,1628886797.930 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:33:18.321Z,1628886798.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0C5,000,00607,186,80,80,8E,FF
2021-08-13T20:33:18.321Z,1628886798.321 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:33:18.767Z,1628886798.767 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203318.09*5C

2021-08-13T20:33:18.787Z,1628886798.787 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 55.080002 m, bearing: 39.700130 deg, deltaT: 4.473541 s, approachRate: 0.160948 m/s, LOS rate: 0.069643 deg/s, posRepo size: 4
2021-08-13T20:33:21.238Z,1628886801.238 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:33:21.553Z,1628886801.553 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:33:21.553Z,1628886801.553 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:33:21.553Z,1628886801.553 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:33:21.554Z,1628886801.554 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:33:21.966Z,1628886801.966 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0C5,000,00607,186,80,80,8E,FF
2021-08-13T20:33:21.966Z,1628886801.966 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:33:21.966Z,1628886801.966 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:33:21.967Z,1628886801.967 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:33:22.361Z,1628886802.361 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:33:22.765Z,1628886802.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0CF,000,00613,186,80,80,78,FF
2021-08-13T20:33:22.766Z,1628886802.766 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:33:23.193Z,1628886803.193 [Micromodem](INFO): Nmea in: $SNTTA,0.433620,0.433689,,,203322.54*5E

2021-08-13T20:33:23.254Z,1628886803.254 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 55.799995 m, bearing: 39.864788 deg, deltaT: 4.406363 s, approachRate: 0.163399 m/s, LOS rate: 0.037368 deg/s, posRepo size: 4
2021-08-13T20:33:25.610Z,1628886805.610 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:33:26.005Z,1628886806.005 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:33:26.005Z,1628886806.005 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:33:26.005Z,1628886806.005 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:33:26.006Z,1628886806.006 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:33:26.409Z,1628886806.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0CF,000,00613,186,80,80,78,FF
2021-08-13T20:33:26.409Z,1628886806.409 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:33:26.409Z,1628886806.409 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:33:26.411Z,1628886806.411 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:33:26.819Z,1628886806.819 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:33:27.241Z,1628886807.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0E8,000,00621,186,80,80,96,FF
2021-08-13T20:33:27.242Z,1628886807.242 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:33:27.245Z,1628886807.245 [Micromodem](INFO): Nmea in: $SNTTA,0.051189,0.251486,,,203326.99*50

2021-08-13T20:33:27.659Z,1628886807.659 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 56.640007 m, bearing: 39.631428 deg, deltaT: 4.539670 s, approachRate: 0.185038 m/s, LOS rate: -0.051405 deg/s, posRepo size: 4
2021-08-13T20:33:30.064Z,1628886810.064 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:33:30.441Z,1628886810.441 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:33:30.441Z,1628886810.441 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:33:30.441Z,1628886810.441 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:33:30.442Z,1628886810.442 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:33:30.850Z,1628886810.850 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0E8,000,00621,186,80,80,96,FF
2021-08-13T20:33:30.850Z,1628886810.850 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:33:30.850Z,1628886810.850 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:33:30.853Z,1628886810.853 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:33:31.257Z,1628886811.257 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:33:31.653Z,1628886811.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0F3,000,0062B,186,80,80,9D,FF
2021-08-13T20:33:31.653Z,1628886811.653 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:33:32.087Z,1628886812.087 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 57.240005 m, bearing: 39.889179 deg, deltaT: 4.348008 s, approachRate: 0.137994 m/s, LOS rate: 0.059280 deg/s, posRepo size: 4
2021-08-13T20:33:34.534Z,1628886814.534 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:33:34.893Z,1628886814.893 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:33:34.893Z,1628886814.893 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:33:34.893Z,1628886814.893 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:33:34.894Z,1628886814.894 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:33:35.294Z,1628886815.294 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0F3,000,0062B,186,80,80,9D,FF
2021-08-13T20:33:35.294Z,1628886815.294 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:33:35.294Z,1628886815.294 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:33:35.296Z,1628886815.296 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:33:35.697Z,1628886815.697 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:33:36.109Z,1628886816.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,102,000,00638,186,80,80,9A,FF
2021-08-13T20:33:36.110Z,1628886816.110 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:33:36.549Z,1628886816.549 [Micromodem](INFO): Nmea in: $SNTTA,0.047789,,,,203335.87*4E

2021-08-13T20:33:36.591Z,1628886816.591 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.020004 m, bearing: 39.567040 deg, deltaT: 4.457673 s, approachRate: 0.174979 m/s, LOS rate: -0.072266 deg/s, posRepo size: 4
2021-08-13T20:33:38.954Z,1628886818.954 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:33:39.337Z,1628886819.337 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:33:39.337Z,1628886819.337 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:33:39.338Z,1628886819.338 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:33:39.339Z,1628886819.339 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:33:39.753Z,1628886819.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
102,000,00638,186,80,80,9A,FF
2021-08-13T20:33:39.754Z,1628886819.754 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:33:39.754Z,1628886819.754 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:33:39.756Z,1628886819.756 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:33:40.151Z,1628886820.151 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:33:40.557Z,1628886820.557 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,11C,000,00644,185,80,80,A7,FF
2021-08-13T20:33:40.557Z,1628886820.557 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:33:40.977Z,1628886820.977 [Micromodem](INFO): Nmea in: $SNTTA,0.041863,,,,203340.33*4E

2021-08-13T20:33:41.072Z,1628886821.072 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.739998 m, bearing: 38.862383 deg, deltaT: 4.488488 s, approachRate: 0.160409 m/s, LOS rate: -0.156992 deg/s, posRepo size: 4
2021-08-13T20:33:43.430Z,1628886823.430 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:33:43.781Z,1628886823.781 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:33:43.781Z,1628886823.781 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:33:43.782Z,1628886823.782 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:33:43.783Z,1628886823.783 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:33:44.194Z,1628886824.194 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
11C,000,00644,185,80,80,A7,FF
2021-08-13T20:33:44.194Z,1628886824.194 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:33:44.195Z,1628886824.195 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:33:44.203Z,1628886824.203 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:33:44.593Z,1628886824.593 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:33:44.992Z,1628886824.992 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,11B,000,0064F,186,80,80,C4,FF
2021-08-13T20:33:44.992Z,1628886824.992 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:33:45.423Z,1628886825.423 [Micromodem](INFO): Nmea in: $SNTTA,0.045480,,,,203344.77*4F

2021-08-13T20:33:45.513Z,1628886825.513 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 59.400002 m, bearing: 39.265593 deg, deltaT: 4.464952 s, approachRate: 0.147819 m/s, LOS rate: 0.090306 deg/s, posRepo size: 4
2021-08-13T20:33:47.866Z,1628886827.866 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:33:48.241Z,1628886828.241 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:33:48.241Z,1628886828.241 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:33:48.241Z,1628886828.241 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:33:48.242Z,1628886828.242 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:33:48.630Z,1628886828.630 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
11B,000,0064F,186,80,80,C4,FF
2021-08-13T20:33:48.630Z,1628886828.630 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:33:48.631Z,1628886828.631 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:33:48.633Z,1628886828.633 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:33:49.069Z,1628886829.069 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:33:50.658Z,1628886830.658 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:33:52.261Z,1628886832.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
F,186,80,80,C4,FF
2021-08-13T20:33:52.261Z,1628886832.261 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
F,186,80,80,C4,FF
2021-08-13T20:33:52.261Z,1628886832.261 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T20:33:53.522Z,1628886833.522 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:33:53.877Z,1628886833.877 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:33:53.877Z,1628886833.877 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:33:53.877Z,1628886833.877 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:33:53.878Z,1628886833.878 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:33:54.277Z,1628886834.277 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
F,186,80,80,C4,FF
2021-08-13T20:33:54.277Z,1628886834.277 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:33:54.278Z,1628886834.278 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:33:54.281Z,1628886834.281 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:33:54.685Z,1628886834.685 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:33:55.109Z,1628886835.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0F3,000,0066C,185,80,80,A8,FF
2021-08-13T20:33:55.110Z,1628886835.110 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:33:55.136Z,1628886835.136 [Micromodem](INFO): Nmea in: $SNTTA,0.051554,0.274736,,,203354.86*50

2021-08-13T20:33:55.547Z,1628886835.547 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 61.140003 m, bearing: 40.785132 deg, deltaT: 10.181694 s, approachRate: 0.170895 m/s, LOS rate: 0.149242 deg/s, posRepo size: 4
2021-08-13T20:33:57.949Z,1628886837.949 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:33:58.317Z,1628886838.317 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:33:58.317Z,1628886838.317 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:33:58.317Z,1628886838.317 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:33:58.318Z,1628886838.318 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:33:58.721Z,1628886838.721 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0F3,000,0066C,185,80,80,A8,FF
2021-08-13T20:33:58.721Z,1628886838.721 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:33:58.722Z,1628886838.722 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:33:58.723Z,1628886838.723 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:33:59.125Z,1628886839.125 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:33:59.525Z,1628886839.525 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0E1,000,00677,186,80,80,A4,FF
2021-08-13T20:33:59.526Z,1628886839.526 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:33:59.974Z,1628886839.974 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203359.29*5B

2021-08-13T20:34:00.002Z,1628886840.002 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 61.800007 m, bearing: 40.556174 deg, deltaT: 4.304353 s, approachRate: 0.153334 m/s, LOS rate: -0.053192 deg/s, posRepo size: 4
2021-08-13T20:34:02.392Z,1628886842.392 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:34:02.754Z,1628886842.754 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:34:02.754Z,1628886842.754 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:34:02.755Z,1628886842.755 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:34:02.755Z,1628886842.755 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:34:03.180Z,1628886843.180 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0E1,000,00677,186,80,80,A4,FF
2021-08-13T20:34:03.180Z,1628886843.180 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:34:03.181Z,1628886843.181 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:34:03.186Z,1628886843.186 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:34:03.588Z,1628886843.588 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:34:03.977Z,1628886843.977 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0C5,000,00684,186,80,80,B0,FF
2021-08-13T20:34:03.977Z,1628886843.977 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:34:04.389Z,1628886844.389 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203403.76*59

2021-08-13T20:34:04.435Z,1628886844.435 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 62.580006 m, bearing: 41.200866 deg, deltaT: 4.456282 s, approachRate: 0.175034 m/s, LOS rate: 0.144670 deg/s, posRepo size: 4
2021-08-13T20:34:06.829Z,1628886846.829 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:34:07.233Z,1628886847.233 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:34:07.233Z,1628886847.233 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:34:07.233Z,1628886847.233 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:34:07.234Z,1628886847.234 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:34:07.606Z,1628886847.606 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0C5,000,00684,186,80,80,B0,FF
2021-08-13T20:34:07.607Z,1628886847.607 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:34:07.607Z,1628886847.607 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:34:07.609Z,1628886847.609 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:34:08.016Z,1628886848.016 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:34:08.426Z,1628886848.426 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A7,000,00693,186,80,80,99,FF
2021-08-13T20:34:08.426Z,1628886848.426 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:34:08.861Z,1628886848.861 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203408.18*5A

2021-08-13T20:34:08.883Z,1628886848.883 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 63.479996 m, bearing: 42.154777 deg, deltaT: 4.429010 s, approachRate: 0.203203 m/s, LOS rate: 0.215378 deg/s, posRepo size: 4
2021-08-13T20:34:11.315Z,1628886851.315 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:34:11.657Z,1628886851.657 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:34:11.657Z,1628886851.657 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:34:11.657Z,1628886851.657 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:34:11.658Z,1628886851.658 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:34:12.053Z,1628886852.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0A7,000,00693,186,80,80,99,FF
2021-08-13T20:34:12.053Z,1628886852.053 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:34:12.053Z,1628886852.053 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:34:12.055Z,1628886852.055 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:34:12.469Z,1628886852.469 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:34:12.866Z,1628886852.866 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0AA,000,0069B,186,80,80,9A,FF
2021-08-13T20:34:12.867Z,1628886852.867 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:34:13.301Z,1628886853.301 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203412.63*5D

2021-08-13T20:34:13.357Z,1628886853.357 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 63.959999 m, bearing: 41.699025 deg, deltaT: 4.462809 s, approachRate: 0.107556 m/s, LOS rate: -0.102122 deg/s, posRepo size: 4
2021-08-13T20:34:15.699Z,1628886855.699 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:34:16.101Z,1628886856.101 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:34:16.101Z,1628886856.101 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:34:16.101Z,1628886856.101 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:34:16.102Z,1628886856.102 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:34:16.506Z,1628886856.506 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0AA,000,0069B,186,80,80,9A,FF
2021-08-13T20:34:16.506Z,1628886856.506 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:34:16.506Z,1628886856.506 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:34:16.508Z,1628886856.508 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:34:16.915Z,1628886856.915 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:34:16.929Z,1628886856.929 [Micromodem](INFO): Nmea in: 0*29

2021-08-13T20:34:16.930Z,1628886856.930 [Micromodem](ERROR): Response from modem failed NMEA checksum: 0*29
 expected 0
2021-08-13T20:34:17.309Z,1628886857.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,093,000,006A6,186,80,80,82,FF
2021-08-13T20:34:17.309Z,1628886857.309 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:34:17.743Z,1628886857.743 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 64.620003 m, bearing: 42.439913 deg, deltaT: 4.488130 s, approachRate: 0.147055 m/s, LOS rate: 0.165077 deg/s, posRepo size: 4
2021-08-13T20:34:20.158Z,1628886860.158 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:34:20.557Z,1628886860.557 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:34:20.557Z,1628886860.557 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:34:20.557Z,1628886860.557 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:34:20.558Z,1628886860.558 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:34:20.945Z,1628886860.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
093,000,006A6,186,80,80,82,FF
2021-08-13T20:34:20.945Z,1628886860.945 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:34:20.945Z,1628886860.945 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:34:20.947Z,1628886860.947 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:34:21.353Z,1628886861.353 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:34:22.203Z,1628886862.203 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203421.52*5F

2021-08-13T20:34:22.984Z,1628886862.984 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:34:24.581Z,1628886864.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,186,80,80,82,FF
2021-08-13T20:34:24.581Z,1628886864.581 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,186,80,80,82,FF
2021-08-13T20:34:24.581Z,1628886864.581 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T20:34:25.810Z,1628886865.810 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:34:26.208Z,1628886866.208 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:34:26.208Z,1628886866.208 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:34:26.208Z,1628886866.208 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:34:26.209Z,1628886866.209 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:34:26.597Z,1628886866.597 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,186,80,80,82,FF
2021-08-13T20:34:26.597Z,1628886866.597 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:34:26.597Z,1628886866.597 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:34:26.599Z,1628886866.599 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:34:27.014Z,1628886867.014 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:34:27.405Z,1628886867.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,074,000,006C0,186,80,80,B9,FF
2021-08-13T20:34:27.405Z,1628886867.405 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:34:27.409Z,1628886867.409 [Micromodem](INFO): Nmea in: $SNTTA,0.067737,0.157972,,,203427.17*55

2021-08-13T20:34:27.867Z,1628886867.867 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 66.180000 m, bearing: 43.597422 deg, deltaT: 10.086832 s, approachRate: 0.154657 m/s, LOS rate: 0.114754 deg/s, posRepo size: 4
2021-08-13T20:34:30.280Z,1628886870.280 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:34:30.637Z,1628886870.637 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:34:30.637Z,1628886870.637 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:34:30.637Z,1628886870.637 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:34:30.638Z,1628886870.638 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:34:31.081Z,1628886871.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
074,000,006C0,186,80,80,B9,FF
2021-08-13T20:34:31.081Z,1628886871.081 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:34:31.081Z,1628886871.081 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:34:31.083Z,1628886871.083 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:34:31.444Z,1628886871.444 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:34:31.850Z,1628886871.850 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,063,000,006CC,187,80,80,A9,FF
2021-08-13T20:34:31.850Z,1628886871.850 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:34:32.282Z,1628886872.282 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203431.65*5A

2021-08-13T20:34:32.320Z,1628886872.320 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 66.900002 m, bearing: 44.208601 deg, deltaT: 4.379817 s, approachRate: 0.164391 m/s, LOS rate: 0.139544 deg/s, posRepo size: 4
2021-08-13T20:34:34.719Z,1628886874.719 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:34:35.105Z,1628886875.105 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:34:35.105Z,1628886875.105 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:34:35.105Z,1628886875.105 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:34:35.106Z,1628886875.106 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:34:35.481Z,1628886875.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
063,000,006CC,187,80,80,A9,FF
2021-08-13T20:34:35.481Z,1628886875.481 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:34:35.482Z,1628886875.482 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:34:35.483Z,1628886875.483 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:34:35.901Z,1628886875.901 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:34:36.301Z,1628886876.301 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,05D,000,006DE,186,80,80,B3,FF
2021-08-13T20:34:36.302Z,1628886876.302 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:34:36.837Z,1628886876.837 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203436.06*58

2021-08-13T20:34:36.889Z,1628886876.889 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 67.980003 m, bearing: 44.107845 deg, deltaT: 4.727424 s, approachRate: 0.228455 m/s, LOS rate: -0.021313 deg/s, posRepo size: 4
2021-08-13T20:34:39.327Z,1628886879.327 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:34:39.637Z,1628886879.637 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:34:39.637Z,1628886879.637 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:34:39.637Z,1628886879.637 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:34:39.638Z,1628886879.638 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:34:40.046Z,1628886880.046 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
05D,000,006DE,186,80,80,B3,FF
2021-08-13T20:34:40.046Z,1628886880.046 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:34:40.046Z,1628886880.046 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:34:40.048Z,1628886880.048 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:34:40.448Z,1628886880.448 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:34:40.848Z,1628886880.848 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,04E,000,006E9,184,80,80,AA,FF
2021-08-13T20:34:40.849Z,1628886880.849 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:34:41.269Z,1628886881.269 [Micromodem](INFO): Nmea in: $SNTTA,0.061660,0.430651,,,203440.62*59

2021-08-13T20:34:41.336Z,1628886881.336 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 68.639999 m, bearing: 44.708287 deg, deltaT: 4.271055 s, approachRate: 0.154528 m/s, LOS rate: 0.140584 deg/s, posRepo size: 4
2021-08-13T20:34:43.718Z,1628886883.718 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:34:44.081Z,1628886884.081 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:34:44.081Z,1628886884.081 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:34:44.081Z,1628886884.081 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:34:44.082Z,1628886884.082 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:34:44.486Z,1628886884.486 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
04E,000,006E9,184,80,80,AA,FF
2021-08-13T20:34:44.486Z,1628886884.486 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:34:44.486Z,1628886884.486 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:34:44.488Z,1628886884.488 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:34:44.897Z,1628886884.897 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:34:45.293Z,1628886885.293 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,047,000,006F1,184,80,80,C3,FF
2021-08-13T20:34:45.294Z,1628886885.294 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:34:45.742Z,1628886885.742 [Micromodem](INFO): Nmea in: $SNTTA,0.058848,,,,203445.06*4B

2021-08-13T20:34:45.761Z,1628886885.761 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 69.120003 m, bearing: 45.163349 deg, deltaT: 4.504059 s, approachRate: 0.106571 m/s, LOS rate: 0.101034 deg/s, posRepo size: 4
2021-08-13T20:34:48.138Z,1628886888.138 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:34:48.525Z,1628886888.525 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:34:48.525Z,1628886888.525 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:34:48.525Z,1628886888.525 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:34:48.526Z,1628886888.526 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:34:48.935Z,1628886888.935 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
047,000,006F1,184,80,80,C3,FF
2021-08-13T20:34:48.935Z,1628886888.935 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:34:48.935Z,1628886888.935 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:34:48.937Z,1628886888.937 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:34:49.341Z,1628886889.341 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:34:49.737Z,1628886889.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,039,000,00701,184,80,80,B8,FF
2021-08-13T20:34:49.737Z,1628886889.737 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:34:50.184Z,1628886890.184 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203449.51*52

2021-08-13T20:34:50.237Z,1628886890.237 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 70.079994 m, bearing: 46.304656 deg, deltaT: 4.426139 s, approachRate: 0.216891 m/s, LOS rate: 0.257856 deg/s, posRepo size: 4
2021-08-13T20:34:52.582Z,1628886892.582 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:34:52.977Z,1628886892.977 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:34:52.977Z,1628886892.977 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:34:52.978Z,1628886892.978 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:34:52.978Z,1628886892.978 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:34:53.373Z,1628886893.373 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
039,000,00701,184,80,80,B8,FF
2021-08-13T20:34:53.373Z,1628886893.373 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:34:53.373Z,1628886893.373 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:34:53.375Z,1628886893.375 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:34:53.788Z,1628886893.788 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:34:54.196Z,1628886894.196 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,062,000,0070C,186,80,80,A8,FF
2021-08-13T20:34:54.197Z,1628886894.197 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:34:54.625Z,1628886894.625 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203453.95*51

2021-08-13T20:34:54.647Z,1628886894.647 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 70.739998 m, bearing: 44.672979 deg, deltaT: 4.463776 s, approachRate: 0.147858 m/s, LOS rate: -0.365538 deg/s, posRepo size: 4
2021-08-13T20:34:57.091Z,1628886897.091 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:34:57.417Z,1628886897.417 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:34:57.417Z,1628886897.417 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:34:57.417Z,1628886897.417 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:34:57.418Z,1628886897.418 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:34:57.814Z,1628886897.814 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
062,000,0070C,186,80,80,A8,FF
2021-08-13T20:34:57.815Z,1628886897.815 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:34:57.815Z,1628886897.815 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:34:57.817Z,1628886897.817 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:34:58.244Z,1628886898.244 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:34:58.629Z,1628886898.629 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,046,000,0071A,184,80,80,9E,FF
2021-08-13T20:34:58.629Z,1628886898.629 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:34:59.093Z,1628886899.093 [Micromodem](INFO): Nmea in: $SNTTA,0.047451,,,,203458.39*41

2021-08-13T20:34:59.139Z,1628886899.139 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 71.580002 m, bearing: 46.145127 deg, deltaT: 4.431360 s, approachRate: 0.189559 m/s, LOS rate: 0.332211 deg/s, posRepo size: 4
2021-08-13T20:35:01.485Z,1628886901.485 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:35:01.868Z,1628886901.868 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:35:01.868Z,1628886901.868 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:35:01.869Z,1628886901.869 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:35:01.870Z,1628886901.870 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:35:02.261Z,1628886902.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
046,000,0071A,184,80,80,9E,FF
2021-08-13T20:35:02.261Z,1628886902.261 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:35:02.261Z,1628886902.261 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:35:02.263Z,1628886902.263 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:35:02.669Z,1628886902.669 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:35:03.109Z,1628886903.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,03F,000,00725,184,80,80,91,FF
2021-08-13T20:35:03.110Z,1628886903.110 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:35:03.505Z,1628886903.505 [Micromodem](INFO): Nmea in: $SNTTA,0.326632,,,,203502.83*4D

2021-08-13T20:35:03.551Z,1628886903.551 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 72.240005 m, bearing: 46.600721 deg, deltaT: 4.492910 s, approachRate: 0.146899 m/s, LOS rate: 0.101403 deg/s, posRepo size: 4
2021-08-13T20:35:05.938Z,1628886905.938 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:35:06.309Z,1628886906.309 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:35:06.309Z,1628886906.309 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:35:06.309Z,1628886906.309 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:35:06.310Z,1628886906.310 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:35:06.709Z,1628886906.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
03F,000,00725,184,80,80,91,FF
2021-08-13T20:35:06.709Z,1628886906.709 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:35:06.709Z,1628886906.709 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:35:06.711Z,1628886906.711 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:35:07.110Z,1628886907.110 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:35:07.517Z,1628886907.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,035,000,00734,184,80,80,A6,FF
2021-08-13T20:35:07.517Z,1628886907.517 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:35:07.965Z,1628886907.965 [Micromodem](INFO): Nmea in: $SNTTA,0.048470,,,,203507.28*46

2021-08-13T20:35:08.002Z,1628886908.002 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 73.140007 m, bearing: 46.987149 deg, deltaT: 4.357011 s, approachRate: 0.206564 m/s, LOS rate: 0.088691 deg/s, posRepo size: 4
2021-08-13T20:35:10.400Z,1628886910.400 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:35:10.761Z,1628886910.761 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:35:10.761Z,1628886910.761 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:35:10.761Z,1628886910.761 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:35:10.762Z,1628886910.762 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:35:11.160Z,1628886911.160 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
035,000,00734,184,80,80,A6,FF
2021-08-13T20:35:11.160Z,1628886911.160 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:35:11.160Z,1628886911.160 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:35:11.162Z,1628886911.162 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:35:11.600Z,1628886911.600 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:35:11.969Z,1628886911.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,04F,000,0073E,184,80,80,A3,FF
2021-08-13T20:35:11.969Z,1628886911.969 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:35:12.417Z,1628886912.417 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203511.74*59

2021-08-13T20:35:12.451Z,1628886912.451 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 73.740005 m, bearing: 46.062482 deg, deltaT: 4.442243 s, approachRate: 0.135067 m/s, LOS rate: -0.208153 deg/s, posRepo size: 4
2021-08-13T20:35:14.818Z,1628886914.818 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:35:15.221Z,1628886915.221 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:35:15.221Z,1628886915.221 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:35:15.221Z,1628886915.221 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:35:15.222Z,1628886915.222 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:35:15.637Z,1628886915.637 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
04F,000,0073E,184,80,80,A3,FF
2021-08-13T20:35:15.637Z,1628886915.637 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:35:15.637Z,1628886915.637 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:35:15.639Z,1628886915.639 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:35:16.020Z,1628886916.020 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:35:16.421Z,1628886916.421 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,049,000,0074E,184,80,80,96,FF
2021-08-13T20:35:16.421Z,1628886916.421 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:35:16.842Z,1628886916.842 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203516.21*5E

2021-08-13T20:35:16.887Z,1628886916.887 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 74.700005 m, bearing: 47.055499 deg, deltaT: 4.485859 s, approachRate: 0.214006 m/s, LOS rate: 0.221366 deg/s, posRepo size: 4
2021-08-13T20:35:19.324Z,1628886919.324 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:35:19.654Z,1628886919.654 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:35:19.654Z,1628886919.654 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:35:19.654Z,1628886919.654 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:35:19.655Z,1628886919.655 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:35:20.053Z,1628886920.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
049,000,0074E,184,80,80,96,FF
2021-08-13T20:35:20.054Z,1628886920.054 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:35:20.054Z,1628886920.054 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:35:20.055Z,1628886920.055 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:35:20.467Z,1628886920.467 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:35:20.858Z,1628886920.858 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,06D,000,00757,187,80,80,99,FF
2021-08-13T20:35:20.858Z,1628886920.858 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:35:21.297Z,1628886921.297 [Micromodem](INFO): Nmea in: $SNTTA,,0.428327,,,203520.63*4B

2021-08-13T20:35:21.388Z,1628886921.388 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 75.239998 m, bearing: 45.983842 deg, deltaT: 4.403645 s, approachRate: 0.122624 m/s, LOS rate: -0.243357 deg/s, posRepo size: 4
2021-08-13T20:35:23.737Z,1628886923.737 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:35:24.093Z,1628886924.093 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:35:24.093Z,1628886924.093 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:35:24.093Z,1628886924.093 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:35:24.094Z,1628886924.094 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:35:24.503Z,1628886924.503 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
06D,000,00757,187,80,80,99,FF
2021-08-13T20:35:24.504Z,1628886924.504 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:35:24.504Z,1628886924.504 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:35:24.506Z,1628886924.506 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:35:24.905Z,1628886924.905 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:35:25.302Z,1628886925.302 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,07F,000,00763,186,80,80,A3,FF
2021-08-13T20:35:25.302Z,1628886925.302 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:35:25.741Z,1628886925.741 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203525.08*55

2021-08-13T20:35:25.778Z,1628886925.778 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 75.959999 m, bearing: 45.773028 deg, deltaT: 4.541738 s, approachRate: 0.158530 m/s, LOS rate: -0.046417 deg/s, posRepo size: 4
2021-08-13T20:35:28.150Z,1628886928.150 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:35:28.541Z,1628886928.541 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:35:28.542Z,1628886928.542 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:35:28.542Z,1628886928.542 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:35:28.543Z,1628886928.543 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:35:28.941Z,1628886928.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
07F,000,00763,186,80,80,A3,FF
2021-08-13T20:35:28.941Z,1628886928.941 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:35:28.941Z,1628886928.941 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:35:28.943Z,1628886928.943 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:35:29.353Z,1628886929.353 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:35:29.745Z,1628886929.745 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,08F,000,00770,186,80,80,B3,FF
2021-08-13T20:35:29.745Z,1628886929.745 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:35:30.203Z,1628886930.203 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203529.52*56

2021-08-13T20:35:30.255Z,1628886930.255 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 76.739998 m, bearing: 45.799325 deg, deltaT: 4.377098 s, approachRate: 0.178200 m/s, LOS rate: 0.006008 deg/s, posRepo size: 4
2021-08-13T20:35:32.614Z,1628886932.614 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:35:32.981Z,1628886932.981 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:35:32.981Z,1628886932.981 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:35:32.981Z,1628886932.981 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:35:32.982Z,1628886932.982 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:35:33.381Z,1628886933.381 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
08F,000,00770,186,80,80,B3,FF
2021-08-13T20:35:33.381Z,1628886933.381 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:35:33.381Z,1628886933.381 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:35:33.383Z,1628886933.383 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:35:33.789Z,1628886933.789 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:35:34.202Z,1628886934.202 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,09C,000,0077F,186,80,80,BC,FF
2021-08-13T20:35:34.203Z,1628886934.203 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:35:34.621Z,1628886934.621 [Micromodem](INFO): Nmea in: $SNTTA,0.156527,,,,203533.96*49

2021-08-13T20:35:34.656Z,1628886934.656 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 77.640007 m, bearing: 45.338249 deg, deltaT: 4.476273 s, approachRate: 0.201062 m/s, LOS rate: -0.103004 deg/s, posRepo size: 4
2021-08-13T20:35:37.097Z,1628886937.097 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:35:37.421Z,1628886937.421 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:35:37.421Z,1628886937.421 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:35:37.421Z,1628886937.421 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:35:37.422Z,1628886937.422 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:35:37.826Z,1628886937.826 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
09C,000,0077F,186,80,80,BC,FF
2021-08-13T20:35:37.826Z,1628886937.826 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:35:37.826Z,1628886937.826 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:35:37.829Z,1628886937.829 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:35:38.249Z,1628886938.249 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:35:38.637Z,1628886938.637 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A0,000,0078A,185,80,80,B2,FF
2021-08-13T20:35:38.637Z,1628886938.637 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:35:39.089Z,1628886939.089 [Micromodem](INFO): Nmea in: $SNTTA,0.063216,,,,203538.40*4B

2021-08-13T20:35:39.206Z,1628886939.206 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 78.300003 m, bearing: 45.206509 deg, deltaT: 4.415697 s, approachRate: 0.149466 m/s, LOS rate: -0.029835 deg/s, posRepo size: 4
2021-08-13T20:35:41.213Z,1628886941.213 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:35:41.461Z,1628886941.461 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:35:41.461Z,1628886941.461 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:35:41.461Z,1628886941.461 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:35:41.462Z,1628886941.462 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:35:41.865Z,1628886941.865 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0A0,000,0078A,185,80,80,B2,FF
2021-08-13T20:35:41.865Z,1628886941.865 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:35:41.866Z,1628886941.866 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:35:41.867Z,1628886941.867 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:35:42.272Z,1628886942.272 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:35:42.669Z,1628886942.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,096,000,00795,186,80,80,8E,FF
2021-08-13T20:35:42.670Z,1628886942.670 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:35:43.118Z,1628886943.118 [Micromodem](INFO): Nmea in: $SNTTA,0.063406,0.481568,,,203542.44*5D

2021-08-13T20:35:43.229Z,1628886943.229 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 78.959999 m, bearing: 45.644542 deg, deltaT: 4.029451 s, approachRate: 0.163793 m/s, LOS rate: 0.108708 deg/s, posRepo size: 4
2021-08-13T20:35:45.226Z,1628886945.226 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:35:45.509Z,1628886945.509 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:35:45.509Z,1628886945.509 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:35:45.509Z,1628886945.509 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:35:45.510Z,1628886945.510 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:35:45.920Z,1628886945.920 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
096,000,00795,186,80,80,8E,FF
2021-08-13T20:35:45.920Z,1628886945.920 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:35:45.921Z,1628886945.921 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:35:45.922Z,1628886945.922 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:35:46.358Z,1628886946.358 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:35:46.713Z,1628886946.713 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,094,000,007A0,186,80,80,AC,FF
2021-08-13T20:35:46.713Z,1628886946.713 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:35:47.133Z,1628886947.133 [Micromodem](INFO): Nmea in: $SNTTA,0.454511,0.454342,,,203546.50*5D

2021-08-13T20:35:47.237Z,1628886947.237 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 79.620003 m, bearing: 45.383182 deg, deltaT: 4.044241 s, approachRate: 0.163196 m/s, LOS rate: -0.064625 deg/s, posRepo size: 4
2021-08-13T20:35:49.573Z,1628886949.573 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:35:49.947Z,1628886949.947 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:35:49.947Z,1628886949.947 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:35:49.948Z,1628886949.948 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:35:49.950Z,1628886949.950 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:35:50.354Z,1628886950.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
094,000,007A0,186,80,80,AC,FF
2021-08-13T20:35:50.354Z,1628886950.354 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:35:50.354Z,1628886950.354 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:35:50.355Z,1628886950.355 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:35:50.768Z,1628886950.768 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:35:51.157Z,1628886951.157 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,07A,000,007AA,187,80,80,A8,FF
2021-08-13T20:35:51.157Z,1628886951.157 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:35:51.164Z,1628886951.164 [Micromodem](INFO): Nmea in: $SNTTA,0.058484,0.235602,,,203550.93*50

2021-08-13T20:35:51.591Z,1628886951.591 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 80.220001 m, bearing: 46.330672 deg, deltaT: 4.528601 s, approachRate: 0.132491 m/s, LOS rate: 0.209224 deg/s, posRepo size: 4
2021-08-13T20:35:54.025Z,1628886954.025 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:35:54.401Z,1628886954.401 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:35:54.401Z,1628886954.401 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:35:54.401Z,1628886954.401 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:35:54.402Z,1628886954.402 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:35:54.789Z,1628886954.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
07A,000,007AA,187,80,80,A8,FF
2021-08-13T20:35:54.789Z,1628886954.789 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:35:54.789Z,1628886954.789 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:35:54.791Z,1628886954.791 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:35:55.216Z,1628886955.216 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:35:55.633Z,1628886955.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,079,000,007B7,186,80,80,96,FF
2021-08-13T20:35:55.633Z,1628886955.633 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:35:56.050Z,1628886956.050 [Micromodem](INFO): Nmea in: $SNTTA,0.063121,,,,203555.36*46

2021-08-13T20:35:56.071Z,1628886956.071 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 81.000008 m, bearing: 45.982186 deg, deltaT: 4.361234 s, approachRate: 0.178850 m/s, LOS rate: -0.079905 deg/s, posRepo size: 4
2021-08-13T20:35:58.463Z,1628886958.463 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:35:58.834Z,1628886958.834 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:35:58.834Z,1628886958.834 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:35:58.834Z,1628886958.834 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:35:58.835Z,1628886958.835 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:35:59.245Z,1628886959.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
079,000,007B7,186,80,80,96,FF
2021-08-13T20:35:59.245Z,1628886959.245 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:35:59.245Z,1628886959.245 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:35:59.247Z,1628886959.247 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:35:59.645Z,1628886959.645 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:36:00.057Z,1628886960.057 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,068,000,007C5,186,80,80,B1,FF
2021-08-13T20:36:00.058Z,1628886960.058 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:36:00.485Z,1628886960.485 [Micromodem](INFO): Nmea in: $SNTTA,0.061650,,,,203559.82*46

2021-08-13T20:36:00.511Z,1628886960.511 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 81.839996 m, bearing: 46.484785 deg, deltaT: 4.445664 s, approachRate: 0.188946 m/s, LOS rate: 0.113054 deg/s, posRepo size: 4
2021-08-13T20:36:02.898Z,1628886962.898 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:36:03.277Z,1628886963.277 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:36:03.277Z,1628886963.277 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:36:03.277Z,1628886963.277 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:36:03.278Z,1628886963.278 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:36:03.681Z,1628886963.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
068,000,007C5,186,80,80,B1,FF
2021-08-13T20:36:03.681Z,1628886963.681 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:36:03.681Z,1628886963.681 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:36:03.683Z,1628886963.683 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:36:04.089Z,1628886964.089 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:36:04.493Z,1628886964.493 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,062,000,007CF,186,80,80,87,FF
2021-08-13T20:36:04.493Z,1628886964.493 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:36:04.925Z,1628886964.925 [Micromodem](INFO): Nmea in: $SNTTA,,0.058966,,,203604.26*43

2021-08-13T20:36:04.959Z,1628886964.959 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 82.440010 m, bearing: 46.578666 deg, deltaT: 4.470319 s, approachRate: 0.134222 m/s, LOS rate: 0.021001 deg/s, posRepo size: 4
2021-08-13T20:36:07.393Z,1628886967.393 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:36:07.726Z,1628886967.726 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:36:07.726Z,1628886967.726 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:36:07.727Z,1628886967.727 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:36:07.727Z,1628886967.727 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:36:08.129Z,1628886968.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
062,000,007CF,186,80,80,87,FF
2021-08-13T20:36:08.129Z,1628886968.129 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:36:08.129Z,1628886968.129 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:36:08.131Z,1628886968.131 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:36:08.541Z,1628886968.541 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:36:08.937Z,1628886968.937 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,05A,000,007DC,184,80,80,C3,FF
2021-08-13T20:36:08.937Z,1628886968.937 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:36:09.361Z,1628886969.361 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203608.70*56

2021-08-13T20:36:09.418Z,1628886969.418 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 83.220001 m, bearing: 46.556492 deg, deltaT: 4.425925 s, approachRate: 0.176232 m/s, LOS rate: -0.005010 deg/s, posRepo size: 4
2021-08-13T20:36:11.801Z,1628886971.801 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:36:12.176Z,1628886972.176 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:36:12.176Z,1628886972.176 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:36:12.177Z,1628886972.177 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:36:12.178Z,1628886972.178 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:36:12.575Z,1628886972.575 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
05A,000,007DC,184,80,80,C3,FF
2021-08-13T20:36:12.575Z,1628886972.575 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:36:12.575Z,1628886972.575 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:36:12.577Z,1628886972.577 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:36:12.977Z,1628886972.977 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:36:13.377Z,1628886973.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,046,000,007EA,184,80,80,AE,FF
2021-08-13T20:36:13.377Z,1628886973.377 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:36:13.809Z,1628886973.809 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203613.15*5F

2021-08-13T20:36:13.846Z,1628886973.846 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 84.060005 m, bearing: 47.847746 deg, deltaT: 4.463818 s, approachRate: 0.188181 m/s, LOS rate: 0.289271 deg/s, posRepo size: 4
2021-08-13T20:36:16.289Z,1628886976.289 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:36:16.613Z,1628886976.613 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:36:16.613Z,1628886976.613 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:36:16.613Z,1628886976.613 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:36:16.614Z,1628886976.614 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:36:17.028Z,1628886977.028 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
046,000,007EA,184,80,80,AE,FF
2021-08-13T20:36:17.029Z,1628886977.029 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:36:17.029Z,1628886977.029 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:36:17.034Z,1628886977.034 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:36:17.443Z,1628886977.443 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:36:17.826Z,1628886977.826 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,04C,000,007F5,184,80,80,AF,FF
2021-08-13T20:36:17.826Z,1628886977.826 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:36:18.293Z,1628886978.293 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 84.719994 m, bearing: 48.285746 deg, deltaT: 4.422237 s, approachRate: 0.149243 m/s, LOS rate: 0.099045 deg/s, posRepo size: 4
2021-08-13T20:36:20.689Z,1628886980.689 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:36:21.097Z,1628886981.097 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:36:21.097Z,1628886981.097 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:36:21.097Z,1628886981.097 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:36:21.098Z,1628886981.098 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:36:21.457Z,1628886981.457 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
04C,000,007F5,184,80,80,AF,FF
2021-08-13T20:36:21.457Z,1628886981.457 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:36:21.457Z,1628886981.457 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:36:21.459Z,1628886981.459 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:36:21.877Z,1628886981.877 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:36:22.269Z,1628886982.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,060,000,00804,186,80,80,9C,FF
2021-08-13T20:36:22.269Z,1628886982.269 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:36:22.707Z,1628886982.707 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203622.03*5A

2021-08-13T20:36:22.732Z,1628886982.731 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 85.620003 m, bearing: 46.952274 deg, deltaT: 4.448711 s, approachRate: 0.202308 m/s, LOS rate: -0.299743 deg/s, posRepo size: 4
2021-08-13T20:36:25.204Z,1628886985.204 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:36:25.509Z,1628886985.509 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:36:25.509Z,1628886985.509 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:36:25.509Z,1628886985.509 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:36:25.510Z,1628886985.510 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:36:25.908Z,1628886985.908 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
060,000,00804,186,80,80,9C,FF
2021-08-13T20:36:25.908Z,1628886985.908 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:36:25.908Z,1628886985.908 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:36:25.910Z,1628886985.910 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:36:26.408Z,1628886986.408 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:36:26.713Z,1628886986.713 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,063,000,0080E,186,80,80,74,FF
2021-08-13T20:36:26.713Z,1628886986.713 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:36:27.148Z,1628886987.148 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203626.48*51

2021-08-13T20:36:27.250Z,1628886987.250 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 86.220001 m, bearing: 46.918144 deg, deltaT: 4.403325 s, approachRate: 0.136260 m/s, LOS rate: -0.007751 deg/s, posRepo size: 4
2021-08-13T20:36:29.238Z,1628886989.238 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:36:29.553Z,1628886989.553 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:36:29.553Z,1628886989.553 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:36:29.553Z,1628886989.553 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:36:29.554Z,1628886989.554 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:36:29.945Z,1628886989.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
063,000,0080E,186,80,80,74,FF
2021-08-13T20:36:29.945Z,1628886989.945 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:36:29.945Z,1628886989.945 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:36:29.947Z,1628886989.947 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:36:30.358Z,1628886990.358 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:36:30.745Z,1628886990.745 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,056,000,0081B,184,80,80,AB,FF
2021-08-13T20:36:30.746Z,1628886990.746 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:36:31.209Z,1628886991.209 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203630.52*5D

2021-08-13T20:36:31.300Z,1628886991.300 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 87.000000 m, bearing: 47.465792 deg, deltaT: 4.032697 s, approachRate: 0.193419 m/s, LOS rate: 0.135802 deg/s, posRepo size: 4
2021-08-13T20:36:33.270Z,1628886993.270 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:36:33.582Z,1628886993.582 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:36:33.582Z,1628886993.582 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:36:33.582Z,1628886993.582 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:36:33.583Z,1628886993.583 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:36:33.981Z,1628886993.981 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
056,000,0081B,184,80,80,AB,FF
2021-08-13T20:36:33.981Z,1628886993.981 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:36:33.981Z,1628886993.981 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:36:33.983Z,1628886993.983 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:36:34.406Z,1628886994.406 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:36:34.789Z,1628886994.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,060,000,00828,186,80,80,94,FF
2021-08-13T20:36:34.789Z,1628886994.789 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:36:35.253Z,1628886995.253 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203634.56*5D

2021-08-13T20:36:35.307Z,1628886995.307 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 87.780006 m, bearing: 47.913685 deg, deltaT: 4.079640 s, approachRate: 0.191195 m/s, LOS rate: 0.109787 deg/s, posRepo size: 4
2021-08-13T20:36:37.655Z,1628886997.655 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:36:38.021Z,1628886998.021 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:36:38.021Z,1628886998.021 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:36:38.021Z,1628886998.021 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:36:38.022Z,1628886998.022 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:36:38.434Z,1628886998.434 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
060,000,00828,186,80,80,94,FF
2021-08-13T20:36:38.434Z,1628886998.434 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:36:38.434Z,1628886998.434 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:36:38.437Z,1628886998.437 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:36:38.835Z,1628886998.835 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:36:39.254Z,1628886999.254 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,053,000,00834,184,80,80,AF,FF
2021-08-13T20:36:39.254Z,1628886999.254 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:36:39.677Z,1628886999.677 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203639.01*52

2021-08-13T20:36:39.699Z,1628886999.699 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 88.500000 m, bearing: 48.937486 deg, deltaT: 4.496398 s, approachRate: 0.160127 m/s, LOS rate: 0.227694 deg/s, posRepo size: 4
2021-08-13T20:36:42.078Z,1628887002.078 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:36:42.473Z,1628887002.473 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:36:42.473Z,1628887002.473 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:36:42.473Z,1628887002.473 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:36:42.474Z,1628887002.474 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:36:42.877Z,1628887002.877 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
053,000,00834,184,80,80,AF,FF
2021-08-13T20:36:42.877Z,1628887002.877 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:36:42.877Z,1628887002.877 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:36:42.879Z,1628887002.879 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:36:43.297Z,1628887003.297 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:36:43.677Z,1628887003.677 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,072,000,00841,186,80,80,8E,FF
2021-08-13T20:36:43.677Z,1628887003.677 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:36:44.126Z,1628887004.126 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203643.45*5F

2021-08-13T20:36:44.160Z,1628887004.160 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 89.279999 m, bearing: 47.870634 deg, deltaT: 4.379187 s, approachRate: 0.178115 m/s, LOS rate: -0.243619 deg/s, posRepo size: 4
2021-08-13T20:36:46.550Z,1628887006.550 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:36:46.909Z,1628887006.909 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:36:46.909Z,1628887006.909 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:36:46.909Z,1628887006.909 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:36:46.910Z,1628887006.910 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:36:47.318Z,1628887007.318 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
072,000,00841,186,80,80,8E,FF
2021-08-13T20:36:47.318Z,1628887007.318 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:36:47.318Z,1628887007.318 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:36:47.320Z,1628887007.320 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:36:47.725Z,1628887007.725 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:36:48.125Z,1628887008.125 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,072,000,0084E,186,80,80,A7,FF
2021-08-13T20:36:48.125Z,1628887008.125 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:36:48.565Z,1628887008.565 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203647.89*5B

2021-08-13T20:36:48.591Z,1628887008.591 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 90.060005 m, bearing: 47.901220 deg, deltaT: 4.471950 s, approachRate: 0.174422 m/s, LOS rate: 0.006839 deg/s, posRepo size: 4
2021-08-13T20:36:50.983Z,1628887010.983 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:36:51.353Z,1628887011.353 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:36:51.354Z,1628887011.354 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:36:51.354Z,1628887011.354 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:36:51.355Z,1628887011.355 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:36:51.763Z,1628887011.763 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
072,000,0084E,186,80,80,A7,FF
2021-08-13T20:36:51.763Z,1628887011.763 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:36:51.763Z,1628887011.763 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:36:51.765Z,1628887011.765 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:36:52.170Z,1628887012.170 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:36:52.565Z,1628887012.565 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,076,000,0085B,186,80,80,A7,FF
2021-08-13T20:36:52.565Z,1628887012.565 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:36:53.004Z,1628887013.004 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203652.34*59

2021-08-13T20:36:53.113Z,1628887013.113 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 90.840004 m, bearing: 48.232313 deg, deltaT: 4.392690 s, approachRate: 0.177567 m/s, LOS rate: 0.075374 deg/s, posRepo size: 4
2021-08-13T20:36:55.087Z,1628887015.087 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:36:55.393Z,1628887015.393 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:36:55.393Z,1628887015.393 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:36:55.393Z,1628887015.393 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:36:55.394Z,1628887015.394 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:36:55.801Z,1628887015.801 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
076,000,0085B,186,80,80,A7,FF
2021-08-13T20:36:55.802Z,1628887015.802 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:36:55.802Z,1628887015.802 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:36:55.803Z,1628887015.803 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:36:56.236Z,1628887016.236 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:36:56.605Z,1628887016.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,07B,000,00866,186,80,80,CB,FF
2021-08-13T20:36:56.606Z,1628887016.606 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:36:57.051Z,1628887017.051 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203656.38*51

2021-08-13T20:36:57.142Z,1628887017.142 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 91.500008 m, bearing: 48.671044 deg, deltaT: 4.040074 s, approachRate: 0.163364 m/s, LOS rate: 0.108595 deg/s, posRepo size: 4
2021-08-13T20:36:59.480Z,1628887019.480 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:36:59.838Z,1628887019.838 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:36:59.838Z,1628887019.838 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:36:59.838Z,1628887019.838 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:36:59.838Z,1628887019.838 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:37:00.249Z,1628887020.249 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
07B,000,00866,186,80,80,CB,FF
2021-08-13T20:37:00.249Z,1628887020.249 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:37:00.250Z,1628887020.250 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:37:00.251Z,1628887020.251 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:37:00.650Z,1628887020.650 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:37:01.089Z,1628887021.089 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,08E,000,00872,186,80,80,BC,FF
2021-08-13T20:37:01.089Z,1628887021.089 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:37:01.481Z,1628887021.481 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203700.83*53

2021-08-13T20:37:01.523Z,1628887021.523 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 92.220001 m, bearing: 48.373705 deg, deltaT: 4.525566 s, approachRate: 0.159095 m/s, LOS rate: -0.065702 deg/s, posRepo size: 4
2021-08-13T20:37:03.898Z,1628887023.898 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:37:04.281Z,1628887024.281 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:37:04.281Z,1628887024.281 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:37:04.281Z,1628887024.281 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:37:04.282Z,1628887024.282 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:37:04.694Z,1628887024.694 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
08E,000,00872,186,80,80,BC,FF
2021-08-13T20:37:04.694Z,1628887024.694 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:37:04.695Z,1628887024.695 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:37:04.697Z,1628887024.697 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:37:05.121Z,1628887025.121 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:37:05.501Z,1628887025.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A5,000,00880,186,80,80,B8,FF
2021-08-13T20:37:05.501Z,1628887025.501 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:37:05.925Z,1628887025.925 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203705.27*58

2021-08-13T20:37:05.964Z,1628887025.964 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 93.060005 m, bearing: 47.836145 deg, deltaT: 4.403918 s, approachRate: 0.190740 m/s, LOS rate: -0.122064 deg/s, posRepo size: 4
2021-08-13T20:37:08.374Z,1628887028.374 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:37:08.729Z,1628887028.729 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:37:08.729Z,1628887028.729 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:37:08.729Z,1628887028.729 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:37:08.730Z,1628887028.730 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:37:09.138Z,1628887029.138 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0A5,000,00880,186,80,80,B8,FF
2021-08-13T20:37:09.138Z,1628887029.138 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:37:09.138Z,1628887029.138 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:37:09.140Z,1628887029.140 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:37:09.541Z,1628887029.541 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:37:09.945Z,1628887029.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0B0,000,0088F,186,80,80,B8,FF
2021-08-13T20:37:09.946Z,1628887029.946 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:37:10.369Z,1628887030.369 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203709.71*57

2021-08-13T20:37:10.428Z,1628887030.428 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 93.960007 m, bearing: 47.681762 deg, deltaT: 4.434000 s, approachRate: 0.202977 m/s, LOS rate: -0.034818 deg/s, posRepo size: 4
2021-08-13T20:37:12.793Z,1628887032.793 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:37:13.171Z,1628887033.171 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:37:13.172Z,1628887033.172 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:37:13.173Z,1628887033.173 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:37:13.174Z,1628887033.174 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:37:13.577Z,1628887033.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0B0,000,0088F,186,80,80,B8,FF
2021-08-13T20:37:13.577Z,1628887033.577 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:37:13.577Z,1628887033.577 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:37:13.579Z,1628887033.579 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:37:13.989Z,1628887033.989 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:37:14.385Z,1628887034.385 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0B8,000,0089A,186,80,80,B5,FF
2021-08-13T20:37:14.385Z,1628887034.385 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:37:14.826Z,1628887034.826 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203714.15*59

2021-08-13T20:37:14.870Z,1628887034.870 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 94.619995 m, bearing: 47.909553 deg, deltaT: 4.454208 s, approachRate: 0.148172 m/s, LOS rate: 0.051140 deg/s, posRepo size: 4
2021-08-13T20:37:17.312Z,1628887037.312 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:37:17.621Z,1628887037.621 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:37:17.621Z,1628887037.621 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:37:17.621Z,1628887037.621 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:37:17.622Z,1628887037.622 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:37:18.022Z,1628887038.022 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0B8,000,0089A,186,80,80,B5,FF
2021-08-13T20:37:18.023Z,1628887038.023 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:37:18.023Z,1628887038.023 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:37:18.025Z,1628887038.025 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:37:18.432Z,1628887038.432 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:37:18.826Z,1628887038.826 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0C9,000,008A5,186,80,80,B7,FF
2021-08-13T20:37:18.826Z,1628887038.826 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:37:19.265Z,1628887039.265 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203718.60*57

2021-08-13T20:37:19.325Z,1628887039.325 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 95.279999 m, bearing: 48.131199 deg, deltaT: 4.411434 s, approachRate: 0.149612 m/s, LOS rate: 0.050244 deg/s, posRepo size: 4
2021-08-13T20:37:21.385Z,1628887041.385 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:37:21.649Z,1628887041.649 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:37:21.649Z,1628887041.649 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:37:21.649Z,1628887041.649 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:37:21.650Z,1628887041.650 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:37:22.053Z,1628887042.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0C9,000,008A5,186,80,80,B7,FF
2021-08-13T20:37:22.053Z,1628887042.053 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:37:22.053Z,1628887042.053 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:37:22.055Z,1628887042.055 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:37:22.464Z,1628887042.464 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:37:22.865Z,1628887042.865 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0DE,000,008B0,186,80,80,A8,FF
2021-08-13T20:37:22.866Z,1628887042.866 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:37:23.309Z,1628887043.309 [Micromodem](INFO): Nmea in: $SNTTA,0.070890,,,,203722.63*45

2021-08-13T20:37:23.460Z,1628887043.460 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 95.940002 m, bearing: 47.782525 deg, deltaT: 4.091855 s, approachRate: 0.161297 m/s, LOS rate: -0.085212 deg/s, posRepo size: 4
2021-08-13T20:37:25.743Z,1628887045.743 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:37:26.093Z,1628887046.093 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:37:26.093Z,1628887046.093 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:37:26.093Z,1628887046.093 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:37:26.094Z,1628887046.094 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:37:26.503Z,1628887046.503 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0DE,000,008B0,186,80,80,A8,FF
2021-08-13T20:37:26.503Z,1628887046.503 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:37:26.503Z,1628887046.503 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:37:26.506Z,1628887046.506 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:37:26.905Z,1628887046.905 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:37:27.313Z,1628887047.313 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0F8,000,008BB,186,80,80,A7,FF
2021-08-13T20:37:27.314Z,1628887047.314 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:37:27.753Z,1628887047.753 [Micromodem](INFO): Nmea in: $SNTTA,0.072751,,,,203727.08*4D

2021-08-13T20:37:27.801Z,1628887047.801 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 96.600006 m, bearing: 47.499430 deg, deltaT: 4.504757 s, approachRate: 0.146513 m/s, LOS rate: -0.062843 deg/s, posRepo size: 4
2021-08-13T20:37:30.207Z,1628887050.207 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:37:30.556Z,1628887050.556 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:37:30.557Z,1628887050.557 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:37:30.557Z,1628887050.557 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:37:30.558Z,1628887050.558 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:37:30.949Z,1628887050.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0F8,000,008BB,186,80,80,A7,FF
2021-08-13T20:37:30.949Z,1628887050.949 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:37:30.949Z,1628887050.949 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:37:30.951Z,1628887050.951 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:37:31.372Z,1628887051.372 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:37:31.753Z,1628887051.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,10C,000,008C7,185,80,80,A3,FF
2021-08-13T20:37:31.753Z,1628887051.753 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:37:32.205Z,1628887052.205 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203731.53*5C

2021-08-13T20:37:32.236Z,1628887052.236 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 97.320000 m, bearing: 47.378666 deg, deltaT: 4.341892 s, approachRate: 0.165825 m/s, LOS rate: -0.027814 deg/s, posRepo size: 4
2021-08-13T20:37:34.624Z,1628887054.624 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:37:34.989Z,1628887054.989 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:37:34.989Z,1628887054.989 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:37:34.989Z,1628887054.989 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:37:34.990Z,1628887054.990 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:37:35.400Z,1628887055.400 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
10C,000,008C7,185,80,80,A3,FF
2021-08-13T20:37:35.400Z,1628887055.400 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:37:35.401Z,1628887055.401 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:37:35.402Z,1628887055.402 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:37:35.805Z,1628887055.805 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:37:36.241Z,1628887056.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,121,000,008D4,185,80,80,AA,FF
2021-08-13T20:37:36.241Z,1628887056.241 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:37:36.623Z,1628887056.623 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203735.98*5F

2021-08-13T20:37:36.644Z,1628887056.644 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 98.100006 m, bearing: 47.222162 deg, deltaT: 4.477463 s, approachRate: 0.174207 m/s, LOS rate: -0.034954 deg/s, posRepo size: 4
2021-08-13T20:37:39.088Z,1628887059.088 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:37:39.437Z,1628887059.437 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:37:39.438Z,1628887059.438 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:37:39.438Z,1628887059.438 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:37:39.439Z,1628887059.439 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:37:39.845Z,1628887059.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
121,000,008D4,185,80,80,AA,FF
2021-08-13T20:37:39.846Z,1628887059.846 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:37:39.846Z,1628887059.846 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:37:39.849Z,1628887059.849 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:37:40.271Z,1628887060.271 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:37:40.658Z,1628887060.658 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,135,000,008E0,186,80,80,A2,FF
2021-08-13T20:37:40.660Z,1628887060.660 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:37:41.113Z,1628887061.113 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203740.42*5A

2021-08-13T20:37:41.209Z,1628887061.209 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 98.820000 m, bearing: 47.220417 deg, deltaT: 4.451572 s, approachRate: 0.161739 m/s, LOS rate: -0.000392 deg/s, posRepo size: 4
2021-08-13T20:37:43.553Z,1628887063.553 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:37:43.881Z,1628887063.881 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:37:43.881Z,1628887063.881 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:37:43.881Z,1628887063.881 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:37:43.882Z,1628887063.882 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:37:44.286Z,1628887064.286 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
135,000,008E0,186,80,80,A2,FF
2021-08-13T20:37:44.286Z,1628887064.286 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:37:44.286Z,1628887064.286 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:37:44.289Z,1628887064.289 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:37:44.685Z,1628887064.685 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:37:45.119Z,1628887065.119 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,154,000,008EB,185,80,80,A8,FF
2021-08-13T20:37:45.119Z,1628887065.119 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:37:45.135Z,1628887065.135 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-13T20:37:45.513Z,1628887065.513 [Micromodem](INFO): Nmea in: $SNTTA,0.095258,,,,203744.86*4B

2021-08-13T20:37:45.561Z,1628887065.561 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 99.480003 m, bearing: 46.744654 deg, deltaT: 4.434899 s, approachRate: 0.148820 m/s, LOS rate: -0.107277 deg/s, posRepo size: 4
2021-08-13T20:37:47.951Z,1628887067.951 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:37:48.321Z,1628887068.321 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:37:48.321Z,1628887068.321 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:37:48.321Z,1628887068.321 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:37:48.322Z,1628887068.322 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:37:48.721Z,1628887068.721 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
154,000,008EB,185,80,80,A8,FF
2021-08-13T20:37:48.721Z,1628887068.721 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:37:48.721Z,1628887068.721 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:37:48.723Z,1628887068.723 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:37:49.141Z,1628887069.141 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:37:49.533Z,1628887069.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,167,000,008F7,186,80,80,A6,FF
2021-08-13T20:37:49.533Z,1628887069.533 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:37:49.974Z,1628887069.974 [Micromodem](INFO): Nmea in: $SNTTA,0.054239,,,,203749.30*41

2021-08-13T20:37:50.002Z,1628887070.002 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 100.199997 m, bearing: 46.779935 deg, deltaT: 4.424363 s, approachRate: 0.162734 m/s, LOS rate: 0.007974 deg/s, posRepo size: 4
2021-08-13T20:37:52.392Z,1628887072.392 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:37:52.761Z,1628887072.761 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:37:52.761Z,1628887072.761 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:37:52.761Z,1628887072.761 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:37:52.762Z,1628887072.762 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:37:53.180Z,1628887073.180 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
167,000,008F7,186,80,80,A6,FF
2021-08-13T20:37:53.181Z,1628887073.181 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:37:53.182Z,1628887073.182 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:37:53.189Z,1628887073.189 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:37:53.584Z,1628887073.584 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:37:53.985Z,1628887073.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,181,000,00903,186,80,80,A4,FF
2021-08-13T20:37:53.985Z,1628887073.985 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:37:54.418Z,1628887074.418 [Micromodem](INFO): Nmea in: $SNTTA,,0.105273,,,203753.76*43

2021-08-13T20:37:54.444Z,1628887074.444 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 100.920006 m, bearing: 46.299124 deg, deltaT: 4.472739 s, approachRate: 0.160977 m/s, LOS rate: -0.107498 deg/s, posRepo size: 4
2021-08-13T20:37:56.848Z,1628887076.848 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:37:57.245Z,1628887077.245 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:37:57.245Z,1628887077.245 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:37:57.245Z,1628887077.245 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:37:57.246Z,1628887077.246 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:37:57.621Z,1628887077.621 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
181,000,00903,186,80,80,A4,FF
2021-08-13T20:37:57.621Z,1628887077.621 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:37:57.621Z,1628887077.621 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:37:57.623Z,1628887077.623 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:37:58.034Z,1628887078.034 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:37:58.425Z,1628887078.425 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,19A,000,0090E,186,80,80,A1,FF
2021-08-13T20:37:58.425Z,1628887078.425 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:37:58.866Z,1628887078.866 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203758.20*57

2021-08-13T20:37:58.887Z,1628887078.887 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 101.580002 m, bearing: 46.095973 deg, deltaT: 4.429111 s, approachRate: 0.149013 m/s, LOS rate: -0.045867 deg/s, posRepo size: 4
2021-08-13T20:38:01.307Z,1628887081.307 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:38:01.665Z,1628887081.665 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:38:01.665Z,1628887081.665 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:38:01.665Z,1628887081.665 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:38:01.666Z,1628887081.666 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:38:02.065Z,1628887082.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
19A,000,0090E,186,80,80,A1,FF
2021-08-13T20:38:02.065Z,1628887082.065 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:38:02.066Z,1628887082.066 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:38:02.067Z,1628887082.067 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:38:02.477Z,1628887082.477 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:38:02.873Z,1628887082.873 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1C1,000,0091B,186,80,80,A4,FF
2021-08-13T20:38:02.873Z,1628887082.874 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:38:03.293Z,1628887083.293 [Micromodem](INFO): Nmea in: $SNTTA,0.421424,0.116260,,,203802.64*50

2021-08-13T20:38:03.358Z,1628887083.358 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 102.360001 m, bearing: 45.431994 deg, deltaT: 4.410045 s, approachRate: 0.176869 m/s, LOS rate: -0.150561 deg/s, posRepo size: 4
2021-08-13T20:38:05.741Z,1628887085.741 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:38:06.101Z,1628887086.101 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:38:06.101Z,1628887086.101 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:38:06.101Z,1628887086.101 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:38:06.102Z,1628887086.102 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:38:06.514Z,1628887086.514 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1C1,000,0091B,186,80,80,A4,FF
2021-08-13T20:38:06.515Z,1628887086.515 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:38:06.515Z,1628887086.515 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:38:06.517Z,1628887086.517 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:38:06.913Z,1628887086.913 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:38:07.321Z,1628887087.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1E5,000,00927,186,80,80,A4,FF
2021-08-13T20:38:07.321Z,1628887087.321 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:38:07.757Z,1628887087.757 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203807.09*59

2021-08-13T20:38:07.780Z,1628887087.780 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 103.079994 m, bearing: 44.488618 deg, deltaT: 4.509649 s, approachRate: 0.159656 m/s, LOS rate: -0.209190 deg/s, posRepo size: 4
2021-08-13T20:38:10.167Z,1628887090.167 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:38:10.553Z,1628887090.553 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:38:10.553Z,1628887090.553 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:38:10.553Z,1628887090.553 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:38:10.554Z,1628887090.554 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:38:10.949Z,1628887090.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1E5,000,00927,186,80,80,A4,FF
2021-08-13T20:38:10.949Z,1628887090.949 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:38:10.949Z,1628887090.949 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:38:10.951Z,1628887090.951 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:38:11.361Z,1628887091.361 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:38:11.757Z,1628887091.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,215,000,00935,187,80,80,7E,FF
2021-08-13T20:38:11.757Z,1628887091.757 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:38:12.205Z,1628887092.205 [Micromodem](INFO): Nmea in: $SNTTA,0.077813,,,,203811.53*45

2021-08-13T20:38:12.247Z,1628887092.247 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 103.919998 m, bearing: 43.127286 deg, deltaT: 4.479309 s, approachRate: 0.187530 m/s, LOS rate: -0.303916 deg/s, posRepo size: 4
2021-08-13T20:38:12.601Z,1628887092.601 [CTD_Seabird](ERROR): Failed to parse device response: 09,4870.92
2021-08-13T20:38:14.615Z,1628887094.615 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:38:14.989Z,1628887094.989 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:38:14.989Z,1628887094.989 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:38:14.989Z,1628887094.989 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:38:14.990Z,1628887094.990 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:38:15.393Z,1628887095.393 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
215,000,00935,187,80,80,7E,FF
2021-08-13T20:38:15.393Z,1628887095.393 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:38:15.393Z,1628887095.393 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:38:15.395Z,1628887095.395 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:38:15.809Z,1628887095.809 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:38:16.237Z,1628887096.237 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,213,000,00942,188,80,80,AC,FF
2021-08-13T20:38:16.238Z,1628887096.238 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:38:16.653Z,1628887096.653 [Micromodem](INFO): Nmea in: $SNTTA,0.099985,,,,203815.97*47

2021-08-13T20:38:16.675Z,1628887096.675 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 104.700005 m, bearing: 44.059802 deg, deltaT: 4.404891 s, approachRate: 0.177077 m/s, LOS rate: 0.211700 deg/s, posRepo size: 4
2021-08-13T20:38:19.092Z,1628887099.092 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:38:19.429Z,1628887099.429 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:38:19.429Z,1628887099.429 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:38:19.429Z,1628887099.429 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:38:19.430Z,1628887099.430 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:38:19.838Z,1628887099.838 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
213,000,00942,188,80,80,AC,FF
2021-08-13T20:38:19.838Z,1628887099.838 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:38:19.838Z,1628887099.838 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:38:19.841Z,1628887099.841 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:38:20.257Z,1628887100.257 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:38:20.653Z,1628887100.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,227,000,0094D,188,80,80,A5,FF
2021-08-13T20:38:20.653Z,1628887100.653 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:38:21.118Z,1628887101.118 [Micromodem](INFO): Nmea in: $SNTTA,0.087857,,,,203820.41*4B

2021-08-13T20:38:21.158Z,1628887101.158 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 105.360001 m, bearing: 43.883808 deg, deltaT: 4.440102 s, approachRate: 0.148644 m/s, LOS rate: -0.039637 deg/s, posRepo size: 4
2021-08-13T20:38:23.529Z,1628887103.529 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:38:23.881Z,1628887103.881 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:38:23.881Z,1628887103.881 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:38:23.881Z,1628887103.881 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:38:23.882Z,1628887103.882 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:38:24.281Z,1628887104.281 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
227,000,0094D,188,80,80,A5,FF
2021-08-13T20:38:24.281Z,1628887104.281 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:38:24.281Z,1628887104.281 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:38:24.283Z,1628887104.283 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:38:24.705Z,1628887104.705 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:38:25.121Z,1628887105.121 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,246,000,0095A,189,80,80,B6,FF
2021-08-13T20:38:25.122Z,1628887105.122 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:38:25.129Z,1628887105.129 [Micromodem](INFO): Nmea in: $SNTTA,0.080952,0.314181,,,203824.85*54

2021-08-13T20:38:25.542Z,1628887105.542 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 106.140007 m, bearing: 43.362361 deg, deltaT: 4.524223 s, approachRate: 0.172407 m/s, LOS rate: -0.115257 deg/s, posRepo size: 4
2021-08-13T20:38:27.943Z,1628887107.943 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:38:28.325Z,1628887108.325 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:38:28.325Z,1628887108.325 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:38:28.325Z,1628887108.325 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:38:28.326Z,1628887108.326 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:38:28.729Z,1628887108.729 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
246,000,0095A,189,80,80,B6,FF
2021-08-13T20:38:28.729Z,1628887108.729 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:38:28.729Z,1628887108.729 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:38:28.731Z,1628887108.731 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:38:29.133Z,1628887109.133 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:38:29.542Z,1628887109.542 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,23E,000,00969,189,80,80,9F,FF
2021-08-13T20:38:29.543Z,1628887109.543 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:38:29.969Z,1628887109.969 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203829.31*5E

2021-08-13T20:38:29.992Z,1628887109.992 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 107.040001 m, bearing: 44.503569 deg, deltaT: 4.311090 s, approachRate: 0.208762 m/s, LOS rate: 0.264715 deg/s, posRepo size: 4
2021-08-13T20:38:32.389Z,1628887112.389 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:38:32.768Z,1628887112.768 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:38:32.768Z,1628887112.768 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:38:32.769Z,1628887112.769 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:38:32.769Z,1628887112.769 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:38:33.172Z,1628887113.172 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
23E,000,00969,189,80,80,9F,FF
2021-08-13T20:38:33.173Z,1628887113.173 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:38:33.173Z,1628887113.173 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:38:33.180Z,1628887113.180 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:38:33.584Z,1628887113.584 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:38:33.982Z,1628887113.982 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,24E,000,00974,189,80,80,97,FF
2021-08-13T20:38:33.982Z,1628887113.982 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:38:34.413Z,1628887114.413 [Micromodem](INFO): Nmea in: $SNTTA,0.118734,,,,203833.75*43

2021-08-13T20:38:34.459Z,1628887114.459 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 107.700005 m, bearing: 44.759230 deg, deltaT: 4.439176 s, approachRate: 0.148677 m/s, LOS rate: 0.057592 deg/s, posRepo size: 4
2021-08-13T20:38:36.823Z,1628887116.823 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:38:37.237Z,1628887117.237 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:38:37.237Z,1628887117.237 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:38:37.237Z,1628887117.237 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:38:37.238Z,1628887117.238 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:38:37.621Z,1628887117.621 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
24E,000,00974,189,80,80,97,FF
2021-08-13T20:38:37.622Z,1628887117.622 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:38:37.622Z,1628887117.622 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:38:37.623Z,1628887117.623 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:38:38.017Z,1628887118.017 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:38:38.425Z,1628887118.425 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,25E,000,00980,189,80,80,9E,FF
2021-08-13T20:38:38.426Z,1628887118.426 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:38:38.861Z,1628887118.861 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203838.20*5E

2021-08-13T20:38:38.892Z,1628887118.892 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 108.420006 m, bearing: 44.542443 deg, deltaT: 4.513787 s, approachRate: 0.159512 m/s, LOS rate: -0.048028 deg/s, posRepo size: 4
2021-08-13T20:38:41.336Z,1628887121.336 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:38:41.649Z,1628887121.649 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:38:41.649Z,1628887121.649 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:38:41.649Z,1628887121.649 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:38:41.650Z,1628887121.650 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:38:42.077Z,1628887122.077 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
25E,000,00980,189,80,80,9E,FF
2021-08-13T20:38:42.077Z,1628887122.077 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:38:42.077Z,1628887122.077 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:38:42.079Z,1628887122.079 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:38:42.465Z,1628887122.465 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:38:42.877Z,1628887122.877 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,286,000,0098C,189,80,80,A5,FF
2021-08-13T20:38:42.878Z,1628887122.878 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:38:43.301Z,1628887123.301 [Micromodem](INFO): Nmea in: $SNTTA,0.079622,,,,203842.65*44

2021-08-13T20:38:43.375Z,1628887123.375 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 109.139999 m, bearing: 43.486725 deg, deltaT: 4.381770 s, approachRate: 0.164316 m/s, LOS rate: -0.240934 deg/s, posRepo size: 4
2021-08-13T20:38:45.770Z,1628887125.770 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:38:46.116Z,1628887126.116 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:38:46.116Z,1628887126.116 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:38:46.116Z,1628887126.116 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:38:46.117Z,1628887126.117 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:38:46.505Z,1628887126.505 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
286,000,0098C,189,80,80,A5,FF
2021-08-13T20:38:46.505Z,1628887126.505 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:38:46.505Z,1628887126.505 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:38:46.507Z,1628887126.507 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:38:46.926Z,1628887126.926 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:38:47.313Z,1628887127.313 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,27F,000,00999,189,80,80,A6,FF
2021-08-13T20:38:47.313Z,1628887127.313 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:38:47.317Z,1628887127.317 [Micromodem](INFO): Nmea in: $SNTTA,0.075497,0.161544,,,203847.08*57

2021-08-13T20:38:47.775Z,1628887127.775 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 109.919998 m, bearing: 44.572609 deg, deltaT: 4.524275 s, approachRate: 0.172403 m/s, LOS rate: 0.240013 deg/s, posRepo size: 4
2021-08-13T20:38:50.225Z,1628887130.225 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:38:50.545Z,1628887130.545 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:38:50.545Z,1628887130.545 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:38:50.545Z,1628887130.545 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:38:50.546Z,1628887130.546 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:38:50.953Z,1628887130.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
27F,000,00999,189,80,80,A6,FF
2021-08-13T20:38:50.954Z,1628887130.954 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:38:50.954Z,1628887130.954 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:38:50.956Z,1628887130.956 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:38:51.353Z,1628887131.353 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:38:51.758Z,1628887131.758 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2A3,000,009AE,188,80,80,A8,FF
2021-08-13T20:38:51.759Z,1628887131.759 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:38:52.198Z,1628887132.198 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203851.53*55

2021-08-13T20:38:52.235Z,1628887132.235 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 111.180000 m, bearing: 43.737164 deg, deltaT: 4.395934 s, approachRate: 0.286629 m/s, LOS rate: -0.190049 deg/s, posRepo size: 4
2021-08-13T20:38:54.602Z,1628887134.602 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:38:54.987Z,1628887134.987 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:38:54.987Z,1628887134.987 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:38:54.987Z,1628887134.987 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:38:54.996Z,1628887134.996 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:38:55.389Z,1628887135.389 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2A3,000,009AE,188,80,80,A8,FF
2021-08-13T20:38:55.389Z,1628887135.389 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:38:55.389Z,1628887135.389 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:38:55.391Z,1628887135.391 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:38:55.807Z,1628887135.807 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:38:56.221Z,1628887136.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2CF,000,009BA,189,80,80,AC,FF
2021-08-13T20:38:56.221Z,1628887136.221 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:38:56.634Z,1628887136.634 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203855.96*58

2021-08-13T20:38:56.682Z,1628887136.682 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 111.900009 m, bearing: 42.724189 deg, deltaT: 4.462101 s, approachRate: 0.161361 m/s, LOS rate: -0.227018 deg/s, posRepo size: 4
2021-08-13T20:38:59.098Z,1628887139.098 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:38:59.425Z,1628887139.425 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:38:59.425Z,1628887139.425 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:38:59.425Z,1628887139.425 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:38:59.426Z,1628887139.426 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:38:59.850Z,1628887139.850 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2CF,000,009BA,189,80,80,AC,FF
2021-08-13T20:38:59.851Z,1628887139.851 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:38:59.851Z,1628887139.851 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:38:59.854Z,1628887139.854 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:39:00.253Z,1628887140.253 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:39:00.650Z,1628887140.650 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2DE,000,009C6,189,80,80,AD,FF
2021-08-13T20:39:00.650Z,1628887140.650 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:39:01.101Z,1628887141.101 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203900.43*51

2021-08-13T20:39:01.161Z,1628887141.161 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 112.620003 m, bearing: 42.943971 deg, deltaT: 4.478332 s, approachRate: 0.160773 m/s, LOS rate: 0.049077 deg/s, posRepo size: 4
2021-08-13T20:39:03.515Z,1628887143.515 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:39:03.900Z,1628887143.900 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:39:03.900Z,1628887143.900 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:39:03.901Z,1628887143.901 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:39:03.901Z,1628887143.901 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:39:04.293Z,1628887144.293 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2DE,000,009C6,189,80,80,AD,FF
2021-08-13T20:39:04.293Z,1628887144.293 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:39:04.293Z,1628887144.293 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:39:04.295Z,1628887144.295 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:39:04.696Z,1628887144.696 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:39:05.109Z,1628887145.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,319,000,009CA,189,80,80,B8,FF
2021-08-13T20:39:05.109Z,1628887145.109 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:39:05.538Z,1628887145.538 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203904.87*5D

2021-08-13T20:39:05.610Z,1628887145.610 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 112.860001 m, bearing: 41.231619 deg, deltaT: 4.463996 s, approachRate: 0.053763 m/s, LOS rate: -0.383592 deg/s, posRepo size: 4
2021-08-13T20:39:07.955Z,1628887147.955 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:39:08.325Z,1628887148.325 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:39:08.325Z,1628887148.325 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:39:08.325Z,1628887148.325 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:39:08.326Z,1628887148.326 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:39:08.725Z,1628887148.725 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
319,000,009CA,189,80,80,B8,FF
2021-08-13T20:39:08.725Z,1628887148.725 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:39:08.726Z,1628887148.726 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:39:08.727Z,1628887148.727 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:39:09.133Z,1628887149.133 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:39:09.541Z,1628887149.541 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,335,000,009D7,189,80,80,AE,FF
2021-08-13T20:39:09.542Z,1628887149.542 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:39:09.969Z,1628887149.969 [Micromodem](INFO): Nmea in: $SNTTA,,0.050599,,,203909.30*42

2021-08-13T20:39:10.003Z,1628887150.003 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 113.639999 m, bearing: 41.154547 deg, deltaT: 4.339298 s, approachRate: 0.179752 m/s, LOS rate: -0.017761 deg/s, posRepo size: 4
2021-08-13T20:39:12.408Z,1628887152.408 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:39:12.773Z,1628887152.773 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:39:12.773Z,1628887152.773 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:39:12.773Z,1628887152.773 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:39:12.774Z,1628887152.774 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:39:13.192Z,1628887153.192 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
335,000,009D7,189,80,80,AE,FF
2021-08-13T20:39:13.192Z,1628887153.192 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:39:13.193Z,1628887153.193 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:39:13.204Z,1628887153.204 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:39:13.584Z,1628887153.584 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:39:13.990Z,1628887153.990 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,345,000,009E3,189,80,80,B6,FF
2021-08-13T20:39:13.990Z,1628887153.990 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:39:14.402Z,1628887154.402 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203913.78*5B

2021-08-13T20:39:14.442Z,1628887154.442 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 114.360008 m, bearing: 41.508634 deg, deltaT: 4.452852 s, approachRate: 0.161696 m/s, LOS rate: 0.079519 deg/s, posRepo size: 4
2021-08-13T20:39:16.847Z,1628887156.847 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:39:17.240Z,1628887157.240 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:39:17.240Z,1628887157.240 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:39:17.241Z,1628887157.241 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:39:17.241Z,1628887157.241 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:39:17.621Z,1628887157.621 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
345,000,009E3,189,80,80,B6,FF
2021-08-13T20:39:17.621Z,1628887157.621 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:39:17.621Z,1628887157.621 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:39:17.623Z,1628887157.623 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:39:18.033Z,1628887158.033 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:39:18.429Z,1628887158.429 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,373,000,009EF,188,80,80,B9,FF
2021-08-13T20:39:18.429Z,1628887158.429 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:39:18.868Z,1628887158.868 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203918.19*57

2021-08-13T20:39:18.887Z,1628887158.887 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 115.080002 m, bearing: 40.074636 deg, deltaT: 4.490060 s, approachRate: 0.160353 m/s, LOS rate: -0.319372 deg/s, posRepo size: 4
2021-08-13T20:39:21.337Z,1628887161.337 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:39:21.669Z,1628887161.669 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:39:21.669Z,1628887161.669 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:39:21.669Z,1628887161.669 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:39:21.670Z,1628887161.670 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:39:22.065Z,1628887162.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
373,000,009EF,188,80,80,B9,FF
2021-08-13T20:39:22.065Z,1628887162.065 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:39:22.065Z,1628887162.065 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:39:22.067Z,1628887162.067 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:39:22.469Z,1628887162.469 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:39:22.877Z,1628887162.877 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,377,000,009FE,189,80,80,B3,FF
2021-08-13T20:39:22.877Z,1628887162.877 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:39:23.309Z,1628887163.309 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203922.64*54

2021-08-13T20:39:23.367Z,1628887163.367 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 115.980003 m, bearing: 40.635142 deg, deltaT: 4.430027 s, approachRate: 0.203159 m/s, LOS rate: 0.126524 deg/s, posRepo size: 4
2021-08-13T20:39:25.719Z,1628887165.719 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:39:26.097Z,1628887166.097 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:39:26.097Z,1628887166.097 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:39:26.097Z,1628887166.097 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:39:26.098Z,1628887166.098 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:39:26.509Z,1628887166.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
377,000,009FE,189,80,80,B3,FF
2021-08-13T20:39:26.509Z,1628887166.509 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:39:26.509Z,1628887166.509 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:39:26.511Z,1628887166.511 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:39:26.913Z,1628887166.913 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:39:27.326Z,1628887167.326 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,375,000,00A07,18A,80,80,B7,FF
2021-08-13T20:39:27.326Z,1628887167.326 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:39:27.761Z,1628887167.761 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203927.09*5A

2021-08-13T20:39:27.779Z,1628887167.779 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 116.519997 m, bearing: 41.806919 deg, deltaT: 4.461526 s, approachRate: 0.121033 m/s, LOS rate: 0.262640 deg/s, posRepo size: 4
2021-08-13T20:39:30.201Z,1628887170.201 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:39:30.541Z,1628887170.541 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:39:30.541Z,1628887170.541 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:39:30.541Z,1628887170.541 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:39:30.542Z,1628887170.542 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:39:30.945Z,1628887170.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
375,000,00A07,18A,80,80,B7,FF
2021-08-13T20:39:30.945Z,1628887170.945 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:39:30.945Z,1628887170.945 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:39:30.947Z,1628887170.947 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:39:31.353Z,1628887171.353 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:39:31.753Z,1628887171.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,380,000,00A12,189,80,80,AD,FF
2021-08-13T20:39:31.754Z,1628887171.754 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:39:32.201Z,1628887172.201 [Micromodem](INFO): Nmea in: $SNTTA,0.095391,,,,203931.52*4A

2021-08-13T20:39:32.248Z,1628887172.248 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 117.180000 m, bearing: 42.169513 deg, deltaT: 4.390344 s, approachRate: 0.150331 m/s, LOS rate: 0.082589 deg/s, posRepo size: 4
2021-08-13T20:39:34.618Z,1628887174.618 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:39:34.987Z,1628887174.987 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:39:34.987Z,1628887174.987 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:39:34.987Z,1628887174.987 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:39:34.987Z,1628887174.987 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:39:35.401Z,1628887175.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
380,000,00A12,189,80,80,AD,FF
2021-08-13T20:39:35.402Z,1628887175.402 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:39:35.402Z,1628887175.402 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:39:35.403Z,1628887175.403 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:39:35.826Z,1628887175.826 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:39:36.229Z,1628887176.229 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,378,000,00A1D,189,80,80,AD,FF
2021-08-13T20:39:36.229Z,1628887176.229 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:39:36.633Z,1628887176.633 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203935.98*51

2021-08-13T20:39:36.652Z,1628887176.652 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 117.840004 m, bearing: 43.174073 deg, deltaT: 4.494301 s, approachRate: 0.146853 m/s, LOS rate: 0.223519 deg/s, posRepo size: 4
2021-08-13T20:39:39.105Z,1628887179.105 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:39:39.442Z,1628887179.442 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:39:39.442Z,1628887179.442 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:39:39.442Z,1628887179.442 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:39:39.443Z,1628887179.443 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:39:39.842Z,1628887179.842 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
378,000,00A1D,189,80,80,AD,FF
2021-08-13T20:39:39.842Z,1628887179.842 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:39:39.842Z,1628887179.842 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:39:39.845Z,1628887179.845 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:39:40.249Z,1628887180.249 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:39:40.657Z,1628887180.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,390,000,00A2C,189,80,80,B5,FF
2021-08-13T20:39:40.658Z,1628887180.658 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:39:41.109Z,1628887181.109 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203940.42*54

2021-08-13T20:39:41.167Z,1628887181.167 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 118.740005 m, bearing: 42.133009 deg, deltaT: 4.396955 s, approachRate: 0.204687 m/s, LOS rate: -0.236769 deg/s, posRepo size: 4
2021-08-13T20:39:43.207Z,1628887183.207 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:39:43.477Z,1628887183.477 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:39:43.477Z,1628887183.477 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:39:43.477Z,1628887183.477 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:39:43.478Z,1628887183.478 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:39:43.885Z,1628887183.885 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
390,000,00A2C,189,80,80,B5,FF
2021-08-13T20:39:43.886Z,1628887183.886 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:39:43.886Z,1628887183.886 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:39:43.887Z,1628887183.887 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:39:44.289Z,1628887184.289 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:39:44.691Z,1628887184.691 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3A1,000,00A36,189,80,80,AD,FF
2021-08-13T20:39:44.691Z,1628887184.691 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:39:45.129Z,1628887185.129 [Micromodem](INFO): Nmea in: $SNTTA,0.110912,,,,203944.46*40

2021-08-13T20:39:45.231Z,1628887185.231 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 119.340004 m, bearing: 41.442975 deg, deltaT: 4.053327 s, approachRate: 0.148026 m/s, LOS rate: -0.170239 deg/s, posRepo size: 4
2021-08-13T20:39:47.540Z,1628887187.540 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:39:47.921Z,1628887187.921 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:39:47.921Z,1628887187.921 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:39:47.922Z,1628887187.922 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:39:47.922Z,1628887187.922 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:39:48.321Z,1628887188.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3A1,000,00A36,189,80,80,AD,FF
2021-08-13T20:39:48.321Z,1628887188.321 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:39:48.322Z,1628887188.322 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:39:48.323Z,1628887188.323 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:39:48.733Z,1628887188.733 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:39:49.149Z,1628887189.149 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3AB,000,00A41,189,80,80,AB,FF
2021-08-13T20:39:49.150Z,1628887189.150 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:39:49.153Z,1628887189.153 [Micromodem](INFO): Nmea in: $SNTTA,0.294326,0.294157,,,203948.90*57

2021-08-13T20:39:49.575Z,1628887189.575 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 120.000000 m, bearing: 41.750194 deg, deltaT: 4.558716 s, approachRate: 0.144777 m/s, LOS rate: 0.067391 deg/s, posRepo size: 4
2021-08-13T20:39:51.988Z,1628887191.988 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:39:52.357Z,1628887192.357 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:39:52.357Z,1628887192.357 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:39:52.357Z,1628887192.357 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:39:52.358Z,1628887192.358 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:39:52.773Z,1628887192.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3AB,000,00A41,189,80,80,AB,FF
2021-08-13T20:39:52.773Z,1628887192.773 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:39:52.773Z,1628887192.773 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:39:52.775Z,1628887192.775 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:39:53.211Z,1628887193.211 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:39:53.581Z,1628887193.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3B5,000,00A4B,189,80,80,B8,FF
2021-08-13T20:39:53.581Z,1628887193.581 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:39:54.007Z,1628887194.007 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 120.600006 m, bearing: 42.024795 deg, deltaT: 4.312000 s, approachRate: 0.139148 m/s, LOS rate: 0.063683 deg/s, posRepo size: 4
2021-08-13T20:39:56.455Z,1628887196.455 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:39:56.813Z,1628887196.813 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:39:56.813Z,1628887196.813 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:39:56.813Z,1628887196.813 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:39:56.814Z,1628887196.814 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:39:57.245Z,1628887197.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3B5,000,00A4B,189,80,80,B8,FF
2021-08-13T20:39:57.245Z,1628887197.245 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:39:57.245Z,1628887197.245 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:39:57.247Z,1628887197.247 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:39:57.625Z,1628887197.625 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:39:58.021Z,1628887198.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3B3,000,00A5A,189,80,80,B8,FF
2021-08-13T20:39:58.022Z,1628887198.022 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:39:58.454Z,1628887198.454 [Micromodem](INFO): Nmea in: $SNTTA,0.086742,,,,203957.82*4F

2021-08-13T20:39:58.489Z,1628887198.489 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 121.500000 m, bearing: 43.062847 deg, deltaT: 4.470081 s, approachRate: 0.201337 m/s, LOS rate: 0.232222 deg/s, posRepo size: 4
2021-08-13T20:40:00.892Z,1628887200.892 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:40:01.242Z,1628887201.242 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:40:01.242Z,1628887201.242 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:40:01.243Z,1628887201.243 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:40:01.244Z,1628887201.244 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:40:01.669Z,1628887201.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3B3,000,00A5A,189,80,80,B8,FF
2021-08-13T20:40:01.669Z,1628887201.669 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:40:01.669Z,1628887201.669 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:40:01.671Z,1628887201.671 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:40:02.085Z,1628887202.085 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:40:02.477Z,1628887202.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3C6,000,00A64,189,80,80,B0,FF
2021-08-13T20:40:02.477Z,1628887202.477 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:40:02.889Z,1628887202.889 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204002.25*5D

2021-08-13T20:40:02.930Z,1628887202.930 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 122.099998 m, bearing: 42.720607 deg, deltaT: 4.472659 s, approachRate: 0.134148 m/s, LOS rate: -0.076518 deg/s, posRepo size: 4
2021-08-13T20:40:05.354Z,1628887205.354 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:40:05.706Z,1628887205.706 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:40:05.706Z,1628887205.706 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:40:05.706Z,1628887205.706 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:40:05.707Z,1628887205.707 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:40:06.117Z,1628887206.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3C6,000,00A64,189,80,80,B0,FF
2021-08-13T20:40:06.117Z,1628887206.117 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:40:06.117Z,1628887206.117 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:40:06.119Z,1628887206.119 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:40:06.511Z,1628887206.511 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:40:06.909Z,1628887206.909 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3CD,000,00A70,189,80,80,A9,FF
2021-08-13T20:40:06.909Z,1628887206.909 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:40:07.334Z,1628887207.334 [Micromodem](INFO): Nmea in: $SNTTA,0.088463,,,,204006.69*4E

2021-08-13T20:40:07.393Z,1628887207.393 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 122.820007 m, bearing: 43.073536 deg, deltaT: 4.385305 s, approachRate: 0.164187 m/s, LOS rate: 0.080480 deg/s, posRepo size: 4
2021-08-13T20:40:09.786Z,1628887209.786 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:40:10.149Z,1628887210.149 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:40:10.149Z,1628887210.149 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:40:10.149Z,1628887210.149 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:40:10.149Z,1628887210.149 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:40:10.542Z,1628887210.542 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3CD,000,00A70,189,80,80,A9,FF
2021-08-13T20:40:10.542Z,1628887210.542 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:40:10.542Z,1628887210.542 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:40:10.560Z,1628887210.560 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:40:10.953Z,1628887210.953 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:40:11.508Z,1628887211.508 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3B9,000,00A7B,189,80,80,AF,FF
2021-08-13T20:40:11.509Z,1628887211.509 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:40:11.536Z,1628887211.536 [Micromodem](INFO): Nmea in: $SNTTA,0.175792,0.176042,,,204011.13*53

2021-08-13T20:40:11.792Z,1628887211.792 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 123.480003 m, bearing: 44.558846 deg, deltaT: 4.664738 s, approachRate: 0.141486 m/s, LOS rate: 0.318412 deg/s, posRepo size: 4
2021-08-13T20:40:14.253Z,1628887214.253 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:40:14.581Z,1628887214.581 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:40:14.581Z,1628887214.581 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:40:14.581Z,1628887214.581 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:40:14.582Z,1628887214.582 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:40:14.989Z,1628887214.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3B9,000,00A7B,189,80,80,AF,FF
2021-08-13T20:40:14.989Z,1628887214.989 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:40:14.989Z,1628887214.989 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:40:14.991Z,1628887214.991 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:40:15.397Z,1628887215.397 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:40:15.801Z,1628887215.801 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3A1,000,00A86,189,80,80,B5,FF
2021-08-13T20:40:15.801Z,1628887215.801 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:40:16.257Z,1628887216.257 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204015.57*5E

2021-08-13T20:40:16.316Z,1628887216.316 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 124.139999 m, bearing: 46.078683 deg, deltaT: 4.250195 s, approachRate: 0.155286 m/s, LOS rate: 0.357592 deg/s, posRepo size: 4
2021-08-13T20:40:18.642Z,1628887218.642 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:40:19.032Z,1628887219.032 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:40:19.032Z,1628887219.032 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:40:19.033Z,1628887219.033 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:40:19.034Z,1628887219.034 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:40:19.430Z,1628887219.430 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3A1,000,00A86,189,80,80,B5,FF
2021-08-13T20:40:19.430Z,1628887219.430 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:40:19.430Z,1628887219.430 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:40:19.431Z,1628887219.431 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:40:19.838Z,1628887219.838 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:40:20.245Z,1628887220.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3A3,000,00A91,189,80,80,B1,FF
2021-08-13T20:40:20.246Z,1628887220.246 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:40:20.681Z,1628887220.681 [Micromodem](INFO): Nmea in: $SNTTA,0.099015,,,,204020.01*41

2021-08-13T20:40:20.703Z,1628887220.703 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 124.800003 m, bearing: 46.444764 deg, deltaT: 4.430929 s, approachRate: 0.148954 m/s, LOS rate: 0.082619 deg/s, posRepo size: 4
2021-08-13T20:40:23.173Z,1628887223.173 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:40:23.478Z,1628887223.478 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:40:23.478Z,1628887223.478 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:40:23.479Z,1628887223.479 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:40:23.479Z,1628887223.479 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:40:23.881Z,1628887223.881 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3A3,000,00A91,189,80,80,B1,FF
2021-08-13T20:40:23.881Z,1628887223.881 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:40:23.881Z,1628887223.881 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:40:23.883Z,1628887223.883 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:40:24.281Z,1628887224.281 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:40:24.690Z,1628887224.690 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3B8,000,00A9E,189,80,80,A8,FF
2021-08-13T20:40:24.691Z,1628887224.691 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:40:25.133Z,1628887225.133 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204024.46*5C

2021-08-13T20:40:25.254Z,1628887225.254 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 125.579994 m, bearing: 45.583255 deg, deltaT: 4.435382 s, approachRate: 0.175857 m/s, LOS rate: -0.194236 deg/s, posRepo size: 4
2021-08-13T20:40:27.211Z,1628887227.211 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:40:27.517Z,1628887227.517 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:40:27.517Z,1628887227.517 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:40:27.517Z,1628887227.517 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:40:27.518Z,1628887227.518 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:40:27.909Z,1628887227.909 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3B8,000,00A9E,189,80,80,A8,FF
2021-08-13T20:40:27.909Z,1628887227.909 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:40:27.910Z,1628887227.910 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:40:27.911Z,1628887227.911 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:40:28.317Z,1628887228.317 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:40:28.794Z,1628887228.794 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3BB,000,00AAA,189,80,80,AA,FF
2021-08-13T20:40:28.794Z,1628887228.794 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:40:29.151Z,1628887229.151 [Micromodem](INFO): Nmea in: $SNTTA,0.086746,0.392504,,,204028.48*5C

2021-08-13T20:40:29.277Z,1628887229.277 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 126.300003 m, bearing: 45.531486 deg, deltaT: 4.190679 s, approachRate: 0.171812 m/s, LOS rate: -0.012353 deg/s, posRepo size: 4
2021-08-13T20:40:31.571Z,1628887231.571 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:40:31.957Z,1628887231.957 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:40:31.957Z,1628887231.957 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:40:31.957Z,1628887231.957 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:40:31.958Z,1628887231.958 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:40:32.354Z,1628887232.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3BB,000,00AAA,189,80,80,AA,FF
2021-08-13T20:40:32.354Z,1628887232.354 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:40:32.354Z,1628887232.354 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:40:32.364Z,1628887232.364 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:40:32.765Z,1628887232.765 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:40:33.212Z,1628887233.212 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3BE,000,00AB8,18A,80,80,AA,FF
2021-08-13T20:40:33.213Z,1628887233.213 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:40:33.601Z,1628887233.601 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204032.96*56

2021-08-13T20:40:33.635Z,1628887233.635 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 127.140007 m, bearing: 45.263647 deg, deltaT: 4.412984 s, approachRate: 0.190348 m/s, LOS rate: -0.060693 deg/s, posRepo size: 4
2021-08-13T20:40:36.027Z,1628887236.027 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:40:36.397Z,1628887236.397 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:40:36.397Z,1628887236.397 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:40:36.397Z,1628887236.397 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:40:36.398Z,1628887236.398 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:40:36.797Z,1628887236.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3BE,000,00AB8,18A,80,80,AA,FF
2021-08-13T20:40:36.797Z,1628887236.797 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:40:36.797Z,1628887236.797 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:40:36.799Z,1628887236.799 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:40:37.257Z,1628887237.257 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:40:37.617Z,1628887237.617 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3BD,000,00AC2,189,80,80,A9,FF
2021-08-13T20:40:37.618Z,1628887237.618 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:40:38.051Z,1628887238.051 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 127.740005 m, bearing: 45.281040 deg, deltaT: 4.322360 s, approachRate: 0.138813 m/s, LOS rate: 0.004024 deg/s, posRepo size: 4
2021-08-13T20:40:40.494Z,1628887240.494 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:40:40.888Z,1628887240.888 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:40:40.888Z,1628887240.888 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:40:40.889Z,1628887240.889 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:40:40.889Z,1628887240.889 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:40:41.261Z,1628887241.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3BD,000,00AC2,189,80,80,A9,FF
2021-08-13T20:40:41.261Z,1628887241.261 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:40:41.261Z,1628887241.261 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:40:41.263Z,1628887241.263 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:40:41.660Z,1628887241.660 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:40:42.061Z,1628887242.061 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3B0,000,00ACF,189,80,80,AB,FF
2021-08-13T20:40:42.061Z,1628887242.061 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:40:42.485Z,1628887242.485 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204041.83*56

2021-08-13T20:40:42.511Z,1628887242.511 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 128.520004 m, bearing: 45.956194 deg, deltaT: 4.444303 s, approachRate: 0.175505 m/s, LOS rate: 0.151914 deg/s, posRepo size: 4
2021-08-13T20:40:44.903Z,1628887244.903 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:40:45.289Z,1628887245.289 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:40:45.289Z,1628887245.289 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:40:45.289Z,1628887245.289 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:40:45.289Z,1628887245.289 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:40:45.689Z,1628887245.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3B0,000,00ACF,189,80,80,AB,FF
2021-08-13T20:40:45.689Z,1628887245.689 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:40:45.689Z,1628887245.689 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:40:45.691Z,1628887245.691 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:40:46.101Z,1628887246.101 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:40:46.505Z,1628887246.505 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3A2,000,00ADB,189,80,80,AE,FF
2021-08-13T20:40:46.505Z,1628887246.505 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:40:46.938Z,1628887246.938 [Micromodem](INFO): Nmea in: $SNTTA,0.093830,,,,204046.27*40

2021-08-13T20:40:46.959Z,1628887246.959 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 129.240005 m, bearing: 46.610918 deg, deltaT: 4.480342 s, approachRate: 0.160702 m/s, LOS rate: 0.146133 deg/s, posRepo size: 4
2021-08-13T20:40:49.382Z,1628887249.382 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:40:49.733Z,1628887249.733 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:40:49.733Z,1628887249.733 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:40:49.733Z,1628887249.733 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:40:49.734Z,1628887249.734 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:40:50.137Z,1628887250.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3A2,000,00ADB,189,80,80,AE,FF
2021-08-13T20:40:50.137Z,1628887250.137 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:40:50.137Z,1628887250.137 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:40:50.139Z,1628887250.139 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:40:50.541Z,1628887250.541 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:40:50.949Z,1628887250.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3B5,000,00AE6,189,80,80,9D,FF
2021-08-13T20:40:50.949Z,1628887250.949 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:40:51.385Z,1628887251.385 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204050.71*5B

2021-08-13T20:40:51.443Z,1628887251.443 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 129.899994 m, bearing: 46.011125 deg, deltaT: 4.407422 s, approachRate: 0.149745 m/s, LOS rate: -0.136087 deg/s, posRepo size: 4
2021-08-13T20:40:53.790Z,1628887253.790 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:40:54.184Z,1628887254.184 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:40:54.184Z,1628887254.184 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:40:54.185Z,1628887254.185 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:40:54.186Z,1628887254.186 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:40:54.573Z,1628887254.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3B5,000,00AE6,189,80,80,9D,FF
2021-08-13T20:40:54.573Z,1628887254.573 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:40:54.573Z,1628887254.573 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:40:54.575Z,1628887254.575 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:40:54.990Z,1628887254.990 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:40:55.405Z,1628887255.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3B5,000,00AF3,189,80,80,B2,FF
2021-08-13T20:40:55.405Z,1628887255.405 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:40:55.409Z,1628887255.409 [Micromodem](INFO): Nmea in: $SNTTA,0.166939,0.167983,,,204055.15*5C

2021-08-13T20:40:55.868Z,1628887255.868 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 130.680008 m, bearing: 46.438637 deg, deltaT: 4.536650 s, approachRate: 0.171936 m/s, LOS rate: 0.094235 deg/s, posRepo size: 4
2021-08-13T20:40:58.278Z,1628887258.278 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:40:58.625Z,1628887258.625 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:40:58.625Z,1628887258.625 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:40:58.625Z,1628887258.625 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:40:58.626Z,1628887258.626 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:40:59.045Z,1628887259.045 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3B5,000,00AF3,189,80,80,B2,FF
2021-08-13T20:40:59.045Z,1628887259.045 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:40:59.046Z,1628887259.046 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:40:59.059Z,1628887259.059 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:40:59.493Z,1628887259.493 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:40:59.904Z,1628887259.904 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3C6,000,00AFF,189,80,80,AE,FF
2021-08-13T20:40:59.904Z,1628887259.904 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:41:00.333Z,1628887260.333 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204059.63*51

2021-08-13T20:41:00.385Z,1628887260.385 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 131.399994 m, bearing: 46.092015 deg, deltaT: 4.418862 s, approachRate: 0.162935 m/s, LOS rate: -0.078441 deg/s, posRepo size: 4
2021-08-13T20:41:02.741Z,1628887262.741 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:41:03.133Z,1628887263.133 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:41:03.133Z,1628887263.133 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:41:03.133Z,1628887263.133 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:41:03.134Z,1628887263.134 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:41:03.529Z,1628887263.529 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3C6,000,00AFF,189,80,80,AE,FF
2021-08-13T20:41:03.529Z,1628887263.529 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:41:03.529Z,1628887263.529 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:41:03.531Z,1628887263.531 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:41:03.949Z,1628887263.949 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:41:04.338Z,1628887264.338 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3D5,000,00AFF,189,80,80,AE,FF
2021-08-13T20:41:04.338Z,1628887264.338 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:41:04.763Z,1628887264.763 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204104.15*59

2021-08-13T20:41:04.807Z,1628887264.807 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 131.399994 m, bearing: 45.658145 deg, deltaT: 4.487182 s, approachRate: 0.000000 m/s, LOS rate: -0.096691 deg/s, posRepo size: 4
2021-08-13T20:41:07.276Z,1628887267.276 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:41:07.568Z,1628887267.568 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:41:07.569Z,1628887267.569 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:41:07.570Z,1628887267.570 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:41:07.571Z,1628887267.571 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:41:07.977Z,1628887267.977 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3D5,000,00AFF,189,80,80,AE,FF
2021-08-13T20:41:07.977Z,1628887267.977 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:41:07.977Z,1628887267.977 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:41:07.979Z,1628887267.979 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:41:08.385Z,1628887268.385 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:41:08.786Z,1628887268.786 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3DF,000,00B17,189,80,80,A5,FF
2021-08-13T20:41:08.786Z,1628887268.786 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:41:09.217Z,1628887269.217 [Micromodem](INFO): Nmea in: $SNTTA,0.119136,0.427050,,,204108.55*58

2021-08-13T20:41:09.274Z,1628887269.274 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 132.839996 m, bearing: 45.464123 deg, deltaT: 4.393837 s, approachRate: 0.327732 m/s, LOS rate: -0.044158 deg/s, posRepo size: 4
2021-08-13T20:41:11.335Z,1628887271.335 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:41:11.617Z,1628887271.617 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:41:11.617Z,1628887271.617 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:41:11.617Z,1628887271.617 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:41:11.618Z,1628887271.618 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:41:12.021Z,1628887272.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3DF,000,00B17,189,80,80,A5,FF
2021-08-13T20:41:12.021Z,1628887272.021 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:41:12.021Z,1628887272.021 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:41:12.023Z,1628887272.023 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:41:12.432Z,1628887272.432 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:41:12.838Z,1628887272.838 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3EC,000,00B22,18A,80,80,AA,FF
2021-08-13T20:41:12.839Z,1628887272.839 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:41:13.257Z,1628887273.257 [Micromodem](INFO): Nmea in: $SNTTA,0.091104,0.405480,,,204112.59*56

2021-08-13T20:41:13.315Z,1628887273.315 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 133.500000 m, bearing: 45.635619 deg, deltaT: 4.087572 s, approachRate: 0.161466 m/s, LOS rate: 0.041955 deg/s, posRepo size: 4
2021-08-13T20:41:15.694Z,1628887275.694 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:41:16.057Z,1628887276.057 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:41:16.057Z,1628887276.057 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:41:16.057Z,1628887276.057 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:41:16.058Z,1628887276.058 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:41:16.465Z,1628887276.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3EC,000,00B22,18A,80,80,AA,FF
2021-08-13T20:41:16.465Z,1628887276.465 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:41:16.466Z,1628887276.466 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:41:16.467Z,1628887276.467 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:41:16.872Z,1628887276.872 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:41:17.281Z,1628887277.281 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3EB,000,00B2C,189,80,80,AA,FF
2021-08-13T20:41:17.281Z,1628887277.281 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:41:17.705Z,1628887277.705 [Micromodem](INFO): Nmea in: $SNTTA,0.220887,,,,204117.04*42

2021-08-13T20:41:17.744Z,1628887277.744 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 134.100006 m, bearing: 46.242614 deg, deltaT: 4.460982 s, approachRate: 0.134501 m/s, LOS rate: 0.136068 deg/s, posRepo size: 4
2021-08-13T20:41:20.119Z,1628887280.119 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:41:20.513Z,1628887280.513 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:41:20.513Z,1628887280.513 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:41:20.513Z,1628887280.513 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:41:20.514Z,1628887280.514 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:41:20.913Z,1628887280.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3EB,000,00B2C,189,80,80,AA,FF
2021-08-13T20:41:20.913Z,1628887280.913 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:41:20.913Z,1628887280.913 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:41:20.915Z,1628887280.915 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:41:21.321Z,1628887281.321 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:41:22.133Z,1628887282.133 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,400,000,00E8A,189,80,80,A3,FF
2021-08-13T20:41:22.133Z,1628887282.133 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:41:22.136Z,1628887282.136 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204121.49*57

2021-08-13T20:41:22.566Z,1628887282.566 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 185.820007 m, bearing: 45.595689 deg, deltaT: 4.804905 s, approachRate: 10.764001 m/s, LOS rate: -0.134638 deg/s, posRepo size: 4
2021-08-13T20:41:24.962Z,1628887284.962 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:41:25.370Z,1628887285.370 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:41:25.370Z,1628887285.370 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:41:25.370Z,1628887285.370 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:41:25.371Z,1628887285.371 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:41:25.753Z,1628887285.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
400,000,00E8A,189,80,80,A3,FF
2021-08-13T20:41:25.753Z,1628887285.753 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:41:25.753Z,1628887285.753 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:41:25.755Z,1628887285.755 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:41:26.181Z,1628887286.181 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:41:26.570Z,1628887286.570 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,418,000,00B42,189,80,80,91,FF
2021-08-13T20:41:26.570Z,1628887286.570 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:41:27.013Z,1628887287.013 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204126.33*5D

2021-08-13T20:41:27.081Z,1628887287.081 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 135.419998 m, bearing: 44.583189 deg, deltaT: 4.431512 s, approachRate: -11.373096 m/s, LOS rate: -0.228477 deg/s, posRepo size: 4
2021-08-13T20:41:29.479Z,1628887289.479 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:41:29.793Z,1628887289.793 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:41:29.793Z,1628887289.793 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:41:29.793Z,1628887289.793 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:41:29.794Z,1628887289.794 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:41:30.231Z,1628887290.231 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
418,000,00B42,189,80,80,91,FF
2021-08-13T20:41:30.231Z,1628887290.231 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:41:30.231Z,1628887290.231 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:41:30.234Z,1628887290.234 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:41:30.613Z,1628887290.613 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:41:31.009Z,1628887291.009 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,414,000,00B52,189,80,80,91,FF
2021-08-13T20:41:31.011Z,1628887291.011 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:41:31.425Z,1628887291.425 [Micromodem](INFO): Nmea in: $SNTTA,0.117977,0.338727,,,204130.81*57

2021-08-13T20:41:31.484Z,1628887291.484 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 136.380005 m, bearing: 44.856315 deg, deltaT: 4.617193 s, approachRate: 0.207920 m/s, LOS rate: 0.059154 deg/s, posRepo size: 4
2021-08-13T20:41:33.876Z,1628887293.876 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:41:34.260Z,1628887294.260 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:41:34.261Z,1628887294.261 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:41:34.261Z,1628887294.261 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:41:34.262Z,1628887294.262 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:41:34.641Z,1628887294.641 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
414,000,00B52,189,80,80,91,FF
2021-08-13T20:41:34.641Z,1628887294.641 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:41:34.641Z,1628887294.641 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:41:34.643Z,1628887294.643 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:41:35.099Z,1628887295.099 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:41:35.469Z,1628887295.469 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,40D,000,00B5B,18A,80,80,AF,FF
2021-08-13T20:41:35.469Z,1628887295.469 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:41:35.901Z,1628887295.901 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204135.21*5C

2021-08-13T20:41:35.947Z,1628887295.947 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 136.919998 m, bearing: 45.657168 deg, deltaT: 4.316528 s, approachRate: 0.125099 m/s, LOS rate: 0.185532 deg/s, posRepo size: 4
2021-08-13T20:41:38.313Z,1628887298.313 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:41:38.685Z,1628887298.685 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:41:38.685Z,1628887298.685 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:41:38.685Z,1628887298.685 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:41:38.686Z,1628887298.686 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:41:39.117Z,1628887299.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
40D,000,00B5B,18A,80,80,AF,FF
2021-08-13T20:41:39.117Z,1628887299.117 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:41:39.117Z,1628887299.117 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:41:39.121Z,1628887299.121 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:41:39.501Z,1628887299.501 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:41:40.301Z,1628887300.301 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204139.70*54

2021-08-13T20:41:41.217Z,1628887301.217 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:41:41.534Z,1628887301.534 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3F6,000,057D0,189,80,80,A1,FF
2021-08-13T20:41:41.534Z,1628887301.534 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:41:41.955Z,1628887301.955 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1311.300049 m, bearing: 47.491699 deg, deltaT: 6.076320 s, approachRate: 193.271591 m/s, LOS rate: 0.301915 deg/s, posRepo size: 4
2021-08-13T20:41:44.370Z,1628887304.370 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:41:44.737Z,1628887304.737 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:41:44.737Z,1628887304.737 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:41:44.737Z,1628887304.737 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:41:44.738Z,1628887304.738 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:41:45.149Z,1628887305.149 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3F6,000,057D0,189,80,80,A1,FF
2021-08-13T20:41:45.149Z,1628887305.149 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:41:45.149Z,1628887305.149 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:41:45.151Z,1628887305.151 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:41:45.557Z,1628887305.557 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:41:45.962Z,1628887305.962 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,421,000,00B89,189,80,80,B1,FF
2021-08-13T20:41:45.962Z,1628887305.962 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:41:46.393Z,1628887306.393 [Micromodem](INFO): Nmea in: $SNTTA,0.122421,,,,204145.73*44

2021-08-13T20:41:46.419Z,1628887306.419 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 139.680008 m, bearing: 46.033703 deg, deltaT: 4.399388 s, approachRate: -266.314301 m/s, LOS rate: -0.331409 deg/s, posRepo size: 4
2021-08-13T20:41:48.807Z,1628887308.807 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:41:49.192Z,1628887309.192 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:41:49.192Z,1628887309.192 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:41:49.193Z,1628887309.193 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:41:49.194Z,1628887309.194 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:41:49.589Z,1628887309.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
421,000,00B89,189,80,80,B1,FF
2021-08-13T20:41:49.589Z,1628887309.589 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:41:49.590Z,1628887309.590 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:41:49.591Z,1628887309.591 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:41:49.997Z,1628887309.997 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:41:50.401Z,1628887310.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,432,000,00B96,18A,80,80,AE,FF
2021-08-13T20:41:50.401Z,1628887310.401 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:41:50.834Z,1628887310.834 [Micromodem](INFO): Nmea in: $SNTTA,0.098919,,,,204150.17*44

2021-08-13T20:41:50.897Z,1628887310.897 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 140.460007 m, bearing: 45.459564 deg, deltaT: 4.455676 s, approachRate: 0.175057 m/s, LOS rate: -0.128856 deg/s, posRepo size: 4
2021-08-13T20:41:53.322Z,1628887313.322 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:41:53.629Z,1628887313.629 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:41:53.629Z,1628887313.629 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:41:53.629Z,1628887313.629 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:41:53.630Z,1628887313.630 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:41:54.037Z,1628887314.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
432,000,00B96,18A,80,80,AE,FF
2021-08-13T20:41:54.038Z,1628887314.038 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:41:54.038Z,1628887314.038 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:41:54.039Z,1628887314.039 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:41:54.449Z,1628887314.449 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:41:54.851Z,1628887314.851 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,437,000,00B8F,189,80,80,AA,FF
2021-08-13T20:41:54.851Z,1628887314.851 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:41:55.265Z,1628887315.265 [Micromodem](INFO): Nmea in: $SNTTA,0.396081,0.434262,,,204154.61*5F

2021-08-13T20:41:55.330Z,1628887315.330 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 140.039993 m, bearing: 45.670196 deg, deltaT: 4.419064 s, approachRate: -0.095046 m/s, LOS rate: 0.047665 deg/s, posRepo size: 4
2021-08-13T20:41:57.690Z,1628887317.690 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:41:58.079Z,1628887318.079 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:41:58.080Z,1628887318.080 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:41:58.080Z,1628887318.080 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:41:58.081Z,1628887318.081 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:41:58.477Z,1628887318.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
437,000,00B8F,189,80,80,AA,FF
2021-08-13T20:41:58.477Z,1628887318.477 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:41:58.477Z,1628887318.477 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:41:58.479Z,1628887318.479 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:41:58.893Z,1628887318.893 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:41:59.296Z,1628887319.296 [Micromodem](INFO): Nmea in: $SNTTA,0.169603,0.172115,,,204159.05*5A

2021-08-13T20:42:00.507Z,1628887320.507 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3FE,000,03B48,18A,80,80,AC,FF
2021-08-13T20:42:00.507Z,1628887320.507 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:42:00.967Z,1628887320.967 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 873.059998 m, bearing: 48.604425 deg, deltaT: 5.662555 s, approachRate: 129.450409 m/s, LOS rate: 0.518181 deg/s, posRepo size: 4
2021-08-13T20:42:00.968Z,1628887320.968 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 873.06 m. Resuming terminal guidance.
2021-08-13T20:42:00.968Z,1628887320.968 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-13T20:42:01.366Z,1628887321.366 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-08-13T20:42:01.366Z,1628887321.366 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-13T20:42:01.366Z,1628887321.366 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-08-13T20:42:01.366Z,1628887321.366 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-08-13T20:42:01.366Z,1628887321.366 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2021-08-13T20:42:01.367Z,1628887321.367 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-08-13T20:42:01.367Z,1628887321.367 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-08-13T20:42:03.365Z,1628887323.365 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:42:03.729Z,1628887323.729 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:42:03.729Z,1628887323.729 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:42:03.729Z,1628887323.729 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:42:03.730Z,1628887323.730 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:42:04.133Z,1628887324.133 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3FE,000,03B48,18A,80,80,AC,FF
2021-08-13T20:42:04.133Z,1628887324.133 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:42:04.133Z,1628887324.133 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:42:04.135Z,1628887324.135 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:42:04.549Z,1628887324.549 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:42:05.378Z,1628887325.378 [Micromodem](INFO): Nmea in: $SNTTA,,0.346910,,,204204.71*4F

2021-08-13T20:42:06.164Z,1628887326.164 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3F8,000,03B3B,189,80,80,A9,FF
2021-08-13T20:42:06.165Z,1628887326.165 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:42:06.615Z,1628887326.615 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 872.280029 m, bearing: 48.400664 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-13T20:42:06.616Z,1628887326.616 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 48.400664deg and heading rate command to 0 deg/s.
2021-08-13T20:42:09.064Z,1628887329.064 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:42:09.385Z,1628887329.385 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:42:09.385Z,1628887329.385 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:42:09.385Z,1628887329.385 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:42:09.386Z,1628887329.386 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:42:09.793Z,1628887329.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3F8,000,03B3B,189,80,80,A9,FF
2021-08-13T20:42:09.793Z,1628887329.793 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:42:09.793Z,1628887329.793 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:42:09.795Z,1628887329.795 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:42:10.217Z,1628887330.217 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:42:11.053Z,1628887331.053 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204210.37*5F

2021-08-13T20:42:11.809Z,1628887331.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,387,000,03AEF,189,80,80,A9,FF
2021-08-13T20:42:11.809Z,1628887331.809 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:42:12.281Z,1628887332.281 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 867.720032 m, bearing: 49.485281 deg, deltaT: 5.646684 s, approachRate: -0.807553 m/s, LOS rate: 0.192080 deg/s, posRepo size: 2
2021-08-13T20:42:12.283Z,1628887332.283 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 867.720032 m,
      bearing: 49.485281 deg,
      approachRate: -0.807553 m/s,
      LOS rate: 0.192080 deg/s,
      cmd update: 0.576241 deg/s,
      cmd heading: 48.400664 deg,
      new cmd heading: 48.400664 deg.

2021-08-13T20:42:12.601Z,1628887332.601 [CTD_Seabird](ERROR): Failed to parse device response: 23,4885.77
2021-08-13T20:42:14.682Z,1628887334.682 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:42:15.073Z,1628887335.073 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:42:15.073Z,1628887335.073 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:42:15.074Z,1628887335.074 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:42:15.074Z,1628887335.074 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:42:15.449Z,1628887335.449 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
387,000,03AEF,189,80,80,A9,FF
2021-08-13T20:42:15.449Z,1628887335.449 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:42:15.449Z,1628887335.449 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:42:15.451Z,1628887335.451 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:42:15.862Z,1628887335.862 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:42:16.269Z,1628887336.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2C3,000,00B9C,189,80,80,95,FF
2021-08-13T20:42:16.270Z,1628887336.270 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:42:16.709Z,1628887336.709 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204216.03*5E

2021-08-13T20:42:16.752Z,1628887336.752 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 140.820007 m, bearing: 49.492674 deg, deltaT: 4.421462 s, approachRate: -164.402634 m/s, LOS rate: 0.001672 deg/s, posRepo size: 3
2021-08-13T20:42:16.754Z,1628887336.754 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 140.820007 m,
      bearing: 49.492674 deg,
      approachRate: -164.402634 m/s,
      LOS rate: 0.001672 deg/s,
      cmd update: 0.005017 deg/s,
      cmd heading: 50.948110 deg,
      new cmd heading: 51.196245 deg.

2021-08-13T20:42:19.157Z,1628887339.157 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:42:19.485Z,1628887339.485 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:42:19.486Z,1628887339.486 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:42:19.486Z,1628887339.486 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:42:19.487Z,1628887339.487 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:42:19.897Z,1628887339.897 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2C3,000,00B9C,189,80,80,95,FF
2021-08-13T20:42:19.897Z,1628887339.897 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:42:19.897Z,1628887339.897 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:42:19.899Z,1628887339.899 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:42:20.293Z,1628887340.293 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:42:20.698Z,1628887340.698 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,161,000,00B7B,186,80,80,9C,FF
2021-08-13T20:42:20.699Z,1628887340.699 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:42:21.153Z,1628887341.153 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204220.47*5B

2021-08-13T20:42:21.241Z,1628887341.241 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 138.839996 m, bearing: 51.709368 deg, deltaT: 4.414377 s, approachRate: -0.448537 m/s, LOS rate: 0.502153 deg/s, posRepo size: 4
2021-08-13T20:42:21.243Z,1628887341.243 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 138.839996 m,
      bearing: 51.709368 deg,
      approachRate: -0.448537 m/s,
      LOS rate: 0.502153 deg/s,
      cmd update: 1.506460 deg/s,
      cmd heading: 50.970257 deg,
      new cmd heading: 50.972892 deg.

2021-08-13T20:42:23.242Z,1628887343.242 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:42:23.538Z,1628887343.538 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:42:23.538Z,1628887343.538 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:42:23.539Z,1628887343.539 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:42:23.539Z,1628887343.539 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:42:23.933Z,1628887343.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
161,000,00B7B,186,80,80,9C,FF
2021-08-13T20:42:23.933Z,1628887343.933 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:42:23.933Z,1628887343.933 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:42:23.935Z,1628887343.935 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:42:24.336Z,1628887344.336 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:42:24.749Z,1628887344.749 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,010,000,00B5C,183,80,80,C3,FF
2021-08-13T20:42:24.750Z,1628887344.750 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:42:25.184Z,1628887345.184 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204224.51*58

2021-08-13T20:42:25.278Z,1628887345.278 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 136.979996 m, bearing: 53.093605 deg, deltaT: 4.050666 s, approachRate: -0.459184 m/s, LOS rate: 0.341731 deg/s, posRepo size: 4
2021-08-13T20:42:25.284Z,1628887345.284 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 136.979996 m,
      bearing: 53.093605 deg,
      approachRate: -0.459184 m/s,
      LOS rate: 0.341731 deg/s,
      cmd update: 1.025192 deg/s,
      cmd heading: 57.072836 deg,
      new cmd heading: 57.842717 deg.

2021-08-13T20:42:27.579Z,1628887347.579 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:42:27.977Z,1628887347.977 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:42:27.977Z,1628887347.977 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:42:27.977Z,1628887347.977 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:42:27.978Z,1628887347.978 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:42:28.378Z,1628887348.378 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
010,000,00B5C,183,80,80,C3,FF
2021-08-13T20:42:28.379Z,1628887348.379 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:42:28.379Z,1628887348.379 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:42:28.381Z,1628887348.381 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:42:28.792Z,1628887348.792 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:42:29.207Z,1628887349.207 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,03E,000,00B37,184,80,80,B1,FF
2021-08-13T20:42:29.207Z,1628887349.207 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:42:29.211Z,1628887349.211 [Micromodem](INFO): Nmea in: $SNTTA,0.223861,0.223405,,,204228.96*51

2021-08-13T20:42:29.628Z,1628887349.628 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 134.760010 m, bearing: 52.143478 deg, deltaT: 4.537369 s, approachRate: -0.489267 m/s, LOS rate: -0.209400 deg/s, posRepo size: 4
2021-08-13T20:42:29.630Z,1628887349.630 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 134.760010 m,
      bearing: 52.143478 deg,
      approachRate: -0.489267 m/s,
      LOS rate: -0.209400 deg/s,
      cmd update: -0.628201 deg/s,
      cmd heading: 61.719553 deg,
      new cmd heading: 62.056348 deg.

2021-08-13T20:42:32.043Z,1628887352.043 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:42:32.421Z,1628887352.421 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:42:32.421Z,1628887352.421 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:42:32.421Z,1628887352.421 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:42:32.422Z,1628887352.422 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:42:32.842Z,1628887352.842 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
03E,000,00B37,184,80,80,B1,FF
2021-08-13T20:42:32.842Z,1628887352.842 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:42:32.842Z,1628887352.842 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:42:32.845Z,1628887352.845 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:42:33.261Z,1628887353.261 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:42:33.634Z,1628887353.634 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0BD,000,00B12,186,80,80,B8,FF
2021-08-13T20:42:33.635Z,1628887353.635 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:42:34.053Z,1628887354.053 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204233.42*5C

2021-08-13T20:42:34.094Z,1628887354.094 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 132.540009 m, bearing: 51.518631 deg, deltaT: 4.351381 s, approachRate: -0.510183 m/s, LOS rate: -0.143597 deg/s, posRepo size: 4
2021-08-13T20:42:34.097Z,1628887354.097 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 132.540009 m,
      bearing: 51.518631 deg,
      approachRate: -0.510183 m/s,
      LOS rate: -0.143597 deg/s,
      cmd update: -0.430792 deg/s,
      cmd heading: 58.983167 deg,
      new cmd heading: 58.718975 deg.

2021-08-13T20:42:36.481Z,1628887356.481 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:42:36.873Z,1628887356.873 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:42:36.873Z,1628887356.873 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:42:36.874Z,1628887356.874 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:42:36.875Z,1628887356.875 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:42:37.269Z,1628887357.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0BD,000,00B12,186,80,80,B8,FF
2021-08-13T20:42:37.269Z,1628887357.269 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:42:37.269Z,1628887357.269 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:42:37.271Z,1628887357.271 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:42:37.675Z,1628887357.675 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:42:38.078Z,1628887358.078 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,09C,000,00AEC,186,80,80,B9,FF
2021-08-13T20:42:38.078Z,1628887358.078 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:42:38.518Z,1628887358.518 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204237.84*52

2021-08-13T20:42:38.563Z,1628887358.563 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 130.260010 m, bearing: 51.730733 deg, deltaT: 4.444764 s, approachRate: -0.512963 m/s, LOS rate: 0.047719 deg/s, posRepo size: 4
2021-08-13T20:42:38.569Z,1628887358.569 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 130.260010 m,
      bearing: 51.730733 deg,
      approachRate: -0.512963 m/s,
      LOS rate: 0.047719 deg/s,
      cmd update: 0.143158 deg/s,
      cmd heading: 57.068574 deg,
      new cmd heading: 56.868936 deg.

2021-08-13T20:42:40.969Z,1628887360.969 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:42:41.309Z,1628887361.309 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:42:41.309Z,1628887361.309 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:42:41.309Z,1628887361.309 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:42:41.310Z,1628887361.310 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:42:41.709Z,1628887361.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
09C,000,00AEC,186,80,80,B9,FF
2021-08-13T20:42:41.709Z,1628887361.709 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:42:41.710Z,1628887361.710 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:42:41.711Z,1628887361.711 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:42:42.113Z,1628887362.113 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:42:42.525Z,1628887362.525 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,080,000,00AC6,186,80,80,B1,FF
2021-08-13T20:42:42.526Z,1628887362.526 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:42:42.949Z,1628887362.949 [Micromodem](INFO): Nmea in: $SNTTA,0.091155,,,,204242.28*41

2021-08-13T20:42:42.971Z,1628887362.971 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 127.980003 m, bearing: 52.327835 deg, deltaT: 4.506223 s, approachRate: -0.505968 m/s, LOS rate: 0.132506 deg/s, posRepo size: 4
2021-08-13T20:42:42.994Z,1628887362.994 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 127.980003 m,
      bearing: 52.327835 deg,
      approachRate: -0.505968 m/s,
      LOS rate: 0.132506 deg/s,
      cmd update: 0.397518 deg/s,
      cmd heading: 57.713179 deg,
      new cmd heading: 57.766052 deg.

2021-08-13T20:42:45.425Z,1628887365.425 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:42:45.749Z,1628887365.749 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:42:45.749Z,1628887365.749 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:42:45.749Z,1628887365.749 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:42:45.750Z,1628887365.750 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:42:46.157Z,1628887366.157 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
080,000,00AC6,186,80,80,B1,FF
2021-08-13T20:42:46.158Z,1628887366.158 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:42:46.158Z,1628887366.158 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:42:46.159Z,1628887366.159 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:42:46.560Z,1628887366.560 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:42:46.961Z,1628887366.961 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,074,000,00A9D,186,80,80,AD,FF
2021-08-13T20:42:46.961Z,1628887366.961 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:42:47.403Z,1628887367.403 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204246.73*5C

2021-08-13T20:42:47.480Z,1628887367.480 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 125.520004 m, bearing: 53.058214 deg, deltaT: 4.476458 s, approachRate: -0.549541 m/s, LOS rate: 0.163160 deg/s, posRepo size: 4
2021-08-13T20:42:47.482Z,1628887367.482 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 125.520004 m,
      bearing: 53.058214 deg,
      approachRate: -0.549541 m/s,
      LOS rate: 0.163160 deg/s,
      cmd update: 0.489480 deg/s,
      cmd heading: 59.492649 deg,
      new cmd heading: 59.645454 deg.

2021-08-13T20:42:49.807Z,1628887369.807 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:42:50.208Z,1628887370.208 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:42:50.209Z,1628887370.209 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:42:50.209Z,1628887370.209 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:42:50.210Z,1628887370.210 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:42:50.593Z,1628887370.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
074,000,00A9D,186,80,80,AD,FF
2021-08-13T20:42:50.593Z,1628887370.593 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:42:50.593Z,1628887370.593 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:42:50.595Z,1628887370.595 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:42:51.007Z,1628887371.007 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:42:51.405Z,1628887371.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,08C,000,00A77,186,80,80,B2,FF
2021-08-13T20:42:51.405Z,1628887371.405 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:42:51.847Z,1628887371.847 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204251.17*58

2021-08-13T20:42:51.873Z,1628887371.873 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 123.240005 m, bearing: 52.640678 deg, deltaT: 4.350356 s, approachRate: -0.524095 m/s, LOS rate: -0.095977 deg/s, posRepo size: 4
2021-08-13T20:42:51.875Z,1628887371.875 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 123.240005 m,
      bearing: 52.640678 deg,
      approachRate: -0.524095 m/s,
      LOS rate: -0.095977 deg/s,
      cmd update: -0.287932 deg/s,
      cmd heading: 61.623907 deg,
      new cmd heading: 61.839214 deg.

2021-08-13T20:42:54.288Z,1628887374.288 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:42:54.629Z,1628887374.629 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:42:54.629Z,1628887374.629 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:42:54.629Z,1628887374.629 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:42:54.630Z,1628887374.630 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:42:55.075Z,1628887375.075 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
08C,000,00A77,186,80,80,B2,FF
2021-08-13T20:42:55.075Z,1628887375.075 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:42:55.075Z,1628887375.075 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:42:55.077Z,1628887375.077 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:42:55.517Z,1628887375.517 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:42:55.938Z,1628887375.938 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0AA,000,00A4E,186,80,80,AC,FF
2021-08-13T20:42:55.941Z,1628887375.941 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:42:56.347Z,1628887376.347 [Micromodem](INFO): Nmea in: $SNTTA,0.098287,,,,204255.65*4B

2021-08-13T20:42:56.407Z,1628887376.407 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 120.780006 m, bearing: 52.756870 deg, deltaT: 4.524759 s, approachRate: -0.543675 m/s, LOS rate: 0.025679 deg/s, posRepo size: 4
2021-08-13T20:42:56.409Z,1628887376.409 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 120.780006 m,
      bearing: 52.756870 deg,
      approachRate: -0.543675 m/s,
      LOS rate: 0.025679 deg/s,
      cmd update: 0.077037 deg/s,
      cmd heading: 60.320988 deg,
      new cmd heading: 60.191668 deg.

2021-08-13T20:42:58.794Z,1628887378.794 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:42:59.149Z,1628887379.149 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:42:59.149Z,1628887379.149 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:42:59.149Z,1628887379.149 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:42:59.150Z,1628887379.150 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:42:59.549Z,1628887379.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0AA,000,00A4E,186,80,80,AC,FF
2021-08-13T20:42:59.549Z,1628887379.549 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:42:59.550Z,1628887379.550 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:42:59.551Z,1628887379.551 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:42:59.964Z,1628887379.964 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:43:00.365Z,1628887380.365 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,099,000,00A25,186,80,80,C3,FF
2021-08-13T20:43:00.366Z,1628887380.366 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:43:00.807Z,1628887380.807 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204300.13*59

2021-08-13T20:43:00.830Z,1628887380.830 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 118.320007 m, bearing: 53.543082 deg, deltaT: 4.504899 s, approachRate: -0.546072 m/s, LOS rate: 0.174524 deg/s, posRepo size: 4
2021-08-13T20:43:00.834Z,1628887380.834 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 118.320007 m,
      bearing: 53.543082 deg,
      approachRate: -0.546072 m/s,
      LOS rate: 0.174524 deg/s,
      cmd update: 0.523572 deg/s,
      cmd heading: 60.668038 deg,
      new cmd heading: 60.696255 deg.

2021-08-13T20:43:03.272Z,1628887383.272 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:43:03.597Z,1628887383.597 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:43:03.597Z,1628887383.597 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:43:03.597Z,1628887383.597 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:43:03.598Z,1628887383.598 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:43:03.997Z,1628887383.997 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
099,000,00A25,186,80,80,C3,FF
2021-08-13T20:43:03.997Z,1628887383.997 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:43:03.997Z,1628887383.997 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:43:03.999Z,1628887383.999 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:43:04.410Z,1628887384.410 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:43:04.819Z,1628887384.819 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A2,000,009FE,186,80,80,BC,FF
2021-08-13T20:43:04.819Z,1628887384.819 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:43:05.262Z,1628887385.262 [Micromodem](INFO): Nmea in: $SNTTA,0.096047,0.415335,,,204304.57*54

2021-08-13T20:43:05.363Z,1628887385.363 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 115.980003 m, bearing: 53.111483 deg, deltaT: 4.384060 s, approachRate: -0.533753 m/s, LOS rate: -0.098447 deg/s, posRepo size: 4
2021-08-13T20:43:05.366Z,1628887385.366 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 115.980003 m,
      bearing: 53.111483 deg,
      approachRate: -0.533753 m/s,
      LOS rate: -0.098447 deg/s,
      cmd update: -0.295342 deg/s,
      cmd heading: 62.961722 deg,
      new cmd heading: 63.233845 deg.

2021-08-13T20:43:07.671Z,1628887387.671 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:43:08.041Z,1628887388.041 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:43:08.041Z,1628887388.041 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:43:08.041Z,1628887388.041 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:43:08.042Z,1628887388.042 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:43:08.445Z,1628887388.445 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0A2,000,009FE,186,80,80,BC,FF
2021-08-13T20:43:08.446Z,1628887388.446 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:43:08.446Z,1628887388.446 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:43:08.448Z,1628887388.448 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:43:08.850Z,1628887388.850 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:43:09.261Z,1628887389.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0D1,000,009D4,186,80,80,A7,FF
2021-08-13T20:43:09.261Z,1628887389.261 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:43:09.265Z,1628887389.265 [Micromodem](INFO): Nmea in: $SNTTA,0.192554,0.192673,,,204309.02*56

2021-08-13T20:43:09.704Z,1628887389.704 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 113.459999 m, bearing: 52.674170 deg, deltaT: 4.540066 s, approachRate: -0.555059 m/s, LOS rate: -0.096323 deg/s, posRepo size: 4
2021-08-13T20:43:09.706Z,1628887389.706 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 113.459999 m,
      bearing: 52.674170 deg,
      approachRate: -0.555059 m/s,
      LOS rate: -0.096323 deg/s,
      cmd update: -0.288969 deg/s,
      cmd heading: 61.623285 deg,
      new cmd heading: 61.531077 deg.

2021-08-13T20:43:12.095Z,1628887392.095 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:43:12.477Z,1628887392.477 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:43:12.477Z,1628887392.477 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:43:12.477Z,1628887392.477 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:43:12.478Z,1628887392.478 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:43:12.909Z,1628887392.909 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0D1,000,009D4,186,80,80,A7,FF
2021-08-13T20:43:12.909Z,1628887392.909 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:43:12.909Z,1628887392.909 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:43:12.911Z,1628887392.911 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:43:13.298Z,1628887393.298 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:43:13.697Z,1628887393.697 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0C5,000,009AC,186,80,80,A5,FF
2021-08-13T20:43:13.697Z,1628887393.697 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:43:14.117Z,1628887394.117 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204313.48*55

2021-08-13T20:43:14.152Z,1628887394.152 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 111.060005 m, bearing: 53.178746 deg, deltaT: 4.376514 s, approachRate: -0.548380 m/s, LOS rate: 0.115292 deg/s, posRepo size: 4
2021-08-13T20:43:14.154Z,1628887394.154 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 111.060005 m,
      bearing: 53.178746 deg,
      approachRate: -0.548380 m/s,
      LOS rate: 0.115292 deg/s,
      cmd update: 0.345876 deg/s,
      cmd heading: 60.356457 deg,
      new cmd heading: 60.243118 deg.

2021-08-13T20:43:16.559Z,1628887396.559 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:43:16.929Z,1628887396.929 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:43:16.929Z,1628887396.929 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:43:16.929Z,1628887396.929 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:43:16.930Z,1628887396.930 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:43:17.337Z,1628887397.337 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0C5,000,009AC,186,80,80,A5,FF
2021-08-13T20:43:17.337Z,1628887397.337 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:43:17.337Z,1628887397.337 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:43:17.339Z,1628887397.339 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:43:17.737Z,1628887397.737 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:43:18.145Z,1628887398.145 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0B7,000,00982,186,80,80,A9,FF
2021-08-13T20:43:18.145Z,1628887398.145 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:43:18.577Z,1628887398.577 [Micromodem](INFO): Nmea in: $SNTTA,0.082298,,,,204317.91*42

2021-08-13T20:43:18.620Z,1628887398.620 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 108.540001 m, bearing: 52.842612 deg, deltaT: 4.449340 s, approachRate: -0.566377 m/s, LOS rate: -0.075547 deg/s, posRepo size: 4
2021-08-13T20:43:18.622Z,1628887398.622 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 108.540001 m,
      bearing: 52.842612 deg,
      approachRate: -0.566377 m/s,
      LOS rate: -0.075547 deg/s,
      cmd update: -0.226641 deg/s,
      cmd heading: 61.888072 deg,
      new cmd heading: 62.037514 deg.

2021-08-13T20:43:21.091Z,1628887401.091 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:43:21.380Z,1628887401.380 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:43:21.380Z,1628887401.380 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:43:21.380Z,1628887401.380 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:43:21.381Z,1628887401.381 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:43:21.773Z,1628887401.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0B7,000,00982,186,80,80,A9,FF
2021-08-13T20:43:21.773Z,1628887401.773 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:43:21.773Z,1628887401.773 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:43:21.775Z,1628887401.775 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:43:22.215Z,1628887402.215 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:43:22.581Z,1628887402.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0AD,000,00959,185,80,80,8F,FF
2021-08-13T20:43:22.581Z,1628887402.581 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:43:23.048Z,1628887403.048 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204322.35*5D

2021-08-13T20:43:23.109Z,1628887403.109 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 106.080002 m, bearing: 53.251467 deg, deltaT: 4.410911 s, approachRate: -0.557708 m/s, LOS rate: 0.092692 deg/s, posRepo size: 4
2021-08-13T20:43:23.111Z,1628887403.111 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 106.080002 m,
      bearing: 53.251467 deg,
      approachRate: -0.557708 m/s,
      LOS rate: 0.092692 deg/s,
      cmd update: 0.278075 deg/s,
      cmd heading: 60.882852 deg,
      new cmd heading: 60.772799 deg.

2021-08-13T20:43:25.476Z,1628887405.476 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:43:25.818Z,1628887405.818 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:43:25.818Z,1628887405.818 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:43:25.818Z,1628887405.818 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:43:25.819Z,1628887405.819 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:43:26.245Z,1628887406.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0AD,000,00959,185,80,80,8F,FF
2021-08-13T20:43:26.245Z,1628887406.245 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:43:26.245Z,1628887406.245 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:43:26.247Z,1628887406.247 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:43:26.632Z,1628887406.632 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:43:27.069Z,1628887407.069 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0BD,000,00932,186,80,80,89,FF
2021-08-13T20:43:27.069Z,1628887407.069 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:43:27.093Z,1628887407.093 [Micromodem](INFO): Nmea in: $SNTTA,0.074358,0.289552,,,204326.82*59

2021-08-13T20:43:27.474Z,1628887407.474 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 103.739998 m, bearing: 52.580299 deg, deltaT: 4.531902 s, approachRate: -0.516340 m/s, LOS rate: -0.148099 deg/s, posRepo size: 4
2021-08-13T20:43:27.476Z,1628887407.476 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 103.739998 m,
      bearing: 52.580299 deg,
      approachRate: -0.516340 m/s,
      LOS rate: -0.148099 deg/s,
      cmd update: -0.444296 deg/s,
      cmd heading: 62.142133 deg,
      new cmd heading: 62.231857 deg.

2021-08-13T20:43:29.881Z,1628887409.881 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:43:30.253Z,1628887410.253 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:43:30.253Z,1628887410.253 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:43:30.253Z,1628887410.253 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:43:30.254Z,1628887410.254 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:43:30.661Z,1628887410.661 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0BD,000,00932,186,80,80,89,FF
2021-08-13T20:43:30.661Z,1628887410.661 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:43:30.661Z,1628887410.661 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:43:30.663Z,1628887410.663 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:43:31.118Z,1628887411.118 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:43:31.473Z,1628887411.473 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0C0,000,00908,186,80,80,99,FF
2021-08-13T20:43:31.474Z,1628887411.474 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:43:31.917Z,1628887411.917 [Micromodem](INFO): Nmea in: $SNTTA,0.069755,,,,204331.24*49

2021-08-13T20:43:31.957Z,1628887411.957 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 101.219994 m, bearing: 52.515661 deg, deltaT: 4.433061 s, approachRate: -0.568457 m/s, LOS rate: -0.014581 deg/s, posRepo size: 4
2021-08-13T20:43:31.968Z,1628887411.968 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 101.219994 m,
      bearing: 52.515661 deg,
      approachRate: -0.568457 m/s,
      LOS rate: -0.014581 deg/s,
      cmd update: -0.043742 deg/s,
      cmd heading: 60.186752 deg,
      new cmd heading: 60.016570 deg.

2021-08-13T20:43:34.362Z,1628887414.362 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:43:34.709Z,1628887414.709 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:43:34.709Z,1628887414.709 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:43:34.709Z,1628887414.709 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:43:34.710Z,1628887414.710 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:43:35.113Z,1628887415.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0C0,000,00908,186,80,80,99,FF
2021-08-13T20:43:35.113Z,1628887415.113 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:43:35.113Z,1628887415.113 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:43:35.115Z,1628887415.115 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:43:35.520Z,1628887415.520 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:43:35.922Z,1628887415.922 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A5,000,008E4,186,80,80,AF,FF
2021-08-13T20:43:35.922Z,1628887415.922 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:43:36.417Z,1628887416.417 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204335.69*52

2021-08-13T20:43:36.460Z,1628887416.460 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 99.060005 m, bearing: 52.976778 deg, deltaT: 4.394455 s, approachRate: -0.491526 m/s, LOS rate: 0.104931 deg/s, posRepo size: 4
2021-08-13T20:43:36.462Z,1628887416.462 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 99.060005 m,
      bearing: 52.976778 deg,
      approachRate: -0.491526 m/s,
      LOS rate: 0.104931 deg/s,
      cmd update: 0.314794 deg/s,
      cmd heading: 59.994137 deg,
      new cmd heading: 59.972093 deg.

2021-08-13T20:43:38.763Z,1628887418.763 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:43:39.168Z,1628887419.168 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:43:39.169Z,1628887419.169 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:43:39.169Z,1628887419.169 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:43:39.171Z,1628887419.171 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:43:39.549Z,1628887419.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0A5,000,008E4,186,80,80,AF,FF
2021-08-13T20:43:39.549Z,1628887419.549 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:43:39.549Z,1628887419.549 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:43:39.551Z,1628887419.551 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:43:39.952Z,1628887419.953 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:43:40.363Z,1628887420.363 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0AA,000,008BD,186,80,80,AE,FF
2021-08-13T20:43:40.363Z,1628887420.363 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:43:40.797Z,1628887420.797 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204340.12*5C

2021-08-13T20:43:40.820Z,1628887420.820 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 96.720001 m, bearing: 52.585886 deg, deltaT: 4.407213 s, approachRate: -0.530949 m/s, LOS rate: -0.088694 deg/s, posRepo size: 4
2021-08-13T20:43:40.822Z,1628887420.822 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 96.720001 m,
      bearing: 52.585886 deg,
      approachRate: -0.530949 m/s,
      LOS rate: -0.088694 deg/s,
      cmd update: -0.266081 deg/s,
      cmd heading: 61.390022 deg,
      new cmd heading: 61.525185 deg.

2021-08-13T20:43:43.271Z,1628887423.271 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:43:43.589Z,1628887423.589 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:43:43.589Z,1628887423.589 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:43:43.589Z,1628887423.589 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:43:43.590Z,1628887423.590 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:43:43.993Z,1628887423.993 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0AA,000,008BD,186,80,80,AE,FF
2021-08-13T20:43:43.993Z,1628887423.993 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:43:43.993Z,1628887423.993 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:43:43.995Z,1628887423.995 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:43:44.425Z,1628887424.425 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:43:44.811Z,1628887424.810 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0B2,000,00894,186,80,80,B2,FF
2021-08-13T20:43:44.811Z,1628887424.811 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:43:45.230Z,1628887425.230 [Micromodem](INFO): Nmea in: $SNTTA,0.065044,0.457848,,,204344.57*58

2021-08-13T20:43:45.266Z,1628887425.266 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 94.260002 m, bearing: 52.153829 deg, deltaT: 4.442836 s, approachRate: -0.553700 m/s, LOS rate: -0.097248 deg/s, posRepo size: 4
2021-08-13T20:43:45.268Z,1628887425.268 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 94.260002 m,
      bearing: 52.153829 deg,
      approachRate: -0.553700 m/s,
      LOS rate: -0.097248 deg/s,
      cmd update: -0.291744 deg/s,
      cmd heading: 60.208565 deg,
      new cmd heading: 60.092695 deg.

2021-08-13T20:43:47.341Z,1628887427.341 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:43:47.637Z,1628887427.637 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:43:47.637Z,1628887427.637 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:43:47.637Z,1628887427.637 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:43:47.638Z,1628887427.638 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:43:48.033Z,1628887428.033 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0B2,000,00894,186,80,80,B2,FF
2021-08-13T20:43:48.033Z,1628887428.033 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:43:48.033Z,1628887428.033 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:43:48.035Z,1628887428.035 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:43:48.453Z,1628887428.453 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:43:48.842Z,1628887428.842 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0AC,000,00871,186,80,80,AF,FF
2021-08-13T20:43:48.842Z,1628887428.842 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:43:49.274Z,1628887429.274 [Micromodem](INFO): Nmea in: $SNTTA,0.439279,0.439273,,,204348.61*5A

2021-08-13T20:43:49.339Z,1628887429.339 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 92.159996 m, bearing: 52.277544 deg, deltaT: 4.064843 s, approachRate: -0.516627 m/s, LOS rate: 0.030435 deg/s, posRepo size: 4
2021-08-13T20:43:49.345Z,1628887429.345 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 92.159996 m,
      bearing: 52.277544 deg,
      approachRate: -0.516627 m/s,
      LOS rate: 0.030435 deg/s,
      cmd update: 0.091306 deg/s,
      cmd heading: 59.023047 deg,
      new cmd heading: 58.893167 deg.

2021-08-13T20:43:51.703Z,1628887431.703 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:43:52.069Z,1628887432.069 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:43:52.069Z,1628887432.069 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:43:52.069Z,1628887432.069 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:43:52.070Z,1628887432.070 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:43:52.489Z,1628887432.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0AC,000,00871,186,80,80,AF,FF
2021-08-13T20:43:52.489Z,1628887432.489 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:43:52.489Z,1628887432.489 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:43:52.491Z,1628887432.491 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:43:52.892Z,1628887432.892 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:43:53.297Z,1628887433.297 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,09E,000,0084A,186,80,80,BF,FF
2021-08-13T20:43:53.297Z,1628887433.297 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:43:53.301Z,1628887433.301 [Micromodem](INFO): Nmea in: $SNTTA,0.208338,0.208913,,,204353.06*58

2021-08-13T20:43:53.748Z,1628887433.748 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 89.820007 m, bearing: 52.559057 deg, deltaT: 4.523257 s, approachRate: -0.517324 m/s, LOS rate: 0.062237 deg/s, posRepo size: 4
2021-08-13T20:43:53.750Z,1628887433.750 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 89.820007 m,
      bearing: 52.559057 deg,
      approachRate: -0.517324 m/s,
      LOS rate: 0.062237 deg/s,
      cmd update: 0.186710 deg/s,
      cmd heading: 59.435615 deg,
      new cmd heading: 59.466261 deg.

2021-08-13T20:43:56.175Z,1628887436.175 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:43:56.529Z,1628887436.529 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:43:56.529Z,1628887436.529 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:43:56.529Z,1628887436.529 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:43:56.530Z,1628887436.530 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:43:56.928Z,1628887436.928 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
09E,000,0084A,186,80,80,BF,FF
2021-08-13T20:43:56.928Z,1628887436.928 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:43:56.929Z,1628887436.929 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:43:56.930Z,1628887436.930 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:43:57.331Z,1628887437.331 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:43:57.737Z,1628887437.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,09B,000,00820,186,80,80,B0,FF
2021-08-13T20:43:57.737Z,1628887437.737 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:43:58.182Z,1628887438.182 [Micromodem](INFO): Nmea in: $SNTTA,0.060803,,,,204357.50*4F

2021-08-13T20:43:58.237Z,1628887438.237 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 87.300003 m, bearing: 52.620867 deg, deltaT: 4.333446 s, approachRate: -0.581524 m/s, LOS rate: 0.014263 deg/s, posRepo size: 4
2021-08-13T20:43:58.239Z,1628887438.239 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 87.300003 m,
      bearing: 52.620867 deg,
      approachRate: -0.581524 m/s,
      LOS rate: 0.014263 deg/s,
      cmd update: 0.042790 deg/s,
      cmd heading: 60.246330 deg,
      new cmd heading: 60.335645 deg.

2021-08-13T20:44:00.617Z,1628887440.617 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:44:00.976Z,1628887440.976 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:44:00.978Z,1628887440.978 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:44:00.979Z,1628887440.979 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:44:00.994Z,1628887440.994 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:44:01.369Z,1628887441.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
09B,000,00820,186,80,80,B0,FF
2021-08-13T20:44:01.369Z,1628887441.369 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:44:01.370Z,1628887441.370 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:44:01.373Z,1628887441.373 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:44:01.780Z,1628887441.780 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:44:02.179Z,1628887442.179 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0AB,000,007F6,186,80,80,A1,FF
2021-08-13T20:44:02.180Z,1628887442.180 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:44:02.613Z,1628887442.613 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204401.94*50

2021-08-13T20:44:02.647Z,1628887442.647 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 84.779999 m, bearing: 52.415111 deg, deltaT: 4.514568 s, approachRate: -0.558194 m/s, LOS rate: -0.045576 deg/s, posRepo size: 4
2021-08-13T20:44:02.649Z,1628887442.649 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 84.779999 m,
      bearing: 52.415111 deg,
      approachRate: -0.558194 m/s,
      LOS rate: -0.045576 deg/s,
      cmd update: -0.136728 deg/s,
      cmd heading: 60.439164 deg,
      new cmd heading: 60.455689 deg.

2021-08-13T20:44:05.083Z,1628887445.083 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:44:05.409Z,1628887445.409 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:44:05.409Z,1628887445.409 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:44:05.409Z,1628887445.409 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:44:05.410Z,1628887445.410 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:44:05.817Z,1628887445.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0AB,000,007F6,186,80,80,A1,FF
2021-08-13T20:44:05.817Z,1628887445.817 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:44:05.817Z,1628887445.817 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:44:05.819Z,1628887445.819 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:44:06.240Z,1628887446.240 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:44:06.613Z,1628887446.613 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0B5,000,007CF,186,80,80,A9,FF
2021-08-13T20:44:06.614Z,1628887446.614 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:44:07.082Z,1628887447.082 [Micromodem](INFO): Nmea in: $SNTTA,0.063662,,,,204406.39*49

2021-08-13T20:44:07.217Z,1628887447.217 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 82.440010 m, bearing: 52.445987 deg, deltaT: 4.384069 s, approachRate: -0.533748 m/s, LOS rate: 0.007043 deg/s, posRepo size: 4
2021-08-13T20:44:07.219Z,1628887447.219 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 82.440010 m,
      bearing: 52.445987 deg,
      approachRate: -0.533748 m/s,
      LOS rate: 0.007043 deg/s,
      cmd update: 0.021128 deg/s,
      cmd heading: 59.838668 deg,
      new cmd heading: 59.761506 deg.

2021-08-13T20:44:09.508Z,1628887449.508 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:44:09.858Z,1628887449.858 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:44:09.858Z,1628887449.858 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:44:09.858Z,1628887449.858 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:44:09.859Z,1628887449.859 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:44:10.253Z,1628887450.253 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0B5,000,007CF,186,80,80,A9,FF
2021-08-13T20:44:10.253Z,1628887450.253 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:44:10.253Z,1628887450.253 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:44:10.255Z,1628887450.255 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:44:10.661Z,1628887450.661 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:44:11.101Z,1628887451.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0BD,000,007A8,185,80,80,B6,FF
2021-08-13T20:44:11.102Z,1628887451.102 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:44:11.513Z,1628887451.513 [Micromodem](INFO): Nmea in: $SNTTA,0.058244,,,,204410.83*47

2021-08-13T20:44:11.539Z,1628887451.539 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 80.100006 m, bearing: 51.501983 deg, deltaT: 4.572391 s, approachRate: -0.511768 m/s, LOS rate: -0.206457 deg/s, posRepo size: 4
2021-08-13T20:44:11.541Z,1628887451.541 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 80.100006 m,
      bearing: 51.501983 deg,
      approachRate: -0.511768 m/s,
      LOS rate: -0.206457 deg/s,
      cmd update: -0.619372 deg/s,
      cmd heading: 59.935194 deg,
      new cmd heading: 59.941902 deg.

2021-08-13T20:44:13.942Z,1628887453.942 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:44:14.309Z,1628887454.309 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:44:14.309Z,1628887454.309 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:44:14.309Z,1628887454.309 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:44:14.310Z,1628887454.310 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:44:14.705Z,1628887454.705 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0BD,000,007A8,185,80,80,B6,FF
2021-08-13T20:44:14.706Z,1628887454.706 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:44:14.706Z,1628887454.706 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:44:14.707Z,1628887454.707 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:44:15.121Z,1628887455.121 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:44:15.505Z,1628887455.505 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0AF,000,00781,186,80,80,AC,FF
2021-08-13T20:44:15.505Z,1628887455.505 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:44:15.937Z,1628887455.937 [Micromodem](INFO): Nmea in: $SNTTA,0.051603,,,,204415.29*4C

2021-08-13T20:44:15.959Z,1628887455.959 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 77.760002 m, bearing: 51.269070 deg, deltaT: 4.351074 s, approachRate: -0.537799 m/s, LOS rate: -0.053530 deg/s, posRepo size: 4
2021-08-13T20:44:15.000Z,1628887456.000 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 77.760002 m,
      bearing: 51.269070 deg,
      approachRate: -0.537799 m/s,
      LOS rate: -0.053530 deg/s,
      cmd update: -0.160590 deg/s,
      cmd heading: 57.237838 deg,
      new cmd heading: 57.000729 deg.

2021-08-13T20:44:18.362Z,1628887458.362 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:44:18.747Z,1628887458.747 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:44:18.747Z,1628887458.747 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:44:18.747Z,1628887458.747 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:44:18.748Z,1628887458.748 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:44:19.157Z,1628887459.157 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0AF,000,00781,186,80,80,AC,FF
2021-08-13T20:44:19.157Z,1628887459.157 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:44:19.157Z,1628887459.157 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:44:19.159Z,1628887459.159 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:44:19.557Z,1628887459.557 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:44:19.957Z,1628887459.957 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,094,000,00759,186,80,80,B2,FF
2021-08-13T20:44:19.957Z,1628887459.957 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:44:20.389Z,1628887460.389 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204419.73*50

2021-08-13T20:44:20.444Z,1628887460.444 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 75.360001 m, bearing: 51.177484 deg, deltaT: 4.397795 s, approachRate: -0.545728 m/s, LOS rate: -0.020825 deg/s, posRepo size: 4
2021-08-13T20:44:20.446Z,1628887460.446 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 75.360001 m,
      bearing: 51.177484 deg,
      approachRate: -0.545728 m/s,
      LOS rate: -0.020825 deg/s,
      cmd update: -0.062476 deg/s,
      cmd heading: 56.531560 deg,
      new cmd heading: 56.456867 deg.

2021-08-13T20:44:22.803Z,1628887462.803 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:44:23.213Z,1628887463.213 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:44:23.213Z,1628887463.213 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:44:23.213Z,1628887463.213 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:44:23.214Z,1628887463.214 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:44:23.599Z,1628887463.599 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
094,000,00759,186,80,80,B2,FF
2021-08-13T20:44:23.599Z,1628887463.599 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:44:23.599Z,1628887463.599 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:44:23.601Z,1628887463.601 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:44:23.996Z,1628887463.996 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:44:24.401Z,1628887464.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,06A,000,00733,187,80,80,A2,FF
2021-08-13T20:44:24.401Z,1628887464.401 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:44:24.842Z,1628887464.842 [Micromodem](INFO): Nmea in: $SNTTA,0.048420,,,,204424.17*48

2021-08-13T20:44:24.877Z,1628887464.877 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 73.080002 m, bearing: 52.286751 deg, deltaT: 4.482462 s, approachRate: -0.508649 m/s, LOS rate: 0.247468 deg/s, posRepo size: 4
2021-08-13T20:44:24.879Z,1628887464.879 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 73.080002 m,
      bearing: 52.286751 deg,
      approachRate: -0.508649 m/s,
      LOS rate: 0.247468 deg/s,
      cmd update: 0.742405 deg/s,
      cmd heading: 56.252027 deg,
      new cmd heading: 56.225271 deg.

2021-08-13T20:44:27.344Z,1628887467.344 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:44:27.638Z,1628887467.638 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:44:27.638Z,1628887467.638 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:44:27.638Z,1628887467.638 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:44:27.639Z,1628887467.639 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:44:28.033Z,1628887468.033 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
06A,000,00733,187,80,80,A2,FF
2021-08-13T20:44:28.033Z,1628887468.033 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:44:28.033Z,1628887468.033 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:44:28.035Z,1628887468.035 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:44:28.453Z,1628887468.453 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:44:28.842Z,1628887468.842 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,07F,000,0070E,186,80,80,C3,FF
2021-08-13T20:44:28.842Z,1628887468.842 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:44:29.301Z,1628887469.301 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204428.61*51

2021-08-13T20:44:29.372Z,1628887469.372 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 70.860008 m, bearing: 51.311950 deg, deltaT: 4.434971 s, approachRate: -0.500566 m/s, LOS rate: -0.219799 deg/s, posRepo size: 4
2021-08-13T20:44:29.374Z,1628887469.374 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 70.860008 m,
      bearing: 51.311950 deg,
      approachRate: -0.500566 m/s,
      LOS rate: -0.219799 deg/s,
      cmd update: -0.659396 deg/s,
      cmd heading: 59.547692 deg,
      new cmd heading: 59.906779 deg.

2021-08-13T20:44:31.687Z,1628887471.687 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:44:32.073Z,1628887472.073 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:44:32.073Z,1628887472.073 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:44:32.073Z,1628887472.073 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:44:32.074Z,1628887472.074 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:44:32.477Z,1628887472.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
07F,000,0070E,186,80,80,C3,FF
2021-08-13T20:44:32.477Z,1628887472.477 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:44:32.477Z,1628887472.477 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:44:32.479Z,1628887472.479 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:44:32.893Z,1628887472.893 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:44:33.288Z,1628887473.288 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0B8,000,006E6,186,80,80,A9,FF
2021-08-13T20:44:33.289Z,1628887473.289 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:44:33.725Z,1628887473.725 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204433.05*59

2021-08-13T20:44:33.748Z,1628887473.748 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 68.459999 m, bearing: 50.294545 deg, deltaT: 4.472171 s, approachRate: -0.536654 m/s, LOS rate: -0.227497 deg/s, posRepo size: 4
2021-08-13T20:44:33.750Z,1628887473.750 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 68.459999 m,
      bearing: 50.294545 deg,
      approachRate: -0.536654 m/s,
      LOS rate: -0.227497 deg/s,
      cmd update: -0.682490 deg/s,
      cmd heading: 56.596120 deg,
      new cmd heading: 56.343289 deg.

2021-08-13T20:44:36.147Z,1628887476.147 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:44:36.521Z,1628887476.521 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:44:36.521Z,1628887476.521 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:44:36.521Z,1628887476.521 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:44:36.522Z,1628887476.522 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:44:36.929Z,1628887476.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0B8,000,006E6,186,80,80,A9,FF
2021-08-13T20:44:36.929Z,1628887476.929 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:44:36.929Z,1628887476.929 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:44:36.931Z,1628887476.931 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:44:37.325Z,1628887477.325 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:44:37.734Z,1628887477.734 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,084,000,006BD,186,80,80,B1,FF
2021-08-13T20:44:37.735Z,1628887477.735 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:44:38.189Z,1628887478.189 [Micromodem](INFO): Nmea in: $SNTTA,0.051338,,,,204437.51*4E

2021-08-13T20:44:38.233Z,1628887478.233 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 66.000000 m, bearing: 51.224947 deg, deltaT: 4.391639 s, approachRate: -0.560155 m/s, LOS rate: 0.211857 deg/s, posRepo size: 4
2021-08-13T20:44:38.235Z,1628887478.235 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 66.000000 m,
      bearing: 51.224947 deg,
      approachRate: -0.560155 m/s,
      LOS rate: 0.211857 deg/s,
      cmd update: 0.635572 deg/s,
      cmd heading: 53.599123 deg,
      new cmd heading: 53.273182 deg.

2021-08-13T20:44:40.595Z,1628887480.595 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:44:40.965Z,1628887480.965 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:44:40.965Z,1628887480.965 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:44:40.965Z,1628887480.965 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:44:40.966Z,1628887480.966 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:44:41.365Z,1628887481.365 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
084,000,006BD,186,80,80,B1,FF
2021-08-13T20:44:41.366Z,1628887481.366 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:44:41.366Z,1628887481.366 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:44:41.367Z,1628887481.367 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:44:41.389Z,1628887481.389 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T20:44:41.777Z,1628887481.777 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:44:42.185Z,1628887482.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,06C,000,00697,186,80,80,BA,FF
2021-08-13T20:44:42.186Z,1628887482.186 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:44:42.621Z,1628887482.621 [Micromodem](INFO): Nmea in: $SNTTA,0.054746,,,,204441.95*4F

2021-08-13T20:44:42.637Z,1628887482.637 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 63.719997 m, bearing: 50.673911 deg, deltaT: 4.511587 s, approachRate: -0.505366 m/s, LOS rate: -0.122138 deg/s, posRepo size: 4
2021-08-13T20:44:42.639Z,1628887482.639 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 63.719997 m,
      bearing: 50.673911 deg,
      approachRate: -0.505366 m/s,
      LOS rate: -0.122138 deg/s,
      cmd update: -0.366414 deg/s,
      cmd heading: 56.454024 deg,
      new cmd heading: 56.701561 deg.

2021-08-13T20:44:45.079Z,1628887485.079 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:44:45.410Z,1628887485.410 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:44:45.411Z,1628887485.411 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:44:45.411Z,1628887485.411 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:44:45.412Z,1628887485.412 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:44:45.809Z,1628887485.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
06C,000,00697,186,80,80,BA,FF
2021-08-13T20:44:45.809Z,1628887485.809 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:44:45.809Z,1628887485.809 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:44:45.811Z,1628887485.811 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:44:46.252Z,1628887486.252 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:44:46.621Z,1628887486.621 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,081,000,0066D,186,80,80,74,FF
2021-08-13T20:44:46.621Z,1628887486.621 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:44:47.077Z,1628887487.077 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204446.39*54

2021-08-13T20:44:47.113Z,1628887487.113 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 61.200008 m, bearing: 49.896369 deg, deltaT: 4.370935 s, approachRate: -0.576533 m/s, LOS rate: -0.177889 deg/s, posRepo size: 4
2021-08-13T20:44:47.115Z,1628887487.115 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 61.200008 m,
      bearing: 49.896369 deg,
      approachRate: -0.576533 m/s,
      LOS rate: -0.177889 deg/s,
      cmd update: -0.533667 deg/s,
      cmd heading: 54.845064 deg,
      new cmd heading: 54.671280 deg.

2021-08-13T20:44:49.151Z,1628887489.151 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:44:49.457Z,1628887489.457 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:44:49.457Z,1628887489.457 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:44:49.457Z,1628887489.457 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:44:49.458Z,1628887489.458 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:44:49.858Z,1628887489.858 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
081,000,0066D,186,80,80,74,FF
2021-08-13T20:44:49.858Z,1628887489.858 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:44:49.859Z,1628887489.859 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:44:49.861Z,1628887489.861 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:44:50.277Z,1628887490.277 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:44:50.661Z,1628887490.661 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,066,000,0064A,186,80,80,A1,FF
2021-08-13T20:44:50.661Z,1628887490.661 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:44:51.125Z,1628887491.125 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204450.44*59

2021-08-13T20:44:51.133Z,1628887491.133 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-13T20:44:51.151Z,1628887491.151 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 59.100006 m, bearing: 50.360037 deg, deltaT: 4.040226 s, approachRate: -0.519773 m/s, LOS rate: 0.114763 deg/s, posRepo size: 4
2021-08-13T20:44:51.192Z,1628887491.192 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 59.100006 m,
      bearing: 50.360037 deg,
      approachRate: -0.519773 m/s,
      LOS rate: 0.114763 deg/s,
      cmd update: 0.344288 deg/s,
      cmd heading: 52.688946 deg,
      new cmd heading: 52.436643 deg.

2021-08-13T20:44:53.209Z,1628887493.209 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:44:53.494Z,1628887493.494 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:44:53.494Z,1628887493.494 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:44:53.494Z,1628887493.494 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:44:53.495Z,1628887493.495 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:44:53.905Z,1628887493.905 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
066,000,0064A,186,80,80,A1,FF
2021-08-13T20:44:53.906Z,1628887493.906 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:44:53.906Z,1628887493.906 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:44:53.908Z,1628887493.908 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:44:54.322Z,1628887494.322 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:44:54.697Z,1628887494.697 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,031,000,00627,184,80,80,92,FF
2021-08-13T20:44:54.697Z,1628887494.697 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:44:55.142Z,1628887495.142 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204454.48*51

2021-08-13T20:44:55.233Z,1628887495.233 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 57.000004 m, bearing: 51.418217 deg, deltaT: 4.055768 s, approachRate: -0.517782 m/s, LOS rate: 0.260908 deg/s, posRepo size: 4
2021-08-13T20:44:55.235Z,1628887495.235 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 57.000004 m,
      bearing: 51.418217 deg,
      approachRate: -0.517782 m/s,
      LOS rate: 0.260908 deg/s,
      cmd update: 0.782723 deg/s,
      cmd heading: 54.078394 deg,
      new cmd heading: 54.256857 deg.

2021-08-13T20:44:57.572Z,1628887497.572 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:44:57.929Z,1628887497.929 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:44:57.929Z,1628887497.929 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:44:57.930Z,1628887497.930 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:44:57.930Z,1628887497.930 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:44:58.330Z,1628887498.330 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
031,000,00627,184,80,80,92,FF
2021-08-13T20:44:58.331Z,1628887498.331 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:44:58.331Z,1628887498.331 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:44:58.349Z,1628887498.349 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:44:58.426Z,1628887498.426 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T20:44:58.749Z,1628887498.749 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:44:59.142Z,1628887499.142 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,03F,000,00603,185,80,80,90,FF
2021-08-13T20:44:59.143Z,1628887499.143 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:44:59.583Z,1628887499.583 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204458.92*5A

2021-08-13T20:44:59.604Z,1628887499.604 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 54.840000 m, bearing: 51.539177 deg, deltaT: 4.521350 s, approachRate: -0.477734 m/s, LOS rate: 0.026753 deg/s, posRepo size: 4
2021-08-13T20:44:59.606Z,1628887499.606 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 54.840000 m,
      bearing: 51.539177 deg,
      approachRate: -0.477734 m/s,
      LOS rate: 0.026753 deg/s,
      cmd update: 0.080259 deg/s,
      cmd heading: 57.633089 deg,
      new cmd heading: 57.905547 deg.

2021-08-13T20:45:01.991Z,1628887501.991 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:45:02.382Z,1628887502.382 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:45:02.383Z,1628887502.383 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:45:02.383Z,1628887502.383 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:45:02.384Z,1628887502.384 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:45:02.777Z,1628887502.777 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
03F,000,00603,185,80,80,90,FF
2021-08-13T20:45:02.777Z,1628887502.777 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:45:02.777Z,1628887502.777 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:45:02.779Z,1628887502.779 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:45:03.220Z,1628887503.220 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:45:03.585Z,1628887503.585 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,09A,000,005D8,186,80,80,84,FF
2021-08-13T20:45:03.585Z,1628887503.585 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:45:04.045Z,1628887504.045 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.260002 m, bearing: 49.969722 deg, deltaT: 4.371041 s, approachRate: -0.590248 m/s, LOS rate: -0.359057 deg/s, posRepo size: 4
2021-08-13T20:45:04.048Z,1628887504.048 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 52.260002 m,
      bearing: 49.969722 deg,
      approachRate: -0.590248 m/s,
      LOS rate: -0.359057 deg/s,
      cmd update: -1.077172 deg/s,
      cmd heading: 57.981929 deg,
      new cmd heading: 58.017381 deg.

2021-08-13T20:45:06.439Z,1628887506.439 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:45:06.822Z,1628887506.822 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:45:06.822Z,1628887506.822 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:45:06.822Z,1628887506.822 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:45:06.823Z,1628887506.823 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:45:07.241Z,1628887507.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
09A,000,005D8,186,80,80,84,FF
2021-08-13T20:45:07.241Z,1628887507.241 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:45:07.241Z,1628887507.241 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:45:07.243Z,1628887507.243 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:45:07.633Z,1628887507.633 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:45:08.454Z,1628887508.454 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204507.82*50

2021-08-13T20:45:09.325Z,1628887509.325 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:45:10.865Z,1628887510.865 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
8,186,80,80,84,FF
2021-08-13T20:45:10.866Z,1628887510.866 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
8,186,80,80,84,FF
2021-08-13T20:45:10.866Z,1628887510.866 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T20:45:11.342Z,1628887511.342 [RDI_Pathfinder](ERROR): only read -1 of 1 data item for water mass range.
2021-08-13T20:45:12.092Z,1628887512.092 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:45:12.485Z,1628887512.485 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:45:12.485Z,1628887512.485 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:45:12.485Z,1628887512.485 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:45:12.486Z,1628887512.486 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:45:12.885Z,1628887512.885 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
8,186,80,80,84,FF
2021-08-13T20:45:12.885Z,1628887512.885 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:45:12.885Z,1628887512.885 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:45:12.887Z,1628887512.887 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:45:13.293Z,1628887513.293 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:45:13.689Z,1628887513.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,025,000,00581,184,80,80,B4,FF
2021-08-13T20:45:13.690Z,1628887513.690 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:45:14.117Z,1628887514.117 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.040001 m, bearing: 51.394984 deg, deltaT: 10.079925 s, approachRate: -0.517861 m/s, LOS rate: 0.141396 deg/s, posRepo size: 4
2021-08-13T20:45:14.119Z,1628887514.119 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 47.040001 m,
      bearing: 51.394984 deg,
      approachRate: -0.517861 m/s,
      LOS rate: 0.141396 deg/s,
      cmd update: 0.424188 deg/s,
      cmd heading: 47.097706 deg,
      new cmd heading: 46.656016 deg.

2021-08-13T20:45:16.545Z,1628887516.545 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:45:16.927Z,1628887516.927 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:45:16.927Z,1628887516.927 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:45:16.927Z,1628887516.927 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:45:16.928Z,1628887516.928 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:45:17.325Z,1628887517.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
025,000,00581,184,80,80,B4,FF
2021-08-13T20:45:17.325Z,1628887517.325 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:45:17.326Z,1628887517.326 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:45:17.327Z,1628887517.327 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:45:17.729Z,1628887517.729 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:45:18.125Z,1628887518.125 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC3,000,00559,184,80,80,6C,FF
2021-08-13T20:45:18.126Z,1628887518.126 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:45:18.577Z,1628887518.577 [Micromodem](INFO): Nmea in: $SNTTA,0.054306,,,,204517.90*48

2021-08-13T20:45:18.603Z,1628887518.603 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 44.640003 m, bearing: 51.457180 deg, deltaT: 4.499212 s, approachRate: -0.533426 m/s, LOS rate: 0.013824 deg/s, posRepo size: 4
2021-08-13T20:45:18.606Z,1628887518.606 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 44.640003 m,
      bearing: 51.457180 deg,
      approachRate: -0.533426 m/s,
      LOS rate: 0.013824 deg/s,
      cmd update: 0.041471 deg/s,
      cmd heading: 48.992001 deg,
      new cmd heading: 49.174836 deg.

2021-08-13T20:45:20.990Z,1628887520.990 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:45:21.361Z,1628887521.361 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:45:21.361Z,1628887521.361 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:45:21.361Z,1628887521.361 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:45:21.362Z,1628887521.362 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:45:21.407Z,1628887521.407 [RDI_Pathfinder](ERROR): only read 1 of 4 data items
2021-08-13T20:45:21.765Z,1628887521.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC3,000,00559,184,80,80,6C,FF
2021-08-13T20:45:21.765Z,1628887521.765 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:45:21.765Z,1628887521.765 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:45:21.767Z,1628887521.767 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:45:22.203Z,1628887522.203 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:45:22.573Z,1628887522.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FCB,000,00531,185,80,80,AB,FF
2021-08-13T20:45:22.573Z,1628887522.573 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:45:23.042Z,1628887523.042 [Micromodem](INFO): Nmea in: $SNTTA,0.041355,,,,204522.34*42

2021-08-13T20:45:23.082Z,1628887523.082 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.240002 m, bearing: 51.425659 deg, deltaT: 4.412371 s, approachRate: -0.543926 m/s, LOS rate: -0.007144 deg/s, posRepo size: 4
2021-08-13T20:45:23.085Z,1628887523.085 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 42.240002 m,
      bearing: 51.425659 deg,
      approachRate: -0.543926 m/s,
      LOS rate: -0.007144 deg/s,
      cmd update: -0.021432 deg/s,
      cmd heading: 49.176212 deg,
      new cmd heading: 49.195625 deg.

2021-08-13T20:45:25.482Z,1628887525.482 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:45:25.805Z,1628887525.805 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:45:25.805Z,1628887525.805 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:45:25.805Z,1628887525.805 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:45:25.806Z,1628887525.806 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:45:26.245Z,1628887526.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FCB,000,00531,185,80,80,AB,FF
2021-08-13T20:45:26.245Z,1628887526.245 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:45:26.246Z,1628887526.246 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:45:26.247Z,1628887526.247 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:45:26.620Z,1628887526.620 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:45:27.025Z,1628887527.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA1,000,00508,186,80,80,77,FF
2021-08-13T20:45:27.026Z,1628887527.026 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:45:27.439Z,1628887527.439 [Micromodem](INFO): Nmea in: $SNTTA,0.055150,,,,204526.82*49

2021-08-13T20:45:27.524Z,1628887527.524 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.780003 m, bearing: 54.091331 deg, deltaT: 4.475348 s, approachRate: -0.549678 m/s, LOS rate: 0.595635 deg/s, posRepo size: 4
2021-08-13T20:45:27.524Z,1628887527.524 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 39.78 m.
2021-08-13T20:45:27.526Z,1628887527.526 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 39.780003 m,
      bearing: 54.091331 deg,
      approachRate: -0.549678 m/s,
      LOS rate: 0.595635 deg/s,
      cmd update: 1.786904 deg/s,
      cmd heading: 49.080397 deg,
      new cmd heading: 49.071252 deg.

2021-08-13T20:45:27.870Z,1628887527.870 [PowerOnly](INFO): Powering up loadControl
2021-08-13T20:45:27.905Z,1628887527.905 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-13T20:45:27.906Z,1628887527.906 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T20:45:27.906Z,1628887527.906 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-13T20:45:27.906Z,1628887527.906 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-13T20:45:27.906Z,1628887527.906 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-13T20:45:27.907Z,1628887527.907 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-13T20:45:28.315Z,1628887528.315 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-13T20:45:28.315Z,1628887528.315 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T20:45:28.315Z,1628887528.315 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-13T20:45:28.315Z,1628887528.315 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T20:45:29.885Z,1628887529.885 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:45:30.249Z,1628887530.249 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:45:30.249Z,1628887530.249 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:45:30.249Z,1628887530.249 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:45:30.250Z,1628887530.250 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:45:30.653Z,1628887530.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA1,000,00508,186,80,80,77,FF
2021-08-13T20:45:30.653Z,1628887530.653 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:45:30.653Z,1628887530.653 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:45:30.655Z,1628887530.655 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:45:31.125Z,1628887531.125 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:45:31.216Z,1628887531.216 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2021-08-13T20:45:31.216Z,1628887531.216 [RDI_Pathfinder] Communications Fault, FailCount= 1
2021-08-13T20:45:31.216Z,1628887531.216 [RDI_Pathfinder](ERROR): Communications Fault
2021-08-13T20:45:31.316Z,1628887531.316 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2021-08-13T20:45:31.532Z,1628887531.532 [RDI_Pathfinder](INFO): Powering down
2021-08-13T20:45:31.887Z,1628887531.887 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204531.23*5E

2021-08-13T20:45:32.372Z,1628887532.372 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2021-08-13T20:45:32.372Z,1628887532.372 [RDI_Pathfinder] No Fault, FailCount= 1
2021-08-13T20:45:32.710Z,1628887532.710 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:45:34.289Z,1628887534.289 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
8,186,80,80,77,FF
2021-08-13T20:45:34.289Z,1628887534.289 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
8,186,80,80,77,FF
2021-08-13T20:45:34.289Z,1628887534.289 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T20:45:35.561Z,1628887535.561 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:45:35.917Z,1628887535.917 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:45:35.917Z,1628887535.917 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:45:35.917Z,1628887535.917 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:45:35.918Z,1628887535.918 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:45:36.317Z,1628887536.317 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
8,186,80,80,77,FF
2021-08-13T20:45:36.317Z,1628887536.317 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:45:36.317Z,1628887536.317 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:45:36.319Z,1628887536.319 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:45:36.737Z,1628887536.737 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:45:37.121Z,1628887537.121 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0C4,000,004B2,186,80,80,8B,FF
2021-08-13T20:45:37.121Z,1628887537.121 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:45:37.141Z,1628887537.141 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:45:37.585Z,1628887537.585 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204536.89*59

2021-08-13T20:45:37.611Z,1628887537.611 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.620003 m, bearing: 49.129721 deg, deltaT: 10.044952 s, approachRate: -0.513691 m/s, LOS rate: -0.493941 deg/s, posRepo size: 4
2021-08-13T20:45:37.612Z,1628887537.612 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 34.62 m.
2021-08-13T20:45:37.614Z,1628887537.614 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 34.620003 m,
      bearing: 49.129721 deg,
      approachRate: -0.513691 m/s,
      LOS rate: -0.493941 deg/s,
      cmd update: -1.481822 deg/s,
      cmd heading: 67.044402 deg,
      new cmd heading: 67.889829 deg.

2021-08-13T20:45:39.986Z,1628887539.986 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:45:40.353Z,1628887540.353 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:45:40.354Z,1628887540.354 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:45:40.354Z,1628887540.354 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:45:40.355Z,1628887540.355 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:45:40.757Z,1628887540.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0C4,000,004B2,186,80,80,8B,FF
2021-08-13T20:45:40.757Z,1628887540.757 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:45:40.757Z,1628887540.757 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:45:40.759Z,1628887540.759 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:45:41.172Z,1628887541.172 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:45:41.566Z,1628887541.566 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1B9,000,00491,186,80,80,97,FF
2021-08-13T20:45:41.566Z,1628887541.566 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:45:41.605Z,1628887541.605 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:45:42.001Z,1628887542.001 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204541.33*58

2021-08-13T20:45:42.023Z,1628887542.023 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.639999 m, bearing: 43.727670 deg, deltaT: 4.463260 s, approachRate: -0.443623 m/s, LOS rate: -1.210338 deg/s, posRepo size: 4
2021-08-13T20:45:42.044Z,1628887542.044 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 32.64 m.
2021-08-13T20:45:42.046Z,1628887542.046 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 32.639999 m,
      bearing: 43.727670 deg,
      approachRate: -0.443623 m/s,
      LOS rate: -1.210338 deg/s,
      cmd update: -3.631013 deg/s,
      cmd heading: 60.448972 deg,
      new cmd heading: 59.805421 deg.

2021-08-13T20:45:44.443Z,1628887544.443 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:45:44.794Z,1628887544.794 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:45:44.794Z,1628887544.794 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:45:44.794Z,1628887544.794 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:45:44.795Z,1628887544.795 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:45:45.225Z,1628887545.225 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1B9,000,00491,186,80,80,97,FF
2021-08-13T20:45:45.225Z,1628887545.225 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:45:45.225Z,1628887545.225 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:45:45.227Z,1628887545.227 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:45:45.609Z,1628887545.609 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:45:46.430Z,1628887546.430 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204545.80*54

2021-08-13T20:45:47.245Z,1628887547.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0AD,000,036B4,186,80,80,97,FF
2021-08-13T20:45:47.245Z,1628887547.245 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:45:47.302Z,1628887547.302 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:45:47.667Z,1628887547.667 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 802.739990 m, bearing: 49.225928 deg, deltaT: 5.697294 s, approachRate: 135.169434 m/s, LOS rate: 0.965065 deg/s, posRepo size: 4
2021-08-13T20:45:47.685Z,1628887547.685 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 802.739990 m,
      bearing: 49.225928 deg,
      approachRate: 135.169434 m/s,
      LOS rate: 0.965065 deg/s,
      cmd update: 2.895194 deg/s,
      cmd heading: 39.717672 deg,
      new cmd heading: 38.379125 deg.

2021-08-13T20:45:48.056Z,1628887548.056 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-13T20:45:48.057Z,1628887548.057 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T20:45:48.058Z,1628887548.058 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-13T20:45:48.059Z,1628887548.059 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-13T20:45:48.059Z,1628887548.059 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-13T20:45:48.060Z,1628887548.060 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-13T20:45:48.476Z,1628887548.476 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-13T20:45:48.476Z,1628887548.476 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T20:45:48.476Z,1628887548.476 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-13T20:45:48.477Z,1628887548.477 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T20:45:50.067Z,1628887550.067 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:45:50.453Z,1628887550.453 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:45:50.453Z,1628887550.453 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:45:50.453Z,1628887550.453 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:45:50.454Z,1628887550.454 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:45:50.867Z,1628887550.867 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0AD,000,036B4,186,80,80,97,FF
2021-08-13T20:45:50.867Z,1628887550.867 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:45:50.868Z,1628887550.868 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:45:50.870Z,1628887550.870 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:45:51.273Z,1628887551.273 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:45:51.669Z,1628887551.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F85,000,0043F,186,80,80,AE,FF
2021-08-13T20:45:51.669Z,1628887551.669 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:45:52.105Z,1628887552.105 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204551.44*59

2021-08-13T20:45:52.142Z,1628887552.142 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.720001 m, bearing: 50.609479 deg, deltaT: 4.388168 s, approachRate: -176.615845 m/s, LOS rate: 0.315291 deg/s, posRepo size: 4
2021-08-13T20:45:52.143Z,1628887552.143 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 27.72 m.
2021-08-13T20:45:52.143Z,1628887552.143 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 27.72 m.
2021-08-13T20:45:52.143Z,1628887552.143 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-13T20:45:52.150Z,1628887552.150 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 27.720001 m,
      bearing: 50.609479 deg,
      approachRate: -176.615845 m/s,
      LOS rate: 0.315291 deg/s,
      cmd update: 0.945873 deg/s,
      cmd heading: 52.423820 deg,
      new cmd heading: 53.740673 deg.

2021-08-13T20:45:52.523Z,1628887552.523 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-13T20:45:52.524Z,1628887552.524 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T20:45:52.524Z,1628887552.524 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-13T20:45:52.524Z,1628887552.524 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-13T20:45:52.525Z,1628887552.525 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-13T20:45:52.525Z,1628887552.525 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-13T20:45:52.936Z,1628887552.936 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-13T20:45:52.936Z,1628887552.936 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T20:45:52.936Z,1628887552.936 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-13T20:45:52.937Z,1628887552.937 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T20:45:54.554Z,1628887554.554 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:45:54.905Z,1628887554.905 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:45:54.905Z,1628887554.905 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:45:54.906Z,1628887554.906 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:45:54.906Z,1628887554.906 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:45:55.309Z,1628887555.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F85,000,0043F,186,80,80,AE,FF
2021-08-13T20:45:55.309Z,1628887555.309 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:45:55.309Z,1628887555.309 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:45:55.311Z,1628887555.311 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:45:55.713Z,1628887555.713 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:45:56.129Z,1628887556.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FEA,000,0041C,183,80,80,A1,FF
2021-08-13T20:45:56.130Z,1628887556.130 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:45:56.203Z,1628887556.203 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:45:56.553Z,1628887556.553 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204555.88*5D

2021-08-13T20:45:56.624Z,1628887556.624 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.619999 m, bearing: 52.854941 deg, deltaT: 4.517486 s, approachRate: -0.464861 m/s, LOS rate: 0.497060 deg/s, posRepo size: 4
2021-08-13T20:45:56.626Z,1628887556.626 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 25.619999 m,
      bearing: 52.854941 deg,
      approachRate: -0.464861 m/s,
      LOS rate: 0.497060 deg/s,
      cmd update: 1.491180 deg/s,
      cmd heading: 56.677972 deg,
      new cmd heading: 57.089324 deg.

2021-08-13T20:45:59.002Z,1628887559.002 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:45:59.351Z,1628887559.351 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:45:59.351Z,1628887559.351 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:45:59.351Z,1628887559.351 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:45:59.363Z,1628887559.363 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:45:59.741Z,1628887559.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FEA,000,0041C,183,80,80,A1,FF
2021-08-13T20:45:59.741Z,1628887559.741 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:45:59.742Z,1628887559.742 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:45:59.743Z,1628887559.743 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:46:00.161Z,1628887560.161 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:46:00.557Z,1628887560.557 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0AA,000,003F6,186,80,80,72,FF
2021-08-13T20:46:00.558Z,1628887560.558 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:46:00.588Z,1628887560.588 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:46:00.993Z,1628887560.993 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204600.32*5F

2021-08-13T20:46:01.043Z,1628887561.043 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.339998 m, bearing: 50.813763 deg, deltaT: 4.380463 s, approachRate: -0.520493 m/s, LOS rate: -0.465973 deg/s, posRepo size: 4
2021-08-13T20:46:01.045Z,1628887561.045 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 23.339998 m,
      bearing: 50.813763 deg,
      approachRate: -0.520493 m/s,
      LOS rate: -0.465973 deg/s,
      cmd update: -1.397919 deg/s,
      cmd heading: 63.238825 deg,
      new cmd heading: 63.921881 deg.

2021-08-13T20:46:03.439Z,1628887563.439 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:46:03.793Z,1628887563.793 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:46:03.793Z,1628887563.793 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:46:03.794Z,1628887563.794 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:46:03.794Z,1628887563.794 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:46:04.217Z,1628887564.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0AA,000,003F6,186,80,80,72,FF
2021-08-13T20:46:04.217Z,1628887564.217 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:46:04.217Z,1628887564.217 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:46:04.219Z,1628887564.219 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:46:04.601Z,1628887564.601 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:46:05.014Z,1628887565.014 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0EB,000,003D2,186,80,80,9C,FF
2021-08-13T20:46:05.015Z,1628887565.015 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:46:05.079Z,1628887565.079 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:46:05.415Z,1628887565.415 [Micromodem](INFO): Nmea in: $SNTTA,0.049526,,,,204604.79*46

2021-08-13T20:46:05.461Z,1628887565.461 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.179998 m, bearing: 49.813983 deg, deltaT: 4.490879 s, approachRate: -0.480975 m/s, LOS rate: -0.222624 deg/s, posRepo size: 4
2021-08-13T20:46:05.463Z,1628887565.463 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 21.179998 m,
      bearing: 49.813983 deg,
      approachRate: -0.480975 m/s,
      LOS rate: -0.222624 deg/s,
      cmd update: -0.667873 deg/s,
      cmd heading: 56.960508 deg,
      new cmd heading: 56.422866 deg.

2021-08-13T20:46:07.876Z,1628887567.876 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:46:08.254Z,1628887568.254 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:46:08.254Z,1628887568.254 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:46:08.254Z,1628887568.254 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:46:08.255Z,1628887568.255 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:46:08.646Z,1628887568.646 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0EB,000,003D2,186,80,80,9C,FF
2021-08-13T20:46:08.646Z,1628887568.646 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:46:08.646Z,1628887568.646 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:46:08.649Z,1628887568.649 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:46:09.051Z,1628887569.051 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:46:09.450Z,1628887569.450 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,065,000,003AB,186,80,80,A6,FF
2021-08-13T20:46:09.450Z,1628887569.450 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:46:09.482Z,1628887569.482 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:46:09.894Z,1628887569.894 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204609.22*57

2021-08-13T20:46:09.938Z,1628887569.938 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.840000 m, bearing: 52.044214 deg, deltaT: 4.402799 s, approachRate: -0.531480 m/s, LOS rate: 0.506548 deg/s, posRepo size: 4
2021-08-13T20:46:09.940Z,1628887569.940 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.840000 m,
      bearing: 52.044214 deg,
      approachRate: -0.531480 m/s,
      LOS rate: 0.506548 deg/s,
      cmd update: 1.519645 deg/s,
      cmd heading: 54.020078 deg,
      new cmd heading: 53.713390 deg.

2021-08-13T20:46:12.339Z,1628887572.339 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:46:12.688Z,1628887572.688 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:46:12.689Z,1628887572.689 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:46:12.689Z,1628887572.689 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:46:12.690Z,1628887572.690 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:46:13.086Z,1628887573.086 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
065,000,003AB,186,80,80,A6,FF
2021-08-13T20:46:13.086Z,1628887573.086 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:46:13.087Z,1628887573.087 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:46:13.089Z,1628887573.089 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:46:13.484Z,1628887573.484 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:46:14.310Z,1628887574.310 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204613.66*5C

2021-08-13T20:46:15.146Z,1628887575.146 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:46:16.716Z,1628887576.716 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
B,186,80,80,A6,FF
2021-08-13T20:46:16.717Z,1628887576.717 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
B,186,80,80,A6,FF
2021-08-13T20:46:16.717Z,1628887576.717 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T20:46:17.960Z,1628887577.960 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:46:18.329Z,1628887578.329 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:46:18.329Z,1628887578.329 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:46:18.329Z,1628887578.329 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:46:18.330Z,1628887578.330 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:46:18.757Z,1628887578.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
B,186,80,80,A6,FF
2021-08-13T20:46:18.757Z,1628887578.757 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:46:18.758Z,1628887578.758 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:46:18.768Z,1628887578.768 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:46:19.149Z,1628887579.149 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:46:19.541Z,1628887579.541 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,131,000,00356,186,80,80,B3,FF
2021-08-13T20:46:19.541Z,1628887579.541 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:46:19.639Z,1628887579.639 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:46:19.977Z,1628887579.977 [Micromodem](INFO): Nmea in: $SNTTA,0.011858,,,,204619.34*4A

2021-08-13T20:46:20.015Z,1628887580.015 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.739999 m, bearing: 48.739185 deg, deltaT: 10.157363 s, approachRate: -0.502099 m/s, LOS rate: -0.325383 deg/s, posRepo size: 4
2021-08-13T20:46:20.021Z,1628887580.021 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.739999 m,
      bearing: 48.739185 deg,
      approachRate: -0.502099 m/s,
      LOS rate: -0.325383 deg/s,
      cmd update: -0.976148 deg/s,
      cmd heading: 69.443012 deg,
      new cmd heading: 70.031877 deg.

2021-08-13T20:46:22.398Z,1628887582.398 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:46:22.813Z,1628887582.813 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:46:22.813Z,1628887582.813 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:46:22.813Z,1628887582.813 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:46:22.814Z,1628887582.814 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:46:23.203Z,1628887583.203 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
131,000,00356,186,80,80,B3,FF
2021-08-13T20:46:23.203Z,1628887583.203 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:46:23.203Z,1628887583.203 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:46:23.205Z,1628887583.205 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:46:23.593Z,1628887583.593 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:46:24.402Z,1628887584.402 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204623.78*50

2021-08-13T20:46:25.267Z,1628887585.267 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:46:26.838Z,1628887586.838 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,186,80,80,B3,FF
2021-08-13T20:46:26.838Z,1628887586.838 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,186,80,80,B3,FF
2021-08-13T20:46:26.838Z,1628887586.838 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T20:46:28.064Z,1628887588.064 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:46:28.433Z,1628887588.433 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:46:28.433Z,1628887588.433 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:46:28.433Z,1628887588.433 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:46:28.434Z,1628887588.434 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:46:28.842Z,1628887588.842 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,186,80,80,B3,FF
2021-08-13T20:46:28.842Z,1628887588.842 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:46:28.842Z,1628887588.842 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:46:28.845Z,1628887588.845 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:46:29.252Z,1628887589.252 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:46:29.649Z,1628887589.649 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,15A,000,0030A,185,80,80,9D,FF
2021-08-13T20:46:29.649Z,1628887589.649 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:46:29.690Z,1628887589.690 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:46:30.085Z,1628887590.085 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204629.42*53

2021-08-13T20:46:30.107Z,1628887590.107 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.180000 m, bearing: 44.956852 deg, deltaT: 10.051388 s, approachRate: -0.453669 m/s, LOS rate: -0.376300 deg/s, posRepo size: 4
2021-08-13T20:46:30.141Z,1628887590.141 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.180000 m,
      bearing: 44.956852 deg,
      approachRate: -0.453669 m/s,
      LOS rate: -0.376300 deg/s,
      cmd update: -1.128899 deg/s,
      cmd heading: 59.627149 deg,
      new cmd heading: 59.213111 deg.

2021-08-13T20:46:32.506Z,1628887592.506 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:46:32.885Z,1628887592.885 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:46:32.885Z,1628887592.885 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:46:32.885Z,1628887592.885 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:46:32.886Z,1628887592.886 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:46:33.277Z,1628887593.277 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
15A,000,0030A,185,80,80,9D,FF
2021-08-13T20:46:33.277Z,1628887593.277 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:46:33.277Z,1628887593.277 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:46:33.279Z,1628887593.279 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:46:33.694Z,1628887593.694 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:46:34.085Z,1628887594.085 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,17D,000,002EC,186,80,80,B7,FF
2021-08-13T20:46:34.085Z,1628887594.085 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:46:34.132Z,1628887594.132 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:46:34.526Z,1628887594.526 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204633.85*53

2021-08-13T20:46:34.552Z,1628887594.552 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.380000 m, bearing: 39.765693 deg, deltaT: 4.442067 s, approachRate: -0.405217 m/s, LOS rate: -1.168636 deg/s, posRepo size: 4
2021-08-13T20:46:34.554Z,1628887594.554 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.380000 m,
      bearing: 39.765693 deg,
      approachRate: -0.405217 m/s,
      LOS rate: -1.168636 deg/s,
      cmd update: -3.505907 deg/s,
      cmd heading: 54.610643 deg,
      new cmd heading: 54.130884 deg.

2021-08-13T20:46:36.967Z,1628887596.967 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:46:37.317Z,1628887597.317 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:46:37.317Z,1628887597.317 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:46:37.317Z,1628887597.317 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:46:37.318Z,1628887597.318 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:46:37.725Z,1628887597.725 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
17D,000,002EC,186,80,80,B7,FF
2021-08-13T20:46:37.726Z,1628887597.726 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:46:37.726Z,1628887597.726 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:46:37.727Z,1628887597.727 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:46:38.133Z,1628887598.133 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:46:38.529Z,1628887598.529 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,11A,000,002CD,186,80,80,A1,FF
2021-08-13T20:46:38.529Z,1628887598.529 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:46:38.560Z,1628887598.560 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:46:38.973Z,1628887598.973 [Micromodem](INFO): Nmea in: $SNTTA,0.043611,,,,204638.30*49

2021-08-13T20:46:39.023Z,1628887599.023 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.520000 m, bearing: 37.551782 deg, deltaT: 4.427616 s, approachRate: -0.420091 m/s, LOS rate: -0.500023 deg/s, posRepo size: 4
2021-08-13T20:46:39.025Z,1628887599.025 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.520000 m,
      bearing: 37.551782 deg,
      approachRate: -0.420091 m/s,
      LOS rate: -0.500023 deg/s,
      cmd update: -1.500069 deg/s,
      cmd heading: 39.079936 deg,
      new cmd heading: 37.445194 deg.

2021-08-13T20:46:41.399Z,1628887601.399 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:46:41.769Z,1628887601.769 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:46:41.769Z,1628887601.769 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:46:41.769Z,1628887601.769 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:46:41.770Z,1628887601.770 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:46:42.168Z,1628887602.168 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
11A,000,002CD,186,80,80,A1,FF
2021-08-13T20:46:42.169Z,1628887602.169 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:46:42.169Z,1628887602.169 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:46:42.175Z,1628887602.175 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:46:42.572Z,1628887602.572 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:46:42.973Z,1628887602.973 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,002BD,189,80,80,57,FF
2021-08-13T20:46:42.974Z,1628887602.974 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:46:43.050Z,1628887603.050 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:46:43.425Z,1628887603.425 [Micromodem](INFO): Nmea in: $SNTTA,0.041035,,,,204642.75*47

2021-08-13T20:46:43.449Z,1628887603.449 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-08-13T20:46:43.449Z,1628887603.449 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-08-13T20:46:43.450Z,1628887603.450 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-08-13T20:46:43.450Z,1628887603.450 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-13T20:46:43.450Z,1628887603.450 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-08-13T20:46:43.450Z,1628887603.450 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.559999 m 
2021-08-13T20:46:43.450Z,1628887603.450 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-08-13T20:46:43.451Z,1628887603.451 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-08-13T20:46:43.451Z,1628887603.451 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-08-13T20:46:43.453Z,1628887603.453 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.559999 m, bearing: 99.599478 deg, deltaT: 4.489448 s, approachRate: -0.213835 m/s, LOS rate: 13.820784 deg/s, posRepo size: 4
2021-08-13T20:46:43.454Z,1628887603.454 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.820784 deg/s. Setting heading cmd to target bearing of 99.599478deg and heading rate command to 0 deg/s.
2021-08-13T20:46:43.855Z,1628887603.855 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210813T204643: (41.552319, -70.708603)
2021-08-13T20:46:43.855Z,1628887603.855 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-08-13T20:46:43.855Z,1628887603.855 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-08-13T20:46:43.860Z,1628887603.860 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-13T20:46:43.861Z,1628887603.861 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-08-13T20:46:43.861Z,1628887603.861 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-13T20:46:43.861Z,1628887603.861 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-08-13T20:46:43.861Z,1628887603.861 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-08-13T20:46:43.861Z,1628887603.861 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-08-13T20:46:45.849Z,1628887605.849 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:46:46.233Z,1628887606.233 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:46:46.233Z,1628887606.233 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:46:46.233Z,1628887606.233 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:46:46.234Z,1628887606.234 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:46:46.609Z,1628887606.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,002BD,189,80,80,57,FF
2021-08-13T20:46:46.609Z,1628887606.609 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:46:46.609Z,1628887606.609 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:46:46.611Z,1628887606.611 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:46:47.028Z,1628887607.028 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:46:47.417Z,1628887607.417 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,044,000,002BF,184,80,80,9F,FF
2021-08-13T20:46:47.417Z,1628887607.417 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:46:47.477Z,1628887607.477 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:46:47.877Z,1628887607.877 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204647.18*54

2021-08-13T20:46:47.899Z,1628887607.899 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.679999 m, bearing: 29.679457 deg, deltaT: 4.427351 s, approachRate: 0.027104 m/s, LOS rate: -15.792743 deg/s, posRepo size: 4
2021-08-13T20:46:47.900Z,1628887607.900 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -15.792743 deg/s. Setting heading cmd to target bearing of 29.679457deg and heading rate command to 0 deg/s.
2021-08-13T20:46:50.282Z,1628887610.282 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:46:50.649Z,1628887610.649 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:46:50.649Z,1628887610.649 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:46:50.649Z,1628887610.649 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:46:50.650Z,1628887610.650 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:46:51.062Z,1628887611.062 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
044,000,002BF,184,80,80,9F,FF
2021-08-13T20:46:51.062Z,1628887611.062 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:46:51.062Z,1628887611.062 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:46:51.063Z,1628887611.063 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:46:51.505Z,1628887611.505 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:46:51.905Z,1628887611.905 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0AC,000,002CF,186,80,80,7B,FF
2021-08-13T20:46:51.905Z,1628887611.905 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:46:51.926Z,1628887611.926 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:46:52.329Z,1628887612.329 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204651.64*58

2021-08-13T20:46:52.378Z,1628887612.378 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.639998 m, bearing: 32.903234 deg, deltaT: 4.448827 s, approachRate: 0.215787 m/s, LOS rate: 0.724635 deg/s, posRepo size: 4
2021-08-13T20:46:52.380Z,1628887612.380 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.639998 m,
      bearing: 32.903234 deg,
      approachRate: 0.215787 m/s,
      LOS rate: 0.724635 deg/s,
      cmd update: 2.173906 deg/s,
      cmd heading: 29.679457 deg,
      new cmd heading: 29.679457 deg.

2021-08-13T20:46:54.802Z,1628887614.802 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:46:55.137Z,1628887615.137 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:46:55.137Z,1628887615.137 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:46:55.137Z,1628887615.137 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:46:55.138Z,1628887615.138 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:46:55.541Z,1628887615.541 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0AC,000,002CF,186,80,80,7B,FF
2021-08-13T20:46:55.541Z,1628887615.541 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:46:55.542Z,1628887615.542 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:46:55.543Z,1628887615.543 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:46:55.957Z,1628887615.957 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:46:56.353Z,1628887616.353 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,081,000,002D4,187,80,80,6F,FF
2021-08-13T20:46:56.354Z,1628887616.354 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:46:56.408Z,1628887616.408 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:46:56.821Z,1628887616.821 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204656.12*5E

2021-08-13T20:46:56.901Z,1628887616.901 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.940001 m, bearing: 19.072241 deg, deltaT: 4.482559 s, approachRate: 0.066927 m/s, LOS rate: -3.085513 deg/s, posRepo size: 4
2021-08-13T20:46:56.903Z,1628887616.903 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.940001 m,
      bearing: 19.072241 deg,
      approachRate: 0.066927 m/s,
      LOS rate: -3.085513 deg/s,
      cmd update: -9.256539 deg/s,
      cmd heading: 39.371550 deg,
      new cmd heading: 40.492892 deg.

2021-08-13T20:46:58.912Z,1628887618.912 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:46:59.198Z,1628887619.198 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:46:59.199Z,1628887619.199 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:46:59.199Z,1628887619.199 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:46:59.201Z,1628887619.201 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:46:59.585Z,1628887619.585 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
081,000,002D4,187,80,80,6F,FF
2021-08-13T20:46:59.585Z,1628887619.585 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:46:59.585Z,1628887619.585 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:46:59.587Z,1628887619.587 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:46:59.993Z,1628887619.993 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:47:00.401Z,1628887620.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,15B,000,002FA,186,80,80,2C,FF
2021-08-13T20:47:00.401Z,1628887620.401 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:47:00.431Z,1628887620.431 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:47:00.850Z,1628887620.850 [Micromodem](INFO): Nmea in: $SNTTA,0.026422,,,,204700.16*46

2021-08-13T20:47:00.910Z,1628887620.910 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.219998 m, bearing: 0.386872 deg, deltaT: 4.023354 s, approachRate: 0.566691 m/s, LOS rate: -4.644227 deg/s, posRepo size: 4
2021-08-13T20:47:00.913Z,1628887620.913 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.219998 m,
      bearing: 0.386872 deg,
      approachRate: 0.566691 m/s,
      LOS rate: -4.644227 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 1.907403 deg,
      new cmd heading: 357.446853 deg.

2021-08-13T20:47:03.272Z,1628887623.272 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:47:03.617Z,1628887623.617 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:47:03.617Z,1628887623.617 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:47:03.617Z,1628887623.617 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:47:03.618Z,1628887623.618 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:47:04.031Z,1628887624.031 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
15B,000,002FA,186,80,80,2C,FF
2021-08-13T20:47:04.031Z,1628887624.031 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:47:04.032Z,1628887624.032 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:47:04.034Z,1628887624.034 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:47:04.429Z,1628887624.429 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:47:04.838Z,1628887624.838 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0AA,000,00323,186,80,80,7B,FF
2021-08-13T20:47:04.838Z,1628887624.838 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:47:04.935Z,1628887624.935 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:47:05.277Z,1628887625.277 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204704.61*5C

2021-08-13T20:47:05.315Z,1628887625.315 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.680000 m, bearing: 15.723280 deg, deltaT: 4.503298 s, approachRate: 0.546267 m/s, LOS rate: 3.405595 deg/s, posRepo size: 4
2021-08-13T20:47:05.317Z,1628887625.317 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.680000 m,
      bearing: 15.723280 deg,
      approachRate: 0.546267 m/s,
      LOS rate: 3.405595 deg/s,
      cmd update: 10.216784 deg/s,
      cmd heading: 307.962998 deg,
      new cmd heading: 303.269738 deg.

2021-08-13T20:47:07.689Z,1628887627.689 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:47:08.061Z,1628887628.061 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:47:08.061Z,1628887628.061 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:47:08.061Z,1628887628.061 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:47:08.062Z,1628887628.062 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:47:08.070Z,1628887628.070 [PowerOnly](INFO): Powering down loadControl
2021-08-13T20:47:08.473Z,1628887628.473 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0AA,000,00323,186,80,80,7B,FF
2021-08-13T20:47:08.473Z,1628887628.473 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:47:08.473Z,1628887628.473 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:47:08.475Z,1628887628.475 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:47:08.892Z,1628887628.892 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:47:09.274Z,1628887629.274 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F9A,000,0033C,187,80,80,89,FF
2021-08-13T20:47:09.274Z,1628887629.274 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:47:09.328Z,1628887629.328 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:47:09.709Z,1628887629.709 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204709.05*53

2021-08-13T20:47:09.739Z,1628887629.739 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.179997 m, bearing: 15.155517 deg, deltaT: 4.392976 s, approachRate: 0.341454 m/s, LOS rate: -0.129243 deg/s, posRepo size: 4
2021-08-13T20:47:09.741Z,1628887629.741 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.179997 m,
      bearing: 15.155517 deg,
      approachRate: 0.341454 m/s,
      LOS rate: -0.129243 deg/s,
      cmd update: -0.387730 deg/s,
      cmd heading: 352.680553 deg,
      new cmd heading: 357.161625 deg.

2021-08-13T20:47:12.118Z,1628887632.118 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:47:12.517Z,1628887632.517 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:47:12.517Z,1628887632.517 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:47:12.517Z,1628887632.517 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:47:12.518Z,1628887632.518 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:47:12.925Z,1628887632.925 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F9A,000,0033C,187,80,80,89,FF
2021-08-13T20:47:12.925Z,1628887632.925 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:47:12.926Z,1628887632.926 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:47:12.927Z,1628887632.927 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:47:13.317Z,1628887633.317 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:47:13.717Z,1628887633.717 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EC1,000,00353,186,80,80,50,FF
2021-08-13T20:47:13.718Z,1628887633.718 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:47:13.737Z,1628887633.737 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:47:14.151Z,1628887634.151 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204713.50*58

2021-08-13T20:47:14.206Z,1628887634.206 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.559999 m, bearing: 9.709571 deg, deltaT: 4.409485 s, approachRate: 0.312962 m/s, LOS rate: -1.235053 deg/s, posRepo size: 4
2021-08-13T20:47:14.206Z,1628887634.206 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 13.56 m. Rolling out.
2021-08-13T20:47:14.207Z,1628887634.207 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-08-13T20:47:14.571Z,1628887634.571 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2021-08-13T20:47:14.571Z,1628887634.571 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-13T20:47:14.571Z,1628887634.571 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2021-08-13T20:47:14.571Z,1628887634.571 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2021-08-13T20:47:14.571Z,1628887634.571 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2021-08-13T20:47:14.571Z,1628887634.571 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2021-08-13T20:47:14.571Z,1628887634.571 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-08-13T20:47:16.208Z,1628887636.208 [DDM](ERROR): Could not parse latch state
2021-08-13T20:47:16.257Z,1628887636.257 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:47:16.545Z,1628887636.545 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:47:16.545Z,1628887636.545 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:47:16.545Z,1628887636.545 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:47:16.546Z,1628887636.546 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:47:16.973Z,1628887636.973 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EC1,000,00353,186,80,80,50,FF
2021-08-13T20:47:16.973Z,1628887636.973 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:47:16.973Z,1628887636.973 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:47:16.975Z,1628887636.975 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:47:17.357Z,1628887637.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:47:17.765Z,1628887637.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,268,000,00374,189,80,80,72,FF
2021-08-13T20:47:17.766Z,1628887637.766 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:47:17.785Z,1628887637.785 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:47:18.199Z,1628887638.199 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204717.55*59

2021-08-13T20:47:18.229Z,1628887638.229 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.540001 m, bearing: 322.818236 deg, deltaT: 4.047247 s, approachRate: 0.489222 m/s, LOS rate: -11.585985 deg/s, posRepo size: 4
2021-08-13T20:47:20.614Z,1628887640.614 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:47:21.000Z,1628887641.000 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:47:21.001Z,1628887641.001 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:47:21.001Z,1628887641.001 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:47:21.002Z,1628887641.002 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:47:21.397Z,1628887641.397 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
268,000,00374,189,80,80,72,FF
2021-08-13T20:47:21.397Z,1628887641.397 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:47:21.397Z,1628887641.397 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:47:21.399Z,1628887641.399 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:47:21.808Z,1628887641.808 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:47:22.241Z,1628887642.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA4,000,003A0,187,80,80,46,FF
2021-08-13T20:47:22.241Z,1628887642.241 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:47:22.291Z,1628887642.291 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:47:22.641Z,1628887642.641 [Micromodem](INFO): Nmea in: $SNTTA,0.013980,,,,204721.97*4F

2021-08-13T20:47:22.663Z,1628887642.663 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.179998 m, bearing: 0.610792 deg, deltaT: 4.506392 s, approachRate: 0.585834 m/s, LOS rate: 8.386432 deg/s, posRepo size: 4
2021-08-13T20:47:25.073Z,1628887645.073 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:47:25.441Z,1628887645.441 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:47:25.441Z,1628887645.441 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:47:25.441Z,1628887645.441 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:47:25.442Z,1628887645.442 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:47:25.834Z,1628887645.834 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA4,000,003A0,187,80,80,46,FF
2021-08-13T20:47:25.835Z,1628887645.835 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:47:25.835Z,1628887645.835 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:47:25.838Z,1628887645.838 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:47:26.261Z,1628887646.261 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:47:26.650Z,1628887646.650 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FAA,000,003AA,184,80,80,62,FF
2021-08-13T20:47:26.650Z,1628887646.650 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:47:26.702Z,1628887646.702 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:47:27.097Z,1628887647.097 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204726.41*5E

2021-08-13T20:47:27.106Z,1628887647.106 [RDI_Pathfinder](ERROR): only read 0 of 4 data items
2021-08-13T20:47:27.125Z,1628887647.125 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.779997 m, bearing: 2.386165 deg, deltaT: 4.410710 s, approachRate: 0.136032 m/s, LOS rate: 0.402514 deg/s, posRepo size: 4
2021-08-13T20:47:29.554Z,1628887649.554 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:47:29.885Z,1628887649.885 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:47:29.885Z,1628887649.885 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:47:29.885Z,1628887649.885 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:47:29.886Z,1628887649.886 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:47:30.289Z,1628887650.289 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FAA,000,003AA,184,80,80,62,FF
2021-08-13T20:47:30.289Z,1628887650.289 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:47:30.290Z,1628887650.290 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:47:30.291Z,1628887650.291 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:47:30.688Z,1628887650.688 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:47:31.107Z,1628887651.107 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F9A,000,003C2,187,80,80,3C,FF
2021-08-13T20:47:31.109Z,1628887651.109 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:47:31.114Z,1628887651.114 [Micromodem](INFO): Nmea in: $SNTTA,0.121821,0.121803,,,204730.87*53

2021-08-13T20:47:31.263Z,1628887651.263 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:47:31.547Z,1628887651.547 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.219997 m, bearing: 3.978011 deg, deltaT: 4.561143 s, approachRate: 0.315710 m/s, LOS rate: 0.349001 deg/s, posRepo size: 4
2021-08-13T20:47:33.944Z,1628887653.944 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:47:34.325Z,1628887654.325 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:47:34.325Z,1628887654.325 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:47:34.325Z,1628887654.325 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:47:34.327Z,1628887654.327 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:47:34.776Z,1628887654.776 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F9A,000,003C2,187,80,80,3C,FF
2021-08-13T20:47:34.776Z,1628887654.776 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:47:34.776Z,1628887654.776 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:47:34.778Z,1628887654.778 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:47:35.135Z,1628887655.135 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:47:35.538Z,1628887655.538 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED7,000,003C3,186,80,80,7A,FF
2021-08-13T20:47:35.538Z,1628887655.538 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:47:35.567Z,1628887655.567 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:47:35.971Z,1628887655.971 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204735.35*5F

2021-08-13T20:47:36.015Z,1628887656.015 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.280001 m, bearing: 15.767893 deg, deltaT: 4.304669 s, approachRate: 0.013939 m/s, LOS rate: 2.738859 deg/s, posRepo size: 4
2021-08-13T20:47:36.377Z,1628887656.377 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T20:47:38.424Z,1628887658.424 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:47:38.812Z,1628887658.812 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:47:38.813Z,1628887658.813 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:47:38.813Z,1628887658.813 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:47:38.814Z,1628887658.814 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:47:39.193Z,1628887659.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ED7,000,003C3,186,80,80,7A,FF
2021-08-13T20:47:39.193Z,1628887659.193 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:47:39.194Z,1628887659.194 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:47:39.204Z,1628887659.204 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:47:39.580Z,1628887659.580 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:47:39.981Z,1628887659.981 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E72,000,003CD,186,80,80,8D,FF
2021-08-13T20:47:39.982Z,1628887659.982 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:47:40.037Z,1628887660.037 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:47:40.409Z,1628887660.409 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204739.78*5A

2021-08-13T20:47:40.447Z,1628887660.447 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.879999 m, bearing: 20.932833 deg, deltaT: 4.469941 s, approachRate: 0.134230 m/s, LOS rate: 1.155483 deg/s, posRepo size: 4
2021-08-13T20:47:41.262Z,1628887661.262 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T20:47:42.872Z,1628887662.872 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:47:43.241Z,1628887663.241 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:47:43.242Z,1628887663.242 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:47:43.242Z,1628887663.242 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:47:43.243Z,1628887663.243 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:47:43.619Z,1628887663.619 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E72,000,003CD,186,80,80,8D,FF
2021-08-13T20:47:43.619Z,1628887663.619 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:47:43.619Z,1628887663.619 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:47:43.621Z,1628887663.621 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:47:44.020Z,1628887664.020 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:47:44.864Z,1628887664.864 [Micromodem](INFO): Nmea in: $SNTTA,0.054377,,,,204744.20*41

2021-08-13T20:47:45.672Z,1628887665.672 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:47:46.451Z,1628887666.451 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T20:47:47.253Z,1628887667.253 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,186,80,80,8D,FF
2021-08-13T20:47:47.253Z,1628887667.253 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,186,80,80,8D,FF
2021-08-13T20:47:47.254Z,1628887667.254 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T20:47:48.497Z,1628887668.497 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:47:48.873Z,1628887668.873 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:47:48.873Z,1628887668.873 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:47:48.873Z,1628887668.873 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:47:48.874Z,1628887668.874 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:47:49.273Z,1628887669.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,186,80,80,8D,FF
2021-08-13T20:47:49.273Z,1628887669.273 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:47:49.273Z,1628887669.273 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:47:49.275Z,1628887669.275 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:47:49.681Z,1628887669.681 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:47:50.081Z,1628887670.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DDA,000,003E4,189,80,80,9B,FF
2021-08-13T20:47:50.082Z,1628887670.082 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:47:50.137Z,1628887670.137 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:47:50.521Z,1628887670.521 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204749.85*5F

2021-08-13T20:47:50.592Z,1628887670.592 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.260002 m, bearing: 27.866637 deg, deltaT: 10.099877 s, approachRate: 0.136636 m/s, LOS rate: 0.686524 deg/s, posRepo size: 4
2021-08-13T20:47:51.309Z,1628887671.309 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T20:47:52.942Z,1628887672.942 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:47:53.318Z,1628887673.318 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:47:53.318Z,1628887673.318 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:47:53.319Z,1628887673.319 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:47:53.319Z,1628887673.319 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:47:53.721Z,1628887673.721 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DDA,000,003E4,189,80,80,9B,FF
2021-08-13T20:47:53.721Z,1628887673.721 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:47:53.722Z,1628887673.722 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:47:53.723Z,1628887673.723 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:47:54.125Z,1628887674.125 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:47:54.529Z,1628887674.529 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D5F,000,003F0,189,80,80,4C,FF
2021-08-13T20:47:54.529Z,1628887674.529 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:47:54.559Z,1628887674.559 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:47:54.933Z,1628887674.933 [Micromodem](INFO): Nmea in: $SNTTA,0.449492,0.408694,,,204754.29*54

2021-08-13T20:47:54.982Z,1628887674.982 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.980001 m, bearing: 33.765990 deg, deltaT: 4.421144 s, approachRate: 0.162854 m/s, LOS rate: 1.334350 deg/s, posRepo size: 4
2021-08-13T20:47:56.227Z,1628887676.227 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-13T20:47:57.384Z,1628887677.384 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:47:57.753Z,1628887677.753 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:47:57.753Z,1628887677.753 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:47:57.753Z,1628887677.753 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:47:57.754Z,1628887677.754 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:47:58.161Z,1628887678.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D5F,000,003F0,189,80,80,4C,FF
2021-08-13T20:47:58.161Z,1628887678.161 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:47:58.161Z,1628887678.161 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:47:58.163Z,1628887678.163 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:47:58.569Z,1628887678.569 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:47:58.965Z,1628887678.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D4E,000,003F5,189,80,80,48,FF
2021-08-13T20:47:58.965Z,1628887678.965 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:47:59.036Z,1628887679.036 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:47:59.417Z,1628887679.417 [Micromodem](INFO): Nmea in: $SNTTA,0.053685,,,,204758.74*42

2021-08-13T20:47:59.466Z,1628887679.466 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.280001 m, bearing: 34.694096 deg, deltaT: 4.478106 s, approachRate: 0.066992 m/s, LOS rate: 0.207254 deg/s, posRepo size: 4
2021-08-13T20:48:01.833Z,1628887681.833 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:48:02.213Z,1628887682.213 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:48:02.213Z,1628887682.213 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:48:02.213Z,1628887682.213 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:48:02.214Z,1628887682.214 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:48:02.260Z,1628887682.260 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T20:48:02.597Z,1628887682.597 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D4E,000,003F5,189,80,80,48,FF
2021-08-13T20:48:02.598Z,1628887682.598 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:48:02.598Z,1628887682.598 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:48:02.599Z,1628887682.599 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:48:03.015Z,1628887683.015 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:48:03.409Z,1628887683.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D37,000,003FC,189,80,80,83,FF
2021-08-13T20:48:03.409Z,1628887683.409 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:48:03.479Z,1628887683.479 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:48:03.858Z,1628887683.858 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204803.17*55

2021-08-13T20:48:03.903Z,1628887683.903 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.700001 m, bearing: 35.699715 deg, deltaT: 4.442222 s, approachRate: 0.094547 m/s, LOS rate: 0.226377 deg/s, posRepo size: 4
2021-08-13T20:48:06.309Z,1628887686.309 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:48:06.637Z,1628887686.637 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:48:06.637Z,1628887686.637 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:48:06.637Z,1628887686.637 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:48:06.638Z,1628887686.638 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:48:07.053Z,1628887687.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D37,000,003FC,189,80,80,83,FF
2021-08-13T20:48:07.053Z,1628887687.053 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:48:07.053Z,1628887687.053 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:48:07.055Z,1628887687.055 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:48:07.528Z,1628887687.528 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:48:07.928Z,1628887687.928 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D14,000,00402,189,80,80,60,FF
2021-08-13T20:48:07.929Z,1628887687.929 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:48:07.947Z,1628887687.947 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:48:08.337Z,1628887688.337 [Micromodem](INFO): Nmea in: $SNTTA,0.049512,,,,204807.63*47

2021-08-13T20:48:08.375Z,1628887688.375 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.059999 m, bearing: 37.327202 deg, deltaT: 4.468720 s, approachRate: 0.080560 m/s, LOS rate: 0.364195 deg/s, posRepo size: 4
2021-08-13T20:48:10.891Z,1628887690.891 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:48:11.216Z,1628887691.216 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:48:11.216Z,1628887691.216 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:48:11.216Z,1628887691.216 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:48:11.217Z,1628887691.217 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:48:11.570Z,1628887691.570 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D14,000,00402,189,80,80,60,FF
2021-08-13T20:48:11.570Z,1628887691.570 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:48:11.570Z,1628887691.570 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:48:11.572Z,1628887691.572 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:48:11.984Z,1628887691.984 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:48:12.381Z,1628887692.381 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,059,000,0041A,186,80,80,78,FF
2021-08-13T20:48:12.382Z,1628887692.382 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:48:12.446Z,1628887692.446 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:48:12.827Z,1628887692.827 [Micromodem](INFO): Nmea in: $SNTTA,0.042636,,,,204812.14*4D

2021-08-13T20:48:12.888Z,1628887692.888 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.499998 m, bearing: 355.642704 deg, deltaT: 4.498812 s, approachRate: 0.320084 m/s, LOS rate: -9.265668 deg/s, posRepo size: 4
2021-08-13T20:48:15.276Z,1628887695.276 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:48:15.617Z,1628887695.617 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:48:15.617Z,1628887695.617 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:48:15.618Z,1628887695.618 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:48:15.618Z,1628887695.618 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:48:16.017Z,1628887696.017 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
059,000,0041A,186,80,80,78,FF
2021-08-13T20:48:16.017Z,1628887696.017 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:48:16.017Z,1628887696.017 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:48:16.019Z,1628887696.019 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:48:16.421Z,1628887696.421 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:48:16.452Z,1628887696.452 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T20:48:16.826Z,1628887696.826 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,025,000,00416,185,80,80,6C,FF
2021-08-13T20:48:16.826Z,1628887696.826 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:48:16.922Z,1628887696.922 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:48:17.277Z,1628887697.277 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204816.59*5B

2021-08-13T20:48:17.341Z,1628887697.341 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.259996 m, bearing: 358.306096 deg, deltaT: 4.476027 s, approachRate: -0.053619 m/s, LOS rate: 0.595035 deg/s, posRepo size: 4
2021-08-13T20:48:19.679Z,1628887699.679 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:48:20.061Z,1628887700.061 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:48:20.061Z,1628887700.061 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:48:20.061Z,1628887700.061 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:48:20.062Z,1628887700.062 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:48:20.465Z,1628887700.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
025,000,00416,185,80,80,6C,FF
2021-08-13T20:48:20.465Z,1628887700.465 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:48:20.465Z,1628887700.465 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:48:20.467Z,1628887700.467 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:48:20.877Z,1628887700.877 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:48:21.269Z,1628887701.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,009,000,00425,183,80,80,72,FF
2021-08-13T20:48:21.269Z,1628887701.269 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:48:21.469Z,1628887701.469 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:48:21.714Z,1628887701.714 [Micromodem](INFO): Nmea in: $SNTTA,0.036064,,,,204821.04*4E

2021-08-13T20:48:21.736Z,1628887701.736 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.160002 m, bearing: 359.824092 deg, deltaT: 4.546837 s, approachRate: 0.197941 m/s, LOS rate: 0.333858 deg/s, posRepo size: 4
2021-08-13T20:48:24.134Z,1628887704.134 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:48:24.505Z,1628887704.505 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:48:24.505Z,1628887704.505 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:48:24.505Z,1628887704.505 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:48:24.506Z,1628887704.506 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:48:24.909Z,1628887704.909 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
009,000,00425,183,80,80,72,FF
2021-08-13T20:48:24.909Z,1628887704.909 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:48:24.909Z,1628887704.909 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:48:24.911Z,1628887704.911 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:48:25.329Z,1628887705.329 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:48:26.150Z,1628887706.150 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204825.49*5A

2021-08-13T20:48:26.977Z,1628887706.977 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:48:28.545Z,1628887708.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
5,183,80,80,72,FF
2021-08-13T20:48:28.545Z,1628887708.545 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
5,183,80,80,72,FF
2021-08-13T20:48:28.545Z,1628887708.545 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T20:48:29.786Z,1628887709.786 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:48:30.161Z,1628887710.161 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:48:30.161Z,1628887710.161 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:48:30.161Z,1628887710.161 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:48:30.162Z,1628887710.162 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:48:30.573Z,1628887710.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
5,183,80,80,72,FF
2021-08-13T20:48:30.574Z,1628887710.574 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:48:30.574Z,1628887710.574 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:48:30.575Z,1628887710.575 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:48:30.976Z,1628887710.976 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:48:31.385Z,1628887711.385 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F7D,000,00429,187,80,80,92,FF
2021-08-13T20:48:31.386Z,1628887711.386 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:48:31.458Z,1628887711.458 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:48:31.817Z,1628887711.817 [Micromodem](INFO): Nmea in: $SNTTA,0.094299,,,,204831.15*47

2021-08-13T20:48:31.850Z,1628887711.850 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.399998 m, bearing: 7.079978 deg, deltaT: 9.988292 s, approachRate: 0.024028 m/s, LOS rate: 0.726440 deg/s, posRepo size: 4
2021-08-13T20:48:34.252Z,1628887714.252 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:48:34.609Z,1628887714.609 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:48:34.609Z,1628887714.609 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:48:34.609Z,1628887714.609 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:48:34.610Z,1628887714.610 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:48:35.009Z,1628887715.009 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F7D,000,00429,187,80,80,92,FF
2021-08-13T20:48:35.009Z,1628887715.009 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:48:35.010Z,1628887715.010 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:48:35.011Z,1628887715.011 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:48:35.442Z,1628887715.442 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:48:35.817Z,1628887715.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E9C,000,00437,186,80,80,75,FF
2021-08-13T20:48:35.817Z,1628887715.817 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:48:35.874Z,1628887715.874 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:48:36.343Z,1628887716.343 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.239998 m, bearing: 18.359204 deg, deltaT: 4.416287 s, approachRate: 0.190205 m/s, LOS rate: 2.554006 deg/s, posRepo size: 4
2021-08-13T20:48:38.679Z,1628887718.679 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:48:39.053Z,1628887719.053 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:48:39.053Z,1628887719.053 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:48:39.054Z,1628887719.054 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:48:39.055Z,1628887719.055 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:48:39.457Z,1628887719.457 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E9C,000,00437,186,80,80,75,FF
2021-08-13T20:48:39.457Z,1628887719.457 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:48:39.457Z,1628887719.457 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:48:39.459Z,1628887719.459 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:48:39.865Z,1628887719.865 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:48:40.269Z,1628887720.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F17,000,0042E,186,80,80,91,FF
2021-08-13T20:48:40.269Z,1628887720.269 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:48:40.298Z,1628887720.298 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:48:40.712Z,1628887720.712 [Micromodem](INFO): Nmea in: $SNTTA,0.070857,,,,204840.03*44

2021-08-13T20:48:40.798Z,1628887720.798 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.700003 m, bearing: 12.615908 deg, deltaT: 4.424550 s, approachRate: -0.122045 m/s, LOS rate: -1.298052 deg/s, posRepo size: 4
2021-08-13T20:48:43.142Z,1628887723.142 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:48:43.497Z,1628887723.497 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:48:43.497Z,1628887723.497 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:48:43.498Z,1628887723.498 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:48:43.498Z,1628887723.498 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:48:43.901Z,1628887723.901 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F17,000,0042E,186,80,80,91,FF
2021-08-13T20:48:43.901Z,1628887723.901 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:48:43.901Z,1628887723.901 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:48:43.903Z,1628887723.903 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:48:44.325Z,1628887724.325 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:48:44.725Z,1628887724.725 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE7,000,00433,187,80,80,76,FF
2021-08-13T20:48:44.727Z,1628887724.727 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:48:44.737Z,1628887724.737 [Micromodem](INFO): Nmea in: $SNTTA,0.318344,0.318162,,,204844.48*5A

2021-08-13T20:48:44.794Z,1628887724.794 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:48:45.226Z,1628887725.226 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.000002 m, bearing: 15.438041 deg, deltaT: 4.496080 s, approachRate: 0.066725 m/s, LOS rate: 0.627688 deg/s, posRepo size: 4
2021-08-13T20:48:47.585Z,1628887727.585 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:48:47.950Z,1628887727.950 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:48:47.950Z,1628887727.950 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:48:47.950Z,1628887727.950 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:48:47.951Z,1628887727.951 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:48:48.357Z,1628887728.357 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE7,000,00433,187,80,80,76,FF
2021-08-13T20:48:48.358Z,1628887728.358 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:48:48.358Z,1628887728.358 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:48:48.360Z,1628887728.360 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:48:48.808Z,1628887728.808 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:48:49.189Z,1628887729.189 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED0,000,0043D,186,80,80,8F,FF
2021-08-13T20:48:49.190Z,1628887729.190 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:48:49.266Z,1628887729.266 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:48:49.601Z,1628887729.601 [Micromodem](INFO): Nmea in: $SNTTA,0.050317,,,,204848.93*48

2021-08-13T20:48:49.624Z,1628887729.624 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.600000 m, bearing: 16.812526 deg, deltaT: 4.472004 s, approachRate: 0.134168 m/s, LOS rate: 0.307353 deg/s, posRepo size: 4
2021-08-13T20:48:52.006Z,1628887732.006 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:48:52.393Z,1628887732.393 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:48:52.393Z,1628887732.393 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:48:52.393Z,1628887732.393 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:48:52.394Z,1628887732.394 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:48:52.817Z,1628887732.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ED0,000,0043D,186,80,80,8F,FF
2021-08-13T20:48:52.817Z,1628887732.817 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:48:52.817Z,1628887732.817 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:48:52.819Z,1628887732.819 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:48:53.217Z,1628887733.217 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:48:53.609Z,1628887733.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E86,000,00444,186,80,80,6A,FF
2021-08-13T20:48:53.609Z,1628887733.609 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:48:53.628Z,1628887733.628 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:48:54.037Z,1628887734.037 [Micromodem](INFO): Nmea in: $SNTTA,0.046775,,,,204853.39*45

2021-08-13T20:48:54.074Z,1628887734.074 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.020000 m, bearing: 20.542311 deg, deltaT: 4.361881 s, approachRate: 0.096289 m/s, LOS rate: 0.855086 deg/s, posRepo size: 4
2021-08-13T20:48:56.475Z,1628887736.475 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:48:56.842Z,1628887736.842 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:48:56.842Z,1628887736.842 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:48:56.842Z,1628887736.842 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:48:56.843Z,1628887736.843 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:48:57.249Z,1628887737.249 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E86,000,00444,186,80,80,6A,FF
2021-08-13T20:48:57.249Z,1628887737.249 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:48:57.249Z,1628887737.249 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:48:57.251Z,1628887737.251 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:48:57.673Z,1628887737.673 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:48:58.069Z,1628887738.069 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E7C,000,0044C,186,80,80,98,FF
2021-08-13T20:48:58.070Z,1628887738.070 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:48:58.089Z,1628887738.089 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:48:58.509Z,1628887738.509 [Micromodem](INFO): Nmea in: $SNTTA,0.066428,,,,204857.82*48

2021-08-13T20:48:58.547Z,1628887738.547 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.500000 m, bearing: 21.270959 deg, deltaT: 4.460245 s, approachRate: 0.107617 m/s, LOS rate: 0.163365 deg/s, posRepo size: 4
2021-08-13T20:49:00.951Z,1628887740.951 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:49:01.309Z,1628887741.309 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:49:01.309Z,1628887741.309 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:49:01.309Z,1628887741.309 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:49:01.310Z,1628887741.310 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:49:01.705Z,1628887741.705 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E7C,000,0044C,186,80,80,98,FF
2021-08-13T20:49:01.705Z,1628887741.705 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:49:01.705Z,1628887741.705 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:49:01.707Z,1628887741.707 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:49:02.113Z,1628887742.113 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:49:02.517Z,1628887742.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA3,000,0044B,186,80,80,91,FF
2021-08-13T20:49:02.517Z,1628887742.517 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:49:02.571Z,1628887742.571 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:49:02.929Z,1628887742.929 [Micromodem](INFO): Nmea in: $SNTTA,0.454414,0.454414,,,204902.28*59

2021-08-13T20:49:02.985Z,1628887742.985 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.440001 m, bearing: 19.410494 deg, deltaT: 4.482454 s, approachRate: -0.013385 m/s, LOS rate: -0.415055 deg/s, posRepo size: 4
2021-08-13T20:49:05.389Z,1628887745.389 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:49:05.745Z,1628887745.745 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:49:05.745Z,1628887745.745 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:49:05.745Z,1628887745.745 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:49:05.746Z,1628887745.746 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:49:06.153Z,1628887746.153 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EA3,000,0044B,186,80,80,91,FF
2021-08-13T20:49:06.153Z,1628887746.153 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:49:06.153Z,1628887746.153 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:49:06.155Z,1628887746.155 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:49:06.560Z,1628887746.560 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:49:06.965Z,1628887746.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB3,000,0044A,186,80,80,7F,FF
2021-08-13T20:49:06.965Z,1628887746.965 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:49:07.041Z,1628887747.041 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:49:07.409Z,1628887747.409 [Micromodem](INFO): Nmea in: $SNTTA,0.075626,,,,204906.73*4D

2021-08-13T20:49:07.450Z,1628887747.450 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.379997 m, bearing: 18.575924 deg, deltaT: 4.469881 s, approachRate: -0.013424 m/s, LOS rate: -0.186710 deg/s, posRepo size: 4
2021-08-13T20:49:09.833Z,1628887749.833 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:49:10.213Z,1628887750.213 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:49:10.213Z,1628887750.213 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:49:10.213Z,1628887750.213 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:49:10.214Z,1628887750.214 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:49:10.601Z,1628887750.601 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EB3,000,0044A,186,80,80,7F,FF
2021-08-13T20:49:10.601Z,1628887750.601 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:49:10.601Z,1628887750.601 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:49:10.603Z,1628887750.603 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:49:11.014Z,1628887751.014 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:49:11.413Z,1628887751.413 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E56,000,0045C,186,80,80,96,FF
2021-08-13T20:49:11.413Z,1628887751.413 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:49:11.467Z,1628887751.467 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:49:11.861Z,1628887751.861 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204911.18*58

2021-08-13T20:49:11.883Z,1628887751.883 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.460001 m, bearing: 23.510358 deg, deltaT: 4.426769 s, approachRate: 0.243971 m/s, LOS rate: 1.114681 deg/s, posRepo size: 4
2021-08-13T20:49:14.289Z,1628887754.289 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:49:14.645Z,1628887754.645 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:49:14.645Z,1628887754.645 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:49:14.645Z,1628887754.645 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:49:14.646Z,1628887754.646 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:49:15.053Z,1628887755.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E56,000,0045C,186,80,80,96,FF
2021-08-13T20:49:15.053Z,1628887755.053 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:49:15.053Z,1628887755.053 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:49:15.055Z,1628887755.055 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:49:15.460Z,1628887755.460 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:49:15.861Z,1628887755.861 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EC7,000,00457,186,80,80,61,FF
2021-08-13T20:49:15.862Z,1628887755.862 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:49:15.904Z,1628887755.904 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:49:16.321Z,1628887756.321 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204915.63*50

2021-08-13T20:49:16.359Z,1628887756.359 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.160002 m, bearing: 17.855730 deg, deltaT: 4.436667 s, approachRate: -0.067618 m/s, LOS rate: -1.274522 deg/s, posRepo size: 4
2021-08-13T20:49:18.726Z,1628887758.726 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:49:19.093Z,1628887759.093 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:49:19.093Z,1628887759.093 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:49:19.093Z,1628887759.093 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:49:19.094Z,1628887759.094 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:49:19.489Z,1628887759.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EC7,000,00457,186,80,80,61,FF
2021-08-13T20:49:19.489Z,1628887759.489 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:49:19.489Z,1628887759.489 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:49:19.491Z,1628887759.491 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:49:19.907Z,1628887759.907 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:49:20.308Z,1628887760.308 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F09,000,0045C,187,80,80,6B,FF
2021-08-13T20:49:20.309Z,1628887760.309 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:49:20.337Z,1628887760.337 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:49:20.769Z,1628887760.769 [Micromodem](INFO): Nmea in: $SNTTA,0.067184,,,,204920.06*47

2021-08-13T20:49:20.823Z,1628887760.823 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.460001 m, bearing: 15.073225 deg, deltaT: 4.433017 s, approachRate: 0.067674 m/s, LOS rate: -0.627677 deg/s, posRepo size: 4
2021-08-13T20:49:22.910Z,1628887762.910 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:49:23.138Z,1628887763.138 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:49:23.138Z,1628887763.138 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:49:23.138Z,1628887763.138 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:49:23.139Z,1628887763.139 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:49:23.529Z,1628887763.529 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F09,000,0045C,187,80,80,6B,FF
2021-08-13T20:49:23.529Z,1628887763.529 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:49:23.529Z,1628887763.529 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:49:23.531Z,1628887763.531 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:49:23.951Z,1628887763.951 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:49:24.337Z,1628887764.337 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB2,000,00461,186,80,80,99,FF
2021-08-13T20:49:24.337Z,1628887764.337 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:49:24.403Z,1628887764.403 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:49:24.805Z,1628887764.805 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204924.10*56

2021-08-13T20:49:24.885Z,1628887764.885 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.760000 m, bearing: 19.649413 deg, deltaT: 4.065654 s, approachRate: 0.073789 m/s, LOS rate: 1.125572 deg/s, posRepo size: 4
2021-08-13T20:49:27.242Z,1628887767.242 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:49:27.586Z,1628887767.586 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:49:27.587Z,1628887767.587 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:49:27.587Z,1628887767.587 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:49:27.588Z,1628887767.588 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:49:27.985Z,1628887767.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EB2,000,00461,186,80,80,99,FF
2021-08-13T20:49:27.986Z,1628887767.986 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:49:27.986Z,1628887767.986 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:49:28.005Z,1628887768.005 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:49:28.401Z,1628887768.401 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:49:28.417Z,1628887768.417 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T20:49:29.234Z,1628887769.234 [Micromodem](INFO): Nmea in: $SNTTA,,0.307248,,,204928.58*42

2021-08-13T20:49:30.037Z,1628887770.037 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:49:31.625Z,1628887771.625 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
1,186,80,80,99,FF
2021-08-13T20:49:31.625Z,1628887771.625 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
1,186,80,80,99,FF
2021-08-13T20:49:31.625Z,1628887771.625 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T20:49:32.912Z,1628887772.912 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:49:33.253Z,1628887773.253 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:49:33.253Z,1628887773.253 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:49:33.253Z,1628887773.253 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:49:33.254Z,1628887773.254 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:49:33.657Z,1628887773.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
1,186,80,80,99,FF
2021-08-13T20:49:33.657Z,1628887773.657 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:49:33.658Z,1628887773.658 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:49:33.694Z,1628887773.694 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:49:34.061Z,1628887774.061 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:49:34.453Z,1628887774.453 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DFF,000,0046E,187,80,80,91,FF
2021-08-13T20:49:34.454Z,1628887774.454 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:49:34.547Z,1628887774.547 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:49:34.874Z,1628887774.874 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204934.27*53

2021-08-13T20:49:34.946Z,1628887774.946 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.539997 m, bearing: 29.003497 deg, deltaT: 10.148617 s, approachRate: 0.076857 m/s, LOS rate: 0.921710 deg/s, posRepo size: 4
2021-08-13T20:49:37.325Z,1628887777.325 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:49:37.697Z,1628887777.697 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:49:37.697Z,1628887777.697 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:49:37.697Z,1628887777.697 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:49:37.698Z,1628887777.698 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:49:38.105Z,1628887778.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DFF,000,0046E,187,80,80,91,FF
2021-08-13T20:49:38.105Z,1628887778.105 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:49:38.106Z,1628887778.106 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:49:38.107Z,1628887778.107 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:49:38.508Z,1628887778.508 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:49:38.917Z,1628887778.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D8A,000,00475,189,80,80,84,FF
2021-08-13T20:49:38.917Z,1628887778.917 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:49:38.986Z,1628887778.986 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:49:39.351Z,1628887779.351 [Micromodem](INFO): Nmea in: $SNTTA,0.039754,,,,204938.68*46

2021-08-13T20:49:39.433Z,1628887779.433 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.959999 m, bearing: 34.787175 deg, deltaT: 4.434588 s, approachRate: 0.094710 m/s, LOS rate: 1.304220 deg/s, posRepo size: 4
2021-08-13T20:49:41.759Z,1628887781.759 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:49:42.141Z,1628887782.141 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:49:42.141Z,1628887782.141 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:49:42.141Z,1628887782.141 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:49:42.142Z,1628887782.142 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:49:42.565Z,1628887782.565 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D8A,000,00475,189,80,80,84,FF
2021-08-13T20:49:42.565Z,1628887782.565 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:49:42.565Z,1628887782.565 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:49:42.567Z,1628887782.567 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:49:42.964Z,1628887782.964 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:49:43.354Z,1628887783.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D36,000,0047B,189,80,80,56,FF
2021-08-13T20:49:43.355Z,1628887783.355 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:49:43.442Z,1628887783.442 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:49:43.778Z,1628887783.778 [Micromodem](INFO): Nmea in: $SNTTA,0.043660,,,,204943.14*4A

2021-08-13T20:49:43.806Z,1628887783.806 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.320002 m, bearing: 39.239877 deg, deltaT: 4.455561 s, approachRate: 0.080798 m/s, LOS rate: 0.999358 deg/s, posRepo size: 4
2021-08-13T20:49:46.233Z,1628887786.233 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:49:46.593Z,1628887786.593 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:49:46.593Z,1628887786.593 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:49:46.593Z,1628887786.593 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:49:46.594Z,1628887786.594 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:49:46.997Z,1628887786.997 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D36,000,0047B,189,80,80,56,FF
2021-08-13T20:49:46.997Z,1628887786.997 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:49:46.997Z,1628887786.997 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:49:46.999Z,1628887786.999 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:49:47.401Z,1628887787.401 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:49:47.805Z,1628887787.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CCA,000,00482,189,80,80,84,FF
2021-08-13T20:49:47.805Z,1628887787.805 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:49:47.825Z,1628887787.825 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:49:48.258Z,1628887788.258 [Micromodem](INFO): Nmea in: $SNTTA,0.044647,,,,204947.57*4B

2021-08-13T20:49:48.291Z,1628887788.291 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.740002 m, bearing: 44.495011 deg, deltaT: 4.383685 s, approachRate: 0.095810 m/s, LOS rate: 1.198794 deg/s, posRepo size: 4
2021-08-13T20:49:50.664Z,1628887790.664 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:49:51.033Z,1628887791.033 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:49:51.033Z,1628887791.033 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:49:51.033Z,1628887791.033 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:49:51.034Z,1628887791.034 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:49:51.437Z,1628887791.437 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CCA,000,00482,189,80,80,84,FF
2021-08-13T20:49:51.437Z,1628887791.437 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:49:51.437Z,1628887791.437 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:49:51.439Z,1628887791.439 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:49:51.846Z,1628887791.846 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:49:52.253Z,1628887792.253 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,289,000,0055C,189,80,80,1D,FF
2021-08-13T20:49:52.253Z,1628887792.253 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:49:52.322Z,1628887792.322 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:49:52.681Z,1628887792.681 [Micromodem](INFO): Nmea in: $SNTTA,0.036585,,,,204952.01*44

2021-08-13T20:49:52.777Z,1628887792.777 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 44.820000 m, bearing: 330.824365 deg, deltaT: 4.496369 s, approachRate: 2.909014 m/s, LOS rate: -16.384478 deg/s, posRepo size: 4
2021-08-13T20:49:53.099Z,1628887793.099 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-13T20:49:53.099Z,1628887793.099 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T20:49:53.099Z,1628887793.099 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-13T20:49:53.100Z,1628887793.100 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-13T20:49:53.100Z,1628887793.100 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-13T20:49:53.101Z,1628887793.101 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-13T20:49:53.500Z,1628887793.500 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-13T20:49:53.501Z,1628887793.501 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T20:49:53.501Z,1628887793.501 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-13T20:49:53.501Z,1628887793.501 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T20:49:55.131Z,1628887795.131 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:49:55.481Z,1628887795.481 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:49:55.481Z,1628887795.481 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:49:55.481Z,1628887795.481 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:49:55.481Z,1628887795.481 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:49:55.889Z,1628887795.889 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
289,000,0055C,189,80,80,1D,FF
2021-08-13T20:49:55.889Z,1628887795.889 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:49:55.889Z,1628887795.889 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:49:55.891Z,1628887795.891 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:49:56.305Z,1628887796.305 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:49:56.692Z,1628887796.692 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,12B,000,0048E,186,80,80,7E,FF
2021-08-13T20:49:56.693Z,1628887796.693 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:49:57.133Z,1628887797.133 [Micromodem](INFO): Nmea in: $SNTTA,,0.364091,,,204956.46*47

2021-08-13T20:49:57.241Z,1628887797.241 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.460003 m, bearing: 348.121328 deg, deltaT: 4.472934 s, approachRate: -2.763286 m/s, LOS rate: 3.867028 deg/s, posRepo size: 4
2021-08-13T20:49:57.535Z,1628887797.535 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-13T20:49:57.535Z,1628887797.535 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T20:49:57.535Z,1628887797.535 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-13T20:49:57.536Z,1628887797.536 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-13T20:49:57.536Z,1628887797.536 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-13T20:49:57.536Z,1628887797.536 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-13T20:49:57.941Z,1628887797.941 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-13T20:49:57.941Z,1628887797.941 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T20:49:57.941Z,1628887797.941 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-13T20:49:57.941Z,1628887797.941 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T20:49:59.553Z,1628887799.553 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:49:59.921Z,1628887799.921 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:49:59.921Z,1628887799.921 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:49:59.921Z,1628887799.921 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:49:59.922Z,1628887799.922 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:50:00.321Z,1628887800.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
12B,000,0048E,186,80,80,7E,FF
2021-08-13T20:50:00.321Z,1628887800.321 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:50:00.321Z,1628887800.321 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:50:00.323Z,1628887800.323 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:50:00.869Z,1628887800.869 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:50:01.133Z,1628887801.133 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,11C,000,00496,187,80,80,61,FF
2021-08-13T20:50:01.133Z,1628887801.133 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:50:01.183Z,1628887801.183 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:50:01.570Z,1628887801.570 [Micromodem](INFO): Nmea in: $SNTTA,0.051093,,,,205000.90*40

2021-08-13T20:50:01.633Z,1628887801.633 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.939999 m, bearing: 348.824728 deg, deltaT: 4.389424 s, approachRate: 0.109353 m/s, LOS rate: 0.160249 deg/s, posRepo size: 4
2021-08-13T20:50:03.998Z,1628887803.998 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:50:04.365Z,1628887804.365 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:50:04.365Z,1628887804.365 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:50:04.365Z,1628887804.365 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:50:04.366Z,1628887804.366 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:50:04.812Z,1628887804.812 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
11C,000,00496,187,80,80,61,FF
2021-08-13T20:50:04.813Z,1628887804.813 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:50:04.813Z,1628887804.813 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:50:04.814Z,1628887804.814 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:50:05.207Z,1628887805.207 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:50:05.577Z,1628887805.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,093,000,0049D,186,80,80,84,FF
2021-08-13T20:50:05.577Z,1628887805.577 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:50:05.597Z,1628887805.597 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:50:06.007Z,1628887806.007 [Micromodem](INFO): Nmea in: $SNTTA,0.039093,,,,205005.39*48

2021-08-13T20:50:06.041Z,1628887806.041 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 33.360001 m, bearing: 355.472715 deg, deltaT: 4.412508 s, approachRate: 0.095184 m/s, LOS rate: 1.506623 deg/s, posRepo size: 4
2021-08-13T20:50:08.448Z,1628887808.448 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:50:08.817Z,1628887808.817 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:50:08.817Z,1628887808.817 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:50:08.817Z,1628887808.817 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:50:08.818Z,1628887808.818 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:50:09.241Z,1628887809.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
093,000,0049D,186,80,80,84,FF
2021-08-13T20:50:09.241Z,1628887809.241 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:50:09.241Z,1628887809.241 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:50:09.243Z,1628887809.243 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:50:09.629Z,1628887809.629 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:50:10.027Z,1628887810.027 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,003,000,004A3,183,80,80,5B,FF
2021-08-13T20:50:10.027Z,1628887810.027 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:50:10.047Z,1628887810.047 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:50:10.443Z,1628887810.443 [Micromodem](INFO): Nmea in: $SNTTA,0.050558,,,,205009.81*4A

2021-08-13T20:50:10.491Z,1628887810.491 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 33.719997 m, bearing: 2.227405 deg, deltaT: 4.450087 s, approachRate: 0.080897 m/s, LOS rate: 1.517879 deg/s, posRepo size: 4
2021-08-13T20:50:12.579Z,1628887812.579 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:50:12.934Z,1628887812.934 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:50:12.934Z,1628887812.934 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:50:12.934Z,1628887812.934 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:50:12.935Z,1628887812.935 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:50:13.329Z,1628887813.329 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
003,000,004A3,183,80,80,5B,FF
2021-08-13T20:50:13.329Z,1628887813.329 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:50:13.330Z,1628887813.330 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:50:13.331Z,1628887813.331 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:50:13.805Z,1628887813.805 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:50:14.151Z,1628887814.151 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FDA,000,004AA,185,80,80,76,FF
2021-08-13T20:50:14.151Z,1628887814.151 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:50:14.223Z,1628887814.223 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:50:14.585Z,1628887814.585 [Micromodem](INFO): Nmea in: $SNTTA,0.054950,,,,205013.91*40

2021-08-13T20:50:14.645Z,1628887814.645 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.139996 m, bearing: 4.082146 deg, deltaT: 4.175874 s, approachRate: 0.100577 m/s, LOS rate: 0.444156 deg/s, posRepo size: 4
2021-08-13T20:50:17.037Z,1628887817.037 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:50:17.378Z,1628887817.378 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:50:17.378Z,1628887817.378 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:50:17.378Z,1628887817.378 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:50:17.379Z,1628887817.379 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:50:17.777Z,1628887817.777 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FDA,000,004AA,185,80,80,76,FF
2021-08-13T20:50:17.777Z,1628887817.777 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:50:17.778Z,1628887817.778 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:50:17.779Z,1628887817.779 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:50:18.210Z,1628887818.210 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:50:18.585Z,1628887818.585 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB6,000,004B0,184,80,80,8A,FF
2021-08-13T20:50:18.585Z,1628887818.585 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:50:18.631Z,1628887818.631 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:50:19.029Z,1628887819.029 [Micromodem](INFO): Nmea in: $SNTTA,0.072338,,,,205018.35*45

2021-08-13T20:50:19.090Z,1628887819.090 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.500000 m, bearing: 5.776694 deg, deltaT: 4.408989 s, approachRate: 0.081652 m/s, LOS rate: 0.384339 deg/s, posRepo size: 4
2021-08-13T20:50:21.445Z,1628887821.445 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:50:21.817Z,1628887821.817 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:50:21.817Z,1628887821.817 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:50:21.817Z,1628887821.817 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:50:21.818Z,1628887821.818 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:50:22.253Z,1628887822.253 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB6,000,004B0,184,80,80,8A,FF
2021-08-13T20:50:22.253Z,1628887822.253 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:50:22.253Z,1628887822.253 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:50:22.255Z,1628887822.255 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:50:22.629Z,1628887822.629 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:50:23.025Z,1628887823.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF8,000,004B6,183,80,80,76,FF
2021-08-13T20:50:23.025Z,1628887823.025 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:50:23.085Z,1628887823.085 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:50:23.455Z,1628887823.455 [Micromodem](INFO): Nmea in: $SNTTA,0.038230,,,,205022.83*46

2021-08-13T20:50:23.496Z,1628887823.496 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.859997 m, bearing: 2.457695 deg, deltaT: 4.453638 s, approachRate: 0.080832 m/s, LOS rate: -0.745233 deg/s, posRepo size: 4
2021-08-13T20:50:25.898Z,1628887825.898 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:50:26.261Z,1628887826.261 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:50:26.261Z,1628887826.261 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:50:26.261Z,1628887826.261 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:50:26.262Z,1628887826.262 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:50:26.667Z,1628887826.667 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF8,000,004B6,183,80,80,76,FF
2021-08-13T20:50:26.667Z,1628887826.667 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:50:26.667Z,1628887826.667 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:50:26.669Z,1628887826.669 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:50:27.072Z,1628887827.072 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:50:27.477Z,1628887827.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EEB,000,004BF,187,80,80,46,FF
2021-08-13T20:50:27.478Z,1628887827.478 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:50:27.507Z,1628887827.507 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:50:27.917Z,1628887827.917 [Micromodem](INFO): Nmea in: $SNTTA,,,,,205027.24*5A

2021-08-13T20:50:27.953Z,1628887827.953 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.399998 m, bearing: 15.566336 deg, deltaT: 4.421668 s, approachRate: 0.122126 m/s, LOS rate: 2.964637 deg/s, posRepo size: 4
2021-08-13T20:50:30.329Z,1628887830.329 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:50:30.701Z,1628887830.701 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:50:30.701Z,1628887830.701 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:50:30.701Z,1628887830.701 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:50:30.702Z,1628887830.702 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:50:31.109Z,1628887831.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EEB,000,004BF,187,80,80,46,FF
2021-08-13T20:50:31.109Z,1628887831.109 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:50:31.109Z,1628887831.109 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:50:31.111Z,1628887831.111 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:50:31.566Z,1628887831.566 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:50:31.970Z,1628887831.970 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF8,000,004C7,186,80,80,6B,FF
2021-08-13T20:50:31.970Z,1628887831.970 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:50:31.991Z,1628887831.991 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:50:32.415Z,1628887832.415 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.880001 m, bearing: 14.707544 deg, deltaT: 4.484154 s, approachRate: 0.107044 m/s, LOS rate: -0.191517 deg/s, posRepo size: 4
2021-08-13T20:50:34.917Z,1628887834.917 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:50:35.219Z,1628887835.219 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:50:35.219Z,1628887835.219 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:50:35.219Z,1628887835.219 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:50:35.220Z,1628887835.220 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:50:35.605Z,1628887835.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF8,000,004C7,186,80,80,6B,FF
2021-08-13T20:50:35.605Z,1628887835.605 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:50:35.605Z,1628887835.605 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:50:35.607Z,1628887835.607 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:50:35.725Z,1628887835.725 [CTD_Seabird](ERROR): Failed to parse device response: 31
2021-08-13T20:50:36.009Z,1628887836.009 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:50:36.409Z,1628887836.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE9,000,004CB,186,80,80,7D,FF
2021-08-13T20:50:36.409Z,1628887836.409 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:50:36.438Z,1628887836.438 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:50:36.861Z,1628887836.861 [Micromodem](INFO): Nmea in: $SNTTA,,,,,205036.18*55

2021-08-13T20:50:36.918Z,1628887836.918 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.119999 m, bearing: 15.131953 deg, deltaT: 4.447141 s, approachRate: 0.053967 m/s, LOS rate: 0.095434 deg/s, posRepo size: 4
2021-08-13T20:50:39.299Z,1628887839.299 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:50:39.647Z,1628887839.647 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:50:39.647Z,1628887839.647 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:50:39.647Z,1628887839.647 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:50:39.648Z,1628887839.648 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:50:40.045Z,1628887840.045 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE9,000,004CB,186,80,80,7D,FF
2021-08-13T20:50:40.045Z,1628887840.045 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:50:40.045Z,1628887840.045 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:50:40.047Z,1628887840.047 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:50:40.452Z,1628887840.452 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:50:40.862Z,1628887840.862 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EFB,000,004D3,187,80,80,86,FF
2021-08-13T20:50:40.862Z,1628887840.862 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:50:40.885Z,1628887840.885 [Micromodem](INFO): Nmea in: $SNTTA,0.047348,0.246585,,,205040.62*5D

2021-08-13T20:50:40.942Z,1628887840.942 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:50:41.307Z,1628887841.307 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.600002 m, bearing: 13.911547 deg, deltaT: 4.504032 s, approachRate: 0.106572 m/s, LOS rate: -0.270958 deg/s, posRepo size: 4
2021-08-13T20:50:43.709Z,1628887843.709 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:50:44.089Z,1628887844.089 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:50:44.089Z,1628887844.089 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:50:44.089Z,1628887844.089 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:50:44.090Z,1628887844.090 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:50:44.489Z,1628887844.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EFB,000,004D3,187,80,80,86,FF
2021-08-13T20:50:44.489Z,1628887844.489 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:50:44.489Z,1628887844.489 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:50:44.491Z,1628887844.491 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:50:44.901Z,1628887844.901 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:50:45.297Z,1628887845.297 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE1,000,004DA,187,80,80,85,FF
2021-08-13T20:50:45.298Z,1628887845.298 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:50:45.351Z,1628887845.351 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:50:45.741Z,1628887845.741 [Micromodem](INFO): Nmea in: $SNTTA,,,,,205045.06*5E

2021-08-13T20:50:45.790Z,1628887845.790 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.019997 m, bearing: 14.962906 deg, deltaT: 4.408841 s, approachRate: 0.095262 m/s, LOS rate: 0.238466 deg/s, posRepo size: 4
2021-08-13T20:50:48.142Z,1628887848.142 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:50:48.537Z,1628887848.537 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:50:48.537Z,1628887848.537 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:50:48.538Z,1628887848.538 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:50:48.539Z,1628887848.539 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:50:48.937Z,1628887848.937 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE1,000,004DA,187,80,80,85,FF
2021-08-13T20:50:48.937Z,1628887848.937 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:50:48.937Z,1628887848.937 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:50:48.939Z,1628887848.939 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:50:49.337Z,1628887849.337 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:50:49.746Z,1628887849.746 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE5,000,004E1,186,80,80,89,FF
2021-08-13T20:50:49.746Z,1628887849.746 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:50:49.770Z,1628887849.770 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:50:50.202Z,1628887850.202 [Micromodem](INFO): Nmea in: $SNTTA,0.200216,,,,205049.51*49

2021-08-13T20:50:50.262Z,1628887850.262 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.439999 m, bearing: 14.720623 deg, deltaT: 4.418482 s, approachRate: 0.095056 m/s, LOS rate: -0.054834 deg/s, posRepo size: 4
2021-08-13T20:50:52.606Z,1628887852.606 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:50:52.973Z,1628887852.973 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:50:52.973Z,1628887852.973 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:50:52.973Z,1628887852.973 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:50:52.974Z,1628887852.974 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:50:53.377Z,1628887853.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE5,000,004E1,186,80,80,89,FF
2021-08-13T20:50:53.377Z,1628887853.377 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:50:53.377Z,1628887853.377 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:50:53.379Z,1628887853.379 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:50:53.795Z,1628887853.795 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:50:54.192Z,1628887854.192 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EDE,000,004E9,186,80,80,63,FF
2021-08-13T20:50:54.194Z,1628887854.194 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:50:54.270Z,1628887854.270 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:50:54.626Z,1628887854.626 [Micromodem](INFO): Nmea in: $SNTTA,0.167565,,,,205053.95*4B

2021-08-13T20:50:54.643Z,1628887854.643 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.920002 m, bearing: 15.182628 deg, deltaT: 4.500196 s, approachRate: 0.106663 m/s, LOS rate: 0.102663 deg/s, posRepo size: 4
2021-08-13T20:50:57.059Z,1628887857.059 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:50:57.417Z,1628887857.417 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:50:57.417Z,1628887857.417 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:50:57.417Z,1628887857.417 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:50:57.418Z,1628887857.418 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:50:57.821Z,1628887857.821 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EDE,000,004E9,186,80,80,63,FF
2021-08-13T20:50:57.821Z,1628887857.821 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:50:57.821Z,1628887857.821 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:50:57.823Z,1628887857.823 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:50:58.253Z,1628887858.253 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:50:58.629Z,1628887858.629 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ECD,000,004EF,187,80,80,49,FF
2021-08-13T20:50:58.629Z,1628887858.629 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:50:58.649Z,1628887858.649 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:50:59.075Z,1628887859.075 [Micromodem](INFO): Nmea in: $SNTTA,0.355666,,,,205058.40*4B

2021-08-13T20:50:59.111Z,1628887859.111 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.279999 m, bearing: 16.193523 deg, deltaT: 4.379064 s, approachRate: 0.082209 m/s, LOS rate: 0.230847 deg/s, posRepo size: 4
2021-08-13T20:51:01.497Z,1628887861.497 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:51:01.885Z,1628887861.885 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:51:01.885Z,1628887861.885 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:51:01.885Z,1628887861.885 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:51:01.886Z,1628887861.886 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:51:02.277Z,1628887862.277 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ECD,000,004EF,187,80,80,49,FF
2021-08-13T20:51:02.277Z,1628887862.277 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:51:02.277Z,1628887862.277 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:51:02.279Z,1628887862.279 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:51:02.673Z,1628887862.673 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:51:03.081Z,1628887863.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EC9,000,001C0,186,80,80,7F,FF
2021-08-13T20:51:03.081Z,1628887863.081 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2021-08-13T20:51:03.083Z,1628887863.083 [Micromodem](INFO): Nmea in: $SNTTA,0.129069,0.129019,,,205102.85*50

2021-08-13T20:51:04.331Z,1628887864.331 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:51:07.186Z,1628887867.186 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:51:07.517Z,1628887867.517 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:51:07.517Z,1628887867.517 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:51:07.517Z,1628887867.517 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:51:07.518Z,1628887867.518 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:51:07.941Z,1628887867.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EC9,000,001C0,186,80,80,7F,FF
2021-08-13T20:51:07.941Z,1628887867.941 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:51:07.941Z,1628887867.941 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:51:07.943Z,1628887867.943 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:51:08.329Z,1628887868.329 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:51:08.761Z,1628887868.761 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E10,000,00500,186,80,80,6F,FF
2021-08-13T20:51:08.762Z,1628887868.762 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:51:08.862Z,1628887868.862 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:51:09.173Z,1628887869.173 [Micromodem](INFO): Nmea in: $SNTTA,0.162385,,,,205108.52*42

2021-08-13T20:51:09.223Z,1628887869.223 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.299999 m, bearing: 27.005574 deg, deltaT: 10.213002 s, approachRate: 0.099873 m/s, LOS rate: 1.058656 deg/s, posRepo size: 4
2021-08-13T20:51:11.585Z,1628887871.585 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:51:11.978Z,1628887871.978 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:51:11.978Z,1628887871.978 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:51:11.978Z,1628887871.978 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:51:11.979Z,1628887871.979 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:51:12.380Z,1628887872.380 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E10,000,00500,186,80,80,6F,FF
2021-08-13T20:51:12.380Z,1628887872.380 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:51:12.381Z,1628887872.381 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:51:12.382Z,1628887872.382 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:51:12.816Z,1628887872.816 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:51:13.188Z,1628887873.188 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D4E,000,00506,189,80,80,A8,FF
2021-08-13T20:51:13.190Z,1628887873.190 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:51:13.282Z,1628887873.282 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:51:13.613Z,1628887873.613 [Micromodem](INFO): Nmea in: $SNTTA,,,,,205112.96*54

2021-08-13T20:51:13.635Z,1628887873.635 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.660000 m, bearing: 37.226382 deg, deltaT: 4.420452 s, approachRate: 0.081440 m/s, LOS rate: 2.312164 deg/s, posRepo size: 4
2021-08-13T20:51:16.028Z,1628887876.028 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:51:16.421Z,1628887876.421 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:51:16.421Z,1628887876.421 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:51:16.421Z,1628887876.421 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:51:16.422Z,1628887876.422 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:51:16.834Z,1628887876.834 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D4E,000,00506,189,80,80,A8,FF
2021-08-13T20:51:16.834Z,1628887876.834 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:51:16.835Z,1628887876.835 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:51:16.841Z,1628887876.841 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:51:17.254Z,1628887877.254 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:51:17.626Z,1628887877.626 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D24,000,00513,189,80,80,89,FF
2021-08-13T20:51:17.626Z,1628887877.626 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:51:17.684Z,1628887877.684 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T20:51:18.043Z,1628887878.043 [Micromodem](INFO): Nmea in: $SNTTA,,,,,205117.42*58

2021-08-13T20:51:18.076Z,1628887878.076 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.439999 m, bearing: 40.151035 deg, deltaT: 4.401865 s, approachRate: 0.177197 m/s, LOS rate: 0.664412 deg/s, posRepo size: 4
2021-08-13T20:51:18.485Z,1628887878.485 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-13T20:51:18.485Z,1628887878.485 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T20:51:18.486Z,1628887878.486 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-13T20:51:18.488Z,1628887878.488 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-13T20:51:18.488Z,1628887878.488 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-13T20:51:18.488Z,1628887878.488 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-13T20:51:18.902Z,1628887878.902 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-13T20:51:18.902Z,1628887878.902 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T20:51:18.902Z,1628887878.902 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-13T20:51:18.902Z,1628887878.902 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T20:51:20.477Z,1628887880.477 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:51:20.850Z,1628887880.850 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:51:20.850Z,1628887880.850 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:51:20.850Z,1628887880.850 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:51:20.851Z,1628887880.851 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:51:21.261Z,1628887881.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D24,000,00513,189,80,80,89,FF
2021-08-13T20:51:21.261Z,1628887881.261 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:51:21.261Z,1628887881.261 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:51:21.263Z,1628887881.263 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:51:21.653Z,1628887881.653 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:51:22.062Z,1628887882.062 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CA4,000,0051A,189,80,80,83,FF
2021-08-13T20:51:22.062Z,1628887882.062 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:51:22.498Z,1628887882.498 [Micromodem](INFO): Nmea in: $SNTTA,0.090364,,,,205121.84*41

2021-08-13T20:51:22.551Z,1628887882.551 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.859997 m, bearing: 47.482331 deg, deltaT: 4.396903 s, approachRate: 0.095521 m/s, LOS rate: 1.667377 deg/s, posRepo size: 4
2021-08-13T20:51:25.000Z,1628887885.000 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:51:25.298Z,1628887885.298 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:51:25.298Z,1628887885.298 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:51:25.299Z,1628887885.299 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:51:25.299Z,1628887885.299 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:51:25.693Z,1628887885.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CA4,000,0051A,189,80,80,83,FF
2021-08-13T20:51:25.693Z,1628887885.693 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:51:25.693Z,1628887885.693 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:51:25.695Z,1628887885.695 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:51:26.117Z,1628887886.117 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:51:26.513Z,1628887886.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C78,000,00525,189,80,80,9A,FF
2021-08-13T20:51:26.513Z,1628887886.513 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:51:26.933Z,1628887886.933 [Micromodem](INFO): Nmea in: $SNTTA,0.064345,0.460846,,,205126.27*51

2021-08-13T20:51:27.001Z,1628887887.001 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 41.520000 m, bearing: 50.355652 deg, deltaT: 4.498458 s, approachRate: 0.146718 m/s, LOS rate: 0.638735 deg/s, posRepo size: 4
2021-08-13T20:51:29.381Z,1628887889.381 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:51:29.749Z,1628887889.749 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:51:29.749Z,1628887889.749 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:51:29.749Z,1628887889.749 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:51:29.750Z,1628887889.750 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:51:30.153Z,1628887890.153 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C78,000,00525,189,80,80,9A,FF
2021-08-13T20:51:30.153Z,1628887890.153 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:51:30.153Z,1628887890.153 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:51:30.155Z,1628887890.155 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:51:30.557Z,1628887890.557 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:51:30.968Z,1628887890.968 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,BC3,000,00526,189,80,80,92,FF
2021-08-13T20:51:30.968Z,1628887890.968 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:51:31.397Z,1628887891.397 [Micromodem](INFO): Nmea in: $SNTTA,0.040598,,,,205130.73*41

2021-08-13T20:51:31.470Z,1628887891.470 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 41.579998 m, bearing: 60.206751 deg, deltaT: 4.442409 s, approachRate: 0.013506 m/s, LOS rate: 2.217513 deg/s, posRepo size: 4
2021-08-13T20:51:33.798Z,1628887893.798 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:51:34.203Z,1628887894.203 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:51:34.203Z,1628887894.203 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:51:34.203Z,1628887894.203 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:51:34.208Z,1628887894.208 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:51:34.589Z,1628887894.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
BC3,000,00526,189,80,80,92,FF
2021-08-13T20:51:34.589Z,1628887894.589 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:51:34.589Z,1628887894.589 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:51:34.591Z,1628887894.591 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:51:35.053Z,1628887895.053 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:51:35.441Z,1628887895.441 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,32D,000,0052E,189,80,80,8B,FF
2021-08-13T20:51:35.441Z,1628887895.441 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:51:35.879Z,1628887895.879 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.060001 m, bearing: 326.029982 deg, deltaT: 4.495683 s, approachRate: 0.106770 m/s, LOS rate: -20.948267 deg/s, posRepo size: 4
2021-08-13T20:51:38.312Z,1628887898.312 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:51:38.681Z,1628887898.681 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:51:38.681Z,1628887898.681 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:51:38.681Z,1628887898.681 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:51:38.682Z,1628887898.682 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:51:39.077Z,1628887899.077 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
32D,000,0052E,189,80,80,8B,FF
2021-08-13T20:51:39.077Z,1628887899.077 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:51:39.078Z,1628887899.078 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:51:39.079Z,1628887899.079 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:51:39.489Z,1628887899.489 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:51:39.889Z,1628887899.889 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,27E,000,00535,189,80,80,78,FF
2021-08-13T20:51:39.889Z,1628887899.889 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:51:40.321Z,1628887900.321 [Micromodem](INFO): Nmea in: $SNTTA,0.054944,,,,205139.65*47

2021-08-13T20:51:40.391Z,1628887900.391 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.480003 m, bearing: 335.587111 deg, deltaT: 4.391155 s, approachRate: 0.095647 m/s, LOS rate: 2.176450 deg/s, posRepo size: 4
2021-08-13T20:51:42.794Z,1628887902.794 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:51:43.125Z,1628887903.125 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:51:43.125Z,1628887903.125 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:51:43.125Z,1628887903.125 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:51:43.126Z,1628887903.126 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:51:43.545Z,1628887903.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
27E,000,00535,189,80,80,78,FF
2021-08-13T20:51:43.545Z,1628887903.545 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:51:43.545Z,1628887903.545 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:51:43.547Z,1628887903.547 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:51:43.956Z,1628887903.956 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:51:44.345Z,1628887904.345 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2BF,000,00541,188,80,80,7A,FF
2021-08-13T20:51:44.346Z,1628887904.346 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:51:44.808Z,1628887904.808 [Micromodem](INFO): Nmea in: $SNTTA,0.039602,,,,205144.12*4B

2021-08-13T20:51:44.883Z,1628887904.883 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.200001 m, bearing: 332.713841 deg, deltaT: 4.516716 s, approachRate: 0.159407 m/s, LOS rate: -0.636141 deg/s, posRepo size: 4
2021-08-13T20:51:47.247Z,1628887907.247 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:51:47.592Z,1628887907.592 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:51:47.592Z,1628887907.592 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:51:47.592Z,1628887907.592 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:51:47.593Z,1628887907.593 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:51:47.986Z,1628887907.986 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2BF,000,00541,188,80,80,7A,FF
2021-08-13T20:51:47.986Z,1628887907.986 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:51:47.986Z,1628887907.986 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:51:47.988Z,1628887907.988 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:51:48.404Z,1628887908.404 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:51:48.813Z,1628887908.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2B9,000,0054A,189,80,80,55,FF
2021-08-13T20:51:48.813Z,1628887908.813 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:51:49.242Z,1628887909.242 [Micromodem](INFO): Nmea in: $SNTTA,0.040893,,,,205148.56*4F

2021-08-13T20:51:49.269Z,1628887909.269 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.739998 m, bearing: 333.300418 deg, deltaT: 4.474136 s, approachRate: 0.120693 m/s, LOS rate: 0.131104 deg/s, posRepo size: 4
2021-08-13T20:51:51.653Z,1628887911.653 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:51:52.021Z,1628887912.021 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:51:52.021Z,1628887912.021 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:51:52.021Z,1628887912.021 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:51:52.022Z,1628887912.022 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:51:52.425Z,1628887912.425 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2B9,000,0054A,189,80,80,55,FF
2021-08-13T20:51:52.425Z,1628887912.425 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:51:52.425Z,1628887912.425 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:51:52.427Z,1628887912.427 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:51:52.867Z,1628887912.867 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:51:54.046Z,1628887914.046 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2AA,000,0054A,189,80,80,55,FF
2021-08-13T20:51:54.046Z,1628887914.046 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:51:54.504Z,1628887914.504 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.739998 m, bearing: 334.055755 deg, deltaT: 5.206672 s, approachRate: 0.000000 m/s, LOS rate: 0.145071 deg/s, posRepo size: 4
2021-08-13T20:51:56.928Z,1628887916.928 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:51:57.277Z,1628887917.277 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:51:57.277Z,1628887917.277 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:51:57.277Z,1628887917.277 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:51:57.278Z,1628887917.278 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:51:57.684Z,1628887917.684 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2AA,000,0054A,189,80,80,55,FF
2021-08-13T20:51:57.684Z,1628887917.684 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:51:57.684Z,1628887917.684 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:51:57.686Z,1628887917.686 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:51:58.088Z,1628887918.088 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:51:58.497Z,1628887918.497 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DDB,000,00559,188,80,80,5D,FF
2021-08-13T20:51:58.497Z,1628887918.497 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:51:58.905Z,1628887918.905 [Micromodem](INFO): Nmea in: $SNTTA,0.426666,0.427003,,,205158.26*55

2021-08-13T20:51:58.962Z,1628887918.962 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 44.640003 m, bearing: 35.325113 deg, deltaT: 4.455281 s, approachRate: 0.202009 m/s, LOS rate: 13.752074 deg/s, posRepo size: 4
2021-08-13T20:52:01.351Z,1628887921.351 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:52:01.717Z,1628887921.717 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:52:01.717Z,1628887921.717 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:52:01.717Z,1628887921.717 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:52:01.718Z,1628887921.718 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:52:02.133Z,1628887922.133 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DDB,000,00559,188,80,80,5D,FF
2021-08-13T20:52:02.133Z,1628887922.133 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:52:02.134Z,1628887922.134 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:52:02.135Z,1628887922.135 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:52:02.529Z,1628887922.529 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:52:02.933Z,1628887922.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,288,000,00567,18A,80,80,52,FF
2021-08-13T20:52:02.934Z,1628887922.934 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:52:03.358Z,1628887923.358 [Micromodem](INFO): Nmea in: $SNTTA,0.429226,0.048297,,,205202.71*56

2021-08-13T20:52:03.403Z,1628887923.403 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.479996 m, bearing: 334.791421 deg, deltaT: 4.433765 s, approachRate: 0.189454 m/s, LOS rate: -13.652886 deg/s, posRepo size: 4
2021-08-13T20:52:05.795Z,1628887925.795 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:52:06.161Z,1628887926.161 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:52:06.161Z,1628887926.161 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:52:06.161Z,1628887926.161 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:52:06.162Z,1628887926.162 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:52:06.561Z,1628887926.561 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
288,000,00567,18A,80,80,52,FF
2021-08-13T20:52:06.562Z,1628887926.562 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:52:06.562Z,1628887926.562 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:52:06.564Z,1628887926.564 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:52:06.973Z,1628887926.973 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:52:07.378Z,1628887927.378 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DE3,000,0056E,188,80,80,5B,FF
2021-08-13T20:52:07.378Z,1628887927.378 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:52:07.820Z,1628887927.820 [Micromodem](INFO): Nmea in: $SNTTA,0.048098,,,,205207.14*4A

2021-08-13T20:52:07.852Z,1628887927.852 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.899998 m, bearing: 33.899373 deg, deltaT: 4.439235 s, approachRate: 0.094611 m/s, LOS rate: 13.314896 deg/s, posRepo size: 4
2021-08-13T20:52:10.278Z,1628887930.278 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:52:10.605Z,1628887930.605 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:52:10.605Z,1628887930.605 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:52:10.605Z,1628887930.605 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:52:10.606Z,1628887930.606 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:52:11.009Z,1628887931.009 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DE3,000,0056E,188,80,80,5B,FF
2021-08-13T20:52:11.009Z,1628887931.009 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:52:11.009Z,1628887931.009 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:52:11.011Z,1628887931.011 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:52:11.448Z,1628887931.448 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:52:11.821Z,1628887931.821 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,289,000,0057A,189,80,80,54,FF
2021-08-13T20:52:11.821Z,1628887931.821 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:52:12.269Z,1628887932.269 [Micromodem](INFO): Nmea in: $SNTTA,,,,,205211.58*56

2021-08-13T20:52:12.298Z,1628887932.298 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.619999 m, bearing: 333.786345 deg, deltaT: 4.445069 s, approachRate: 0.161978 m/s, LOS rate: -13.523531 deg/s, posRepo size: 4
2021-08-13T20:52:14.678Z,1628887934.678 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:52:15.061Z,1628887935.061 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:52:15.061Z,1628887935.061 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:52:15.061Z,1628887935.061 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:52:15.062Z,1628887935.062 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:52:15.465Z,1628887935.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
289,000,0057A,189,80,80,54,FF
2021-08-13T20:52:15.465Z,1628887935.465 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:52:15.466Z,1628887935.466 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:52:15.467Z,1628887935.467 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:52:15.874Z,1628887935.874 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:52:16.265Z,1628887936.265 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2A2,000,0057A,189,80,80,5C,FF
2021-08-13T20:52:16.265Z,1628887936.265 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:52:16.717Z,1628887936.717 [Micromodem](INFO): Nmea in: $SNTTA,0.049226,,,,205216.04*4D

2021-08-13T20:52:16.797Z,1628887936.797 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.619999 m, bearing: 332.078279 deg, deltaT: 4.456129 s, approachRate: 0.000000 m/s, LOS rate: -0.383307 deg/s, posRepo size: 4
2021-08-13T20:52:19.201Z,1628887939.201 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:52:19.505Z,1628887939.505 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:52:19.505Z,1628887939.505 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:52:19.505Z,1628887939.505 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:52:19.506Z,1628887939.506 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:52:19.905Z,1628887939.905 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2A2,000,0057A,189,80,80,5C,FF
2021-08-13T20:52:19.905Z,1628887939.905 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:52:19.905Z,1628887939.905 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:52:19.907Z,1628887939.907 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:52:20.313Z,1628887940.313 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:52:20.725Z,1628887940.725 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,277,000,00582,18A,80,80,51,FF
2021-08-13T20:52:20.726Z,1628887940.726 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:52:21.138Z,1628887941.138 [Micromodem](INFO): Nmea in: $SNTTA,0.354382,0.354514,,,205220.48*5C

2021-08-13T20:52:21.271Z,1628887941.271 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.100002 m, bearing: 334.217467 deg, deltaT: 4.495125 s, approachRate: 0.106783 m/s, LOS rate: 0.475891 deg/s, posRepo size: 4
2021-08-13T20:52:22.786Z,1628887942.786 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-13T20:52:23.578Z,1628887943.578 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:52:23.961Z,1628887943.961 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:52:23.961Z,1628887943.961 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:52:23.961Z,1628887943.961 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:52:23.962Z,1628887943.962 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:52:24.345Z,1628887944.345 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
277,000,00582,18A,80,80,51,FF
2021-08-13T20:52:24.345Z,1628887944.345 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:52:24.345Z,1628887944.345 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:52:24.347Z,1628887944.347 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:52:24.846Z,1628887944.846 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:52:25.255Z,1628887945.255 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DC8,000,0058F,189,80,80,62,FF
2021-08-13T20:52:25.255Z,1628887945.255 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:52:25.652Z,1628887945.652 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.880001 m, bearing: 34.406637 deg, deltaT: 4.486299 s, approachRate: 0.173862 m/s, LOS rate: 13.416220 deg/s, posRepo size: 4
2021-08-13T20:52:28.081Z,1628887948.081 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:52:28.453Z,1628887948.453 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:52:28.453Z,1628887948.453 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:52:28.453Z,1628887948.453 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:52:28.454Z,1628887948.454 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:52:28.858Z,1628887948.858 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DC8,000,0058F,189,80,80,62,FF
2021-08-13T20:52:28.858Z,1628887948.858 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:52:28.858Z,1628887948.858 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:52:28.861Z,1628887948.861 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:52:29.278Z,1628887949.278 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:52:29.661Z,1628887949.661 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,20F,000,00593,186,80,80,5B,FF
2021-08-13T20:52:29.661Z,1628887949.661 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:52:30.114Z,1628887950.114 [Micromodem](INFO): Nmea in: $SNTTA,,,,,205229.43*57

2021-08-13T20:52:30.130Z,1628887950.130 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 48.120003 m, bearing: 339.972311 deg, deltaT: 4.363365 s, approachRate: 0.055004 m/s, LOS rate: -12.475310 deg/s, posRepo size: 4
2021-08-13T20:52:32.530Z,1628887952.530 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:52:32.905Z,1628887952.905 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:52:32.905Z,1628887952.905 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:52:32.905Z,1628887952.905 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:52:32.906Z,1628887952.906 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:52:33.305Z,1628887953.305 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
20F,000,00593,186,80,80,5B,FF
2021-08-13T20:52:33.305Z,1628887953.305 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:52:33.305Z,1628887953.305 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:52:33.307Z,1628887953.307 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:52:33.705Z,1628887953.705 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:52:34.105Z,1628887954.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,21D,000,0059F,188,80,80,6B,FF
2021-08-13T20:52:34.105Z,1628887954.105 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:52:34.553Z,1628887954.553 [Micromodem](INFO): Nmea in: $SNTTA,0.078658,,,,205233.88*41

2021-08-13T20:52:34.581Z,1628887954.581 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 48.839996 m, bearing: 339.455867 deg, deltaT: 4.471948 s, approachRate: 0.161002 m/s, LOS rate: -0.115485 deg/s, posRepo size: 4
2021-08-13T20:52:36.986Z,1628887956.986 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:52:37.337Z,1628887957.337 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:52:37.337Z,1628887957.337 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:52:37.337Z,1628887957.337 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:52:37.338Z,1628887957.338 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:52:37.749Z,1628887957.749 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
21D,000,0059F,188,80,80,6B,FF
2021-08-13T20:52:37.749Z,1628887957.749 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:52:37.749Z,1628887957.749 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:52:37.751Z,1628887957.751 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:52:38.205Z,1628887958.205 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:52:38.549Z,1628887958.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,16B,000,005A7,185,80,80,7A,FF
2021-08-13T20:52:38.549Z,1628887958.549 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:52:39.030Z,1628887959.030 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.320000 m, bearing: 348.381749 deg, deltaT: 4.541859 s, approachRate: 0.105684 m/s, LOS rate: 1.965249 deg/s, posRepo size: 4
2021-08-13T20:52:41.469Z,1628887961.469 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:52:41.781Z,1628887961.781 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:52:41.781Z,1628887961.781 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:52:41.781Z,1628887961.781 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:52:41.782Z,1628887961.782 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:52:42.205Z,1628887962.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
16B,000,005A7,185,80,80,7A,FF
2021-08-13T20:52:42.206Z,1628887962.206 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:52:42.206Z,1628887962.206 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:52:42.212Z,1628887962.212 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:52:42.597Z,1628887962.597 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:52:42.997Z,1628887962.997 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,16B,000,005AE,185,80,80,87,FF
2021-08-13T20:52:42.998Z,1628887962.998 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:52:43.001Z,1628887963.001 [Micromodem](INFO): Nmea in: $SNTTA,0.079314,0.163671,,,205242.78*5E

2021-08-13T20:52:43.450Z,1628887963.450 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.740002 m, bearing: 348.529144 deg, deltaT: 4.372176 s, approachRate: 0.096062 m/s, LOS rate: 0.033712 deg/s, posRepo size: 4
2021-08-13T20:52:45.868Z,1628887965.868 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:52:46.245Z,1628887966.245 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:52:46.245Z,1628887966.245 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:52:46.245Z,1628887966.245 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:52:46.246Z,1628887966.246 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:52:46.633Z,1628887966.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
16B,000,005AE,185,80,80,87,FF
2021-08-13T20:52:46.633Z,1628887966.633 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:52:46.633Z,1628887966.633 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:52:46.635Z,1628887966.635 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:52:47.041Z,1628887967.041 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:52:47.433Z,1628887967.433 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1B1,000,005B8,186,80,80,90,FF
2021-08-13T20:52:47.434Z,1628887967.434 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:52:47.869Z,1628887967.869 [Micromodem](INFO): Nmea in: $SNTTA,0.074366,,,,205247.21*45

2021-08-13T20:52:47.891Z,1628887967.891 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 50.340000 m, bearing: 345.236174 deg, deltaT: 4.420325 s, approachRate: 0.135736 m/s, LOS rate: -0.744961 deg/s, posRepo size: 4
2021-08-13T20:52:50.302Z,1628887970.302 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:52:50.678Z,1628887970.678 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:52:50.678Z,1628887970.678 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:52:50.678Z,1628887970.678 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:52:50.679Z,1628887970.679 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:52:51.081Z,1628887971.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1B1,000,005B8,186,80,80,90,FF
2021-08-13T20:52:51.081Z,1628887971.081 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:52:51.082Z,1628887971.082 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:52:51.083Z,1628887971.083 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:52:51.501Z,1628887971.501 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:52:51.897Z,1628887971.897 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,18A,000,005BE,186,80,80,4B,FF
2021-08-13T20:52:51.897Z,1628887971.897 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:52:52.313Z,1628887972.313 [Micromodem](INFO): Nmea in: $SNTTA,0.047848,,,,205251.66*46

2021-08-13T20:52:52.377Z,1628887972.377 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 50.699997 m, bearing: 347.637477 deg, deltaT: 4.474131 s, approachRate: 0.080462 m/s, LOS rate: 0.536708 deg/s, posRepo size: 4
2021-08-13T20:52:54.792Z,1628887974.792 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:52:55.114Z,1628887975.114 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:52:55.114Z,1628887975.114 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:52:55.114Z,1628887975.114 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:52:55.115Z,1628887975.115 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:52:55.520Z,1628887975.520 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
18A,000,005BE,186,80,80,4B,FF
2021-08-13T20:52:55.521Z,1628887975.521 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:52:55.522Z,1628887975.522 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:52:55.524Z,1628887975.524 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:52:55.935Z,1628887975.935 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:52:56.337Z,1628887976.337 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,117,000,005C6,186,80,80,76,FF
2021-08-13T20:52:56.337Z,1628887976.337 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:52:56.793Z,1628887976.793 [Micromodem](INFO): Nmea in: $SNTTA,,,,,205256.10*59

2021-08-13T20:52:56.851Z,1628887976.851 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.180000 m, bearing: 353.652415 deg, deltaT: 4.438682 s, approachRate: 0.108141 m/s, LOS rate: 1.355118 deg/s, posRepo size: 4
2021-08-13T20:52:59.223Z,1628887979.223 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:52:59.561Z,1628887979.561 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:52:59.561Z,1628887979.561 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:52:59.561Z,1628887979.561 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:52:59.562Z,1628887979.562 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:52:59.966Z,1628887979.966 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
117,000,005C6,186,80,80,76,FF
2021-08-13T20:52:59.966Z,1628887979.966 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:52:59.966Z,1628887979.966 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:52:59.969Z,1628887979.969 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:53:00.381Z,1628887980.381 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:53:00.817Z,1628887980.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,174,000,005CD,185,80,80,56,FF
2021-08-13T20:53:00.817Z,1628887980.817 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:53:01.217Z,1628887981.217 [Micromodem](INFO): Nmea in: $SNTTA,,,,,205300.54*5B

2021-08-13T20:53:01.255Z,1628887981.255 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.600002 m, bearing: 349.151265 deg, deltaT: 4.506587 s, approachRate: 0.093197 m/s, LOS rate: -0.998793 deg/s, posRepo size: 4
2021-08-13T20:53:03.615Z,1628887983.615 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:53:03.997Z,1628887983.997 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:53:03.997Z,1628887983.997 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:53:03.997Z,1628887983.997 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:53:03.998Z,1628887983.998 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:53:04.413Z,1628887984.413 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
174,000,005CD,185,80,80,56,FF
2021-08-13T20:53:04.413Z,1628887984.413 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:53:04.413Z,1628887984.413 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:53:04.415Z,1628887984.415 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:53:04.817Z,1628887984.817 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:53:05.241Z,1628887985.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,114,000,005D9,187,80,80,6E,FF
2021-08-13T20:53:05.241Z,1628887985.241 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:53:05.712Z,1628887985.712 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.319996 m, bearing: 354.222599 deg, deltaT: 4.388565 s, approachRate: 0.164061 m/s, LOS rate: 1.155579 deg/s, posRepo size: 4
2021-08-13T20:53:08.155Z,1628887988.155 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:53:08.521Z,1628887988.521 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:53:08.521Z,1628887988.521 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:53:08.521Z,1628887988.521 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:53:08.522Z,1628887988.522 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:53:08.926Z,1628887988.926 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
114,000,005D9,187,80,80,6E,FF
2021-08-13T20:53:08.926Z,1628887988.926 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:53:08.926Z,1628887988.926 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:53:08.929Z,1628887988.929 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:53:09.329Z,1628887989.329 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:53:09.734Z,1628887989.734 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F17,000,005E1,186,80,80,62,FF
2021-08-13T20:53:09.734Z,1628887989.734 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:53:10.187Z,1628887990.187 [Micromodem](INFO): Nmea in: $SNTTA,0.080645,,,,205309.50*47

2021-08-13T20:53:10.240Z,1628887990.240 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.799999 m, bearing: 19.760483 deg, deltaT: 4.492212 s, approachRate: 0.106852 m/s, LOS rate: 5.684922 deg/s, posRepo size: 4
2021-08-13T20:53:12.586Z,1628887992.586 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:53:12.965Z,1628887992.965 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:53:12.966Z,1628887992.966 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:53:12.966Z,1628887992.966 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:53:12.967Z,1628887992.967 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:53:13.367Z,1628887993.367 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F17,000,005E1,186,80,80,62,FF
2021-08-13T20:53:13.367Z,1628887993.367 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:53:13.367Z,1628887993.367 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:53:13.369Z,1628887993.369 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:53:13.791Z,1628887993.791 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:53:14.180Z,1628887994.180 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,005E7,189,80,80,82,FF
2021-08-13T20:53:14.181Z,1628887994.181 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:53:14.619Z,1628887994.619 [Micromodem](INFO): Nmea in: $SNTTA,0.046992,,,,205313.94*4B

2021-08-13T20:53:14.645Z,1628887994.645 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.159996 m, bearing: 72.692522 deg, deltaT: 4.471747 s, approachRate: 0.080505 m/s, LOS rate: 11.836994 deg/s, posRepo size: 4
2021-08-13T20:53:17.095Z,1628887997.095 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:53:17.417Z,1628887997.417 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:53:17.417Z,1628887997.417 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:53:17.417Z,1628887997.417 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:53:17.418Z,1628887997.418 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:53:17.813Z,1628887997.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,005E7,189,80,80,82,FF
2021-08-13T20:53:17.813Z,1628887997.813 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:53:17.813Z,1628887997.813 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:53:17.815Z,1628887997.815 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:53:18.251Z,1628887998.251 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:53:18.621Z,1628887998.621 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DF2,000,005F3,187,80,80,71,FF
2021-08-13T20:53:18.621Z,1628887998.621 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:53:19.059Z,1628887999.059 [Micromodem](INFO): Nmea in: $SNTTA,,,,,205318.39*59

2021-08-13T20:53:19.111Z,1628887999.111 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.880001 m, bearing: 34.911504 deg, deltaT: 4.478229 s, approachRate: 0.160779 m/s, LOS rate: -8.436598 deg/s, posRepo size: 4
2021-08-13T20:53:21.530Z,1628888001.530 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:53:21.857Z,1628888001.857 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:53:21.858Z,1628888001.858 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:53:21.858Z,1628888001.858 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:53:21.859Z,1628888001.859 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:53:22.253Z,1628888002.253 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DF2,000,005F3,187,80,80,71,FF
2021-08-13T20:53:22.253Z,1628888002.253 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:53:22.253Z,1628888002.253 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:53:22.255Z,1628888002.255 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:53:22.661Z,1628888002.661 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:53:23.504Z,1628888003.504 [Micromodem](INFO): Nmea in: $SNTTA,,,,,205322.83*51

2021-08-13T20:53:24.335Z,1628888004.335 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:53:25.900Z,1628888005.900 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
3,187,80,80,71,FF
2021-08-13T20:53:25.901Z,1628888005.901 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
3,187,80,80,71,FF
2021-08-13T20:53:25.901Z,1628888005.901 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T20:53:27.138Z,1628888007.138 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:53:27.508Z,1628888007.508 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:53:27.509Z,1628888007.509 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:53:27.509Z,1628888007.509 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:53:27.510Z,1628888007.510 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:53:27.909Z,1628888007.909 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
3,187,80,80,71,FF
2021-08-13T20:53:27.909Z,1628888007.909 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:53:27.910Z,1628888007.910 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:53:27.911Z,1628888007.911 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:53:28.320Z,1628888008.320 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:53:28.749Z,1628888008.749 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E1D,000,00608,186,80,80,8B,FF
2021-08-13T20:53:28.750Z,1628888008.750 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:53:29.137Z,1628888009.137 [Micromodem](INFO): Nmea in: $SNTTA,0.045619,0.352932,,,205328.49*5E

2021-08-13T20:53:29.226Z,1628888009.226 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 55.140003 m, bearing: 33.058686 deg, deltaT: 10.137815 s, approachRate: 0.124287 m/s, LOS rate: -0.182763 deg/s, posRepo size: 4
2021-08-13T20:53:31.581Z,1628888011.581 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:53:31.949Z,1628888011.949 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:53:31.949Z,1628888011.949 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:53:31.949Z,1628888011.949 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:53:31.950Z,1628888011.950 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:53:32.354Z,1628888012.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E1D,000,00608,186,80,80,8B,FF
2021-08-13T20:53:32.354Z,1628888012.354 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:53:32.354Z,1628888012.354 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:53:32.356Z,1628888012.356 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:53:32.801Z,1628888012.801 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:53:33.168Z,1628888013.168 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E73,000,0060D,186,80,80,99,FF
2021-08-13T20:53:33.169Z,1628888013.169 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:53:33.597Z,1628888013.597 [Micromodem](INFO): Nmea in: $SNTTA,0.044383,,,,205332.93*47

2021-08-13T20:53:33.638Z,1628888013.638 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 55.439999 m, bearing: 29.005952 deg, deltaT: 4.358671 s, approachRate: 0.068827 m/s, LOS rate: -0.929810 deg/s, posRepo size: 4
2021-08-13T20:53:36.025Z,1628888016.025 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:53:36.393Z,1628888016.393 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:53:36.393Z,1628888016.393 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:53:36.393Z,1628888016.393 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:53:36.394Z,1628888016.394 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:53:36.813Z,1628888016.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E73,000,0060D,186,80,80,99,FF
2021-08-13T20:53:36.813Z,1628888016.813 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:53:36.813Z,1628888016.813 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:53:36.815Z,1628888016.815 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:53:37.221Z,1628888017.221 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:53:37.609Z,1628888017.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E26,000,0061A,187,80,80,94,FF
2021-08-13T20:53:37.609Z,1628888017.609 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:53:38.033Z,1628888018.033 [Micromodem](INFO): Nmea in: $SNTTA,0.054072,,,,205337.39*4E

2021-08-13T20:53:38.067Z,1628888018.067 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 56.219994 m, bearing: 33.244348 deg, deltaT: 4.427232 s, approachRate: 0.176181 m/s, LOS rate: 0.957347 deg/s, posRepo size: 4
2021-08-13T20:53:40.471Z,1628888020.471 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:53:40.837Z,1628888020.837 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:53:40.838Z,1628888020.838 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:53:40.838Z,1628888020.838 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:53:40.839Z,1628888020.839 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:53:41.249Z,1628888021.249 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E26,000,0061A,187,80,80,94,FF
2021-08-13T20:53:41.249Z,1628888021.249 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:53:41.249Z,1628888021.249 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:53:41.251Z,1628888021.251 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:53:41.659Z,1628888021.659 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:53:42.049Z,1628888022.049 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E91,000,00626,185,80,80,9E,FF
2021-08-13T20:53:42.049Z,1628888022.049 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:53:42.490Z,1628888022.490 [Micromodem](INFO): Nmea in: $SNTTA,,,,,205341.82*55

2021-08-13T20:53:42.529Z,1628888022.529 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 56.939999 m, bearing: 27.774626 deg, deltaT: 4.434326 s, approachRate: 0.162371 m/s, LOS rate: -1.233496 deg/s, posRepo size: 4
2021-08-13T20:53:44.944Z,1628888024.944 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:53:45.281Z,1628888025.281 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:53:45.281Z,1628888025.281 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:53:45.281Z,1628888025.281 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:53:45.282Z,1628888025.282 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:53:45.687Z,1628888025.687 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E91,000,00626,185,80,80,9E,FF
2021-08-13T20:53:45.687Z,1628888025.687 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:53:45.688Z,1628888025.688 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:53:45.689Z,1628888025.689 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:53:46.102Z,1628888026.102 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:53:46.491Z,1628888026.491 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E50,000,0062C,186,80,80,98,FF
2021-08-13T20:53:46.492Z,1628888026.492 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:53:46.917Z,1628888026.917 [Micromodem](INFO): Nmea in: $SNTTA,0.463461,0.463448,,,205346.26*57

2021-08-13T20:53:46.965Z,1628888026.965 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 57.299999 m, bearing: 31.191947 deg, deltaT: 4.480844 s, approachRate: 0.080342 m/s, LOS rate: 0.762651 deg/s, posRepo size: 4
2021-08-13T20:53:49.359Z,1628888029.359 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:53:49.725Z,1628888029.725 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:53:49.725Z,1628888029.725 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:53:49.725Z,1628888029.725 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:53:49.726Z,1628888029.726 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:53:50.129Z,1628888030.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E50,000,0062C,186,80,80,98,FF
2021-08-13T20:53:50.129Z,1628888030.129 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:53:50.129Z,1628888030.129 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:53:50.131Z,1628888030.131 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:53:50.560Z,1628888030.560 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:53:50.941Z,1628888030.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E13,000,00636,186,80,80,AA,FF
2021-08-13T20:53:50.941Z,1628888030.941 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:53:50.945Z,1628888030.945 [Micromodem](INFO): Nmea in: $SNTTA,0.056474,0.241588,,,205350.70*5E

2021-08-13T20:53:51.383Z,1628888031.383 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 57.900009 m, bearing: 34.428962 deg, deltaT: 4.441840 s, approachRate: 0.135081 m/s, LOS rate: 0.728755 deg/s, posRepo size: 4
2021-08-13T20:53:53.793Z,1628888033.793 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:53:54.172Z,1628888034.172 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:53:54.172Z,1628888034.172 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:53:54.173Z,1628888034.173 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:53:54.174Z,1628888034.174 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:53:54.581Z,1628888034.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E13,000,00636,186,80,80,AA,FF
2021-08-13T20:53:54.581Z,1628888034.581 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:53:54.581Z,1628888034.581 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:53:54.583Z,1628888034.583 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:53:54.976Z,1628888034.976 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:53:55.390Z,1628888035.390 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E68,000,00642,186,80,80,61,FF
2021-08-13T20:53:55.390Z,1628888035.390 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:53:55.821Z,1628888035.821 [Micromodem](INFO): Nmea in: $SNTTA,0.074804,,,,205355.16*4C

2021-08-13T20:53:55.876Z,1628888035.876 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.620003 m, bearing: 30.295765 deg, deltaT: 4.400893 s, approachRate: 0.163602 m/s, LOS rate: -0.939172 deg/s, posRepo size: 4
2021-08-13T20:53:58.281Z,1628888038.281 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:53:58.625Z,1628888038.625 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:53:58.625Z,1628888038.625 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:53:58.625Z,1628888038.625 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:53:58.625Z,1628888038.625 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:53:59.017Z,1628888039.017 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E68,000,00642,186,80,80,61,FF
2021-08-13T20:53:59.017Z,1628888039.017 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:53:59.017Z,1628888039.017 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:53:59.019Z,1628888039.019 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:53:59.430Z,1628888039.430 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:53:59.826Z,1628888039.826 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E3C,000,00649,186,80,80,B8,FF
2021-08-13T20:53:59.826Z,1628888039.826 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:54:00.269Z,1628888040.269 [Micromodem](INFO): Nmea in: $SNTTA,0.077122,,,,205359.60*4F

2021-08-13T20:54:00.317Z,1628888040.317 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 59.040001 m, bearing: 32.752574 deg, deltaT: 4.458258 s, approachRate: 0.094207 m/s, LOS rate: 0.551069 deg/s, posRepo size: 4
2021-08-13T20:54:02.682Z,1628888042.682 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:54:03.057Z,1628888043.057 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:54:03.057Z,1628888043.057 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:54:03.057Z,1628888043.057 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:54:03.058Z,1628888043.058 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:54:03.465Z,1628888043.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E3C,000,00649,186,80,80,B8,FF
2021-08-13T20:54:03.465Z,1628888043.465 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:54:03.465Z,1628888043.465 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:54:03.467Z,1628888043.467 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:54:03.878Z,1628888043.878 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:54:04.273Z,1628888044.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E22,000,00653,186,80,80,C7,FF
2021-08-13T20:54:04.274Z,1628888044.274 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:54:04.737Z,1628888044.737 [Micromodem](INFO): Nmea in: $SNTTA,,,,,205404.04*5D

2021-08-13T20:54:04.786Z,1628888044.786 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 59.640003 m, bearing: 34.312207 deg, deltaT: 4.454200 s, approachRate: 0.134705 m/s, LOS rate: 0.350149 deg/s, posRepo size: 4
2021-08-13T20:54:07.144Z,1628888047.144 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:54:07.501Z,1628888047.501 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:54:07.501Z,1628888047.501 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:54:07.501Z,1628888047.501 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:54:07.502Z,1628888047.502 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:54:07.905Z,1628888047.905 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E22,000,00653,186,80,80,C7,FF
2021-08-13T20:54:07.905Z,1628888047.905 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:54:07.905Z,1628888047.905 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:54:07.907Z,1628888047.907 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:54:08.313Z,1628888048.313 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:54:08.717Z,1628888048.717 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E1E,000,00659,186,80,80,BD,FF
2021-08-13T20:54:08.718Z,1628888048.718 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:54:09.158Z,1628888049.158 [Micromodem](INFO): Nmea in: $SNTTA,0.148248,,,,205408.48*44

2021-08-13T20:54:09.246Z,1628888049.246 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 60.000000 m, bearing: 34.587166 deg, deltaT: 4.470711 s, approachRate: 0.080523 m/s, LOS rate: 0.061502 deg/s, posRepo size: 4
2021-08-13T20:54:11.593Z,1628888051.593 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:54:11.945Z,1628888051.945 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:54:11.945Z,1628888051.945 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:54:11.945Z,1628888051.945 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:54:11.946Z,1628888051.946 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:54:12.361Z,1628888052.361 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E1E,000,00659,186,80,80,BD,FF
2021-08-13T20:54:12.361Z,1628888052.361 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:54:12.361Z,1628888052.361 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:54:12.363Z,1628888052.363 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:54:12.796Z,1628888052.796 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:54:13.161Z,1628888053.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E30,000,00663,186,80,80,CF,FF
2021-08-13T20:54:13.162Z,1628888053.162 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:54:13.598Z,1628888053.598 [Micromodem](INFO): Nmea in: $SNTTA,,,,,205412.94*53

2021-08-13T20:54:13.628Z,1628888053.628 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 60.599998 m, bearing: 34.219432 deg, deltaT: 4.435215 s, approachRate: 0.135281 m/s, LOS rate: -0.082912 deg/s, posRepo size: 4
2021-08-13T20:54:16.013Z,1628888056.013 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:54:16.397Z,1628888056.397 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:54:16.397Z,1628888056.397 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:54:16.397Z,1628888056.397 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:54:16.398Z,1628888056.398 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:54:16.825Z,1628888056.825 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E30,000,00663,186,80,80,CF,FF
2021-08-13T20:54:16.825Z,1628888056.825 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:54:16.826Z,1628888056.826 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:54:16.828Z,1628888056.828 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:54:17.233Z,1628888057.233 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:54:17.616Z,1628888057.616 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E61,000,0066A,185,80,80,77,FF
2021-08-13T20:54:17.617Z,1628888057.617 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:54:18.037Z,1628888058.037 [Micromodem](INFO): Nmea in: $SNTTA,,,,,205417.40*5F

2021-08-13T20:54:18.059Z,1628888058.059 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 61.019997 m, bearing: 31.949405 deg, deltaT: 4.398537 s, approachRate: 0.095486 m/s, LOS rate: -0.516087 deg/s, posRepo size: 4
2021-08-13T20:54:20.468Z,1628888060.468 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:54:20.830Z,1628888060.830 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:54:20.830Z,1628888060.830 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:54:20.831Z,1628888060.831 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:54:20.831Z,1628888060.831 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:54:21.257Z,1628888061.257 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E61,000,0066A,185,80,80,77,FF
2021-08-13T20:54:21.257Z,1628888061.257 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:54:21.257Z,1628888061.257 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:54:21.259Z,1628888061.259 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:54:21.649Z,1628888061.649 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:54:22.054Z,1628888062.054 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E3C,000,00676,186,80,80,A3,FF
2021-08-13T20:54:22.055Z,1628888062.055 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:54:22.481Z,1628888062.481 [Micromodem](INFO): Nmea in: $SNTTA,,,,,205421.83*55

2021-08-13T20:54:22.523Z,1628888062.523 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 61.740002 m, bearing: 34.140134 deg, deltaT: 4.438926 s, approachRate: 0.162203 m/s, LOS rate: 0.493527 deg/s, posRepo size: 4
2021-08-13T20:54:24.933Z,1628888064.933 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:54:25.274Z,1628888065.274 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:54:25.274Z,1628888065.274 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:54:25.274Z,1628888065.274 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:54:25.275Z,1628888065.275 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:54:25.701Z,1628888065.701 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E3C,000,00676,186,80,80,A3,FF
2021-08-13T20:54:25.701Z,1628888065.701 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:54:25.701Z,1628888065.701 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:54:25.703Z,1628888065.703 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:54:26.098Z,1628888066.098 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:54:26.501Z,1628888066.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E53,000,0067F,185,80,80,90,FF
2021-08-13T20:54:26.503Z,1628888066.503 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:54:26.926Z,1628888066.926 [Micromodem](INFO): Nmea in: $SNTTA,0.415463,0.415451,,,205426.28*52

2021-08-13T20:54:26.970Z,1628888066.970 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 62.279999 m, bearing: 33.240973 deg, deltaT: 4.499271 s, approachRate: 0.120019 m/s, LOS rate: -0.199846 deg/s, posRepo size: 4
2021-08-13T20:54:29.373Z,1628888069.373 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:54:29.733Z,1628888069.733 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:54:29.733Z,1628888069.733 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:54:29.733Z,1628888069.733 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:54:29.734Z,1628888069.734 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:54:30.126Z,1628888070.126 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E53,000,0067F,185,80,80,90,FF
2021-08-13T20:54:30.127Z,1628888070.127 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:54:30.127Z,1628888070.127 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:54:30.129Z,1628888070.129 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:54:30.541Z,1628888070.541 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:54:30.934Z,1628888070.934 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E58,000,00687,186,80,80,A0,FF
2021-08-13T20:54:30.935Z,1628888070.935 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:54:31.376Z,1628888071.376 [Micromodem](INFO): Nmea in: $SNTTA,,,,,205430.70*59

2021-08-13T20:54:31.405Z,1628888071.405 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 62.760002 m, bearing: 33.515506 deg, deltaT: 4.458229 s, approachRate: 0.107667 m/s, LOS rate: 0.061579 deg/s, posRepo size: 4
2021-08-13T20:54:33.807Z,1628888073.807 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:54:34.167Z,1628888074.167 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:54:34.168Z,1628888074.168 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:54:34.168Z,1628888074.168 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:54:34.170Z,1628888074.170 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:54:34.577Z,1628888074.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E58,000,00687,186,80,80,A0,FF
2021-08-13T20:54:34.577Z,1628888074.577 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:54:34.577Z,1628888074.577 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:54:34.579Z,1628888074.579 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:54:34.989Z,1628888074.989 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:54:35.377Z,1628888075.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DE7,000,00691,186,80,80,C5,FF
2021-08-13T20:54:35.377Z,1628888075.377 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:54:35.842Z,1628888075.842 [Micromodem](INFO): Nmea in: $SNTTA,0.097400,,,,205435.15*4B

2021-08-13T20:54:35.883Z,1628888075.883 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 63.360001 m, bearing: 39.407084 deg, deltaT: 4.378837 s, approachRate: 0.137022 m/s, LOS rate: 1.345466 deg/s, posRepo size: 4
2021-08-13T20:54:38.279Z,1628888078.279 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:54:38.609Z,1628888078.609 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:54:38.610Z,1628888078.610 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:54:38.610Z,1628888078.610 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:54:38.610Z,1628888078.610 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:54:39.013Z,1628888079.013 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DE7,000,00691,186,80,80,C5,FF
2021-08-13T20:54:39.013Z,1628888079.013 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:54:39.013Z,1628888079.013 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:54:39.015Z,1628888079.015 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:54:39.429Z,1628888079.429 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:54:39.821Z,1628888079.821 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DD5,000,0069B,189,80,80,BF,FF
2021-08-13T20:54:39.822Z,1628888079.822 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:54:40.277Z,1628888080.277 [Micromodem](INFO): Nmea in: $SNTTA,,,,,205439.59*5B

2021-08-13T20:54:40.314Z,1628888080.314 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 63.959999 m, bearing: 40.637027 deg, deltaT: 4.474614 s, approachRate: 0.134089 m/s, LOS rate: 0.274871 deg/s, posRepo size: 4
2021-08-13T20:54:42.677Z,1628888082.677 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:54:43.057Z,1628888083.057 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:54:43.057Z,1628888083.057 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:54:43.057Z,1628888083.057 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:54:43.058Z,1628888083.058 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:54:43.466Z,1628888083.466 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DD5,000,0069B,189,80,80,BF,FF
2021-08-13T20:54:43.466Z,1628888083.466 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:54:43.466Z,1628888083.466 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:54:43.468Z,1628888083.468 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:54:43.929Z,1628888083.929 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:54:44.325Z,1628888084.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DB6,000,006A5,188,80,80,B6,FF
2021-08-13T20:54:44.325Z,1628888084.325 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:54:44.775Z,1628888084.775 [Micromodem](INFO): Nmea in: $SNTTA,0.056748,,,,205444.04*4F

2021-08-13T20:54:44.857Z,1628888084.857 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 64.559998 m, bearing: 42.430850 deg, deltaT: 4.503692 s, approachRate: 0.133224 m/s, LOS rate: 0.398301 deg/s, posRepo size: 4
2021-08-13T20:54:47.224Z,1628888087.224 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:54:47.557Z,1628888087.557 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:54:47.557Z,1628888087.557 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:54:47.557Z,1628888087.557 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:54:47.558Z,1628888087.558 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:54:47.961Z,1628888087.961 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DB6,000,006A5,188,80,80,B6,FF
2021-08-13T20:54:47.961Z,1628888087.961 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:54:47.961Z,1628888087.961 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:54:47.963Z,1628888087.963 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:54:48.377Z,1628888088.377 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:54:48.815Z,1628888088.815 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DB1,000,006AE,188,80,80,97,FF
2021-08-13T20:54:48.820Z,1628888088.820 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:54:48.831Z,1628888088.831 [Micromodem](INFO): Nmea in: $SNTTA,0.325330,0.325349,,,205448.54*5E

2021-08-13T20:54:49.233Z,1628888089.233 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 65.100006 m, bearing: 43.046209 deg, deltaT: 4.533954 s, approachRate: 0.119103 m/s, LOS rate: 0.135722 deg/s, posRepo size: 4
2021-08-13T20:54:51.624Z,1628888091.624 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:54:52.001Z,1628888092.001 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:54:52.001Z,1628888092.001 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:54:52.001Z,1628888092.001 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:54:52.002Z,1628888092.002 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:54:52.409Z,1628888092.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DB1,000,006AE,188,80,80,97,FF
2021-08-13T20:54:52.409Z,1628888092.409 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:54:52.409Z,1628888092.409 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:54:52.411Z,1628888092.411 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:54:52.825Z,1628888092.825 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:54:53.245Z,1628888093.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DC3,000,006B8,188,80,80,B3,FF
2021-08-13T20:54:53.245Z,1628888093.245 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:54:53.657Z,1628888093.657 [Micromodem](INFO): Nmea in: $SNTTA,,,,,205452.98*5B

2021-08-13T20:54:53.678Z,1628888093.678 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 65.700005 m, bearing: 42.769576 deg, deltaT: 4.474261 s, approachRate: 0.134100 m/s, LOS rate: -0.061828 deg/s, posRepo size: 4
2021-08-13T20:54:56.058Z,1628888096.058 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:54:56.453Z,1628888096.453 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:54:56.453Z,1628888096.453 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:54:56.454Z,1628888096.454 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:54:56.454Z,1628888096.454 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:54:56.872Z,1628888096.872 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DC3,000,006B8,188,80,80,B3,FF
2021-08-13T20:54:56.872Z,1628888096.872 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:54:56.873Z,1628888096.873 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:54:56.874Z,1628888096.874 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:54:57.257Z,1628888097.257 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:54:57.665Z,1628888097.665 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E5B,000,006C1,186,80,80,8F,FF
2021-08-13T20:54:57.666Z,1628888097.666 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:54:58.077Z,1628888098.077 [Micromodem](INFO): Nmea in: $SNTTA,,,,,205457.45*5E

2021-08-13T20:54:58.108Z,1628888098.108 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 66.239998 m, bearing: 35.462793 deg, deltaT: 4.287240 s, approachRate: 0.125954 m/s, LOS rate: -1.704309 deg/s, posRepo size: 4
2021-08-13T20:55:00.513Z,1628888100.513 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:55:00.905Z,1628888100.905 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:55:00.905Z,1628888100.905 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:55:00.905Z,1628888100.905 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:55:00.905Z,1628888100.905 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:55:01.342Z,1628888101.342 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E5B,000,006C1,186,80,80,8F,FF
2021-08-13T20:55:01.343Z,1628888101.343 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:55:01.343Z,1628888101.343 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:55:01.345Z,1628888101.345 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:55:01.705Z,1628888101.705 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:55:02.101Z,1628888102.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E32,000,006C9,186,80,80,AD,FF
2021-08-13T20:55:02.102Z,1628888102.102 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:55:02.535Z,1628888102.535 [Micromodem](INFO): Nmea in: $SNTTA,0.054354,,,,205501.92*4B

2021-08-13T20:55:02.595Z,1628888102.595 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 66.720009 m, bearing: 37.884597 deg, deltaT: 4.436334 s, approachRate: 0.108200 m/s, LOS rate: 0.545902 deg/s, posRepo size: 4
2021-08-13T20:55:04.991Z,1628888104.991 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:55:05.333Z,1628888105.333 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:55:05.333Z,1628888105.333 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:55:05.333Z,1628888105.333 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:55:05.334Z,1628888105.334 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:55:05.745Z,1628888105.745 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E32,000,006C9,186,80,80,AD,FF
2021-08-13T20:55:05.746Z,1628888105.746 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:55:05.746Z,1628888105.746 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:55:05.747Z,1628888105.747 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:55:06.148Z,1628888106.148 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:55:06.986Z,1628888106.986 [Micromodem](INFO): Nmea in: $SNTTA,,,,,205506.32*5B

2021-08-13T20:55:07.779Z,1628888107.779 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:55:09.369Z,1628888109.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
9,186,80,80,AD,FF
2021-08-13T20:55:09.369Z,1628888109.369 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
9,186,80,80,AD,FF
2021-08-13T20:55:09.369Z,1628888109.369 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T20:55:10.614Z,1628888110.614 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:55:10.997Z,1628888110.997 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:55:10.997Z,1628888110.997 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:55:10.997Z,1628888110.997 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:55:10.998Z,1628888110.998 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:55:11.406Z,1628888111.406 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
9,186,80,80,AD,FF
2021-08-13T20:55:11.406Z,1628888111.406 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:55:11.406Z,1628888111.406 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:55:11.408Z,1628888111.408 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:55:11.804Z,1628888111.804 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:55:12.237Z,1628888112.237 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E53,000,006E0,185,80,80,99,FF
2021-08-13T20:55:12.237Z,1628888112.237 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:55:12.629Z,1628888112.629 [Micromodem](INFO): Nmea in: $SNTTA,0.105256,,,,205511.98*46

2021-08-13T20:55:12.651Z,1628888112.651 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 68.099998 m, bearing: 36.737593 deg, deltaT: 10.186793 s, approachRate: 0.135469 m/s, LOS rate: -0.112597 deg/s, posRepo size: 4
2021-08-13T20:55:15.082Z,1628888115.082 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:55:15.437Z,1628888115.437 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:55:15.437Z,1628888115.437 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:55:15.438Z,1628888115.438 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:55:15.438Z,1628888115.438 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:55:15.842Z,1628888115.842 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E53,000,006E0,185,80,80,99,FF
2021-08-13T20:55:15.842Z,1628888115.842 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:55:15.842Z,1628888115.842 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:55:15.845Z,1628888115.845 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:55:16.252Z,1628888116.252 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:55:16.649Z,1628888116.649 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,293,000,006E8,189,80,80,8E,FF
2021-08-13T20:55:16.650Z,1628888116.650 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:55:17.077Z,1628888117.077 [Micromodem](INFO): Nmea in: $SNTTA,0.070268,,,,205516.42*48

2021-08-13T20:55:17.127Z,1628888117.127 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 68.580002 m, bearing: 342.548467 deg, deltaT: 4.360727 s, approachRate: 0.110074 m/s, LOS rate: -12.426627 deg/s, posRepo size: 4
2021-08-13T20:55:19.521Z,1628888119.521 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:55:19.881Z,1628888119.881 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:55:19.881Z,1628888119.881 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:55:19.881Z,1628888119.881 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:55:19.882Z,1628888119.882 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:55:20.277Z,1628888120.277 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
293,000,006E8,189,80,80,8E,FF
2021-08-13T20:55:20.278Z,1628888120.278 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:55:20.278Z,1628888120.278 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:55:20.279Z,1628888120.279 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:55:20.693Z,1628888120.693 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:55:21.094Z,1628888121.094 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E32,000,006F0,186,80,80,98,FF
2021-08-13T20:55:21.094Z,1628888121.094 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:55:21.097Z,1628888121.097 [Micromodem](INFO): Nmea in: $SNTTA,0.130144,0.167514,,,205520.85*50

2021-08-13T20:55:21.534Z,1628888121.534 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 69.059998 m, bearing: 38.514962 deg, deltaT: 4.541403 s, approachRate: 0.105693 m/s, LOS rate: 12.323616 deg/s, posRepo size: 4
2021-08-13T20:55:23.954Z,1628888123.954 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:55:24.325Z,1628888124.325 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:55:24.325Z,1628888124.325 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:55:24.325Z,1628888124.325 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:55:24.326Z,1628888124.326 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:55:24.741Z,1628888124.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E32,000,006F0,186,80,80,98,FF
2021-08-13T20:55:24.741Z,1628888124.741 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:55:24.742Z,1628888124.742 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:55:24.747Z,1628888124.747 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:55:25.141Z,1628888125.141 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:55:25.533Z,1628888125.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E3F,000,006FB,186,80,80,C4,FF
2021-08-13T20:55:25.533Z,1628888125.533 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:55:25.973Z,1628888125.973 [Micromodem](INFO): Nmea in: $SNTTA,0.058276,,,,205525.32*4A

2021-08-13T20:55:26.002Z,1628888126.002 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 69.720001 m, bearing: 37.385570 deg, deltaT: 4.379641 s, approachRate: 0.150698 m/s, LOS rate: -0.257873 deg/s, posRepo size: 4
2021-08-13T20:55:28.396Z,1628888128.396 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:55:28.809Z,1628888128.809 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:55:28.809Z,1628888128.809 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:55:28.809Z,1628888128.809 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:55:28.810Z,1628888128.810 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:55:29.173Z,1628888129.173 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E3F,000,006FB,186,80,80,C4,FF
2021-08-13T20:55:29.173Z,1628888129.173 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:55:29.174Z,1628888129.174 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:55:29.181Z,1628888129.181 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:55:29.585Z,1628888129.585 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:55:29.985Z,1628888129.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E0B,000,00706,186,80,80,B8,FF
2021-08-13T20:55:29.986Z,1628888129.986 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:55:30.420Z,1628888130.420 [Micromodem](INFO): Nmea in: $SNTTA,0.147692,,,,205529.75*44

2021-08-13T20:55:30.446Z,1628888130.446 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 70.380005 m, bearing: 39.918221 deg, deltaT: 4.443708 s, approachRate: 0.148525 m/s, LOS rate: 0.569941 deg/s, posRepo size: 4
2021-08-13T20:55:32.897Z,1628888132.897 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:55:33.245Z,1628888133.245 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:55:33.245Z,1628888133.245 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:55:33.245Z,1628888133.245 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:55:33.246Z,1628888133.246 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:55:33.617Z,1628888133.617 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E0B,000,00706,186,80,80,B8,FF
2021-08-13T20:55:33.617Z,1628888133.617 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:55:33.617Z,1628888133.617 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:55:33.619Z,1628888133.619 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:55:34.033Z,1628888134.033 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:55:34.425Z,1628888134.425 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E46,000,00712,186,80,80,A3,FF
2021-08-13T20:55:34.425Z,1628888134.425 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:55:34.862Z,1628888134.862 [Micromodem](INFO): Nmea in: $SNTTA,0.058967,,,,205534.19*48

2021-08-13T20:55:34.897Z,1628888134.897 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 71.100006 m, bearing: 37.378825 deg, deltaT: 4.454371 s, approachRate: 0.161639 m/s, LOS rate: -0.570091 deg/s, posRepo size: 4
2021-08-13T20:55:37.292Z,1628888137.292 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:55:37.657Z,1628888137.657 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:55:37.657Z,1628888137.657 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:55:37.657Z,1628888137.657 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:55:37.658Z,1628888137.658 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:55:38.061Z,1628888138.061 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E46,000,00712,186,80,80,A3,FF
2021-08-13T20:55:38.061Z,1628888138.061 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:55:38.061Z,1628888138.061 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:55:38.063Z,1628888138.063 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:55:38.477Z,1628888138.477 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:55:38.877Z,1628888138.877 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E5E,000,0071C,186,80,80,94,FF
2021-08-13T20:55:38.877Z,1628888138.877 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:55:38.881Z,1628888138.881 [Micromodem](INFO): Nmea in: $SNTTA,0.236692,0.235798,,,205538.64*5D

2021-08-13T20:55:39.326Z,1628888139.326 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 71.700005 m, bearing: 36.900182 deg, deltaT: 4.469705 s, approachRate: 0.134237 m/s, LOS rate: -0.107086 deg/s, posRepo size: 4
2021-08-13T20:55:41.758Z,1628888141.758 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:55:42.105Z,1628888142.105 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:55:42.105Z,1628888142.105 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:55:42.105Z,1628888142.105 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:55:42.106Z,1628888142.106 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:55:42.523Z,1628888142.523 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E5E,000,0071C,186,80,80,94,FF
2021-08-13T20:55:42.523Z,1628888142.523 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:55:42.523Z,1628888142.523 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:55:42.525Z,1628888142.525 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:55:42.913Z,1628888142.913 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:55:43.329Z,1628888143.329 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,00723,189,80,80,A2,FF
2021-08-13T20:55:43.330Z,1628888143.330 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:55:43.737Z,1628888143.737 [Micromodem](INFO): Nmea in: $SNTTA,,,,,205543.10*5A

2021-08-13T20:55:43.778Z,1628888143.778 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 72.120010 m, bearing: 80.611047 deg, deltaT: 4.425344 s, approachRate: 0.094909 m/s, LOS rate: 9.877394 deg/s, posRepo size: 4
2021-08-13T20:55:46.216Z,1628888146.216 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:55:46.563Z,1628888146.563 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:55:46.563Z,1628888146.563 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:55:46.566Z,1628888146.566 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:55:46.586Z,1628888146.586 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:55:46.953Z,1628888146.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,00723,189,80,80,A2,FF
2021-08-13T20:55:46.953Z,1628888146.953 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:55:46.953Z,1628888146.953 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:55:46.955Z,1628888146.955 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:55:47.378Z,1628888147.378 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:55:47.761Z,1628888147.761 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,24B,000,0072B,188,80,80,B5,FF
2021-08-13T20:55:47.761Z,1628888147.761 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:55:48.209Z,1628888148.209 [Micromodem](INFO): Nmea in: $SNTTA,0.079288,,,,205547.53*4B

2021-08-13T20:55:48.234Z,1628888148.234 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 72.599998 m, bearing: 348.003302 deg, deltaT: 4.444451 s, approachRate: 0.107997 m/s, LOS rate: -20.836710 deg/s, posRepo size: 4
2021-08-13T20:55:50.624Z,1628888150.624 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:55:50.993Z,1628888150.993 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:55:50.993Z,1628888150.993 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:55:50.993Z,1628888150.993 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:55:50.994Z,1628888150.994 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:55:51.402Z,1628888151.402 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
24B,000,0072B,188,80,80,B5,FF
2021-08-13T20:55:51.402Z,1628888151.402 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:55:51.402Z,1628888151.402 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:55:51.405Z,1628888151.405 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:55:51.801Z,1628888151.801 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:55:52.241Z,1628888152.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,25E,000,00736,188,80,80,80,FF
2021-08-13T20:55:52.241Z,1628888152.241 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:55:52.640Z,1628888152.640 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 73.260002 m, bearing: 347.764354 deg, deltaT: 4.442423 s, approachRate: 0.148568 m/s, LOS rate: -0.053788 deg/s, posRepo size: 4
2021-08-13T20:55:55.078Z,1628888155.078 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:55:55.438Z,1628888155.438 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:55:55.438Z,1628888155.438 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:55:55.438Z,1628888155.438 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:55:55.439Z,1628888155.439 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:55:55.842Z,1628888155.842 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
25E,000,00736,188,80,80,80,FF
2021-08-13T20:55:55.842Z,1628888155.842 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:55:55.842Z,1628888155.842 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:55:55.845Z,1628888155.845 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:55:56.274Z,1628888156.274 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:55:56.649Z,1628888156.649 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,00740,189,80,80,9B,FF
2021-08-13T20:55:56.650Z,1628888156.650 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:55:57.100Z,1628888157.100 [Micromodem](INFO): Nmea in: $SNTTA,0.060468,,,,205556.42*4B

2021-08-13T20:55:57.136Z,1628888157.136 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 73.860001 m, bearing: 82.962237 deg, deltaT: 4.398684 s, approachRate: 0.136404 m/s, LOS rate: 21.642356 deg/s, posRepo size: 4
2021-08-13T20:55:59.534Z,1628888159.534 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:55:59.885Z,1628888159.885 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:55:59.885Z,1628888159.885 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:55:59.885Z,1628888159.885 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:55:59.886Z,1628888159.886 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:56:00.286Z,1628888160.286 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,00740,189,80,80,9B,FF
2021-08-13T20:56:00.286Z,1628888160.286 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:56:00.286Z,1628888160.286 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:56:00.289Z,1628888160.289 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:56:00.693Z,1628888160.693 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:56:01.110Z,1628888161.110 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,0074C,188,80,80,82,FF
2021-08-13T20:56:01.110Z,1628888161.110 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:56:01.529Z,1628888161.529 [Micromodem](INFO): Nmea in: $SNTTA,,,,,205600.86*51

2021-08-13T20:56:01.555Z,1628888161.555 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 74.580009 m, bearing: 83.672331 deg, deltaT: 4.585150 s, approachRate: 0.157031 m/s, LOS rate: 0.154868 deg/s, posRepo size: 4
2021-08-13T20:56:03.934Z,1628888163.934 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:56:04.331Z,1628888164.331 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:56:04.331Z,1628888164.331 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:56:04.331Z,1628888164.331 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:56:04.332Z,1628888164.332 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:56:04.733Z,1628888164.733 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,0074C,188,80,80,82,FF
2021-08-13T20:56:04.733Z,1628888164.733 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:56:04.734Z,1628888164.734 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:56:04.756Z,1628888164.756 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:56:05.142Z,1628888165.142 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:56:05.533Z,1628888165.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,00752,189,80,80,7E,FF
2021-08-13T20:56:05.534Z,1628888165.534 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:56:05.951Z,1628888165.951 [Micromodem](INFO): Nmea in: $SNTTA,0.076712,,,,205605.33*41

2021-08-13T20:56:06.026Z,1628888166.026 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 74.940002 m, bearing: 84.418754 deg, deltaT: 4.344599 s, approachRate: 0.082860 m/s, LOS rate: 0.171805 deg/s, posRepo size: 4
2021-08-13T20:56:08.389Z,1628888168.389 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:56:08.805Z,1628888168.805 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:56:08.805Z,1628888168.805 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:56:08.805Z,1628888168.805 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:56:08.806Z,1628888168.806 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:56:09.201Z,1628888169.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,00752,189,80,80,7E,FF
2021-08-13T20:56:09.201Z,1628888169.201 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:56:09.201Z,1628888169.201 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:56:09.209Z,1628888169.209 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:56:09.586Z,1628888169.586 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:56:09.977Z,1628888169.977 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,0075C,18A,80,80,A8,FF
2021-08-13T20:56:09.978Z,1628888169.978 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:56:10.399Z,1628888170.399 [Micromodem](INFO): Nmea in: $SNTTA,0.049991,,,,205609.78*4B

2021-08-13T20:56:10.448Z,1628888170.448 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 75.540001 m, bearing: 84.949009 deg, deltaT: 4.418485 s, approachRate: 0.135793 m/s, LOS rate: 0.120008 deg/s, posRepo size: 4
2021-08-13T20:56:12.899Z,1628888172.899 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:56:13.245Z,1628888173.245 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:56:13.245Z,1628888173.245 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:56:13.245Z,1628888173.245 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:56:13.246Z,1628888173.246 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:56:13.621Z,1628888173.621 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,0075C,18A,80,80,A8,FF
2021-08-13T20:56:13.621Z,1628888173.621 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:56:13.621Z,1628888173.621 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:56:13.623Z,1628888173.623 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:56:14.020Z,1628888174.020 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:56:14.429Z,1628888174.429 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,00766,189,80,80,B3,FF
2021-08-13T20:56:14.429Z,1628888174.429 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:56:14.862Z,1628888174.862 [Micromodem](INFO): Nmea in: $SNTTA,0.071593,,,,205614.19*45

2021-08-13T20:56:14.939Z,1628888174.939 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 76.139999 m, bearing: 85.146586 deg, deltaT: 4.473305 s, approachRate: 0.134129 m/s, LOS rate: 0.044168 deg/s, posRepo size: 4
2021-08-13T20:56:17.295Z,1628888177.295 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:56:17.653Z,1628888177.653 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:56:17.653Z,1628888177.653 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:56:17.653Z,1628888177.653 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:56:17.654Z,1628888177.654 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:56:18.057Z,1628888178.057 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,00766,189,80,80,B3,FF
2021-08-13T20:56:18.057Z,1628888178.057 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:56:18.057Z,1628888178.057 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:56:18.059Z,1628888178.059 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:56:18.501Z,1628888178.501 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:56:18.870Z,1628888178.870 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,00770,189,80,80,8C,FF
2021-08-13T20:56:18.871Z,1628888178.871 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:56:19.333Z,1628888179.333 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 76.739998 m, bearing: 85.710719 deg, deltaT: 4.449652 s, approachRate: 0.134842 m/s, LOS rate: 0.126781 deg/s, posRepo size: 4
2021-08-13T20:56:21.713Z,1628888181.713 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:56:22.097Z,1628888182.097 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:56:22.097Z,1628888182.097 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:56:22.097Z,1628888182.097 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:56:22.098Z,1628888182.098 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:56:22.501Z,1628888182.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,00770,189,80,80,8C,FF
2021-08-13T20:56:22.501Z,1628888182.501 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:56:22.501Z,1628888182.501 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:56:22.503Z,1628888182.503 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:56:22.925Z,1628888182.925 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:56:23.321Z,1628888183.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,00779,189,80,80,B3,FF
2021-08-13T20:56:23.322Z,1628888183.322 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:56:23.753Z,1628888183.753 [Micromodem](INFO): Nmea in: $SNTTA,,,,,205623.07*59

2021-08-13T20:56:23.772Z,1628888183.772 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 77.280006 m, bearing: 86.485331 deg, deltaT: 4.410942 s, approachRate: 0.122425 m/s, LOS rate: 0.175611 deg/s, posRepo size: 4
2021-08-13T20:56:26.163Z,1628888186.163 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:56:26.541Z,1628888186.541 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:56:26.541Z,1628888186.541 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:56:26.541Z,1628888186.541 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:56:26.542Z,1628888186.542 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:56:26.949Z,1628888186.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,00779,189,80,80,B3,FF
2021-08-13T20:56:26.950Z,1628888186.950 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:56:26.950Z,1628888186.950 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:56:26.951Z,1628888186.951 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:56:27.357Z,1628888187.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:56:27.757Z,1628888187.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,0077E,189,80,80,B8,FF
2021-08-13T20:56:27.757Z,1628888187.757 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:56:28.193Z,1628888188.193 [Micromodem](INFO): Nmea in: $SNTTA,0.060087,,,,205627.53*4B

2021-08-13T20:56:28.261Z,1628888188.261 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 77.580002 m, bearing: 87.232970 deg, deltaT: 4.425838 s, approachRate: 0.067783 m/s, LOS rate: 0.168926 deg/s, posRepo size: 4
2021-08-13T20:56:30.618Z,1628888190.618 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:56:30.985Z,1628888190.985 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:56:30.985Z,1628888190.985 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:56:30.985Z,1628888190.985 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:56:30.986Z,1628888190.986 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:56:31.389Z,1628888191.389 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,0077E,189,80,80,B8,FF
2021-08-13T20:56:31.389Z,1628888191.389 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:56:31.389Z,1628888191.389 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:56:31.391Z,1628888191.391 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:56:31.515Z,1628888191.515 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-08-13T20:56:31.515Z,1628888191.515 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-08-13T20:56:31.515Z,1628888191.515 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-08-13T20:56:31.516Z,1628888191.516 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-13T20:56:31.516Z,1628888191.516 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-08-13T20:56:31.885Z,1628888191.885 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:56:32.075Z,1628888192.075 [Micromodem](INFO): Outgoing frame #1, 60 bytes: B2AB1661270000005D00000400260000000000000000151D80030C5669C08C799842E08A1CD7BF74A7F7EFD1D136922BF03F3B7F550F461D65A6E000
2021-08-13T20:56:32.082Z,1628888192.082 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-08-13T20:56:32.282Z,1628888192.282 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,0078B,189,80,80,C1,FF
2021-08-13T20:56:32.283Z,1628888192.283 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:56:32.294Z,1628888192.294 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-08-13T20:56:32.722Z,1628888192.722 [Micromodem](INFO): Nmea in: $CADRQ,205632,1,10,0,64,1*76

2021-08-13T20:56:32.732Z,1628888192.732 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,B2AB1661270000005D00000400260000000000000000151D80030C5669C08C799842E08A1CD7BF74A7F7EFD1D136922BF03F3B7F550F461D65A6E000*39

2021-08-13T20:56:32.871Z,1628888192.871 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 78.360001 m, bearing: 88.090268 deg, deltaT: 4.576222 s, approachRate: 0.170446 m/s, LOS rate: 0.187338 deg/s, posRepo size: 4
2021-08-13T20:56:33.107Z,1628888193.107 [Micromodem](INFO): Nmea in: $SNTTA,,,,,205631.97*53

2021-08-13T20:56:33.107Z,1628888193.107 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,,,,,205631.97*53

2021-08-13T20:56:34.321Z,1628888194.321 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,60*4D

2021-08-13T20:56:34.776Z,1628888194.776 [Micromodem](INFO): Nmea in: $CATXP,60*74

2021-08-13T20:56:34.870Z,1628888194.870 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:56:35.113Z,1628888195.113 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:56:35.113Z,1628888195.113 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:56:35.113Z,1628888195.113 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:56:35.114Z,1628888195.114 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:56:35.121Z,1628888195.121 [Micromodem](INFO): Nmea in: $CATXF,60*62

2021-08-13T20:56:35.517Z,1628888195.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,0078B,189,80,80,C1,FF
2021-08-13T20:56:35.517Z,1628888195.517 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:56:35.517Z,1628888195.517 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:56:35.520Z,1628888195.520 [Micromodem](INFO): Nmea in: $CAXST,7,20210813,205633.326550,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*55

2021-08-13T20:56:35.521Z,1628888195.521 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:56:35.924Z,1628888195.924 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:56:36.774Z,1628888196.774 [Micromodem](INFO): Nmea in: $SNTTA,,,,,205636.09*53

2021-08-13T20:56:36.793Z,1628888196.793 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-13T20:56:37.589Z,1628888197.589 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:56:39.153Z,1628888199.153 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
B,189,80,80,C1,FF
2021-08-13T20:56:39.153Z,1628888199.153 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
B,189,80,80,C1,FF
2021-08-13T20:56:39.153Z,1628888199.153 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T20:56:40.208Z,1628888200.208 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:56:40.361Z,1628888200.361 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:56:40.361Z,1628888200.361 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:56:40.361Z,1628888200.361 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:56:40.362Z,1628888200.362 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:56:40.806Z,1628888200.806 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
B,189,80,80,C1,FF
2021-08-13T20:56:40.806Z,1628888200.806 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:56:40.807Z,1628888200.807 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:56:40.830Z,1628888200.830 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:56:41.206Z,1628888201.206 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:56:41.257Z,1628888201.257 [CTD_Seabird](ERROR): Failed to parse device response: .79
2021-08-13T20:56:41.577Z,1628888201.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,007A1,189,80,80,C1,FF
2021-08-13T20:56:41.578Z,1628888201.578 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:56:42.011Z,1628888202.011 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 79.680000 m, bearing: 89.362193 deg, deltaT: 9.286075 s, approachRate: 0.142148 m/s, LOS rate: 0.136971 deg/s, posRepo size: 4
2021-08-13T20:56:42.406Z,1628888202.406 [Micromodem](INFO): Nmea in: $SNTTA,0.097224,,,,205641.45*4F

2021-08-13T20:56:44.610Z,1628888204.610 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:56:44.821Z,1628888204.821 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:56:44.821Z,1628888204.821 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:56:44.822Z,1628888204.822 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:56:44.822Z,1628888204.822 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:56:45.242Z,1628888205.242 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,007A1,189,80,80,C1,FF
2021-08-13T20:56:45.243Z,1628888205.243 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:56:45.244Z,1628888205.244 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:56:45.248Z,1628888205.248 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:56:45.629Z,1628888205.629 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:56:46.027Z,1628888206.027 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,007A8,189,80,80,AC,FF
2021-08-13T20:56:46.027Z,1628888206.027 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:56:46.452Z,1628888206.452 [Micromodem](INFO): Nmea in: $SNTTA,0.064014,,,,205645.82*4D

2021-08-13T20:56:46.734Z,1628888206.734 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 80.100006 m, bearing: 90.200291 deg, deltaT: 4.463130 s, approachRate: 0.094106 m/s, LOS rate: 0.187783 deg/s, posRepo size: 4
2021-08-13T20:56:48.930Z,1628888208.930 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:56:49.285Z,1628888209.285 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:56:49.285Z,1628888209.285 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:56:49.285Z,1628888209.285 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:56:49.286Z,1628888209.286 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:56:49.693Z,1628888209.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,007A8,189,80,80,AC,FF
2021-08-13T20:56:49.693Z,1628888209.693 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:56:49.693Z,1628888209.693 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:56:49.695Z,1628888209.695 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:56:50.097Z,1628888210.097 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:56:50.493Z,1628888210.493 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,007B3,189,80,80,B7,FF
2021-08-13T20:56:50.493Z,1628888210.493 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:56:50.929Z,1628888210.929 [Micromodem](INFO): Nmea in: $SNTTA,0.099109,,,,205650.27*49

2021-08-13T20:56:51.159Z,1628888211.159 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 80.760002 m, bearing: 91.140364 deg, deltaT: 4.480046 s, approachRate: 0.147319 m/s, LOS rate: 0.209836 deg/s, posRepo size: 4
2021-08-13T20:56:53.213Z,1628888213.213 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:56:53.381Z,1628888213.381 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:56:53.381Z,1628888213.381 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:56:53.381Z,1628888213.381 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:56:53.382Z,1628888213.382 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:56:53.774Z,1628888213.774 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,007B3,189,80,80,B7,FF
2021-08-13T20:56:53.774Z,1628888213.774 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:56:53.774Z,1628888213.774 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:56:53.775Z,1628888213.775 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:56:54.205Z,1628888214.205 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:56:54.586Z,1628888214.586 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,007BB,189,80,80,BD,FF
2021-08-13T20:56:54.587Z,1628888214.587 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:56:55.021Z,1628888215.021 [Micromodem](INFO): Nmea in: $SNTTA,0.419813,,,,205654.35*40

2021-08-13T20:56:55.065Z,1628888215.065 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 81.239998 m, bearing: 91.287206 deg, deltaT: 4.024684 s, approachRate: 0.119263 m/s, LOS rate: 0.036485 deg/s, posRepo size: 4
2021-08-13T20:56:57.278Z,1628888217.278 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:56:57.441Z,1628888217.441 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:56:57.441Z,1628888217.441 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:56:57.441Z,1628888217.441 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:56:57.442Z,1628888217.442 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:56:57.838Z,1628888217.838 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,007BB,189,80,80,BD,FF
2021-08-13T20:56:57.838Z,1628888217.838 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:56:57.838Z,1628888217.838 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:56:57.841Z,1628888217.841 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:56:58.256Z,1628888218.256 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:56:58.645Z,1628888218.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,007C8,189,80,80,C0,FF
2021-08-13T20:56:58.646Z,1628888218.646 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:56:59.073Z,1628888219.073 [Micromodem](INFO): Nmea in: $SNTTA,0.348121,0.348127,,,205658.41*51

2021-08-13T20:56:59.328Z,1628888219.328 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 82.020004 m, bearing: 90.485096 deg, deltaT: 4.102923 s, approachRate: 0.190110 m/s, LOS rate: -0.195497 deg/s, posRepo size: 4
2021-08-13T20:57:01.211Z,1628888221.211 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:57:01.563Z,1628888221.563 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:57:01.563Z,1628888221.563 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:57:01.563Z,1628888221.563 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:57:01.564Z,1628888221.564 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:57:01.969Z,1628888221.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,007C8,189,80,80,C0,FF
2021-08-13T20:57:01.969Z,1628888221.969 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:57:01.970Z,1628888221.970 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:57:01.971Z,1628888221.971 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:57:02.381Z,1628888222.381 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:57:02.813Z,1628888222.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,007D0,189,80,80,C5,FF
2021-08-13T20:57:02.813Z,1628888222.813 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:57:02.817Z,1628888222.817 [Micromodem](INFO): Nmea in: $SNTTA,0.281169,0.281444,,,205702.55*56

2021-08-13T20:57:03.385Z,1628888223.385 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 82.500000 m, bearing: 90.588697 deg, deltaT: 4.208903 s, approachRate: 0.114043 m/s, LOS rate: 0.024615 deg/s, posRepo size: 4
2021-08-13T20:57:05.420Z,1628888225.420 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:57:05.613Z,1628888225.613 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:57:05.613Z,1628888225.613 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:57:05.613Z,1628888225.613 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:57:05.614Z,1628888225.614 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:57:06.029Z,1628888226.029 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,007D0,189,80,80,C5,FF
2021-08-13T20:57:06.029Z,1628888226.029 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:57:06.029Z,1628888226.029 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:57:06.031Z,1628888226.031 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:57:06.434Z,1628888226.434 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:57:06.840Z,1628888226.840 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,007D5,189,80,80,BB,FF
2021-08-13T20:57:06.841Z,1628888226.841 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:57:06.850Z,1628888226.850 [Micromodem](INFO): Nmea in: $SNTTA,0.293921,0.293521,,,205706.60*52

2021-08-13T20:57:07.295Z,1628888227.295 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 82.800003 m, bearing: 91.006151 deg, deltaT: 4.036279 s, approachRate: 0.074327 m/s, LOS rate: 0.103426 deg/s, posRepo size: 4
2021-08-13T20:57:09.498Z,1628888229.498 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:57:09.665Z,1628888229.665 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:57:09.665Z,1628888229.665 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:57:09.665Z,1628888229.665 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:57:09.666Z,1628888229.666 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:57:10.066Z,1628888230.066 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,007D5,189,80,80,BB,FF
2021-08-13T20:57:10.067Z,1628888230.067 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:57:10.067Z,1628888230.067 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:57:10.069Z,1628888230.069 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:57:10.468Z,1628888230.468 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:57:10.877Z,1628888230.877 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,007E1,189,80,80,BE,FF
2021-08-13T20:57:10.877Z,1628888230.877 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:57:11.305Z,1628888231.305 [Micromodem](INFO): Nmea in: $SNTTA,0.062561,,,,205710.64*45

2021-08-13T20:57:11.500Z,1628888231.500 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 83.519997 m, bearing: 91.030589 deg, deltaT: 4.017007 s, approachRate: 0.179236 m/s, LOS rate: 0.006084 deg/s, posRepo size: 4
2021-08-13T20:57:13.747Z,1628888233.747 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:57:14.137Z,1628888234.137 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:57:14.137Z,1628888234.137 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:57:14.138Z,1628888234.138 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:57:14.138Z,1628888234.138 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:57:14.537Z,1628888234.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,007E1,189,80,80,BE,FF
2021-08-13T20:57:14.537Z,1628888234.537 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:57:14.537Z,1628888234.537 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:57:14.539Z,1628888234.539 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:57:14.945Z,1628888234.945 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:57:15.349Z,1628888235.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,007EF,189,80,80,C3,FF
2021-08-13T20:57:15.350Z,1628888235.350 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:57:15.781Z,1628888235.781 [Micromodem](INFO): Nmea in: $SNTTA,,,,,205715.11*5A

2021-08-13T20:57:15.984Z,1628888235.984 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 84.360001 m, bearing: 91.055615 deg, deltaT: 4.450710 s, approachRate: 0.188735 m/s, LOS rate: 0.005623 deg/s, posRepo size: 4
2021-08-13T20:57:17.994Z,1628888237.994 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:57:18.225Z,1628888238.225 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:57:18.225Z,1628888238.225 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:57:18.225Z,1628888238.225 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:57:18.226Z,1628888238.226 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:57:18.605Z,1628888238.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,007EF,189,80,80,C3,FF
2021-08-13T20:57:18.605Z,1628888238.605 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:57:18.605Z,1628888238.605 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:57:18.607Z,1628888238.607 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:57:19.012Z,1628888239.012 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:57:19.413Z,1628888239.413 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,007F6,188,80,80,C7,FF
2021-08-13T20:57:19.413Z,1628888239.413 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:57:19.862Z,1628888239.862 [Micromodem](INFO): Nmea in: $SNTTA,0.064360,,,,205719.18*46

2021-08-13T20:57:19.886Z,1628888239.886 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 84.779999 m, bearing: 90.941838 deg, deltaT: 4.052947 s, approachRate: 0.103628 m/s, LOS rate: -0.028073 deg/s, posRepo size: 4
2021-08-13T20:57:22.495Z,1628888242.495 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:57:22.645Z,1628888242.645 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:57:22.645Z,1628888242.645 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:57:22.645Z,1628888242.645 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:57:22.646Z,1628888242.646 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:57:23.049Z,1628888243.049 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,007F6,188,80,80,C7,FF
2021-08-13T20:57:23.049Z,1628888243.049 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:57:23.049Z,1628888243.049 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:57:23.051Z,1628888243.051 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:57:23.470Z,1628888243.470 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:57:23.861Z,1628888243.861 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,00802,18A,80,80,B4,FF
2021-08-13T20:57:23.862Z,1628888243.862 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:57:24.294Z,1628888244.294 [Micromodem](INFO): Nmea in: $SNTTA,0.065490,,,,205723.63*4A

2021-08-13T20:57:24.478Z,1628888244.478 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 85.500008 m, bearing: 90.820698 deg, deltaT: 4.434790 s, approachRate: 0.162355 m/s, LOS rate: -0.027316 deg/s, posRepo size: 4
2021-08-13T20:57:26.572Z,1628888246.572 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:57:26.853Z,1628888246.853 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:57:26.854Z,1628888246.854 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:57:26.856Z,1628888246.856 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:57:26.857Z,1628888246.857 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:57:27.254Z,1628888247.254 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,00802,18A,80,80,B4,FF
2021-08-13T20:57:27.254Z,1628888247.254 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:57:27.255Z,1628888247.255 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:57:27.277Z,1628888247.277 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:57:27.644Z,1628888247.644 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:57:28.062Z,1628888248.062 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,0080E,189,80,80,C0,FF
2021-08-13T20:57:28.063Z,1628888248.063 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:57:28.459Z,1628888248.459 [Micromodem](INFO): Nmea in: $SNTTA,,,,,205727.85*56

2021-08-13T20:57:28.664Z,1628888248.664 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 86.220001 m, bearing: 90.902318 deg, deltaT: 4.238089 s, approachRate: 0.169886 m/s, LOS rate: 0.019259 deg/s, posRepo size: 4
2021-08-13T20:57:30.923Z,1628888250.923 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:57:31.029Z,1628888251.029 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:57:31.029Z,1628888251.029 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:57:31.029Z,1628888251.029 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:57:31.030Z,1628888251.030 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:57:31.418Z,1628888251.418 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,0080E,189,80,80,C0,FF
2021-08-13T20:57:31.418Z,1628888251.418 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:57:31.418Z,1628888251.418 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:57:31.420Z,1628888251.420 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:57:31.821Z,1628888251.821 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:57:32.261Z,1628888252.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,00816,189,80,80,C3,FF
2021-08-13T20:57:32.261Z,1628888252.261 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:57:32.657Z,1628888252.657 [Micromodem](INFO): Nmea in: $SNTTA,,,,,205732.00*5F

2021-08-13T20:57:32.695Z,1628888252.695 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 86.700005 m, bearing: 91.363199 deg, deltaT: 4.142738 s, approachRate: 0.115866 m/s, LOS rate: 0.111250 deg/s, posRepo size: 4
2021-08-13T20:57:34.915Z,1628888254.915 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:57:35.049Z,1628888255.049 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:57:35.049Z,1628888255.049 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:57:35.049Z,1628888255.049 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:57:35.050Z,1628888255.050 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:57:35.453Z,1628888255.453 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,00816,189,80,80,C3,FF
2021-08-13T20:57:35.453Z,1628888255.453 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:57:35.453Z,1628888255.453 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:57:35.455Z,1628888255.455 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:57:35.859Z,1628888255.859 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:57:36.269Z,1628888256.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,0081F,189,80,80,C6,FF
2021-08-13T20:57:36.270Z,1628888256.270 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:57:36.732Z,1628888256.732 [Micromodem](INFO): Nmea in: $SNTTA,,,,,205736.03*58

2021-08-13T20:57:37.005Z,1628888257.005 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 87.239998 m, bearing: 91.712802 deg, deltaT: 4.079999 s, approachRate: 0.132351 m/s, LOS rate: 0.085687 deg/s, posRepo size: 4
2021-08-13T20:57:37.150Z,1628888257.150 [Micromodem](ERROR): Buffer fill timout failure.
2021-08-13T20:57:37.701Z,1628888257.701 [Micromodem](INFO): Outgoing frame #1, 60 bytes: B2AB1661270000005D00000400260000000000000000151D80030C5669C08C799842E08A1CD7BF74A7F7EFD1D136922BF03F3B7F550F461D65A6E000
2021-08-13T20:57:37.702Z,1628888257.702 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-08-13T20:57:38.005Z,1628888258.005 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-08-13T20:57:38.417Z,1628888258.417 [Micromodem](INFO): Nmea in: $CADRQ,205738,1,10,0,64,1*7D

2021-08-13T20:57:38.417Z,1628888258.417 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,B2AB1661270000005D00000400260000000000000000151D80030C5669C08C799842E08A1CD7BF74A7F7EFD1D136922BF03F3B7F550F461D65A6E000*39

2021-08-13T20:57:38.827Z,1628888258.827 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,60*4D

2021-08-13T20:57:38.897Z,1628888258.897 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:57:39.240Z,1628888259.240 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:57:39.240Z,1628888259.240 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:57:39.241Z,1628888259.241 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:57:39.241Z,1628888259.241 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:57:39.246Z,1628888259.246 [Micromodem](INFO): Nmea in: $CATXP,60*74

2021-08-13T20:57:39.621Z,1628888259.621 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,0081F,189,80,80,C6,FF
2021-08-13T20:57:39.621Z,1628888259.621 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:57:39.622Z,1628888259.622 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:57:39.623Z,1628888259.623 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:57:40.445Z,1628888260.445 [Micromodem](INFO): Nmea in: $CATXF,60*62

2021-08-13T20:57:40.445Z,1628888260.445 [Micromodem](ERROR): Response from modem unexpected: $CATXF,60*62

2021-08-13T20:57:40.842Z,1628888260.842 [Micromodem](INFO): Nmea in: $CAXST,7,20210813,205739.009907,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*5E

2021-08-13T20:57:40.842Z,1628888260.842 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210813,205739.009907,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*5E

2021-08-13T20:57:41.673Z,1628888261.673 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:57:42.466Z,1628888262.466 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-08-13T20:57:42.467Z,1628888262.467 [Micromodem](INFO): Sent 52 bytes from file Logs/20210813T172818/Courier0039.lzma.parts
2021-08-13T20:57:42.467Z,1628888262.467 [Micromodem](INFO): Packets left to send: 0
2021-08-13T20:57:42.857Z,1628888262.857 [Micromodem](INFO): Nmea in: $CACST,6,0,20210813205741.929523,06,32767,45,0101,0150,07,01,01,00,01,1,010,001,0,4,1,0,150,22.4,9.71,18,-6.71,-01,0.06,37,14500,4000*61

2021-08-13T20:57:42.857Z,1628888262.857 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210813205741.929523,06,32767,45,0101,0150,07,01,01,00,01,1,010,001,0,4,1,0,150,22.4,9.71,18,-6.71,-01,0.06,37,14500,4000*61

2021-08-13T20:57:43.387Z,1628888263.387 [lineCaptureDepth:MicromodemComms] Stopped
2021-08-13T20:57:43.387Z,1628888263.387 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-08-13T20:57:43.387Z,1628888263.387 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-08-13T20:57:43.387Z,1628888263.387 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-13T20:57:43.387Z,1628888263.387 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-08-13T20:57:44.341Z,1628888264.341 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:57:45.516Z,1628888265.516 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.274625
2021-08-13T20:57:46.901Z,1628888266.901 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:57:47.121Z,1628888267.121 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:57:47.121Z,1628888267.121 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:57:47.122Z,1628888267.122 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:57:47.123Z,1628888267.123 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:57:47.519Z,1628888267.519 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,0081F,189,80,80,C6,FF
2021-08-13T20:57:47.519Z,1628888267.519 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:57:47.520Z,1628888267.520 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:57:49.595Z,1628888269.595 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:57:50.784Z,1628888270.784 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:57:51.173Z,1628888271.173 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:57:51.572Z,1628888271.572 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,00844,189,80,80,BF,FF
2021-08-13T20:57:51.573Z,1628888271.573 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:57:51.997Z,1628888271.997 [Micromodem](INFO): Nmea in: $SNTTA,,,,,205751.36*5F

2021-08-13T20:57:52.035Z,1628888272.035 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 89.459999 m, bearing: 93.426142 deg, deltaT: 15.268190 s, approachRate: 0.145400 m/s, LOS rate: 0.112216 deg/s, posRepo size: 4
2021-08-13T20:57:54.444Z,1628888274.444 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:57:54.814Z,1628888274.814 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:57:54.814Z,1628888274.814 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:57:54.815Z,1628888274.815 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:57:54.817Z,1628888274.817 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:57:55.215Z,1628888275.215 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,00844,189,80,80,BF,FF
2021-08-13T20:57:55.215Z,1628888275.215 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:57:55.215Z,1628888275.215 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:57:55.218Z,1628888275.218 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:57:55.604Z,1628888275.604 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:57:56.009Z,1628888276.009 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,0084B,189,80,80,C7,FF
2021-08-13T20:57:56.009Z,1628888276.009 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:57:56.439Z,1628888276.439 [Micromodem](INFO): Nmea in: $SNTTA,,,,,205755.79*50

2021-08-13T20:57:56.517Z,1628888276.517 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 89.879997 m, bearing: 94.332275 deg, deltaT: 4.389280 s, approachRate: 0.095687 m/s, LOS rate: 0.206442 deg/s, posRepo size: 4
2021-08-13T20:57:58.939Z,1628888278.939 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:57:59.249Z,1628888279.249 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:57:59.249Z,1628888279.249 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:57:59.249Z,1628888279.249 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:57:59.250Z,1628888279.250 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:57:59.649Z,1628888279.649 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,0084B,189,80,80,C7,FF
2021-08-13T20:57:59.649Z,1628888279.649 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:57:59.649Z,1628888279.649 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:57:59.651Z,1628888279.651 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:58:00.057Z,1628888280.057 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:58:00.453Z,1628888280.453 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,00857,18A,80,80,CD,FF
2021-08-13T20:58:00.453Z,1628888280.453 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:58:00.897Z,1628888280.897 [Micromodem](INFO): Nmea in: $SNTTA,,,,,205800.22*51

2021-08-13T20:58:00.965Z,1628888280.965 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 90.600006 m, bearing: 94.840851 deg, deltaT: 4.516087 s, approachRate: 0.159432 m/s, LOS rate: 0.112614 deg/s, posRepo size: 4
2021-08-13T20:58:03.327Z,1628888283.327 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:58:03.701Z,1628888283.701 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:58:03.701Z,1628888283.701 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:58:03.701Z,1628888283.701 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:58:03.702Z,1628888283.702 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:58:04.101Z,1628888284.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,00857,18A,80,80,CD,FF
2021-08-13T20:58:04.101Z,1628888284.101 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:58:04.101Z,1628888284.101 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:58:04.103Z,1628888284.103 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:58:04.508Z,1628888284.508 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:58:04.913Z,1628888284.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,00860,189,80,80,C1,FF
2021-08-13T20:58:04.914Z,1628888284.914 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:58:05.345Z,1628888285.345 [Micromodem](INFO): Nmea in: $SNTTA,0.094118,,,,205804.68*40

2021-08-13T20:58:05.401Z,1628888285.401 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 91.139999 m, bearing: 95.460998 deg, deltaT: 4.448566 s, approachRate: 0.121386 m/s, LOS rate: 0.139404 deg/s, posRepo size: 4
2021-08-13T20:58:07.758Z,1628888287.758 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:58:08.141Z,1628888288.141 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:58:08.141Z,1628888288.141 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:58:08.141Z,1628888288.141 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:58:08.142Z,1628888288.142 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:58:08.554Z,1628888288.554 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,00860,189,80,80,C1,FF
2021-08-13T20:58:08.554Z,1628888288.554 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:58:08.555Z,1628888288.555 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:58:08.556Z,1628888288.556 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:58:08.961Z,1628888288.961 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:58:09.349Z,1628888289.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,0086B,189,80,80,CB,FF
2021-08-13T20:58:09.350Z,1628888289.350 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:58:09.793Z,1628888289.793 [Micromodem](INFO): Nmea in: $SNTTA,0.029468,,,,205809.13*45

2021-08-13T20:58:09.841Z,1628888289.841 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 91.800003 m, bearing: 95.599357 deg, deltaT: 4.387217 s, approachRate: 0.150438 m/s, LOS rate: 0.031537 deg/s, posRepo size: 4
2021-08-13T20:58:12.239Z,1628888292.239 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:58:12.593Z,1628888292.593 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:58:12.593Z,1628888292.593 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:58:12.593Z,1628888292.593 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:58:12.594Z,1628888292.594 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:58:12.997Z,1628888292.997 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,0086B,189,80,80,CB,FF
2021-08-13T20:58:12.998Z,1628888292.998 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:58:12.998Z,1628888292.998 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:58:12.999Z,1628888292.999 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:58:13.397Z,1628888293.397 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:58:13.801Z,1628888293.801 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,00875,18A,80,80,CB,FF
2021-08-13T20:58:13.802Z,1628888293.802 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:58:13.837Z,1628888293.837 [NAL9602](INFO): Not Powering down - fast GPS
2021-08-13T20:58:14.250Z,1628888294.250 [Micromodem](INFO): Nmea in: $SNTTA,,,,,205813.57*51

2021-08-13T20:58:14.277Z,1628888294.277 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 92.400002 m, bearing: 95.745264 deg, deltaT: 4.509638 s, approachRate: 0.133048 m/s, LOS rate: 0.032354 deg/s, posRepo size: 4
2021-08-13T20:58:14.670Z,1628888294.670 [CTD_Seabird](ERROR): Failed to parse device response: 4,4.76003,4860.71
2021-08-13T20:58:16.642Z,1628888296.642 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:58:17.041Z,1628888297.041 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:58:17.041Z,1628888297.041 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:58:17.041Z,1628888297.041 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:58:17.042Z,1628888297.042 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:58:17.433Z,1628888297.433 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,00875,18A,80,80,CB,FF
2021-08-13T20:58:17.433Z,1628888297.433 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:58:17.433Z,1628888297.433 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:58:17.435Z,1628888297.435 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:58:17.857Z,1628888297.857 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:58:18.249Z,1628888298.249 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,00880,189,80,80,C8,FF
2021-08-13T20:58:18.249Z,1628888298.249 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:58:18.694Z,1628888298.694 [Micromodem](INFO): Nmea in: $SNTTA,0.081100,,,,205818.01*4F

2021-08-13T20:58:18.755Z,1628888298.755 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 93.060005 m, bearing: 96.387288 deg, deltaT: 4.415556 s, approachRate: 0.149472 m/s, LOS rate: 0.145401 deg/s, posRepo size: 4
2021-08-13T20:58:21.119Z,1628888301.119 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:58:21.473Z,1628888301.473 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:58:21.473Z,1628888301.473 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:58:21.473Z,1628888301.473 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:58:21.474Z,1628888301.474 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:58:21.881Z,1628888301.881 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,00880,189,80,80,C8,FF
2021-08-13T20:58:21.881Z,1628888301.881 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:58:21.882Z,1628888301.882 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:58:21.883Z,1628888301.883 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:58:22.285Z,1628888302.285 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:58:22.691Z,1628888302.691 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,0088B,18A,80,80,BC,FF
2021-08-13T20:58:22.691Z,1628888302.691 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:58:23.110Z,1628888303.110 [Micromodem](INFO): Nmea in: $SNTTA,0.089859,0.322628,,,205822.46*59

2021-08-13T20:58:23.155Z,1628888303.155 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 93.720001 m, bearing: 96.939816 deg, deltaT: 4.473538 s, approachRate: 0.147533 m/s, LOS rate: 0.123510 deg/s, posRepo size: 4
2021-08-13T20:58:25.546Z,1628888305.546 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:58:25.927Z,1628888305.927 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:58:25.927Z,1628888305.927 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:58:25.927Z,1628888305.927 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:58:25.929Z,1628888305.929 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:58:26.325Z,1628888306.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,0088B,18A,80,80,BC,FF
2021-08-13T20:58:26.325Z,1628888306.325 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:58:26.325Z,1628888306.325 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:58:26.327Z,1628888306.327 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:58:26.781Z,1628888306.781 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:58:26.809Z,1628888306.809 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T20:58:27.141Z,1628888307.141 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,00893,189,80,80,AF,FF
2021-08-13T20:58:27.141Z,1628888307.141 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:58:27.553Z,1628888307.553 [Micromodem](INFO): Nmea in: $SNTTA,0.144825,,,,205826.90*4C

2021-08-13T20:58:27.579Z,1628888307.579 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 94.200005 m, bearing: 96.702132 deg, deltaT: 4.407256 s, approachRate: 0.108912 m/s, LOS rate: -0.053930 deg/s, posRepo size: 4
2021-08-13T20:58:30.003Z,1628888310.003 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:58:30.369Z,1628888310.369 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:58:30.369Z,1628888310.369 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:58:30.369Z,1628888310.369 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:58:30.370Z,1628888310.370 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:58:30.814Z,1628888310.814 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,00893,189,80,80,AF,FF
2021-08-13T20:58:30.814Z,1628888310.814 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:58:30.814Z,1628888310.814 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:58:30.855Z,1628888310.855 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:58:31.183Z,1628888311.183 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:58:31.573Z,1628888311.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,0089C,189,80,80,AF,FF
2021-08-13T20:58:31.574Z,1628888311.574 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:58:32.016Z,1628888312.016 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 94.740005 m, bearing: 97.394297 deg, deltaT: 4.412210 s, approachRate: 0.122388 m/s, LOS rate: 0.156875 deg/s, posRepo size: 4
2021-08-13T20:58:32.402Z,1628888312.402 [Micromodem](INFO): Nmea in: $SNTTA,,,,,205831.43*54

2021-08-13T20:58:34.452Z,1628888314.452 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:58:34.825Z,1628888314.825 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:58:34.826Z,1628888314.826 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:58:34.826Z,1628888314.826 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:58:34.827Z,1628888314.827 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:58:35.241Z,1628888315.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,0089C,189,80,80,AF,FF
2021-08-13T20:58:35.241Z,1628888315.241 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:58:35.241Z,1628888315.241 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:58:35.243Z,1628888315.243 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:58:35.621Z,1628888315.621 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:58:36.018Z,1628888316.018 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B0F,000,008A6,189,80,80,CE,FF
2021-08-13T20:58:36.018Z,1628888316.018 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:58:36.447Z,1628888316.447 [Micromodem](INFO): Nmea in: $SNTTA,0.106101,,,,205835.82*44

2021-08-13T20:58:36.619Z,1628888316.619 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 95.340004 m, bearing: 96.868147 deg, deltaT: 4.438675 s, approachRate: 0.135175 m/s, LOS rate: -0.118538 deg/s, posRepo size: 4
2021-08-13T20:58:36.879Z,1628888316.879 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T20:58:38.926Z,1628888318.926 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:58:39.277Z,1628888319.277 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:58:39.277Z,1628888319.277 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:58:39.277Z,1628888319.277 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:58:39.278Z,1628888319.278 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:58:39.683Z,1628888319.683 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B0F,000,008A6,189,80,80,CE,FF
2021-08-13T20:58:39.683Z,1628888319.683 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:58:39.683Z,1628888319.683 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:58:39.685Z,1628888319.685 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:58:40.085Z,1628888320.085 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:58:40.485Z,1628888320.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B21,000,008AE,189,80,80,BC,FF
2021-08-13T20:58:40.485Z,1628888320.485 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:58:40.901Z,1628888320.901 [Micromodem](INFO): Nmea in: $SNTTA,0.466789,0.466883,,,205840.26*54

2021-08-13T20:58:40.967Z,1628888320.967 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 95.820007 m, bearing: 96.276079 deg, deltaT: 4.534755 s, approachRate: 0.105850 m/s, LOS rate: -0.130562 deg/s, posRepo size: 4
2021-08-13T20:58:43.352Z,1628888323.352 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:58:43.713Z,1628888323.713 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:58:43.713Z,1628888323.713 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:58:43.713Z,1628888323.713 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:58:43.714Z,1628888323.714 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:58:44.125Z,1628888324.125 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B21,000,008AE,189,80,80,BC,FF
2021-08-13T20:58:44.125Z,1628888324.125 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:58:44.125Z,1628888324.125 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:58:44.127Z,1628888324.127 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:58:44.529Z,1628888324.529 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:58:44.933Z,1628888324.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B3E,000,008BB,189,80,80,DF,FF
2021-08-13T20:58:44.933Z,1628888324.933 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:58:44.937Z,1628888324.937 [Micromodem](INFO): Nmea in: $SNTTA,0.099387,0.202649,,,205844.70*51

2021-08-13T20:58:45.391Z,1628888325.391 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 96.600006 m, bearing: 95.283577 deg, deltaT: 4.449629 s, approachRate: 0.175295 m/s, LOS rate: -0.223053 deg/s, posRepo size: 4
2021-08-13T20:58:46.976Z,1628888326.976 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-13T20:58:47.794Z,1628888327.794 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:58:48.161Z,1628888328.161 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:58:48.161Z,1628888328.161 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:58:48.161Z,1628888328.161 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:58:48.162Z,1628888328.162 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:58:48.565Z,1628888328.565 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B3E,000,008BB,189,80,80,DF,FF
2021-08-13T20:58:48.565Z,1628888328.565 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:58:48.565Z,1628888328.565 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:58:48.567Z,1628888328.567 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:58:48.981Z,1628888328.981 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:58:49.373Z,1628888329.373 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B4F,000,008C6,188,80,80,C1,FF
2021-08-13T20:58:49.374Z,1628888329.374 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:58:49.805Z,1628888329.805 [Micromodem](INFO): Nmea in: $SNTTA,0.064545,,,,205849.14*41

2021-08-13T20:58:49.863Z,1628888329.863 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 97.260002 m, bearing: 94.936590 deg, deltaT: 4.380801 s, approachRate: 0.150656 m/s, LOS rate: -0.079206 deg/s, posRepo size: 4
2021-08-13T20:58:52.253Z,1628888332.253 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:58:52.605Z,1628888332.605 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:58:52.605Z,1628888332.605 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:58:52.605Z,1628888332.605 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:58:52.606Z,1628888332.606 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:58:53.018Z,1628888333.018 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B4F,000,008C6,188,80,80,C1,FF
2021-08-13T20:58:53.018Z,1628888333.018 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:58:53.018Z,1628888333.018 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:58:53.019Z,1628888333.019 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:58:53.417Z,1628888333.417 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:58:53.817Z,1628888333.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B62,000,008D0,18A,80,80,C0,FF
2021-08-13T20:58:53.818Z,1628888333.818 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:58:54.261Z,1628888334.261 [Micromodem](INFO): Nmea in: $SNTTA,0.064936,,,,205853.59*4B

2021-08-13T20:58:54.304Z,1628888334.304 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 97.860008 m, bearing: 94.209011 deg, deltaT: 4.444720 s, approachRate: 0.134993 m/s, LOS rate: -0.163695 deg/s, posRepo size: 4
2021-08-13T20:58:56.666Z,1628888336.666 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:58:57.049Z,1628888337.049 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:58:57.049Z,1628888337.049 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:58:57.049Z,1628888337.049 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:58:57.050Z,1628888337.050 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:58:57.079Z,1628888337.079 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-13T20:58:57.462Z,1628888337.462 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B62,000,008D0,18A,80,80,C0,FF
2021-08-13T20:58:57.463Z,1628888337.463 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:58:57.463Z,1628888337.463 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:58:57.464Z,1628888337.464 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:58:57.871Z,1628888337.871 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:58:58.265Z,1628888338.265 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B4F,000,008D8,189,80,80,B4,FF
2021-08-13T20:58:58.266Z,1628888338.266 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:58:58.709Z,1628888338.709 [Micromodem](INFO): Nmea in: $SNTTA,0.069570,,,,205858.04*4B

2021-08-13T20:58:58.794Z,1628888338.794 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 98.339996 m, bearing: 95.235759 deg, deltaT: 4.473399 s, approachRate: 0.107298 m/s, LOS rate: 0.229523 deg/s, posRepo size: 4
2021-08-13T20:59:01.151Z,1628888341.151 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:59:01.497Z,1628888341.497 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:59:01.497Z,1628888341.497 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:59:01.497Z,1628888341.497 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:59:01.498Z,1628888341.498 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:59:01.905Z,1628888341.905 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B4F,000,008D8,189,80,80,B4,FF
2021-08-13T20:59:01.905Z,1628888341.905 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:59:01.905Z,1628888341.905 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:59:01.907Z,1628888341.907 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:59:02.313Z,1628888342.313 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:59:02.712Z,1628888342.712 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B81,000,008E2,189,80,80,B8,FF
2021-08-13T20:59:02.714Z,1628888342.714 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:59:03.134Z,1628888343.134 [Micromodem](INFO): Nmea in: $SNTTA,0.354695,0.354708,,,205902.48*5B

2021-08-13T20:59:03.235Z,1628888343.235 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 98.940010 m, bearing: 93.232581 deg, deltaT: 4.497441 s, approachRate: 0.133412 m/s, LOS rate: -0.445404 deg/s, posRepo size: 4
2021-08-13T20:59:05.582Z,1628888345.582 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:59:05.946Z,1628888345.946 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:59:05.947Z,1628888345.947 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:59:05.947Z,1628888345.947 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:59:05.949Z,1628888345.949 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:59:06.349Z,1628888346.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B81,000,008E2,189,80,80,B8,FF
2021-08-13T20:59:06.349Z,1628888346.349 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:59:06.349Z,1628888346.349 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:59:06.351Z,1628888346.351 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:59:06.813Z,1628888346.813 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:59:06.867Z,1628888346.867 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-13T20:59:07.162Z,1628888347.162 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B67,000,008ED,189,80,80,BD,FF
2021-08-13T20:59:07.163Z,1628888347.163 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:59:07.577Z,1628888347.577 [Micromodem](INFO): Nmea in: $SNTTA,,,,,205906.93*5C

2021-08-13T20:59:07.619Z,1628888347.619 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 99.599998 m, bearing: 94.833085 deg, deltaT: 4.423045 s, approachRate: 0.149216 m/s, LOS rate: 0.361856 deg/s, posRepo size: 4
2021-08-13T20:59:09.994Z,1628888349.994 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:59:10.382Z,1628888350.382 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:59:10.382Z,1628888350.382 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:59:10.382Z,1628888350.382 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:59:10.383Z,1628888350.383 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:59:10.809Z,1628888350.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B67,000,008ED,189,80,80,BD,FF
2021-08-13T20:59:10.809Z,1628888350.809 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:59:10.809Z,1628888350.809 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:59:10.811Z,1628888350.811 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:59:11.220Z,1628888351.220 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:59:11.593Z,1628888351.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B55,000,008F7,189,80,80,B2,FF
2021-08-13T20:59:11.593Z,1628888351.593 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:59:12.011Z,1628888352.011 [Micromodem](INFO): Nmea in: $SNTTA,0.082803,,,,205911.38*44

2021-08-13T20:59:12.053Z,1628888352.053 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 100.199997 m, bearing: 95.718531 deg, deltaT: 4.372274 s, approachRate: 0.137228 m/s, LOS rate: 0.202514 deg/s, posRepo size: 4
2021-08-13T20:59:14.474Z,1628888354.474 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:59:14.825Z,1628888354.825 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:59:14.826Z,1628888354.826 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:59:14.826Z,1628888354.826 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:59:14.827Z,1628888354.827 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:59:15.242Z,1628888355.242 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B55,000,008F7,189,80,80,B2,FF
2021-08-13T20:59:15.242Z,1628888355.242 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:59:15.242Z,1628888355.242 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:59:15.245Z,1628888355.245 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:59:15.641Z,1628888355.641 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:59:16.042Z,1628888356.042 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B64,000,00903,189,80,80,B6,FF
2021-08-13T20:59:16.043Z,1628888356.043 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:59:16.469Z,1628888356.469 [Micromodem](INFO): Nmea in: $SNTTA,0.083019,,,,205915.82*43

2021-08-13T20:59:16.515Z,1628888356.515 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 100.920006 m, bearing: 94.700190 deg, deltaT: 4.484869 s, approachRate: 0.160542 m/s, LOS rate: -0.227061 deg/s, posRepo size: 4
2021-08-13T20:59:16.885Z,1628888356.885 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-13T20:59:18.923Z,1628888358.923 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:59:19.265Z,1628888359.265 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:59:19.265Z,1628888359.265 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:59:19.265Z,1628888359.265 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:59:19.266Z,1628888359.266 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:59:19.665Z,1628888359.665 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B64,000,00903,189,80,80,B6,FF
2021-08-13T20:59:19.665Z,1628888359.665 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:59:19.666Z,1628888359.666 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:59:19.667Z,1628888359.667 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:59:20.073Z,1628888360.073 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:59:20.482Z,1628888360.482 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B6A,000,0090E,189,80,80,B4,FF
2021-08-13T20:59:20.482Z,1628888360.482 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:59:20.897Z,1628888360.897 [Micromodem](INFO): Nmea in: $SNTTA,0.075172,0.434422,,,205920.24*55

2021-08-13T20:59:20.993Z,1628888360.993 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 101.580002 m, bearing: 94.228176 deg, deltaT: 4.437186 s, approachRate: 0.148742 m/s, LOS rate: -0.106377 deg/s, posRepo size: 4
2021-08-13T20:59:23.363Z,1628888363.363 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:59:23.709Z,1628888363.709 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:59:23.709Z,1628888363.709 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:59:23.709Z,1628888363.709 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:59:23.710Z,1628888363.710 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:59:24.122Z,1628888364.122 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B6A,000,0090E,189,80,80,B4,FF
2021-08-13T20:59:24.123Z,1628888364.123 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:59:24.123Z,1628888364.123 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:59:24.125Z,1628888364.125 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:59:24.521Z,1628888364.521 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:59:24.925Z,1628888364.925 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,BA6,000,00918,189,80,80,BC,FF
2021-08-13T20:59:24.925Z,1628888364.925 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:59:24.929Z,1628888364.929 [Micromodem](INFO): Nmea in: $SNTTA,0.244457,0.244826,,,205924.70*5B

2021-08-13T20:59:25.366Z,1628888365.366 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 102.180008 m, bearing: 91.281107 deg, deltaT: 4.499304 s, approachRate: 0.133355 m/s, LOS rate: -0.655006 deg/s, posRepo size: 4
2021-08-13T20:59:27.790Z,1628888367.790 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:59:28.157Z,1628888368.157 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:59:28.157Z,1628888368.157 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:59:28.157Z,1628888368.157 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:59:28.158Z,1628888368.158 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:59:28.565Z,1628888368.565 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
BA6,000,00918,189,80,80,BC,FF
2021-08-13T20:59:28.565Z,1628888368.565 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:59:28.566Z,1628888368.566 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:59:28.568Z,1628888368.568 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:59:28.969Z,1628888368.969 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:59:29.363Z,1628888369.363 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,BAD,000,00922,189,80,80,B2,FF
2021-08-13T20:59:29.363Z,1628888369.363 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:59:29.805Z,1628888369.805 [Micromodem](INFO): Nmea in: $SNTTA,0.068230,,,,205929.14*4F

2021-08-13T20:59:29.851Z,1628888369.851 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 102.780006 m, bearing: 91.492474 deg, deltaT: 4.357596 s, approachRate: 0.137690 m/s, LOS rate: 0.048505 deg/s, posRepo size: 4
2021-08-13T20:59:32.252Z,1628888372.252 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:59:32.606Z,1628888372.606 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:59:32.607Z,1628888372.606 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:59:32.607Z,1628888372.607 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:59:32.608Z,1628888372.608 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:59:32.997Z,1628888372.997 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
BAD,000,00922,189,80,80,B2,FF
2021-08-13T20:59:32.997Z,1628888372.997 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:59:32.997Z,1628888372.997 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:59:32.999Z,1628888372.999 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:59:33.409Z,1628888373.409 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:59:33.817Z,1628888373.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,BBE,000,0092E,189,80,80,A3,FF
2021-08-13T20:59:33.818Z,1628888373.818 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:59:33.993Z,1628888373.993 [CTD_Seabird](ERROR): Failed to parse device response: .65
2021-08-13T20:59:34.265Z,1628888374.265 [Micromodem](INFO): Nmea in: $SNTTA,,,,,205933.57*52

2021-08-13T20:59:34.290Z,1628888374.290 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 103.500000 m, bearing: 91.344894 deg, deltaT: 4.520249 s, approachRate: 0.159282 m/s, LOS rate: -0.032649 deg/s, posRepo size: 4
2021-08-13T20:59:36.655Z,1628888376.655 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:59:37.053Z,1628888377.053 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:59:37.053Z,1628888377.053 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:59:37.053Z,1628888377.053 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:59:37.054Z,1628888377.054 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:59:37.449Z,1628888377.449 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
BBE,000,0092E,189,80,80,A3,FF
2021-08-13T20:59:37.449Z,1628888377.449 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:59:37.449Z,1628888377.449 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:59:37.451Z,1628888377.451 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:59:37.861Z,1628888377.861 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:59:38.257Z,1628888378.257 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,BA3,000,00938,189,80,80,91,FF
2021-08-13T20:59:38.258Z,1628888378.258 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:59:38.697Z,1628888378.697 [Micromodem](INFO): Nmea in: $SNTTA,,,,,205938.02*59

2021-08-13T20:59:38.790Z,1628888378.790 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 104.100006 m, bearing: 93.061826 deg, deltaT: 4.394682 s, approachRate: 0.136530 m/s, LOS rate: 0.390684 deg/s, posRepo size: 4
2021-08-13T20:59:41.153Z,1628888381.153 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:59:41.485Z,1628888381.485 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:59:41.485Z,1628888381.485 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:59:41.485Z,1628888381.485 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:59:41.486Z,1628888381.486 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:59:41.897Z,1628888381.897 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
BA3,000,00938,189,80,80,91,FF
2021-08-13T20:59:41.897Z,1628888381.897 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:59:41.897Z,1628888381.897 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:59:41.899Z,1628888381.899 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:59:42.309Z,1628888382.309 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:59:42.701Z,1628888382.701 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,BE3,000,00943,18A,80,80,A8,FF
2021-08-13T20:59:42.701Z,1628888382.701 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:59:43.133Z,1628888383.133 [Micromodem](INFO): Nmea in: $SNTTA,,,,,205942.47*55

2021-08-13T20:59:43.232Z,1628888383.232 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 104.760002 m, bearing: 90.260957 deg, deltaT: 4.490549 s, approachRate: 0.146974 m/s, LOS rate: -0.623725 deg/s, posRepo size: 4
2021-08-13T20:59:45.571Z,1628888385.571 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:59:45.933Z,1628888385.933 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:59:45.933Z,1628888385.933 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:59:45.933Z,1628888385.933 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:59:45.934Z,1628888385.934 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:59:46.333Z,1628888386.333 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
BE3,000,00943,18A,80,80,A8,FF
2021-08-13T20:59:46.333Z,1628888386.333 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:59:46.333Z,1628888386.333 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:59:46.335Z,1628888386.335 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:59:46.806Z,1628888386.806 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:59:47.153Z,1628888387.153 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C16,000,0094B,188,80,80,C3,FF
2021-08-13T20:59:47.153Z,1628888387.153 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:59:47.573Z,1628888387.573 [Micromodem](INFO): Nmea in: $SNTTA,0.069874,,,,205946.91*40

2021-08-13T20:59:47.603Z,1628888387.603 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 105.240005 m, bearing: 88.271480 deg, deltaT: 4.435276 s, approachRate: 0.108224 m/s, LOS rate: -0.448558 deg/s, posRepo size: 4
2021-08-13T20:59:48.377Z,1628888388.377 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T20:59:50.001Z,1628888390.001 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:59:50.373Z,1628888390.373 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:59:50.373Z,1628888390.373 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:59:50.373Z,1628888390.373 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:59:50.374Z,1628888390.374 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:59:50.805Z,1628888390.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C16,000,0094B,188,80,80,C3,FF
2021-08-13T20:59:50.805Z,1628888390.805 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:59:50.805Z,1628888390.805 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:59:50.807Z,1628888390.807 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:59:51.211Z,1628888391.211 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:59:51.589Z,1628888391.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C30,000,00957,189,80,80,B7,FF
2021-08-13T20:59:51.589Z,1628888391.589 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:59:52.011Z,1628888392.011 [Micromodem](INFO): Nmea in: $SNTTA,0.081025,,,,205951.38*4F

2021-08-13T20:59:52.045Z,1628888392.045 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 105.960007 m, bearing: 87.678490 deg, deltaT: 4.399804 s, approachRate: 0.163644 m/s, LOS rate: -0.134777 deg/s, posRepo size: 4
2021-08-13T20:59:54.454Z,1628888394.454 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:59:54.821Z,1628888394.821 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:59:54.821Z,1628888394.821 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:59:54.821Z,1628888394.821 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:59:54.822Z,1628888394.822 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:59:55.249Z,1628888395.249 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C30,000,00957,189,80,80,B7,FF
2021-08-13T20:59:55.249Z,1628888395.249 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:59:55.249Z,1628888395.249 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:59:55.251Z,1628888395.251 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T20:59:55.629Z,1628888395.629 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T20:59:56.037Z,1628888396.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C5D,000,00960,189,80,80,C3,FF
2021-08-13T20:59:56.037Z,1628888396.037 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T20:59:56.458Z,1628888396.458 [Micromodem](INFO): Nmea in: $SNTTA,0.070691,,,,205955.83*4C

2021-08-13T20:59:56.501Z,1628888396.501 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 106.500000 m, bearing: 86.407917 deg, deltaT: 4.423717 s, approachRate: 0.122068 m/s, LOS rate: -0.287218 deg/s, posRepo size: 4
2021-08-13T20:59:58.904Z,1628888398.904 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T20:59:59.258Z,1628888399.258 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T20:59:59.259Z,1628888399.259 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T20:59:59.259Z,1628888399.259 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T20:59:59.260Z,1628888399.260 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T20:59:59.673Z,1628888399.673 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C5D,000,00960,189,80,80,C3,FF
2021-08-13T20:59:59.673Z,1628888399.673 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T20:59:59.673Z,1628888399.673 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T20:59:59.675Z,1628888399.675 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:00:00.073Z,1628888400.073 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:00:00.473Z,1628888400.473 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C4F,000,0096A,189,80,80,AB,FF
2021-08-13T21:00:00.473Z,1628888400.473 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:00:00.905Z,1628888400.905 [Micromodem](INFO): Nmea in: $SNTTA,0.073876,,,,210000.25*49

2021-08-13T21:00:00.951Z,1628888400.951 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 107.100006 m, bearing: 87.952715 deg, deltaT: 4.501453 s, approachRate: 0.133292 m/s, LOS rate: 0.343178 deg/s, posRepo size: 4
2021-08-13T21:00:03.356Z,1628888403.356 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:00:03.713Z,1628888403.713 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:00:03.713Z,1628888403.713 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:00:03.713Z,1628888403.713 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:00:03.714Z,1628888403.714 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:00:04.109Z,1628888404.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C4F,000,0096A,189,80,80,AB,FF
2021-08-13T21:00:04.109Z,1628888404.109 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:00:04.109Z,1628888404.109 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:00:04.111Z,1628888404.111 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:00:04.534Z,1628888404.534 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:00:04.929Z,1628888404.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C5B,000,00975,189,80,80,A8,FF
2021-08-13T21:00:04.929Z,1628888404.929 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:00:05.349Z,1628888405.349 [Micromodem](INFO): Nmea in: $SNTTA,,,,,210004.68*57

2021-08-13T21:00:05.387Z,1628888405.387 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 107.760002 m, bearing: 87.745432 deg, deltaT: 4.432457 s, approachRate: 0.148901 m/s, LOS rate: -0.046765 deg/s, posRepo size: 4
2021-08-13T21:00:07.787Z,1628888407.787 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:00:08.155Z,1628888408.155 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:00:08.155Z,1628888408.155 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:00:08.155Z,1628888408.155 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:00:08.156Z,1628888408.156 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:00:08.565Z,1628888408.565 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C5B,000,00975,189,80,80,A8,FF
2021-08-13T21:00:08.565Z,1628888408.565 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:00:08.565Z,1628888408.565 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:00:08.567Z,1628888408.567 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:00:08.961Z,1628888408.961 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:00:09.366Z,1628888409.366 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C73,000,0097F,189,80,80,BB,FF
2021-08-13T21:00:09.366Z,1628888409.366 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:00:09.793Z,1628888409.793 [Micromodem](INFO): Nmea in: $SNTTA,,0.023608,,,210009.14*40

2021-08-13T21:00:09.843Z,1628888409.843 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 108.360001 m, bearing: 87.097466 deg, deltaT: 4.404904 s, approachRate: 0.136211 m/s, LOS rate: -0.147101 deg/s, posRepo size: 4
2021-08-13T21:00:12.243Z,1628888412.243 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:00:12.589Z,1628888412.589 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:00:12.589Z,1628888412.589 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:00:12.589Z,1628888412.589 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:00:12.590Z,1628888412.590 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:00:12.998Z,1628888412.998 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C73,000,0097F,189,80,80,BB,FF
2021-08-13T21:00:12.999Z,1628888412.999 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:00:12.999Z,1628888412.999 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:00:13.001Z,1628888413.001 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:00:13.417Z,1628888413.417 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:00:13.809Z,1628888413.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C75,000,00987,189,80,80,BD,FF
2021-08-13T21:00:13.810Z,1628888413.810 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:00:14.168Z,1628888414.168 [CTD_Seabird](ERROR): Failed to parse device response: .74
2021-08-13T21:00:14.273Z,1628888414.273 [Micromodem](INFO): Nmea in: $SNTTA,0.200409,,,,210013.57*4C

2021-08-13T21:00:14.317Z,1628888414.317 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 108.840004 m, bearing: 87.447889 deg, deltaT: 4.493176 s, approachRate: 0.106829 m/s, LOS rate: 0.077990 deg/s, posRepo size: 4
2021-08-13T21:00:16.679Z,1628888416.679 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:00:17.041Z,1628888417.041 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:00:17.041Z,1628888417.041 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:00:17.041Z,1628888417.041 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:00:17.042Z,1628888417.042 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:00:17.441Z,1628888417.441 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C75,000,00987,189,80,80,BD,FF
2021-08-13T21:00:17.441Z,1628888417.441 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:00:17.441Z,1628888417.441 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:00:17.443Z,1628888417.443 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:00:17.858Z,1628888417.858 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:00:18.269Z,1628888418.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C7F,000,00994,189,80,80,A2,FF
2021-08-13T21:00:18.269Z,1628888418.269 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:00:18.689Z,1628888418.689 [Micromodem](INFO): Nmea in: $SNTTA,,,,,210018.01*55

2021-08-13T21:00:18.769Z,1628888418.769 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 109.620003 m, bearing: 87.640753 deg, deltaT: 4.410240 s, approachRate: 0.176861 m/s, LOS rate: 0.043731 deg/s, posRepo size: 4
2021-08-13T21:00:21.131Z,1628888421.131 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:00:21.481Z,1628888421.481 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:00:21.481Z,1628888421.481 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:00:21.481Z,1628888421.481 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:00:21.482Z,1628888421.482 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:00:21.893Z,1628888421.893 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C7F,000,00994,189,80,80,A2,FF
2021-08-13T21:00:21.893Z,1628888421.893 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:00:21.893Z,1628888421.893 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:00:21.895Z,1628888421.895 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:00:22.293Z,1628888422.293 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:00:23.099Z,1628888423.099 [Micromodem](INFO): Nmea in: $SNTTA,0.361812,0.361762,,,210022.47*56

2021-08-13T21:00:23.915Z,1628888423.915 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:00:25.533Z,1628888425.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C7F,000,0939A,189,80,80,99,FF
2021-08-13T21:00:25.533Z,1628888425.533 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:00:25.968Z,1628888425.968 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 2229.660156 m, bearing: 88.449877 deg, deltaT: 7.288315 s, approachRate: 290.882050 m/s, LOS rate: 0.111017 deg/s, posRepo size: 4
2021-08-13T21:00:25.968Z,1628888425.968 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 2229.66 m. Resuming terminal guidance.
2021-08-13T21:00:25.969Z,1628888425.969 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-13T21:00:26.375Z,1628888426.375 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-08-13T21:00:26.376Z,1628888426.376 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-13T21:00:26.376Z,1628888426.376 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-08-13T21:00:26.376Z,1628888426.376 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-08-13T21:00:26.376Z,1628888426.376 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2021-08-13T21:00:26.376Z,1628888426.376 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-08-13T21:00:26.376Z,1628888426.376 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-08-13T21:00:28.403Z,1628888428.403 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:00:28.793Z,1628888428.793 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:00:28.793Z,1628888428.793 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:00:28.793Z,1628888428.793 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:00:28.794Z,1628888428.794 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:00:29.158Z,1628888429.158 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C7F,000,0939A,189,80,80,99,FF
2021-08-13T21:00:29.158Z,1628888429.158 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:00:29.158Z,1628888429.158 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:00:29.162Z,1628888429.162 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:00:29.569Z,1628888429.569 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:00:29.975Z,1628888429.975 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C8F,000,009AC,189,80,80,96,FF
2021-08-13T21:00:29.976Z,1628888429.976 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:00:30.413Z,1628888430.413 [Micromodem](INFO): Nmea in: $SNTTA,,,,,210029.74*55

2021-08-13T21:00:30.459Z,1628888430.459 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 111.060005 m, bearing: 87.940933 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-13T21:00:30.464Z,1628888430.464 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 87.940933deg and heading rate command to 0 deg/s.
2021-08-13T21:00:32.893Z,1628888432.893 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:00:33.221Z,1628888433.221 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:00:33.222Z,1628888433.222 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:00:33.222Z,1628888433.222 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:00:33.223Z,1628888433.223 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:00:33.609Z,1628888433.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C8F,000,009AC,189,80,80,96,FF
2021-08-13T21:00:33.609Z,1628888433.609 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:00:33.610Z,1628888433.610 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:00:33.611Z,1628888433.611 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:00:34.011Z,1628888434.011 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:00:34.413Z,1628888434.413 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C61,000,009AB,189,80,80,9D,FF
2021-08-13T21:00:34.413Z,1628888434.413 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:00:34.866Z,1628888434.866 [Micromodem](INFO): Nmea in: $SNTTA,0.076098,,,,210034.18*4D

2021-08-13T21:00:34.903Z,1628888434.903 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 111.000000 m, bearing: 88.856820 deg, deltaT: 4.462285 s, approachRate: -0.013447 m/s, LOS rate: 0.205251 deg/s, posRepo size: 2
2021-08-13T21:00:34.929Z,1628888434.929 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 111.000000 m,
      bearing: 88.856820 deg,
      approachRate: -0.013447 m/s,
      LOS rate: 0.205251 deg/s,
      cmd update: 0.615752 deg/s,
      cmd heading: 87.940933 deg,
      new cmd heading: 87.940933 deg.

2021-08-13T21:00:37.322Z,1628888437.322 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:00:37.641Z,1628888437.641 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:00:37.641Z,1628888437.641 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:00:37.641Z,1628888437.641 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:00:37.642Z,1628888437.642 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:00:38.045Z,1628888438.045 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C61,000,009AB,189,80,80,9D,FF
2021-08-13T21:00:38.045Z,1628888438.045 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:00:38.045Z,1628888438.045 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:00:38.047Z,1628888438.047 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:00:38.461Z,1628888438.461 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:00:38.865Z,1628888438.865 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CD9,000,009A1,189,80,80,79,FF
2021-08-13T21:00:38.865Z,1628888438.865 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:00:39.302Z,1628888439.302 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 110.400002 m, bearing: 79.963873 deg, deltaT: 4.496884 s, approachRate: -0.133425 m/s, LOS rate: -1.977580 deg/s, posRepo size: 3
2021-08-13T21:00:39.304Z,1628888439.304 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 110.400002 m,
      bearing: 79.963873 deg,
      approachRate: -0.133425 m/s,
      LOS rate: -1.977580 deg/s,
      cmd update: -5.932740 deg/s,
      cmd heading: 90.707088 deg,
      new cmd heading: 90.922306 deg.

2021-08-13T21:00:41.709Z,1628888441.709 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:00:42.085Z,1628888442.085 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:00:42.085Z,1628888442.085 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:00:42.085Z,1628888442.085 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:00:42.086Z,1628888442.086 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:00:42.493Z,1628888442.493 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CD9,000,009A1,189,80,80,79,FF
2021-08-13T21:00:42.493Z,1628888442.493 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:00:42.493Z,1628888442.493 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:00:42.495Z,1628888442.495 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:00:44.537Z,1628888444.537 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:00:45.321Z,1628888445.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
1,189,80,80,79,FF
2021-08-13T21:00:45.321Z,1628888445.321 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
1,189,80,80,79,FF
2021-08-13T21:00:45.321Z,1628888445.321 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T21:00:47.387Z,1628888447.387 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:00:47.741Z,1628888447.741 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:00:47.741Z,1628888447.741 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:00:47.741Z,1628888447.741 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:00:47.742Z,1628888447.742 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:00:48.157Z,1628888448.157 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
1,189,80,80,79,FF
2021-08-13T21:00:48.157Z,1628888448.157 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:00:48.157Z,1628888448.157 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:00:50.233Z,1628888450.233 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:00:50.981Z,1628888450.981 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
1,189,80,80,79,FF
2021-08-13T21:00:50.981Z,1628888450.981 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
1,189,80,80,79,FF
2021-08-13T21:00:50.981Z,1628888450.981 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T21:00:53.047Z,1628888453.047 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:00:53.401Z,1628888453.401 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:00:53.401Z,1628888453.401 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:00:53.401Z,1628888453.401 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:00:53.402Z,1628888453.402 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:00:53.802Z,1628888453.802 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
1,189,80,80,79,FF
2021-08-13T21:00:53.802Z,1628888453.802 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:00:53.802Z,1628888453.802 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:00:53.803Z,1628888453.803 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:00:55.865Z,1628888455.865 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:00:56.633Z,1628888456.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
1,189,80,80,79,FF
2021-08-13T21:00:56.634Z,1628888456.634 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
1,189,80,80,79,FF
2021-08-13T21:00:56.634Z,1628888456.634 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T21:00:58.674Z,1628888458.674 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:00:59.069Z,1628888459.069 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:00:59.069Z,1628888459.069 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:00:59.069Z,1628888459.069 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:00:59.070Z,1628888459.070 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:00:59.465Z,1628888459.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
1,189,80,80,79,FF
2021-08-13T21:00:59.465Z,1628888459.465 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:00:59.465Z,1628888459.465 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:01:01.509Z,1628888461.509 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:01:02.293Z,1628888462.293 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
1,189,80,80,79,FF
2021-08-13T21:01:02.293Z,1628888462.293 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
1,189,80,80,79,FF
2021-08-13T21:01:02.293Z,1628888462.293 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T21:01:04.359Z,1628888464.359 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:01:04.720Z,1628888464.720 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:01:04.721Z,1628888464.721 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:01:04.721Z,1628888464.721 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:01:04.722Z,1628888464.722 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:01:05.125Z,1628888465.125 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
1,189,80,80,79,FF
2021-08-13T21:01:05.126Z,1628888465.126 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:01:05.126Z,1628888465.126 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:01:05.127Z,1628888465.127 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:01:05.522Z,1628888465.522 [Micromodem](FAULT): Failed to receive CAREV within timeout
2021-08-13T21:01:05.522Z,1628888465.522 [Micromodem] Hardware Fault, FailCount= 1
2021-08-13T21:01:05.522Z,1628888465.522 [Micromodem](ERROR): Hardware Fault
2021-08-13T21:01:05.539Z,1628888465.539 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-08-13T21:01:05.540Z,1628888465.540 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-08-13T21:01:05.540Z,1628888465.540 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-08-13T21:01:05.540Z,1628888465.540 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-13T21:01:05.540Z,1628888465.540 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-08-13T21:01:05.675Z,1628888465.675 [CBIT](ERROR): Hardware Fault in component: Micromodem
2021-08-13T21:01:05.950Z,1628888465.950 [Micromodem](INFO): Powering down
2021-08-13T21:01:06.354Z,1628888466.354 [Micromodem](FAULT): LCB 2 fault:  Software Overcurrent.
2021-08-13T21:01:06.891Z,1628888466.891 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:01:07.032Z,1628888467.032 [CBIT](INFO): Clearing failed state for component Micromodem
2021-08-13T21:01:07.032Z,1628888467.032 [Micromodem] No Fault, FailCount= 1
2021-08-13T21:01:07.969Z,1628888467.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
1,189,80,80,79,FF
2021-08-13T21:01:07.969Z,1628888467.969 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
1,189,80,80,79,FF
2021-08-13T21:01:07.969Z,1628888467.969 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T21:01:09.586Z,1628888469.586 [Micromodem](INFO): Powering up
2021-08-13T21:01:09.586Z,1628888469.586 [Micromodem](DEBUG): Initializing Micromodem.
2021-08-13T21:01:09.646Z,1628888469.646 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:01:09.985Z,1628888469.985 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:01:09.985Z,1628888469.985 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:01:09.985Z,1628888469.985 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:01:09.986Z,1628888469.986 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:01:10.398Z,1628888470.398 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
1,189,80,80,79,FF
2021-08-13T21:01:10.398Z,1628888470.398 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:01:10.398Z,1628888470.398 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:01:12.240Z,1628888472.240 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:01:13.245Z,1628888473.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
1,189,80,80,79,FF
2021-08-13T21:01:13.245Z,1628888473.245 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
1,189,80,80,79,FF
2021-08-13T21:01:13.245Z,1628888473.245 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T21:01:14.864Z,1628888474.864 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:01:15.253Z,1628888475.253 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:01:15.253Z,1628888475.253 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:01:15.254Z,1628888475.254 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:01:15.255Z,1628888475.255 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:01:15.289Z,1628888475.289 [RDI_Pathfinder](ERROR): No DVL communication! Re-initializing
2021-08-13T21:01:15.289Z,1628888475.289 [RDI_Pathfinder] Communications Fault, FailCount= 1
2021-08-13T21:01:15.289Z,1628888475.289 [RDI_Pathfinder](ERROR): Communications Fault
2021-08-13T21:01:15.420Z,1628888475.420 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2021-08-13T21:01:15.641Z,1628888475.641 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
1,189,80,80,79,FF
2021-08-13T21:01:15.641Z,1628888475.641 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:01:15.641Z,1628888475.641 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:01:15.716Z,1628888475.716 [RDI_Pathfinder](INFO): Powering down
2021-08-13T21:01:16.450Z,1628888476.450 [Micromodem](INFO): Nmea in: $CATMG,2021-08-13T21:01:15.086209Z,RTC,RTC*58

2021-08-13T21:01:16.451Z,1628888476.451 [Micromodem](ERROR): Response from modem unexpected: $CATMG,2021-08-13T21:01:15.086209Z,RTC,RTC*58

2021-08-13T21:01:16.451Z,1628888476.451 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:01:16.664Z,1628888476.664 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2021-08-13T21:01:16.664Z,1628888476.664 [RDI_Pathfinder] No Fault, FailCount= 1
2021-08-13T21:01:16.867Z,1628888476.867 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:01:16.888Z,1628888476.888 [Micromodem](INFO): Nmea out: $CCCFG,ALL,0*33

2021-08-13T21:01:17.261Z,1628888477.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F29,000,0094C,186,80,80,A9,FF
2021-08-13T21:01:17.261Z,1628888477.261 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:01:17.264Z,1628888477.264 [Micromodem](INFO): Nmea in: $CACFG,ALL,0*31

2021-08-13T21:01:17.264Z,1628888477.264 [Micromodem](INFO): Nmea out: $CCCFG,SRC,1*31

2021-08-13T21:01:17.693Z,1628888477.693 [Micromodem](INFO): Nmea in: $CACFG,SRC,1*33

2021-08-13T21:01:17.693Z,1628888477.693 [Micromodem](INFO): Nmea out: $CCCFG,nav.dt.txtrig_gpio4,1*64

2021-08-13T21:01:17.759Z,1628888477.759 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 105.300003 m, bearing: 339.478734 deg, deltaT: 38.386613 s, approachRate: -0.132859 m/s, LOS rate: -2.617713 deg/s, posRepo size: 4
2021-08-13T21:01:17.765Z,1628888477.765 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 105.300003 m,
      bearing: 339.478734 deg,
      approachRate: -0.132859 m/s,
      LOS rate: -2.617713 deg/s,
      cmd update: -7.853139 deg/s,
      cmd heading: 222.939374 deg,
      new cmd heading: 220.477566 deg.

2021-08-13T21:01:18.086Z,1628888478.086 [Micromodem](INFO): Nmea in: $SNTTA,,,,,210117.03*59

2021-08-13T21:01:18.086Z,1628888478.086 [Micromodem](ERROR): CFG response from modem unexpected: $SNTTA,,,,,210117.03*59

2021-08-13T21:01:19.293Z,1628888479.293 [Micromodem](INFO): Nmea in: $CACFG,nav.dt.txtrig_gpio4,1*66

2021-08-13T21:01:19.293Z,1628888479.293 [Micromodem](INFO): Nmea out: $CCCFG,pwramp.txlevel,0*2F

2021-08-13T21:01:19.709Z,1628888479.709 [Micromodem](INFO): Nmea in: $CACFG,pwramp.txlevel,0*2D

2021-08-13T21:01:19.710Z,1628888479.710 [Micromodem](INFO): Nmea out: $CCCFG,DTO,30*1E

2021-08-13T21:01:20.094Z,1628888480.094 [Micromodem](INFO): Nmea in: $CACFG,DTO,30*1C

2021-08-13T21:01:20.094Z,1628888480.094 [Micromodem](INFO): Nmea out: $CCCFG,FC0,14500*47

2021-08-13T21:01:20.157Z,1628888480.157 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:01:20.498Z,1628888480.498 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:01:20.498Z,1628888480.498 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:01:20.498Z,1628888480.498 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:01:20.499Z,1628888480.499 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:01:20.505Z,1628888480.505 [Micromodem](INFO): Nmea in: $CACFG,FC0,14500*45

2021-08-13T21:01:20.506Z,1628888480.506 [Micromodem](INFO): Nmea out: $CCCFG,BW0,4000*63

2021-08-13T21:01:20.905Z,1628888480.905 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F29,000,0094C,186,80,80,A9,FF
2021-08-13T21:01:20.906Z,1628888480.906 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:01:20.906Z,1628888480.906 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:01:20.907Z,1628888480.907 [Micromodem](INFO): Nmea in: $CACFG,BW0,4000*61

2021-08-13T21:01:20.907Z,1628888480.907 [Micromodem](INFO): Nmea out: $CCCFG,BND,0*3A

2021-08-13T21:01:21.298Z,1628888481.298 [Micromodem](INFO): Nmea in: $CACFG,BND,0*38

2021-08-13T21:01:21.299Z,1628888481.299 [Micromodem](INFO): Nmea out: $CCCLK,2021,08,13,21,01,22*4D

2021-08-13T21:01:21.706Z,1628888481.706 [Micromodem](INFO): Nmea in: $CACLK,2021,8,13,21,1,22*4F

2021-08-13T21:01:21.708Z,1628888481.708 [Micromodem](INFO): Nmea in: $CATMS,0,2021-08-13T21:01:23Z*7E

2021-08-13T21:01:21.906Z,1628888481.906 [Micromodem](INFO): Outgoing frame #1, 60 bytes: B2AB16612A0000005D00000400260000000000000000151D80030C5669C08C799837CE0F40A2B749FDA65A05F96437CF7C73FEF1D82502189A933A00
2021-08-13T21:01:21.907Z,1628888481.907 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-08-13T21:01:21.973Z,1628888481.973 [lineCaptureDepth:MicromodemComms] Stopped
2021-08-13T21:01:21.973Z,1628888481.973 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-08-13T21:01:21.974Z,1628888481.974 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-08-13T21:01:21.974Z,1628888481.974 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-13T21:01:21.974Z,1628888481.974 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-08-13T21:01:22.117Z,1628888482.117 [Micromodem](INFO): Nmea in: $CATMG,2021-08-13T21:01:23.028627Z,USER_CMD,RTC*10

2021-08-13T21:01:22.117Z,1628888482.117 [Micromodem](ERROR): Response from modem unexpected: $CATMG,2021-08-13T21:01:23.028627Z,USER_CMD,RTC*10

2021-08-13T21:01:22.118Z,1628888482.118 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-08-13T21:01:22.519Z,1628888482.519 [Micromodem](INFO): Nmea in: $CADRQ,210123,1,10,0,64,1*75

2021-08-13T21:01:22.519Z,1628888482.519 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,B2AB16612A0000005D00000400260000000000000000151D80030C5669C08C799837CE0F40A2B749FDA65A05F96437CF7C73FEF1D82502189A933A00*4D

2021-08-13T21:01:22.924Z,1628888482.924 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,60*4D

2021-08-13T21:01:22.925Z,1628888482.925 [Micromodem](INFO): Nmea in: $CATXP,60*74

2021-08-13T21:01:22.942Z,1628888482.942 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:01:24.554Z,1628888484.554 [Micromodem](INFO): Nmea in: $CATXF,60*62

2021-08-13T21:01:24.556Z,1628888484.556 [Micromodem](INFO): Nmea in: $CAXST,7,20210813,210124.112997,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*52

2021-08-13T21:01:25.767Z,1628888485.767 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:01:26.600Z,1628888486.600 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.100936
2021-08-13T21:01:26.602Z,1628888486.602 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-08-13T21:01:26.606Z,1628888486.606 [Micromodem](INFO): Nmea in: $CACST,6,0,20210813210127.065510,06,32767,45,0168,0150,22,01,01,00,01,1,010,001,0,4,1,0,150,10.7,3.61,10,-0.61,-01,0.59,41,14500,4000*67

2021-08-13T21:01:28.629Z,1628888488.629 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:01:28.978Z,1628888488.978 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:01:28.978Z,1628888488.978 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:01:28.979Z,1628888488.979 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:01:28.980Z,1628888488.980 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:01:29.385Z,1628888489.385 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F29,000,0094C,186,80,80,A9,FF
2021-08-13T21:01:29.385Z,1628888489.385 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:01:29.385Z,1628888489.385 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:01:29.387Z,1628888489.387 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:01:29.790Z,1628888489.790 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:01:30.278Z,1628888490.278 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,03F,000,009DC,184,80,80,7F,FF
2021-08-13T21:01:30.278Z,1628888490.278 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:01:30.629Z,1628888490.629 [Micromodem](INFO): Nmea in: $SNTTA,0.084488,,,,210130.96*46

2021-08-13T21:01:30.651Z,1628888490.651 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 113.940002 m, bearing: 272.860347 deg, deltaT: 12.986441 s, approachRate: 0.665309 m/s, LOS rate: -5.129842 deg/s, posRepo size: 4
2021-08-13T21:01:30.654Z,1628888490.654 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 113.940002 m,
      bearing: 272.860347 deg,
      approachRate: 0.665309 m/s,
      LOS rate: -5.129842 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 120.956140 deg,
      new cmd heading: 118.436303 deg.

2021-08-13T21:01:33.074Z,1628888493.074 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:01:33.430Z,1628888493.430 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:01:33.430Z,1628888493.430 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:01:33.431Z,1628888493.431 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:01:33.431Z,1628888493.431 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:01:33.821Z,1628888493.821 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
03F,000,009DC,184,80,80,7F,FF
2021-08-13T21:01:33.821Z,1628888493.821 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:01:33.821Z,1628888493.821 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:01:33.823Z,1628888493.823 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:01:34.265Z,1628888494.265 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:01:34.633Z,1628888494.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE3,000,00A19,186,80,80,8B,FF
2021-08-13T21:01:34.633Z,1628888494.633 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:01:35.081Z,1628888495.081 [Micromodem](INFO): Nmea in: $SNTTA,,,,,210135.39*50

2021-08-13T21:01:35.145Z,1628888495.145 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 117.599998 m, bearing: 268.863020 deg, deltaT: 4.348164 s, approachRate: 0.841734 m/s, LOS rate: -0.919314 deg/s, posRepo size: 4
2021-08-13T21:01:35.153Z,1628888495.153 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 117.599998 m,
      bearing: 268.863020 deg,
      approachRate: 0.841734 m/s,
      LOS rate: -0.919314 deg/s,
      cmd update: -2.757941 deg/s,
      cmd heading: 68.777138 deg,
      new cmd heading: 63.237170 deg.

2021-08-13T21:01:37.518Z,1628888497.519 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:01:37.861Z,1628888497.861 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:01:37.862Z,1628888497.862 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:01:37.862Z,1628888497.862 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:01:37.863Z,1628888497.863 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:01:38.278Z,1628888498.278 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE3,000,00A19,186,80,80,8B,FF
2021-08-13T21:01:38.278Z,1628888498.278 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:01:38.278Z,1628888498.278 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:01:38.280Z,1628888498.280 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:01:38.677Z,1628888498.677 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:01:39.078Z,1628888499.078 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,271,000,00A4C,189,80,80,62,FF
2021-08-13T21:01:39.079Z,1628888499.079 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:01:39.501Z,1628888499.501 [Micromodem](INFO): Nmea in: $SNTTA,,,,,210139.85*5B

2021-08-13T21:01:39.555Z,1628888499.555 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 120.659996 m, bearing: 209.556515 deg, deltaT: 4.531479 s, approachRate: 0.675276 m/s, LOS rate: -13.087670 deg/s, posRepo size: 4
2021-08-13T21:01:39.560Z,1628888499.560 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -13.087670 deg/s. Setting heading cmd to target bearing of 209.556515deg and heading rate command to 0 deg/s.
2021-08-13T21:01:41.834Z,1628888501.834 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:01:42.114Z,1628888502.114 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:01:42.114Z,1628888502.114 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:01:42.115Z,1628888502.115 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:01:42.115Z,1628888502.115 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:01:42.562Z,1628888502.562 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
271,000,00A4C,189,80,80,62,FF
2021-08-13T21:01:42.562Z,1628888502.562 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:01:42.562Z,1628888502.562 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:01:42.563Z,1628888502.563 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:01:42.981Z,1628888502.981 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:01:43.356Z,1628888503.356 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CCD,000,00A7E,189,80,80,4F,FF
2021-08-13T21:01:43.356Z,1628888503.356 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:01:43.781Z,1628888503.781 [Micromodem](INFO): Nmea in: $SNTTA,0.087210,,,,210144.14*4B

2021-08-13T21:01:43.821Z,1628888503.821 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 123.660004 m, bearing: 293.363619 deg, deltaT: 4.169646 s, approachRate: 0.719487 m/s, LOS rate: 20.099333 deg/s, posRepo size: 4
2021-08-13T21:01:43.822Z,1628888503.822 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 20.099333 deg/s. Setting heading cmd to target bearing of 293.363619deg and heading rate command to 0 deg/s.
2021-08-13T21:01:46.250Z,1628888506.250 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:01:46.585Z,1628888506.585 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:01:46.585Z,1628888506.585 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:01:46.585Z,1628888506.585 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:01:46.585Z,1628888506.585 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:01:47.025Z,1628888507.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CCD,000,00A7E,189,80,80,4F,FF
2021-08-13T21:01:47.025Z,1628888507.025 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:01:47.025Z,1628888507.025 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:01:47.027Z,1628888507.027 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:01:47.424Z,1628888507.424 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:01:47.451Z,1628888507.451 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-13T21:01:48.270Z,1628888508.270 [Micromodem](INFO): Nmea in: $SNTTA,,,,,210148.60*56

2021-08-13T21:01:49.083Z,1628888509.083 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:01:49.437Z,1628888509.437 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,18F,000,0511D,185,80,80,AA,FF
2021-08-13T21:01:49.438Z,1628888509.438 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:01:49.873Z,1628888509.873 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1208.400024 m, bearing: 218.875625 deg, deltaT: 6.105031 s, approachRate: 177.679688 m/s, LOS rate: -12.201084 deg/s, posRepo size: 4
2021-08-13T21:01:49.873Z,1628888509.873 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.201084 deg/s. Setting heading cmd to target bearing of 218.875625deg and heading rate command to 0 deg/s.
2021-08-13T21:01:52.298Z,1628888512.298 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:01:52.673Z,1628888512.673 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:01:52.673Z,1628888512.673 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:01:52.673Z,1628888512.673 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:01:52.674Z,1628888512.674 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:01:53.081Z,1628888513.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
18F,000,0511D,185,80,80,AA,FF
2021-08-13T21:01:53.081Z,1628888513.081 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:01:53.081Z,1628888513.081 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:01:53.083Z,1628888513.083 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:01:53.476Z,1628888513.476 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:01:53.889Z,1628888513.889 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,380,000,00AF9,189,80,80,B5,FF
2021-08-13T21:01:53.889Z,1628888513.889 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:01:54.333Z,1628888514.333 [Micromodem](INFO): Nmea in: $SNTTA,,,,,210154.65*5E

2021-08-13T21:01:54.359Z,1628888514.359 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 131.040009 m, bearing: 184.560468 deg, deltaT: 4.449298 s, approachRate: -242.141571 m/s, LOS rate: -7.712488 deg/s, posRepo size: 4
2021-08-13T21:01:54.362Z,1628888514.362 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 131.040009 m,
      bearing: 184.560468 deg,
      approachRate: -242.141571 m/s,
      LOS rate: -7.712488 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 218.875625 deg,
      new cmd heading: 218.875625 deg.

2021-08-13T21:01:55.513Z,1628888515.513 [NAL9602](INFO): Not Powering down - fast GPS
2021-08-13T21:01:56.734Z,1628888516.734 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:01:57.125Z,1628888517.125 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:01:57.125Z,1628888517.125 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:01:57.125Z,1628888517.125 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:01:57.126Z,1628888517.126 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:01:57.517Z,1628888517.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
380,000,00AF9,189,80,80,B5,FF
2021-08-13T21:01:57.517Z,1628888517.517 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:01:57.517Z,1628888517.517 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:01:57.519Z,1628888517.519 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:01:57.924Z,1628888517.924 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:01:58.329Z,1628888518.329 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F27,000,00B2D,187,80,80,A2,FF
2021-08-13T21:01:58.329Z,1628888518.329 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:01:58.769Z,1628888518.769 [Micromodem](INFO): Nmea in: $SNTTA,,,,,210159.09*59

2021-08-13T21:01:58.803Z,1628888518.803 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 134.160004 m, bearing: 252.874749 deg, deltaT: 4.419166 s, approachRate: 0.706014 m/s, LOS rate: 15.458637 deg/s, posRepo size: 4
2021-08-13T21:01:58.804Z,1628888518.804 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 15.458637 deg/s. Setting heading cmd to target bearing of 252.874749deg and heading rate command to 0 deg/s.
2021-08-13T21:02:01.224Z,1628888521.224 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:02:01.565Z,1628888521.565 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:02:01.565Z,1628888521.565 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:02:01.565Z,1628888521.565 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:02:01.566Z,1628888521.566 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:02:01.973Z,1628888521.973 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F27,000,00B2D,187,80,80,A2,FF
2021-08-13T21:02:01.973Z,1628888521.973 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:02:01.973Z,1628888521.973 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:02:01.974Z,1628888521.974 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:02:02.404Z,1628888522.404 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:02:02.777Z,1628888522.777 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,33C,000,00B5E,189,80,80,BE,FF
2021-08-13T21:02:02.778Z,1628888522.778 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:02:03.201Z,1628888523.201 [Micromodem](INFO): Nmea in: $SNTTA,0.093277,,,,210203.55*4A

2021-08-13T21:02:03.257Z,1628888523.257 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 137.100006 m, bearing: 187.054142 deg, deltaT: 4.471313 s, approachRate: 0.657526 m/s, LOS rate: -14.720644 deg/s, posRepo size: 4
2021-08-13T21:02:03.258Z,1628888523.258 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -14.720644 deg/s. Setting heading cmd to target bearing of 187.054142deg and heading rate command to 0 deg/s.
2021-08-13T21:02:05.615Z,1628888525.615 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:02:06.009Z,1628888526.009 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:02:06.009Z,1628888526.009 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:02:06.009Z,1628888526.009 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:02:06.010Z,1628888526.010 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:02:06.413Z,1628888526.413 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
33C,000,00B5E,189,80,80,BE,FF
2021-08-13T21:02:06.413Z,1628888526.413 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:02:06.413Z,1628888526.413 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:02:06.415Z,1628888526.415 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:02:06.820Z,1628888526.820 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:02:07.252Z,1628888527.252 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,27A,000,00B89,188,80,80,B4,FF
2021-08-13T21:02:07.253Z,1628888527.253 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:02:07.662Z,1628888527.662 [Micromodem](INFO): Nmea in: $SNTTA,0.095015,,,,210207.99*4E

2021-08-13T21:02:07.758Z,1628888527.758 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 139.680008 m, bearing: 179.678180 deg, deltaT: 4.495215 s, approachRate: 0.573944 m/s, LOS rate: -1.640848 deg/s, posRepo size: 4
2021-08-13T21:02:07.761Z,1628888527.761 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 139.680008 m,
      bearing: 179.678180 deg,
      approachRate: 0.573944 m/s,
      LOS rate: -1.640848 deg/s,
      cmd update: -4.922543 deg/s,
      cmd heading: 187.054142 deg,
      new cmd heading: 187.054142 deg.

2021-08-13T21:02:10.067Z,1628888530.067 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:02:10.449Z,1628888530.449 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:02:10.449Z,1628888530.449 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:02:10.449Z,1628888530.449 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:02:10.450Z,1628888530.450 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:02:10.865Z,1628888530.865 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
27A,000,00B89,188,80,80,B4,FF
2021-08-13T21:02:10.865Z,1628888530.865 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:02:10.865Z,1628888530.865 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:02:10.866Z,1628888530.866 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:02:11.271Z,1628888531.271 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:02:11.684Z,1628888531.684 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1DE,000,00BA9,186,80,80,85,FF
2021-08-13T21:02:11.684Z,1628888531.684 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:02:12.094Z,1628888532.094 [Micromodem](INFO): Nmea in: $SNTTA,,,,,210212.44*5C

2021-08-13T21:02:12.112Z,1628888532.112 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 141.600006 m, bearing: 168.335818 deg, deltaT: 4.397905 s, approachRate: 0.436571 m/s, LOS rate: -2.579038 deg/s, posRepo size: 4
2021-08-13T21:02:12.114Z,1628888532.114 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 141.600006 m,
      bearing: 168.335818 deg,
      approachRate: 0.436571 m/s,
      LOS rate: -2.579038 deg/s,
      cmd update: -7.737113 deg/s,
      cmd heading: 165.405174 deg,
      new cmd heading: 163.466333 deg.

2021-08-13T21:02:14.592Z,1628888534.592 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:02:14.910Z,1628888534.910 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:02:14.911Z,1628888534.911 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:02:14.911Z,1628888534.911 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:02:14.912Z,1628888534.912 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:02:15.297Z,1628888535.297 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1DE,000,00BA9,186,80,80,85,FF
2021-08-13T21:02:15.297Z,1628888535.297 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:02:15.297Z,1628888535.297 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:02:15.299Z,1628888535.299 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:02:15.733Z,1628888535.733 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:02:16.125Z,1628888536.125 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00BBE,189,80,80,85,FF
2021-08-13T21:02:16.126Z,1628888536.126 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:02:16.557Z,1628888536.557 [Micromodem](INFO): Nmea in: $SNTTA,0.097109,,,,210216.87*4F

2021-08-13T21:02:16.603Z,1628888536.603 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 142.860001 m, bearing: 109.023015 deg, deltaT: 4.425431 s, approachRate: 0.284717 m/s, LOS rate: -13.402718 deg/s, posRepo size: 4
2021-08-13T21:02:16.603Z,1628888536.603 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -13.402718 deg/s. Setting heading cmd to target bearing of 109.023015deg and heading rate command to 0 deg/s.
2021-08-13T21:02:19.033Z,1628888539.033 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:02:19.354Z,1628888539.354 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:02:19.354Z,1628888539.354 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:02:19.354Z,1628888539.354 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:02:19.355Z,1628888539.355 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:02:19.781Z,1628888539.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00BBE,189,80,80,85,FF
2021-08-13T21:02:19.781Z,1628888539.781 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:02:19.781Z,1628888539.781 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:02:19.783Z,1628888539.783 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:02:20.164Z,1628888540.164 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:02:20.578Z,1628888540.578 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00BC6,189,80,80,85,FF
2021-08-13T21:02:20.578Z,1628888540.578 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:02:21.033Z,1628888541.033 [Micromodem](INFO): Nmea in: $SNTTA,0.095172,0.485034,,,210221.35*5C

2021-08-13T21:02:21.082Z,1628888541.082 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 143.339996 m, bearing: 92.112088 deg, deltaT: 4.460470 s, approachRate: 0.107611 m/s, LOS rate: -3.791288 deg/s, posRepo size: 4
2021-08-13T21:02:21.084Z,1628888541.084 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 143.339996 m,
      bearing: 92.112088 deg,
      approachRate: 0.107611 m/s,
      LOS rate: -3.791288 deg/s,
      cmd update: -11.373865 deg/s,
      cmd heading: 109.023015 deg,
      new cmd heading: 109.023015 deg.

2021-08-13T21:02:23.421Z,1628888543.421 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:02:23.805Z,1628888543.805 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:02:23.805Z,1628888543.805 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:02:23.806Z,1628888543.806 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:02:23.806Z,1628888543.806 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:02:24.225Z,1628888544.225 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00BC6,189,80,80,85,FF
2021-08-13T21:02:24.225Z,1628888544.225 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:02:24.225Z,1628888544.225 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:02:24.226Z,1628888544.226 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:02:24.619Z,1628888544.619 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:02:25.033Z,1628888545.033 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00BC0,189,80,80,AE,FF
2021-08-13T21:02:25.034Z,1628888545.034 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:02:25.445Z,1628888545.445 [Micromodem](INFO): Nmea in: $SNTTA,,,,,210225.80*50

2021-08-13T21:02:25.471Z,1628888545.471 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 142.979996 m, bearing: 76.335342 deg, deltaT: 4.485131 s, approachRate: -0.080265 m/s, LOS rate: -3.517566 deg/s, posRepo size: 4
2021-08-13T21:02:25.473Z,1628888545.473 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 142.979996 m,
      bearing: 76.335342 deg,
      approachRate: -0.080265 m/s,
      LOS rate: -3.517566 deg/s,
      cmd update: -10.552699 deg/s,
      cmd heading: 58.014564 deg,
      new cmd heading: 53.712138 deg.

2021-08-13T21:02:27.889Z,1628888547.889 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:02:28.253Z,1628888548.253 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:02:28.253Z,1628888548.253 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:02:28.253Z,1628888548.253 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:02:28.254Z,1628888548.254 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:02:28.645Z,1628888548.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00BC0,189,80,80,AE,FF
2021-08-13T21:02:28.646Z,1628888548.646 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:02:28.646Z,1628888548.646 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:02:28.653Z,1628888548.653 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:02:29.053Z,1628888549.053 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:02:29.462Z,1628888549.462 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3C0,000,00BB1,189,80,80,AA,FF
2021-08-13T21:02:29.462Z,1628888549.462 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:02:29.896Z,1628888549.896 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 142.080002 m, bearing: 76.800901 deg, deltaT: 4.446873 s, approachRate: -0.202388 m/s, LOS rate: 0.104694 deg/s, posRepo size: 4
2021-08-13T21:02:29.898Z,1628888549.898 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 142.080002 m,
      bearing: 76.800901 deg,
      approachRate: -0.202388 m/s,
      LOS rate: 0.104694 deg/s,
      cmd update: 0.314081 deg/s,
      cmd heading: 11.128477 deg,
      new cmd heading: 7.328355 deg.

2021-08-13T21:02:32.337Z,1628888552.337 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:02:32.688Z,1628888552.688 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:02:32.688Z,1628888552.688 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:02:32.688Z,1628888552.688 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:02:32.689Z,1628888552.689 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:02:33.089Z,1628888553.089 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3C0,000,00BB1,189,80,80,AA,FF
2021-08-13T21:02:33.089Z,1628888553.089 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:02:33.089Z,1628888553.089 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:02:33.091Z,1628888553.091 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:02:33.500Z,1628888553.500 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:02:33.909Z,1628888553.909 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2CE,000,00B98,188,80,80,BF,FF
2021-08-13T21:02:33.909Z,1628888553.909 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:02:34.342Z,1628888554.342 [Micromodem](INFO): Nmea in: $SNTTA,0.093472,,,,210234.66*4D

2021-08-13T21:02:34.388Z,1628888554.388 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 140.580002 m, bearing: 74.057719 deg, deltaT: 4.386289 s, approachRate: -0.341975 m/s, LOS rate: -0.625399 deg/s, posRepo size: 4
2021-08-13T21:02:34.390Z,1628888554.390 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 140.580002 m,
      bearing: 74.057719 deg,
      approachRate: -0.341975 m/s,
      LOS rate: -0.625399 deg/s,
      cmd update: -1.876197 deg/s,
      cmd heading: 12.507461 deg,
      new cmd heading: 12.652440 deg.

2021-08-13T21:02:36.755Z,1628888556.755 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:02:37.129Z,1628888557.129 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:02:37.129Z,1628888557.129 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:02:37.129Z,1628888557.129 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:02:37.130Z,1628888557.130 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:02:37.541Z,1628888557.541 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2CE,000,00B98,188,80,80,BF,FF
2021-08-13T21:02:37.541Z,1628888557.541 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:02:37.541Z,1628888557.541 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:02:37.543Z,1628888557.543 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:02:37.948Z,1628888557.948 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:02:38.342Z,1628888558.342 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,151,000,00B74,186,80,80,AC,FF
2021-08-13T21:02:38.342Z,1628888558.342 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:02:38.781Z,1628888558.781 [Micromodem](INFO): Nmea in: $SNTTA,0.094493,,,,210239.11*48

2021-08-13T21:02:38.813Z,1628888558.813 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 138.419998 m, bearing: 78.129516 deg, deltaT: 4.512454 s, approachRate: -0.478676 m/s, LOS rate: 0.902346 deg/s, posRepo size: 4
2021-08-13T21:02:38.815Z,1628888558.815 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 138.419998 m,
      bearing: 78.129516 deg,
      approachRate: -0.478676 m/s,
      LOS rate: 0.902346 deg/s,
      cmd update: 2.707039 deg/s,
      cmd heading: 4.049544 deg,
      new cmd heading: 3.346681 deg.

2021-08-13T21:02:41.265Z,1628888561.265 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:02:41.573Z,1628888561.573 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:02:41.573Z,1628888561.573 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:02:41.573Z,1628888561.573 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:02:41.574Z,1628888561.574 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:02:41.977Z,1628888561.977 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
151,000,00B74,186,80,80,AC,FF
2021-08-13T21:02:41.977Z,1628888561.977 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:02:41.977Z,1628888561.977 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:02:41.979Z,1628888561.979 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:02:42.393Z,1628888562.393 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:02:42.793Z,1628888562.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE5,000,00B4F,183,80,80,B5,FF
2021-08-13T21:02:42.793Z,1628888562.793 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:02:43.219Z,1628888563.219 [Micromodem](INFO): Nmea in: $SNTTA,0.387756,0.388256,,,210243.55*52

2021-08-13T21:02:43.307Z,1628888563.307 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 136.199997 m, bearing: 81.739647 deg, deltaT: 4.377108 s, approachRate: -0.507184 m/s, LOS rate: 0.824775 deg/s, posRepo size: 4
2021-08-13T21:02:43.310Z,1628888563.310 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 136.199997 m,
      bearing: 81.739647 deg,
      approachRate: -0.507184 m/s,
      LOS rate: 0.824775 deg/s,
      cmd update: 2.474326 deg/s,
      cmd heading: 15.896871 deg,
      new cmd heading: 17.241964 deg.

2021-08-13T21:02:45.649Z,1628888565.649 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:02:46.021Z,1628888566.021 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:02:46.021Z,1628888566.021 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:02:46.021Z,1628888566.021 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:02:46.022Z,1628888566.022 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:02:46.428Z,1628888566.428 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE5,000,00B4F,183,80,80,B5,FF
2021-08-13T21:02:46.428Z,1628888566.428 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:02:46.429Z,1628888566.429 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:02:46.430Z,1628888566.430 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:02:46.831Z,1628888566.831 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:02:47.257Z,1628888567.257 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EAE,000,00B29,186,80,80,A6,FF
2021-08-13T21:02:47.257Z,1628888567.257 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:02:47.261Z,1628888567.261 [Micromodem](INFO): Nmea in: $SNTTA,0.203342,0.203342,,,210248.00*53

2021-08-13T21:02:47.683Z,1628888567.683 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 133.919998 m, bearing: 80.720856 deg, deltaT: 4.557294 s, approachRate: -0.500297 m/s, LOS rate: -0.223552 deg/s, posRepo size: 4
2021-08-13T21:02:47.686Z,1628888567.686 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 133.919998 m,
      bearing: 80.720856 deg,
      approachRate: -0.500297 m/s,
      LOS rate: -0.223552 deg/s,
      cmd update: -0.670655 deg/s,
      cmd heading: 27.165234 deg,
      new cmd heading: 27.953931 deg.

2021-08-13T21:02:50.085Z,1628888570.085 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:02:50.461Z,1628888570.461 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:02:50.461Z,1628888570.461 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:02:50.461Z,1628888570.461 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:02:50.462Z,1628888570.462 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:02:50.872Z,1628888570.872 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EAE,000,00B29,186,80,80,A6,FF
2021-08-13T21:02:50.872Z,1628888570.872 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:02:50.872Z,1628888570.872 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:02:50.874Z,1628888570.874 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:02:51.301Z,1628888571.301 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:02:51.677Z,1628888571.677 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1BB,000,00B09,186,80,80,7F,FF
2021-08-13T21:02:51.678Z,1628888571.678 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:02:52.114Z,1628888572.114 [Micromodem](INFO): Nmea in: $SNTTA,,,,,210252.45*59

2021-08-13T21:02:52.136Z,1628888572.136 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 132.000000 m, bearing: 28.513484 deg, deltaT: 4.353653 s, approachRate: -0.441009 m/s, LOS rate: -11.991624 deg/s, posRepo size: 4
2021-08-13T21:02:52.137Z,1628888572.137 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -11.991624 deg/s. Setting heading cmd to target bearing of 28.513484deg and heading rate command to 0 deg/s.
2021-08-13T21:02:54.545Z,1628888574.545 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:02:54.913Z,1628888574.913 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:02:54.913Z,1628888574.913 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:02:54.913Z,1628888574.913 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:02:54.914Z,1628888574.914 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:02:55.314Z,1628888575.314 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1BB,000,00B09,186,80,80,7F,FF
2021-08-13T21:02:55.314Z,1628888575.314 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:02:55.314Z,1628888575.314 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:02:55.316Z,1628888575.316 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:02:55.713Z,1628888575.713 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:02:56.115Z,1628888576.115 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,BA5,000,00AF0,189,80,80,86,FF
2021-08-13T21:02:56.115Z,1628888576.115 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:02:56.557Z,1628888576.557 [Micromodem](INFO): Nmea in: $SNTTA,0.100777,,,,210256.89*45

2021-08-13T21:02:56.594Z,1628888576.594 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 130.500000 m, bearing: 91.807400 deg, deltaT: 4.405456 s, approachRate: -0.340487 m/s, LOS rate: 14.367165 deg/s, posRepo size: 4
2021-08-13T21:02:56.595Z,1628888576.595 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 14.367165 deg/s. Setting heading cmd to target bearing of 91.807400deg and heading rate command to 0 deg/s.
2021-08-13T21:02:59.012Z,1628888579.012 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:02:59.353Z,1628888579.353 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:02:59.354Z,1628888579.354 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:02:59.354Z,1628888579.354 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:02:59.355Z,1628888579.355 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:02:59.761Z,1628888579.761 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
BA5,000,00AF0,189,80,80,86,FF
2021-08-13T21:02:59.761Z,1628888579.761 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:02:59.761Z,1628888579.761 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:02:59.763Z,1628888579.763 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:03:00.165Z,1628888580.165 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:03:00.569Z,1628888580.569 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,BEA,000,00AD9,189,80,80,AD,FF
2021-08-13T21:03:00.569Z,1628888580.569 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:03:01.033Z,1628888581.033 [Micromodem](INFO): Nmea in: $SNTTA,,0.103786,,,210301.33*4A

2021-08-13T21:03:01.093Z,1628888581.093 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 129.119995 m, bearing: 90.172560 deg, deltaT: 4.488275 s, approachRate: -0.307469 m/s, LOS rate: -0.364247 deg/s, posRepo size: 4
2021-08-13T21:03:01.095Z,1628888581.095 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 129.119995 m,
      bearing: 90.172560 deg,
      approachRate: -0.307469 m/s,
      LOS rate: -0.364247 deg/s,
      cmd update: -1.092741 deg/s,
      cmd heading: 91.807400 deg,
      new cmd heading: 91.807400 deg.

2021-08-13T21:03:03.422Z,1628888583.422 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:03:03.797Z,1628888583.797 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:03:03.797Z,1628888583.797 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:03:03.797Z,1628888583.797 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:03:03.798Z,1628888583.798 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:03:04.221Z,1628888584.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
BEA,000,00AD9,189,80,80,AD,FF
2021-08-13T21:03:04.221Z,1628888584.221 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:03:04.221Z,1628888584.221 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:03:04.223Z,1628888584.223 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:03:04.604Z,1628888584.604 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:03:05.044Z,1628888585.044 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,16B,000,00AC1,186,80,80,97,FF
2021-08-13T21:03:05.045Z,1628888585.045 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:03:05.060Z,1628888585.060 [Micromodem](INFO): Nmea in: $SNTTA,0.096122,0.305422,,,210305.80*5F

2021-08-13T21:03:05.466Z,1628888585.466 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 127.680000 m, bearing: 36.984726 deg, deltaT: 4.500648 s, approachRate: -0.319953 m/s, LOS rate: -11.817817 deg/s, posRepo size: 4
2021-08-13T21:03:05.467Z,1628888585.467 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -11.817817 deg/s. Setting heading cmd to target bearing of 36.984726deg and heading rate command to 0 deg/s.
2021-08-13T21:03:07.068Z,1628888587.068 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-13T21:03:07.882Z,1628888587.882 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:03:08.249Z,1628888588.249 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:03:08.249Z,1628888588.249 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:03:08.249Z,1628888588.249 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:03:08.250Z,1628888588.250 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:03:08.646Z,1628888588.646 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
16B,000,00AC1,186,80,80,97,FF
2021-08-13T21:03:08.646Z,1628888588.646 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:03:08.646Z,1628888588.646 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:03:08.648Z,1628888588.648 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:03:09.045Z,1628888589.045 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:03:09.461Z,1628888589.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EFB,000,00A9E,186,80,80,99,FF
2021-08-13T21:03:09.461Z,1628888589.461 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:03:09.889Z,1628888589.889 [Micromodem](INFO): Nmea in: $SNTTA,0.096603,,,,210310.22*4B

2021-08-13T21:03:09.929Z,1628888589.929 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 125.579994 m, bearing: 84.367876 deg, deltaT: 4.404133 s, approachRate: -0.476826 m/s, LOS rate: 10.758792 deg/s, posRepo size: 4
2021-08-13T21:03:09.931Z,1628888589.931 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 125.579994 m,
      bearing: 84.367876 deg,
      approachRate: -0.476826 m/s,
      LOS rate: 10.758792 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 36.984726 deg,
      new cmd heading: 36.984726 deg.

2021-08-13T21:03:12.325Z,1628888592.325 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:03:12.685Z,1628888592.685 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:03:12.686Z,1628888592.686 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:03:12.686Z,1628888592.686 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:03:12.687Z,1628888592.687 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:03:13.085Z,1628888593.085 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EFB,000,00A9E,186,80,80,99,FF
2021-08-13T21:03:13.085Z,1628888593.085 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:03:13.085Z,1628888593.085 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:03:13.087Z,1628888593.087 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:03:13.500Z,1628888593.500 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:03:13.901Z,1628888593.901 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F00,000,00A79,187,80,80,8C,FF
2021-08-13T21:03:13.901Z,1628888593.901 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:03:14.349Z,1628888594.349 [Micromodem](INFO): Nmea in: $SNTTA,,,,,210314.66*5B

2021-08-13T21:03:14.393Z,1628888594.393 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 123.360001 m, bearing: 85.137229 deg, deltaT: 4.397593 s, approachRate: -0.504820 m/s, LOS rate: 0.174949 deg/s, posRepo size: 4
2021-08-13T21:03:14.395Z,1628888594.395 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 123.360001 m,
      bearing: 85.137229 deg,
      approachRate: -0.504820 m/s,
      LOS rate: 0.174949 deg/s,
      cmd update: 0.524846 deg/s,
      cmd heading: 89.853056 deg,
      new cmd heading: 95.494413 deg.

2021-08-13T21:03:16.755Z,1628888596.755 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:03:17.125Z,1628888597.125 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:03:17.125Z,1628888597.125 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:03:17.126Z,1628888597.126 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:03:17.127Z,1628888597.127 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:03:17.146Z,1628888597.146 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-13T21:03:17.537Z,1628888597.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F00,000,00A79,187,80,80,8C,FF
2021-08-13T21:03:17.538Z,1628888597.538 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:03:17.538Z,1628888597.538 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:03:17.539Z,1628888597.539 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:03:17.941Z,1628888597.941 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:03:18.345Z,1628888598.345 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E2F,000,00A55,186,80,80,88,FF
2021-08-13T21:03:18.345Z,1628888598.345 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:03:18.776Z,1628888598.776 [Micromodem](INFO): Nmea in: $SNTTA,,,,,210319.11*56

2021-08-13T21:03:18.803Z,1628888598.803 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 121.200005 m, bearing: 88.747216 deg, deltaT: 4.482273 s, approachRate: -0.481897 m/s, LOS rate: 0.805392 deg/s, posRepo size: 4
2021-08-13T21:03:18.805Z,1628888598.805 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 121.200005 m,
      bearing: 88.747216 deg,
      approachRate: -0.481897 m/s,
      LOS rate: 0.805392 deg/s,
      cmd update: 2.416176 deg/s,
      cmd heading: 92.201359 deg,
      new cmd heading: 92.414452 deg.

2021-08-13T21:03:21.270Z,1628888601.270 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:03:21.585Z,1628888601.585 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:03:21.585Z,1628888601.585 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:03:21.585Z,1628888601.585 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:03:21.586Z,1628888601.586 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:03:22.009Z,1628888602.009 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E2F,000,00A55,186,80,80,88,FF
2021-08-13T21:03:22.009Z,1628888602.009 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:03:22.009Z,1628888602.009 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:03:22.011Z,1628888602.011 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:03:22.393Z,1628888602.393 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:03:22.786Z,1628888602.786 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC0,000,00A2F,184,80,80,8E,FF
2021-08-13T21:03:22.786Z,1628888602.786 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:03:23.221Z,1628888603.221 [Micromodem](INFO): Nmea in: $SNTTA,0.412176,0.412120,,,210323.58*51

2021-08-13T21:03:23.275Z,1628888603.275 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 118.920006 m, bearing: 84.572536 deg, deltaT: 4.398504 s, approachRate: -0.518358 m/s, LOS rate: -0.949114 deg/s, posRepo size: 4
2021-08-13T21:03:23.278Z,1628888603.278 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 118.920006 m,
      bearing: 84.572536 deg,
      approachRate: -0.518358 m/s,
      LOS rate: -0.949114 deg/s,
      cmd update: -2.847341 deg/s,
      cmd heading: 102.848716 deg,
      new cmd heading: 103.989497 deg.

2021-08-13T21:03:25.311Z,1628888605.311 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:03:25.621Z,1628888605.621 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:03:25.621Z,1628888605.621 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:03:25.621Z,1628888605.621 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:03:25.622Z,1628888605.622 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:03:26.029Z,1628888606.029 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC0,000,00A2F,184,80,80,8E,FF
2021-08-13T21:03:26.029Z,1628888606.029 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:03:26.030Z,1628888606.030 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:03:26.031Z,1628888606.031 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:03:26.436Z,1628888606.436 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:03:26.834Z,1628888606.834 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,152,000,00A09,186,80,80,9B,FF
2021-08-13T21:03:26.834Z,1628888606.834 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:03:27.277Z,1628888607.277 [Micromodem](INFO): Nmea in: $SNTTA,,,,,210327.60*5D

2021-08-13T21:03:27.335Z,1628888607.335 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 116.640007 m, bearing: 81.754482 deg, deltaT: 4.081420 s, approachRate: -0.558629 m/s, LOS rate: -0.690459 deg/s, posRepo size: 4
2021-08-13T21:03:27.341Z,1628888607.341 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 116.640007 m,
      bearing: 81.754482 deg,
      approachRate: -0.558629 m/s,
      LOS rate: -0.690459 deg/s,
      cmd update: -2.071378 deg/s,
      cmd heading: 91.298245 deg,
      new cmd heading: 89.945312 deg.

2021-08-13T21:03:29.693Z,1628888609.693 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:03:30.057Z,1628888610.057 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:03:30.057Z,1628888610.057 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:03:30.057Z,1628888610.057 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:03:30.058Z,1628888610.058 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:03:30.470Z,1628888610.470 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
152,000,00A09,186,80,80,9B,FF
2021-08-13T21:03:30.470Z,1628888610.470 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:03:30.470Z,1628888610.470 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:03:30.473Z,1628888610.473 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:03:30.876Z,1628888610.876 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:03:31.297Z,1628888611.297 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1EF,000,009E5,186,80,80,94,FF
2021-08-13T21:03:31.298Z,1628888611.298 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:03:31.713Z,1628888611.713 [Micromodem](INFO): Nmea in: $SNTTA,,,,,210332.05*5A

2021-08-13T21:03:31.735Z,1628888611.735 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 114.480003 m, bearing: 75.433859 deg, deltaT: 4.577014 s, approachRate: -0.471924 m/s, LOS rate: -1.380949 deg/s, posRepo size: 4
2021-08-13T21:03:31.738Z,1628888611.738 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 114.480003 m,
      bearing: 75.433859 deg,
      approachRate: -0.471924 m/s,
      LOS rate: -1.380949 deg/s,
      cmd update: -4.142847 deg/s,
      cmd heading: 81.767824 deg,
      new cmd heading: 81.199367 deg.

2021-08-13T21:03:34.123Z,1628888614.123 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:03:34.514Z,1628888614.514 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:03:34.514Z,1628888614.514 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:03:34.514Z,1628888614.514 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:03:34.515Z,1628888614.515 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:03:34.910Z,1628888614.910 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1EF,000,009E5,186,80,80,94,FF
2021-08-13T21:03:34.910Z,1628888614.910 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:03:34.911Z,1628888614.911 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:03:34.912Z,1628888614.912 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:03:35.316Z,1628888615.316 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:03:35.721Z,1628888615.721 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0AF,000,009C0,186,80,80,8B,FF
2021-08-13T21:03:35.721Z,1628888615.721 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:03:36.157Z,1628888616.157 [Micromodem](INFO): Nmea in: $SNTTA,,,,,210336.49*56

2021-08-13T21:03:36.223Z,1628888616.223 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 112.260002 m, bearing: 80.283444 deg, deltaT: 4.276257 s, approachRate: -0.519146 m/s, LOS rate: 1.134072 deg/s, posRepo size: 4
2021-08-13T21:03:36.229Z,1628888616.229 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 112.260002 m,
      bearing: 80.283444 deg,
      approachRate: -0.519146 m/s,
      LOS rate: 1.134072 deg/s,
      cmd update: 3.402217 deg/s,
      cmd heading: 64.048233 deg,
      new cmd heading: 62.040506 deg.

2021-08-13T21:03:37.032Z,1628888617.032 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-13T21:03:38.598Z,1628888618.598 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:03:38.964Z,1628888618.964 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:03:38.965Z,1628888618.965 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:03:38.965Z,1628888618.965 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:03:38.967Z,1628888618.967 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:03:39.349Z,1628888619.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0AF,000,009C0,186,80,80,8B,FF
2021-08-13T21:03:39.349Z,1628888619.349 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:03:39.349Z,1628888619.349 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:03:39.351Z,1628888619.351 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:03:39.760Z,1628888619.760 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:03:40.169Z,1628888620.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F5C,000,00998,187,80,80,99,FF
2021-08-13T21:03:40.170Z,1628888620.170 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:03:40.593Z,1628888620.593 [Micromodem](INFO): Nmea in: $SNTTA,0.082240,,,,210340.92*43

2021-08-13T21:03:40.627Z,1628888620.627 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 109.860008 m, bearing: 84.321540 deg, deltaT: 4.527144 s, approachRate: -0.530134 m/s, LOS rate: 0.891974 deg/s, posRepo size: 4
2021-08-13T21:03:40.629Z,1628888620.629 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 109.860008 m,
      bearing: 84.321540 deg,
      approachRate: -0.530134 m/s,
      LOS rate: 0.891974 deg/s,
      cmd update: 2.675923 deg/s,
      cmd heading: 79.421893 deg,
      new cmd heading: 80.679985 deg.

2021-08-13T21:03:43.086Z,1628888623.086 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:03:43.397Z,1628888623.397 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:03:43.397Z,1628888623.397 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:03:43.397Z,1628888623.397 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:03:43.398Z,1628888623.398 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:03:43.798Z,1628888623.798 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F5C,000,00998,187,80,80,99,FF
2021-08-13T21:03:43.798Z,1628888623.798 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:03:43.798Z,1628888623.798 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:03:43.799Z,1628888623.799 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:03:44.224Z,1628888624.224 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:03:44.601Z,1628888624.601 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF9,000,0096E,182,80,80,93,FF
2021-08-13T21:03:44.602Z,1628888624.602 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:03:45.059Z,1628888625.059 [Micromodem](INFO): Nmea in: $SNTTA,0.475597,0.475503,,,210345.37*56

2021-08-13T21:03:45.137Z,1628888625.137 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 107.340004 m, bearing: 84.073495 deg, deltaT: 4.358391 s, approachRate: -0.578196 m/s, LOS rate: -0.056912 deg/s, posRepo size: 4
2021-08-13T21:03:45.146Z,1628888625.146 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 107.340004 m,
      bearing: 84.073495 deg,
      approachRate: -0.578196 m/s,
      LOS rate: -0.056912 deg/s,
      cmd update: -0.170736 deg/s,
      cmd heading: 91.106536 deg,
      new cmd heading: 92.479668 deg.

2021-08-13T21:03:47.093Z,1628888627.093 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-13T21:03:47.507Z,1628888627.507 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:03:47.881Z,1628888627.881 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:03:47.881Z,1628888627.881 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:03:47.881Z,1628888627.881 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:03:47.882Z,1628888627.882 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:03:48.273Z,1628888628.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF9,000,0096E,182,80,80,93,FF
2021-08-13T21:03:48.273Z,1628888628.273 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:03:48.273Z,1628888628.273 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:03:48.275Z,1628888628.275 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:03:48.689Z,1628888628.689 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:03:49.081Z,1628888629.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,154,000,00947,186,80,80,9C,FF
2021-08-13T21:03:49.081Z,1628888629.081 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:03:49.522Z,1628888629.522 [Micromodem](INFO): Nmea in: $SNTTA,,,,,210349.85*5E

2021-08-13T21:03:49.552Z,1628888629.552 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 105.000000 m, bearing: 78.581183 deg, deltaT: 4.595584 s, approachRate: -0.509185 m/s, LOS rate: -1.195128 deg/s, posRepo size: 4
2021-08-13T21:03:49.555Z,1628888629.555 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 105.000000 m,
      bearing: 78.581183 deg,
      approachRate: -0.509185 m/s,
      LOS rate: -1.195128 deg/s,
      cmd update: -3.585385 deg/s,
      cmd heading: 90.322666 deg,
      new cmd heading: 90.265005 deg.

2021-08-13T21:03:51.955Z,1628888631.955 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:03:52.306Z,1628888632.306 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:03:52.306Z,1628888632.306 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:03:52.307Z,1628888632.307 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:03:52.307Z,1628888632.307 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:03:52.722Z,1628888632.722 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
154,000,00947,186,80,80,9C,FF
2021-08-13T21:03:52.722Z,1628888632.722 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:03:52.722Z,1628888632.722 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:03:52.723Z,1628888632.723 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:03:53.137Z,1628888633.137 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:03:53.526Z,1628888633.526 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,179,000,00924,185,80,80,89,FF
2021-08-13T21:03:53.526Z,1628888633.526 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:03:53.969Z,1628888633.969 [Micromodem](INFO): Nmea in: $SNTTA,,,,,210354.29*54

2021-08-13T21:03:54.003Z,1628888634.003 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 102.900002 m, bearing: 77.489767 deg, deltaT: 4.328136 s, approachRate: -0.485197 m/s, LOS rate: -0.252168 deg/s, posRepo size: 4
2021-08-13T21:03:54.005Z,1628888634.005 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 102.900002 m,
      bearing: 77.489767 deg,
      approachRate: -0.485197 m/s,
      LOS rate: -0.252168 deg/s,
      cmd update: -0.756503 deg/s,
      cmd heading: 74.788080 deg,
      new cmd heading: 73.154980 deg.

2021-08-13T21:03:56.402Z,1628888636.402 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:03:56.757Z,1628888636.757 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:03:56.757Z,1628888636.757 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:03:56.757Z,1628888636.757 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:03:56.758Z,1628888636.758 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:03:57.176Z,1628888637.176 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
179,000,00924,185,80,80,89,FF
2021-08-13T21:03:57.177Z,1628888637.177 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:03:57.177Z,1628888637.177 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:03:57.183Z,1628888637.183 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:03:57.581Z,1628888637.581 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:03:57.979Z,1628888637.979 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,039,000,008FA,185,80,80,B4,FF
2021-08-13T21:03:57.979Z,1628888637.979 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:03:58.409Z,1628888638.409 [Micromodem](INFO): Nmea in: $SNTTA,,,,,210358.75*51

2021-08-13T21:03:58.460Z,1628888638.460 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 100.380005 m, bearing: 82.276527 deg, deltaT: 4.448153 s, approachRate: -0.566527 m/s, LOS rate: 1.076123 deg/s, posRepo size: 4
2021-08-13T21:03:58.462Z,1628888638.462 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 100.380005 m,
      bearing: 82.276527 deg,
      approachRate: -0.566527 m/s,
      LOS rate: 1.076123 deg/s,
      cmd update: 3.228370 deg/s,
      cmd heading: 71.423123 deg,
      new cmd heading: 71.086951 deg.

2021-08-13T21:04:00.834Z,1628888640.834 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:04:01.233Z,1628888641.233 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:04:01.233Z,1628888641.233 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:04:01.233Z,1628888641.233 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:04:01.234Z,1628888641.234 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:04:01.605Z,1628888641.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
039,000,008FA,185,80,80,B4,FF
2021-08-13T21:04:01.605Z,1628888641.605 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:04:01.605Z,1628888641.605 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:04:01.607Z,1628888641.607 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:04:02.041Z,1628888642.041 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:04:02.410Z,1628888642.410 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FFB,000,008D2,182,80,80,BF,FF
2021-08-13T21:04:02.410Z,1628888642.410 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:04:02.862Z,1628888642.862 [Micromodem](INFO): Nmea in: $SNTTA,,,,,210403.18*53

2021-08-13T21:04:02.887Z,1628888642.887 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 97.980003 m, bearing: 83.349277 deg, deltaT: 4.473428 s, approachRate: -0.536502 m/s, LOS rate: 0.239805 deg/s, posRepo size: 4
2021-08-13T21:04:02.889Z,1628888642.889 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 97.980003 m,
      bearing: 83.349277 deg,
      approachRate: -0.536502 m/s,
      LOS rate: 0.239805 deg/s,
      cmd update: 0.719414 deg/s,
      cmd heading: 85.838319 deg,
      new cmd heading: 87.214350 deg.

2021-08-13T21:04:05.310Z,1628888645.310 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:04:05.654Z,1628888645.654 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:04:05.654Z,1628888645.654 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:04:05.654Z,1628888645.654 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:04:05.655Z,1628888645.655 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:04:06.061Z,1628888646.061 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FFB,000,008D2,182,80,80,BF,FF
2021-08-13T21:04:06.061Z,1628888646.061 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:04:06.061Z,1628888646.061 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:04:06.063Z,1628888646.063 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:04:06.460Z,1628888646.460 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:04:06.867Z,1628888646.867 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,109,000,008A8,186,80,80,BF,FF
2021-08-13T21:04:06.868Z,1628888646.868 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:04:07.289Z,1628888647.289 [Micromodem](INFO): Nmea in: $SNTTA,0.346465,,,,210407.63*43

2021-08-13T21:04:07.320Z,1628888647.320 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2021-08-13T21:04:07.320Z,1628888647.320 [RDI_Pathfinder] Communications Fault, FailCount= 1
2021-08-13T21:04:07.320Z,1628888647.320 [RDI_Pathfinder](ERROR): Communications Fault
2021-08-13T21:04:07.345Z,1628888647.345 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 95.459999 m, bearing: 78.528406 deg, deltaT: 4.416019 s, approachRate: -0.570651 m/s, LOS rate: -1.091678 deg/s, posRepo size: 4
2021-08-13T21:04:07.347Z,1628888647.347 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 95.459999 m,
      bearing: 78.528406 deg,
      approachRate: -0.570651 m/s,
      LOS rate: -1.091678 deg/s,
      cmd update: -3.275034 deg/s,
      cmd heading: 89.021008 deg,
      new cmd heading: 89.351853 deg.

2021-08-13T21:04:07.460Z,1628888647.460 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2021-08-13T21:04:07.752Z,1628888647.752 [RDI_Pathfinder](INFO): Powering down
2021-08-13T21:04:08.624Z,1628888648.624 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2021-08-13T21:04:08.624Z,1628888648.624 [RDI_Pathfinder] No Fault, FailCount= 1
2021-08-13T21:04:09.715Z,1628888649.715 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:04:10.089Z,1628888650.089 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:04:10.089Z,1628888650.089 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:04:10.089Z,1628888650.089 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:04:10.090Z,1628888650.090 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:04:10.505Z,1628888650.505 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
109,000,008A8,186,80,80,BF,FF
2021-08-13T21:04:10.505Z,1628888650.505 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:04:10.505Z,1628888650.505 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:04:10.507Z,1628888650.507 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:04:10.909Z,1628888650.909 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:04:11.730Z,1628888651.730 [Micromodem](INFO): Nmea in: $SNTTA,,,,,210412.08*52

2021-08-13T21:04:12.555Z,1628888652.555 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:04:14.129Z,1628888654.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
8,186,80,80,BF,FF
2021-08-13T21:04:14.129Z,1628888654.129 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
8,186,80,80,BF,FF
2021-08-13T21:04:14.129Z,1628888654.129 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T21:04:15.383Z,1628888655.383 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:04:15.753Z,1628888655.753 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:04:15.753Z,1628888655.753 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:04:15.753Z,1628888655.753 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:04:15.754Z,1628888655.754 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:04:16.160Z,1628888656.160 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
8,186,80,80,BF,FF
2021-08-13T21:04:16.160Z,1628888656.160 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:04:16.160Z,1628888656.160 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:04:16.165Z,1628888656.165 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:04:16.556Z,1628888656.556 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:04:16.961Z,1628888656.961 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB6,000,0084D,184,80,80,B4,FF
2021-08-13T21:04:16.962Z,1628888656.962 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:04:17.393Z,1628888657.393 [Micromodem](INFO): Nmea in: $SNTTA,0.087049,,,,210417.74*40

2021-08-13T21:04:17.436Z,1628888657.436 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 90.000000 m, bearing: 82.697062 deg, deltaT: 10.135996 s, approachRate: -0.538674 m/s, LOS rate: 0.411272 deg/s, posRepo size: 4
2021-08-13T21:04:17.438Z,1628888657.438 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 90.000000 m,
      bearing: 82.697062 deg,
      approachRate: -0.538674 m/s,
      LOS rate: 0.411272 deg/s,
      cmd update: 1.233817 deg/s,
      cmd heading: 55.958335 deg,
      new cmd heading: 54.465404 deg.

2021-08-13T21:04:19.807Z,1628888659.807 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:04:20.213Z,1628888660.213 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:04:20.213Z,1628888660.213 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:04:20.213Z,1628888660.213 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:04:20.214Z,1628888660.214 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:04:20.593Z,1628888660.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB6,000,0084D,184,80,80,B4,FF
2021-08-13T21:04:20.593Z,1628888660.593 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:04:20.594Z,1628888660.594 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:04:20.595Z,1628888660.595 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:04:21.008Z,1628888661.008 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:04:21.405Z,1628888661.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E9A,000,00822,186,80,80,CF,FF
2021-08-13T21:04:21.405Z,1628888661.405 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:04:21.842Z,1628888661.842 [Micromodem](INFO): Nmea in: $SNTTA,,,,,210422.16*5E

2021-08-13T21:04:21.875Z,1628888661.875 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 87.419998 m, bearing: 85.258711 deg, deltaT: 4.431363 s, approachRate: -0.582214 m/s, LOS rate: 0.578072 deg/s, posRepo size: 4
2021-08-13T21:04:21.877Z,1628888661.877 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 87.419998 m,
      bearing: 85.258711 deg,
      approachRate: -0.582214 m/s,
      LOS rate: 0.578072 deg/s,
      cmd update: 1.734217 deg/s,
      cmd heading: 61.451665 deg,
      new cmd heading: 61.997952 deg.

2021-08-13T21:04:24.295Z,1628888664.295 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:04:24.641Z,1628888664.641 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:04:24.641Z,1628888664.641 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:04:24.641Z,1628888664.641 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:04:24.642Z,1628888664.642 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:04:25.045Z,1628888665.045 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E9A,000,00822,186,80,80,CF,FF
2021-08-13T21:04:25.045Z,1628888665.045 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:04:25.045Z,1628888665.045 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:04:25.047Z,1628888665.047 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:04:25.455Z,1628888665.455 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:04:25.850Z,1628888665.850 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EDC,000,007FE,186,80,80,AE,FF
2021-08-13T21:04:25.850Z,1628888665.850 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:04:26.305Z,1628888666.305 [Micromodem](INFO): Nmea in: $SNTTA,0.075751,,,,210426.62*46

2021-08-13T21:04:26.347Z,1628888666.347 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 85.260002 m, bearing: 84.321527 deg, deltaT: 4.457152 s, approachRate: -0.484614 m/s, LOS rate: -0.210265 deg/s, posRepo size: 4
2021-08-13T21:04:26.355Z,1628888666.355 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 85.260002 m,
      bearing: 84.321527 deg,
      approachRate: -0.484614 m/s,
      LOS rate: -0.210265 deg/s,
      cmd update: -0.630796 deg/s,
      cmd heading: 69.209306 deg,
      new cmd heading: 69.975282 deg.

2021-08-13T21:04:28.724Z,1628888668.724 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:04:29.091Z,1628888669.091 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:04:29.091Z,1628888669.091 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:04:29.109Z,1628888669.109 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:04:29.110Z,1628888669.110 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:04:29.488Z,1628888669.488 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EDC,000,007FE,186,80,80,AE,FF
2021-08-13T21:04:29.489Z,1628888669.489 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:04:29.489Z,1628888669.489 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:04:29.491Z,1628888669.491 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:04:29.908Z,1628888669.908 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:04:30.301Z,1628888670.301 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F66,000,007D7,187,80,80,A8,FF
2021-08-13T21:04:30.301Z,1628888670.301 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:04:30.741Z,1628888670.741 [Micromodem](INFO): Nmea in: $SNTTA,,,,,210431.06*5D

2021-08-13T21:04:30.763Z,1628888670.763 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 82.919998 m, bearing: 83.329530 deg, deltaT: 4.442712 s, approachRate: -0.526706 m/s, LOS rate: -0.223286 deg/s, posRepo size: 4
2021-08-13T21:04:30.766Z,1628888670.766 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 82.919998 m,
      bearing: 83.329530 deg,
      approachRate: -0.526706 m/s,
      LOS rate: -0.223286 deg/s,
      cmd update: -0.669859 deg/s,
      cmd heading: 66.404630 deg,
      new cmd heading: 66.144966 deg.

2021-08-13T21:04:33.230Z,1628888673.230 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:04:33.537Z,1628888673.537 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:04:33.538Z,1628888673.538 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:04:33.538Z,1628888673.538 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:04:33.539Z,1628888673.539 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:04:33.941Z,1628888673.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F66,000,007D7,187,80,80,A8,FF
2021-08-13T21:04:33.941Z,1628888673.941 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:04:33.941Z,1628888673.941 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:04:33.943Z,1628888673.943 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:04:34.409Z,1628888674.409 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:04:34.746Z,1628888674.746 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F35,000,007AC,186,80,80,CC,FF
2021-08-13T21:04:34.747Z,1628888674.747 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:04:35.241Z,1628888675.241 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 80.340004 m, bearing: 83.899339 deg, deltaT: 4.444765 s, approachRate: -0.580457 m/s, LOS rate: 0.128198 deg/s, posRepo size: 4
2021-08-13T21:04:35.243Z,1628888675.243 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 80.340004 m,
      bearing: 83.899339 deg,
      approachRate: -0.580457 m/s,
      LOS rate: 0.128198 deg/s,
      cmd update: 0.384593 deg/s,
      cmd heading: 63.432463 deg,
      new cmd heading: 63.129977 deg.

2021-08-13T21:04:37.594Z,1628888677.594 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:04:37.973Z,1628888677.973 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:04:37.973Z,1628888677.973 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:04:37.974Z,1628888677.974 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:04:37.974Z,1628888677.974 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:04:38.373Z,1628888678.373 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F35,000,007AC,186,80,80,CC,FF
2021-08-13T21:04:38.373Z,1628888678.373 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:04:38.373Z,1628888678.373 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:04:38.375Z,1628888678.375 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:04:38.791Z,1628888678.791 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:04:39.205Z,1628888679.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F04,000,00784,187,80,80,C2,FF
2021-08-13T21:04:39.205Z,1628888679.205 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:04:39.637Z,1628888679.637 [Micromodem](INFO): Nmea in: $SNTTA,0.059797,,,,210439.95*44

2021-08-13T21:04:39.686Z,1628888679.686 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 77.939995 m, bearing: 85.037501 deg, deltaT: 4.483067 s, approachRate: -0.535350 m/s, LOS rate: 0.253880 deg/s, posRepo size: 4
2021-08-13T21:04:39.688Z,1628888679.688 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 77.939995 m,
      bearing: 85.037501 deg,
      approachRate: -0.535350 m/s,
      LOS rate: 0.253880 deg/s,
      cmd update: 0.761641 deg/s,
      cmd heading: 65.159742 deg,
      new cmd heading: 65.314732 deg.

2021-08-13T21:04:42.076Z,1628888682.076 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:04:42.421Z,1628888682.421 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:04:42.421Z,1628888682.421 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:04:42.421Z,1628888682.421 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:04:42.422Z,1628888682.422 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:04:42.822Z,1628888682.822 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F04,000,00784,187,80,80,C2,FF
2021-08-13T21:04:42.822Z,1628888682.822 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:04:42.822Z,1628888682.822 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:04:42.827Z,1628888682.827 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:04:43.252Z,1628888683.252 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:04:43.629Z,1628888683.629 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F21,000,0075D,186,80,80,A3,FF
2021-08-13T21:04:43.629Z,1628888683.629 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:04:44.065Z,1628888684.065 [Micromodem](INFO): Nmea in: $SNTTA,,,,,210444.40*5D

2021-08-13T21:04:44.096Z,1628888684.096 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 75.600006 m, bearing: 84.822036 deg, deltaT: 4.409553 s, approachRate: -0.530663 m/s, LOS rate: -0.048863 deg/s, posRepo size: 4
2021-08-13T21:04:44.098Z,1628888684.098 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 75.600006 m,
      bearing: 84.822036 deg,
      approachRate: -0.530663 m/s,
      LOS rate: -0.048863 deg/s,
      cmd update: -0.146590 deg/s,
      cmd heading: 68.510146 deg,
      new cmd heading: 68.827616 deg.

2021-08-13T21:04:46.495Z,1628888686.495 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:04:46.861Z,1628888686.861 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:04:46.861Z,1628888686.861 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:04:46.862Z,1628888686.862 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:04:46.862Z,1628888686.862 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:04:47.261Z,1628888687.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F21,000,0075D,186,80,80,A3,FF
2021-08-13T21:04:47.261Z,1628888687.261 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:04:47.261Z,1628888687.261 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:04:47.263Z,1628888687.263 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:04:47.673Z,1628888687.673 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:04:48.066Z,1628888688.066 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F52,000,00735,187,80,80,9E,FF
2021-08-13T21:04:48.066Z,1628888688.066 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:04:48.509Z,1628888688.509 [Micromodem](INFO): Nmea in: $SNTTA,0.061459,,,,210448.83*4F

2021-08-13T21:04:48.567Z,1628888688.567 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 73.199997 m, bearing: 83.946344 deg, deltaT: 4.398073 s, approachRate: -0.545696 m/s, LOS rate: -0.199108 deg/s, posRepo size: 4
2021-08-13T21:04:48.570Z,1628888688.570 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 73.199997 m,
      bearing: 83.946344 deg,
      approachRate: -0.545696 m/s,
      LOS rate: -0.199108 deg/s,
      cmd update: -0.597324 deg/s,
      cmd heading: 67.863870 deg,
      new cmd heading: 67.793879 deg.

2021-08-13T21:04:50.931Z,1628888690.931 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:04:51.337Z,1628888691.337 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:04:51.337Z,1628888691.337 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:04:51.337Z,1628888691.337 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:04:51.338Z,1628888691.338 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:04:51.709Z,1628888691.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F52,000,00735,187,80,80,9E,FF
2021-08-13T21:04:51.710Z,1628888691.710 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:04:51.710Z,1628888691.710 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:04:51.711Z,1628888691.711 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:04:52.112Z,1628888692.112 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:04:52.513Z,1628888692.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F30,000,0070A,186,80,80,C8,FF
2021-08-13T21:04:52.513Z,1628888692.513 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:04:52.981Z,1628888692.981 [Micromodem](INFO): Nmea in: $SNTTA,,,,,210453.28*55

2021-08-13T21:04:53.046Z,1628888693.046 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 70.620003 m, bearing: 85.040548 deg, deltaT: 4.452205 s, approachRate: -0.579487 m/s, LOS rate: 0.245767 deg/s, posRepo size: 4
2021-08-13T21:04:53.048Z,1628888693.048 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 70.620003 m,
      bearing: 85.040548 deg,
      approachRate: -0.579487 m/s,
      LOS rate: 0.245767 deg/s,
      cmd update: 0.737300 deg/s,
      cmd heading: 65.204434 deg,
      new cmd heading: 64.901953 deg.

2021-08-13T21:04:55.407Z,1628888695.407 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:04:55.745Z,1628888695.745 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:04:55.745Z,1628888695.745 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:04:55.745Z,1628888695.745 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:04:55.746Z,1628888695.746 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:04:56.157Z,1628888696.157 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F30,000,0070A,186,80,80,C8,FF
2021-08-13T21:04:56.157Z,1628888696.157 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:04:56.157Z,1628888696.157 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:04:56.159Z,1628888696.159 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:04:56.565Z,1628888696.565 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:04:56.964Z,1628888696.964 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F11,000,006E1,186,80,80,9B,FF
2021-08-13T21:04:56.966Z,1628888696.966 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:04:57.385Z,1628888697.385 [Micromodem](INFO): Nmea in: $SNTTA,0.342125,0.341125,,,210457.73*5C

2021-08-13T21:04:57.431Z,1628888697.431 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 68.160004 m, bearing: 86.040057 deg, deltaT: 4.579440 s, approachRate: -0.537183 m/s, LOS rate: 0.218260 deg/s, posRepo size: 4
2021-08-13T21:04:57.438Z,1628888697.438 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 68.160004 m,
      bearing: 86.040057 deg,
      approachRate: -0.537183 m/s,
      LOS rate: 0.218260 deg/s,
      cmd update: 0.654781 deg/s,
      cmd heading: 68.577841 deg,
      new cmd heading: 68.811053 deg.

2021-08-13T21:04:59.823Z,1628888699.823 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:05:00.196Z,1628888700.196 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:05:00.196Z,1628888700.196 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:05:00.197Z,1628888700.197 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:05:00.198Z,1628888700.198 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:05:00.593Z,1628888700.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F11,000,006E1,186,80,80,9B,FF
2021-08-13T21:05:00.593Z,1628888700.593 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:05:00.593Z,1628888700.593 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:05:00.595Z,1628888700.595 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:05:01.037Z,1628888701.037 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:05:01.409Z,1628888701.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F30,000,006BC,187,80,80,A3,FF
2021-08-13T21:05:01.409Z,1628888701.409 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:05:01.860Z,1628888701.860 [Micromodem](INFO): Nmea in: $SNTTA,,,,,210502.17*5C

2021-08-13T21:05:01.884Z,1628888701.884 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 65.940010 m, bearing: 85.696594 deg, deltaT: 4.353900 s, approachRate: -0.509886 m/s, LOS rate: -0.078886 deg/s, posRepo size: 4
2021-08-13T21:05:01.886Z,1628888701.886 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 65.940010 m,
      bearing: 85.696594 deg,
      approachRate: -0.509886 m/s,
      LOS rate: -0.078886 deg/s,
      cmd update: -0.236659 deg/s,
      cmd heading: 71.425958 deg,
      new cmd heading: 71.700101 deg.

2021-08-13T21:05:04.285Z,1628888704.285 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:05:04.633Z,1628888704.633 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:05:04.633Z,1628888704.633 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:05:04.633Z,1628888704.633 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:05:04.634Z,1628888704.634 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:05:05.041Z,1628888705.041 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F30,000,006BC,187,80,80,A3,FF
2021-08-13T21:05:05.041Z,1628888705.041 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:05:05.041Z,1628888705.041 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:05:05.047Z,1628888705.047 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:05:05.451Z,1628888705.451 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:05:05.862Z,1628888705.862 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F5F,000,00694,186,80,80,B0,FF
2021-08-13T21:05:05.862Z,1628888705.862 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:05:06.289Z,1628888706.289 [Micromodem](INFO): Nmea in: $SNTTA,,,,,210506.62*5A

2021-08-13T21:05:06.491Z,1628888706.491 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 63.540001 m, bearing: 85.720370 deg, deltaT: 4.422790 s, approachRate: -0.542646 m/s, LOS rate: 0.005376 deg/s, posRepo size: 4
2021-08-13T21:05:06.497Z,1628888706.497 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 63.540001 m,
      bearing: 85.720370 deg,
      approachRate: -0.542646 m/s,
      LOS rate: 0.005376 deg/s,
      cmd update: 0.016127 deg/s,
      cmd heading: 70.378259 deg,
      new cmd heading: 70.236451 deg.

2021-08-13T21:05:08.723Z,1628888708.723 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:05:09.109Z,1628888709.109 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:05:09.109Z,1628888709.109 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:05:09.109Z,1628888709.109 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:05:09.110Z,1628888709.110 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:05:09.517Z,1628888709.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F5F,000,00694,186,80,80,B0,FF
2021-08-13T21:05:09.517Z,1628888709.517 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:05:09.517Z,1628888709.517 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:05:09.519Z,1628888709.519 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:05:09.926Z,1628888709.926 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:05:10.321Z,1628888710.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F5D,000,00669,187,80,80,B0,FF
2021-08-13T21:05:10.321Z,1628888710.321 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:05:10.765Z,1628888710.765 [Micromodem](INFO): Nmea in: $SNTTA,,,,,210511.09*51

2021-08-13T21:05:10.787Z,1628888710.787 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 60.960007 m, bearing: 85.742315 deg, deltaT: 4.493647 s, approachRate: -0.574143 m/s, LOS rate: 0.004884 deg/s, posRepo size: 4
2021-08-13T21:05:10.790Z,1628888710.790 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 60.960007 m,
      bearing: 85.742315 deg,
      approachRate: -0.574143 m/s,
      LOS rate: 0.004884 deg/s,
      cmd update: 0.014651 deg/s,
      cmd heading: 70.450531 deg,
      new cmd heading: 70.457210 deg.

2021-08-13T21:05:13.245Z,1628888713.245 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:05:13.557Z,1628888713.557 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:05:13.557Z,1628888713.557 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:05:13.557Z,1628888713.557 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:05:13.558Z,1628888713.558 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:05:13.957Z,1628888713.957 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F5D,000,00669,187,80,80,B0,FF
2021-08-13T21:05:13.957Z,1628888713.957 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:05:13.957Z,1628888713.957 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:05:13.959Z,1628888713.959 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:05:14.369Z,1628888714.369 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:05:14.769Z,1628888714.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F6C,000,0063C,186,80,80,B7,FF
2021-08-13T21:05:14.769Z,1628888714.769 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:05:15.203Z,1628888715.203 [Micromodem](INFO): Nmea in: $SNTTA,0.051610,0.442533,,,210515.53*5E

2021-08-13T21:05:15.259Z,1628888715.259 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.260006 m, bearing: 84.789586 deg, deltaT: 4.396541 s, approachRate: -0.614119 m/s, LOS rate: -0.216700 deg/s, posRepo size: 4
2021-08-13T21:05:15.261Z,1628888715.261 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 58.260006 m,
      bearing: 84.789586 deg,
      approachRate: -0.614119 m/s,
      LOS rate: -0.216700 deg/s,
      cmd update: -0.650099 deg/s,
      cmd heading: 70.515183 deg,
      new cmd heading: 70.522105 deg.

2021-08-13T21:05:17.615Z,1628888717.615 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:05:18.004Z,1628888718.004 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:05:18.004Z,1628888718.004 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:05:18.004Z,1628888718.004 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:05:18.005Z,1628888718.005 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:05:18.401Z,1628888718.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F6C,000,0063C,186,80,80,B7,FF
2021-08-13T21:05:18.401Z,1628888718.401 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:05:18.402Z,1628888718.402 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:05:18.403Z,1628888718.403 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:05:18.808Z,1628888718.808 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:05:19.237Z,1628888719.237 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F3A,000,00282,187,80,80,B2,FF
2021-08-13T21:05:19.237Z,1628888719.237 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:05:19.649Z,1628888719.649 [Micromodem](INFO): Nmea in: $SNTTA,0.045289,,,,210519.97*42

2021-08-13T21:05:19.669Z,1628888719.669 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-08-13T21:05:19.670Z,1628888719.670 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-08-13T21:05:19.670Z,1628888719.670 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-08-13T21:05:19.670Z,1628888719.670 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-13T21:05:19.670Z,1628888719.670 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-08-13T21:05:19.671Z,1628888719.671 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 1.019999 m 
2021-08-13T21:05:19.671Z,1628888719.671 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-08-13T21:05:19.671Z,1628888719.671 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-08-13T21:05:19.671Z,1628888719.671 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-08-13T21:05:19.674Z,1628888719.674 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1.019999 m, bearing: 87.055180 deg, deltaT: 4.540945 s, approachRate: -12.605307 m/s, LOS rate: 0.498926 deg/s, posRepo size: 4
2021-08-13T21:05:19.674Z,1628888719.674 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 1.02 m.
2021-08-13T21:05:19.697Z,1628888719.697 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 1.019999 m,
      bearing: 87.055180 deg,
      approachRate: -12.605307 m/s,
      LOS rate: 0.498926 deg/s,
      cmd update: 1.496777 deg/s,
      cmd heading: 67.565771 deg,
      new cmd heading: 67.337727 deg.

2021-08-13T21:05:20.058Z,1628888720.058 [PowerOnly](INFO): Powering up loadControl
2021-08-13T21:05:20.111Z,1628888720.111 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-13T21:05:20.111Z,1628888720.111 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T21:05:20.111Z,1628888720.111 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-13T21:05:20.112Z,1628888720.112 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-13T21:05:20.112Z,1628888720.112 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-13T21:05:20.112Z,1628888720.112 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-13T21:05:20.114Z,1628888720.114 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210813T210520: (41.552319, -70.708603)
2021-08-13T21:05:20.114Z,1628888720.114 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-08-13T21:05:20.114Z,1628888720.114 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-08-13T21:05:20.114Z,1628888720.114 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-13T21:05:20.114Z,1628888720.114 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-08-13T21:05:20.114Z,1628888720.114 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-13T21:05:20.115Z,1628888720.115 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-08-13T21:05:20.115Z,1628888720.115 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-08-13T21:05:20.115Z,1628888720.115 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-08-13T21:05:20.497Z,1628888720.497 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-13T21:05:20.497Z,1628888720.497 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T21:05:20.497Z,1628888720.497 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-13T21:05:20.497Z,1628888720.497 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T21:05:22.191Z,1628888722.191 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:05:22.477Z,1628888722.477 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:05:22.477Z,1628888722.477 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:05:22.477Z,1628888722.477 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:05:22.478Z,1628888722.478 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:05:22.854Z,1628888722.854 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F3A,000,00282,187,80,80,B2,FF
2021-08-13T21:05:22.854Z,1628888722.854 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:05:22.854Z,1628888722.854 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:05:22.857Z,1628888722.857 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:05:23.256Z,1628888723.256 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:05:23.653Z,1628888723.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F04,000,005ED,186,80,80,5B,FF
2021-08-13T21:05:23.653Z,1628888723.653 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:05:23.674Z,1628888723.674 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:05:24.101Z,1628888724.101 [Micromodem](INFO): Nmea in: $SNTTA,,,,,210524.43*59

2021-08-13T21:05:24.124Z,1628888724.124 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.519993 m, bearing: 90.131825 deg, deltaT: 4.343911 s, approachRate: 12.085881 m/s, LOS rate: 0.708266 deg/s, posRepo size: 4
2021-08-13T21:05:24.126Z,1628888724.126 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 53.519993 m,
      bearing: 90.131825 deg,
      approachRate: 12.085881 m/s,
      LOS rate: 0.708266 deg/s,
      cmd update: 2.124798 deg/s,
      cmd heading: 74.072901 deg,
      new cmd heading: 74.751285 deg.

2021-08-13T21:05:24.507Z,1628888724.507 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-13T21:05:24.507Z,1628888724.507 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T21:05:24.508Z,1628888724.508 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-13T21:05:24.508Z,1628888724.508 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-13T21:05:24.508Z,1628888724.508 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-13T21:05:24.509Z,1628888724.509 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-13T21:05:24.898Z,1628888724.898 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-13T21:05:24.898Z,1628888724.898 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T21:05:24.898Z,1628888724.898 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-13T21:05:24.898Z,1628888724.898 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T21:05:26.533Z,1628888726.533 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:05:26.905Z,1628888726.905 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:05:26.905Z,1628888726.905 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:05:26.905Z,1628888726.905 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:05:26.906Z,1628888726.906 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:05:27.285Z,1628888727.285 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F04,000,005ED,186,80,80,5B,FF
2021-08-13T21:05:27.285Z,1628888727.285 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:05:27.285Z,1628888727.285 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:05:27.287Z,1628888727.287 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:05:27.697Z,1628888727.697 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:05:28.098Z,1628888728.098 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F93,000,005C9,187,80,80,7C,FF
2021-08-13T21:05:28.098Z,1628888728.098 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:05:28.549Z,1628888728.549 [Micromodem](INFO): Nmea in: $SNTTA,,,,,210528.86*5C

2021-08-13T21:05:28.575Z,1628888728.575 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.360001 m, bearing: 88.635331 deg, deltaT: 4.448492 s, approachRate: -0.485556 m/s, LOS rate: -0.336405 deg/s, posRepo size: 4
2021-08-13T21:05:28.577Z,1628888728.577 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 51.360001 m,
      bearing: 88.635331 deg,
      approachRate: -0.485556 m/s,
      LOS rate: -0.336405 deg/s,
      cmd update: -1.009215 deg/s,
      cmd heading: 83.525932 deg,
      new cmd heading: 84.494551 deg.

2021-08-13T21:05:31.025Z,1628888731.025 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:05:31.329Z,1628888731.329 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:05:31.329Z,1628888731.329 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:05:31.329Z,1628888731.329 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:05:31.330Z,1628888731.330 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:05:31.741Z,1628888731.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F93,000,005C9,187,80,80,7C,FF
2021-08-13T21:05:31.741Z,1628888731.741 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:05:31.742Z,1628888731.742 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:05:31.743Z,1628888731.743 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:05:32.223Z,1628888732.223 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:05:32.561Z,1628888732.561 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,015,000,005A3,182,80,80,AD,FF
2021-08-13T21:05:32.561Z,1628888732.561 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:05:33.003Z,1628888733.003 [Micromodem](INFO): Nmea in: $SNTTA,,,,,210533.31*5A

2021-08-13T21:05:33.064Z,1628888733.064 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.079998 m, bearing: 86.831341 deg, deltaT: 4.483486 s, approachRate: -0.508533 m/s, LOS rate: -0.402363 deg/s, posRepo size: 4
2021-08-13T21:05:33.066Z,1628888733.066 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 49.079998 m,
      bearing: 86.831341 deg,
      approachRate: -0.508533 m/s,
      LOS rate: -0.402363 deg/s,
      cmd update: -1.207090 deg/s,
      cmd heading: 79.005565 deg,
      new cmd heading: 78.556077 deg.

2021-08-13T21:05:35.401Z,1628888735.401 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:05:35.790Z,1628888735.790 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:05:35.790Z,1628888735.790 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:05:35.790Z,1628888735.790 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:05:35.791Z,1628888735.791 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:05:36.189Z,1628888736.189 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
015,000,005A3,182,80,80,AD,FF
2021-08-13T21:05:36.189Z,1628888736.189 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:05:36.190Z,1628888736.190 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:05:36.211Z,1628888736.211 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:05:36.603Z,1628888736.603 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:05:37.025Z,1628888737.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE2,000,0057B,185,80,80,AD,FF
2021-08-13T21:05:37.025Z,1628888737.025 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:05:37.422Z,1628888737.422 [Micromodem](INFO): Nmea in: $SNTTA,,,,,210537.78*53

2021-08-13T21:05:37.447Z,1628888737.447 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.680000 m, bearing: 88.153051 deg, deltaT: 4.519814 s, approachRate: -0.530995 m/s, LOS rate: 0.292426 deg/s, posRepo size: 4
2021-08-13T21:05:37.449Z,1628888737.449 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 46.680000 m,
      bearing: 88.153051 deg,
      approachRate: -0.530995 m/s,
      LOS rate: 0.292426 deg/s,
      cmd update: 0.877277 deg/s,
      cmd heading: 73.549249 deg,
      new cmd heading: 73.152843 deg.

2021-08-13T21:05:39.867Z,1628888739.867 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:05:40.245Z,1628888740.245 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:05:40.245Z,1628888740.245 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:05:40.245Z,1628888740.245 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:05:40.246Z,1628888740.246 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:05:40.633Z,1628888740.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE2,000,0057B,185,80,80,AD,FF
2021-08-13T21:05:40.633Z,1628888740.633 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:05:40.634Z,1628888740.634 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:05:40.637Z,1628888740.637 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:05:41.060Z,1628888741.060 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:05:41.438Z,1628888741.438 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FAF,000,00553,184,80,80,AB,FF
2021-08-13T21:05:41.438Z,1628888741.438 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:05:41.869Z,1628888741.869 [Micromodem](INFO): Nmea in: $SNTTA,,,,,210542.21*5D

2021-08-13T21:05:41.887Z,1628888741.887 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 44.279999 m, bearing: 86.549869 deg, deltaT: 4.387962 s, approachRate: -0.546951 m/s, LOS rate: -0.365359 deg/s, posRepo size: 4
2021-08-13T21:05:41.906Z,1628888741.906 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 44.279999 m,
      bearing: 86.549869 deg,
      approachRate: -0.546951 m/s,
      LOS rate: -0.365359 deg/s,
      cmd update: -1.096077 deg/s,
      cmd heading: 77.398678 deg,
      new cmd heading: 77.732807 deg.

2021-08-13T21:05:44.294Z,1628888744.294 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:05:44.685Z,1628888744.685 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:05:44.685Z,1628888744.685 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:05:44.685Z,1628888744.685 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:05:44.686Z,1628888744.686 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:05:45.069Z,1628888745.069 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FAF,000,00553,184,80,80,AB,FF
2021-08-13T21:05:45.069Z,1628888745.069 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:05:45.070Z,1628888745.070 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:05:45.071Z,1628888745.071 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:05:45.482Z,1628888745.482 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:05:45.881Z,1628888745.881 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC9,000,0052D,185,80,80,A7,FF
2021-08-13T21:05:45.882Z,1628888745.882 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:05:46.342Z,1628888746.342 [Micromodem](INFO): Nmea in: $SNTTA,0.039501,,,,210546.64*48

2021-08-13T21:05:46.398Z,1628888746.398 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.000000 m, bearing: 84.064759 deg, deltaT: 4.424828 s, approachRate: -0.515274 m/s, LOS rate: -0.561629 deg/s, posRepo size: 4
2021-08-13T21:05:46.400Z,1628888746.400 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 42.000000 m,
      bearing: 84.064759 deg,
      approachRate: -0.515274 m/s,
      LOS rate: -0.561629 deg/s,
      cmd update: -1.684886 deg/s,
      cmd heading: 72.548609 deg,
      new cmd heading: 72.037316 deg.

2021-08-13T21:05:48.727Z,1628888748.727 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:05:49.105Z,1628888749.105 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:05:49.105Z,1628888749.105 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:05:49.105Z,1628888749.105 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:05:49.106Z,1628888749.106 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:05:49.517Z,1628888749.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC9,000,0052D,185,80,80,A7,FF
2021-08-13T21:05:49.517Z,1628888749.517 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:05:49.517Z,1628888749.517 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:05:49.519Z,1628888749.519 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:05:49.916Z,1628888749.916 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:05:50.325Z,1628888750.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F80,000,00507,186,80,80,9B,FF
2021-08-13T21:05:50.325Z,1628888750.325 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:05:50.762Z,1628888750.762 [Micromodem](INFO): Nmea in: $SNTTA,,,,,210551.09*55

2021-08-13T21:05:50.778Z,1628888750.778 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.719997 m, bearing: 87.198846 deg, deltaT: 4.443085 s, approachRate: -0.513158 m/s, LOS rate: 0.705385 deg/s, posRepo size: 4
2021-08-13T21:05:50.778Z,1628888750.778 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 39.72 m.
2021-08-13T21:05:50.779Z,1628888750.779 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 39.72 m.
2021-08-13T21:05:50.779Z,1628888750.779 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-13T21:05:50.781Z,1628888750.781 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 39.719997 m,
      bearing: 87.198846 deg,
      approachRate: -0.513158 m/s,
      LOS rate: 0.705385 deg/s,
      cmd update: 2.116156 deg/s,
      cmd heading: 65.063879 deg,
      new cmd heading: 64.383114 deg.

2021-08-13T21:05:51.257Z,1628888751.257 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-13T21:05:51.258Z,1628888751.258 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T21:05:51.258Z,1628888751.258 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-13T21:05:51.258Z,1628888751.258 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-13T21:05:51.259Z,1628888751.259 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-13T21:05:51.259Z,1628888751.259 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-13T21:05:51.567Z,1628888751.567 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-13T21:05:51.567Z,1628888751.567 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T21:05:51.567Z,1628888751.567 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-13T21:05:51.567Z,1628888751.567 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T21:05:53.258Z,1628888753.258 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:05:53.557Z,1628888753.557 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:05:53.557Z,1628888753.557 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:05:53.557Z,1628888753.557 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:05:53.558Z,1628888753.558 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:05:53.958Z,1628888753.958 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F80,000,00507,186,80,80,9B,FF
2021-08-13T21:05:53.958Z,1628888753.958 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:05:53.958Z,1628888753.958 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:05:53.959Z,1628888753.959 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:05:54.373Z,1628888754.373 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:05:54.761Z,1628888754.761 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E7F,000,004E5,186,80,80,8C,FF
2021-08-13T21:05:54.761Z,1628888754.761 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:05:54.859Z,1628888754.859 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:05:55.213Z,1628888755.213 [Micromodem](INFO): Nmea in: $SNTTA,,,,,210555.53*5E

2021-08-13T21:05:55.291Z,1628888755.291 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.680000 m, bearing: 91.960533 deg, deltaT: 4.477109 s, approachRate: -0.455651 m/s, LOS rate: 1.063563 deg/s, posRepo size: 4
2021-08-13T21:05:55.298Z,1628888755.298 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 37.680000 m,
      bearing: 91.960533 deg,
      approachRate: -0.455651 m/s,
      LOS rate: 1.063563 deg/s,
      cmd update: 3.190689 deg/s,
      cmd heading: 74.542212 deg,
      new cmd heading: 75.456793 deg.

2021-08-13T21:05:57.630Z,1628888757.630 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:05:57.997Z,1628888757.997 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:05:57.997Z,1628888757.997 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:05:57.997Z,1628888757.997 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:05:57.998Z,1628888757.998 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:05:58.401Z,1628888758.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E7F,000,004E5,186,80,80,8C,FF
2021-08-13T21:05:58.401Z,1628888758.401 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:05:58.401Z,1628888758.401 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:05:58.403Z,1628888758.403 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:05:58.831Z,1628888758.831 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:05:59.241Z,1628888759.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EEE,000,004B8,187,80,80,A2,FF
2021-08-13T21:05:59.241Z,1628888759.241 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:05:59.319Z,1628888759.319 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:05:59.658Z,1628888759.658 [Micromodem](INFO): Nmea in: $SNTTA,,,,,210559.98*55

2021-08-13T21:05:59.674Z,1628888759.674 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.980000 m, bearing: 90.370882 deg, deltaT: 4.460571 s, approachRate: -0.605304 m/s, LOS rate: -0.356378 deg/s, posRepo size: 4
2021-08-13T21:05:59.676Z,1628888759.676 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 34.980000 m,
      bearing: 90.370882 deg,
      approachRate: -0.605304 m/s,
      LOS rate: -0.356378 deg/s,
      cmd update: -1.069135 deg/s,
      cmd heading: 88.782808 deg,
      new cmd heading: 89.924340 deg.

2021-08-13T21:06:02.055Z,1628888762.055 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:06:02.437Z,1628888762.437 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:06:02.437Z,1628888762.437 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:06:02.438Z,1628888762.438 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:06:02.439Z,1628888762.439 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:06:02.846Z,1628888762.846 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EEE,000,004B8,187,80,80,A2,FF
2021-08-13T21:06:02.846Z,1628888762.846 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:06:02.846Z,1628888762.846 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:06:02.850Z,1628888762.850 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:06:03.265Z,1628888763.265 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:06:03.653Z,1628888763.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,08B,000,00492,186,80,80,6F,FF
2021-08-13T21:06:03.653Z,1628888763.653 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:06:03.694Z,1628888763.694 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:06:04.097Z,1628888764.097 [Micromodem](INFO): Nmea in: $SNTTA,,,,,210604.42*59

2021-08-13T21:06:04.113Z,1628888764.113 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.699997 m, bearing: 90.226621 deg, deltaT: 4.374492 s, approachRate: -0.521204 m/s, LOS rate: -0.032978 deg/s, posRepo size: 4
2021-08-13T21:06:04.115Z,1628888764.115 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 32.699997 m,
      bearing: 90.226621 deg,
      approachRate: -0.521204 m/s,
      LOS rate: -0.032978 deg/s,
      cmd update: -0.098933 deg/s,
      cmd heading: 84.127254 deg,
      new cmd heading: 83.654516 deg.

2021-08-13T21:06:06.529Z,1628888766.529 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:06:06.893Z,1628888766.893 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:06:06.893Z,1628888766.893 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:06:06.894Z,1628888766.894 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:06:06.895Z,1628888766.895 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:06:07.297Z,1628888767.297 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
08B,000,00492,186,80,80,6F,FF
2021-08-13T21:06:07.297Z,1628888767.297 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:06:07.297Z,1628888767.297 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:06:07.299Z,1628888767.299 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:06:07.704Z,1628888767.704 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:06:08.093Z,1628888768.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,058,000,0046E,183,80,80,A6,FF
2021-08-13T21:06:08.093Z,1628888768.093 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:06:08.146Z,1628888768.146 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:06:08.541Z,1628888768.541 [Micromodem](INFO): Nmea in: $SNTTA,0.072902,,,,210608.87*4C

2021-08-13T21:06:08.601Z,1628888768.601 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.539997 m, bearing: 90.887845 deg, deltaT: 4.452640 s, approachRate: -0.485105 m/s, LOS rate: 0.148502 deg/s, posRepo size: 4
2021-08-13T21:06:08.603Z,1628888768.603 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 30.539997 m,
      bearing: 90.887845 deg,
      approachRate: -0.485105 m/s,
      LOS rate: 0.148502 deg/s,
      cmd update: 0.445505 deg/s,
      cmd heading: 83.685213 deg,
      new cmd heading: 83.639946 deg.

2021-08-13T21:06:11.002Z,1628888771.002 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:06:11.393Z,1628888771.393 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:06:11.393Z,1628888771.393 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:06:11.393Z,1628888771.393 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:06:11.394Z,1628888771.394 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:06:11.729Z,1628888771.729 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
058,000,0046E,183,80,80,A6,FF
2021-08-13T21:06:11.729Z,1628888771.729 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:06:11.729Z,1628888771.729 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:06:11.731Z,1628888771.731 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:06:12.141Z,1628888772.141 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:06:12.541Z,1628888772.541 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EFA,000,00447,187,80,80,9E,FF
2021-08-13T21:06:12.541Z,1628888772.541 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:06:12.597Z,1628888772.597 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:06:12.997Z,1628888772.997 [Micromodem](INFO): Nmea in: $SNTTA,,,,,210613.30*5A

2021-08-13T21:06:13.034Z,1628888773.034 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.199999 m, bearing: 94.536969 deg, deltaT: 4.450589 s, approachRate: -0.525773 m/s, LOS rate: 0.819919 deg/s, posRepo size: 4
2021-08-13T21:06:13.037Z,1628888773.037 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 28.199999 m,
      bearing: 94.536969 deg,
      approachRate: -0.525773 m/s,
      LOS rate: 0.819919 deg/s,
      cmd update: 2.459758 deg/s,
      cmd heading: 85.661106 deg,
      new cmd heading: 85.866372 deg.

2021-08-13T21:06:15.405Z,1628888775.405 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:06:15.769Z,1628888775.769 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:06:15.769Z,1628888775.769 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:06:15.769Z,1628888775.769 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:06:15.770Z,1628888775.770 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:06:16.189Z,1628888776.189 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EFA,000,00447,187,80,80,9E,FF
2021-08-13T21:06:16.189Z,1628888776.189 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:06:16.190Z,1628888776.190 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:06:16.204Z,1628888776.204 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:06:16.588Z,1628888776.588 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:06:17.407Z,1628888777.407 [Micromodem](INFO): Nmea in: $SNTTA,,,,,210617.78*52

2021-08-13T21:06:18.259Z,1628888778.259 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:06:19.821Z,1628888779.821 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
7,187,80,80,9E,FF
2021-08-13T21:06:19.821Z,1628888779.821 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
7,187,80,80,9E,FF
2021-08-13T21:06:19.821Z,1628888779.821 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T21:06:21.094Z,1628888781.094 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:06:21.425Z,1628888781.425 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:06:21.425Z,1628888781.425 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:06:21.425Z,1628888781.425 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:06:21.426Z,1628888781.426 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:06:21.843Z,1628888781.843 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
7,187,80,80,9E,FF
2021-08-13T21:06:21.843Z,1628888781.843 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:06:21.843Z,1628888781.843 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:06:21.845Z,1628888781.845 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:06:22.252Z,1628888782.252 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:06:22.637Z,1628888782.637 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1B6,000,003E8,185,80,80,A8,FF
2021-08-13T21:06:22.637Z,1628888782.637 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:06:22.658Z,1628888782.658 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:06:23.085Z,1628888783.085 [Micromodem](INFO): Nmea in: $SNTTA,,,,,210623.42*5C

2021-08-13T21:06:23.133Z,1628888783.133 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.499998 m, bearing: 83.628112 deg, deltaT: 10.060890 s, approachRate: -0.566550 m/s, LOS rate: -1.084283 deg/s, posRepo size: 4
2021-08-13T21:06:23.135Z,1628888783.135 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 22.499998 m,
      bearing: 83.628112 deg,
      approachRate: -0.566550 m/s,
      LOS rate: -1.084283 deg/s,
      cmd update: -3.252850 deg/s,
      cmd heading: 110.457503 deg,
      new cmd heading: 111.634022 deg.

2021-08-13T21:06:25.511Z,1628888785.511 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:06:25.881Z,1628888785.881 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:06:25.881Z,1628888785.881 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:06:25.881Z,1628888785.881 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:06:25.882Z,1628888785.882 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:06:26.285Z,1628888786.285 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1B6,000,003E8,185,80,80,A8,FF
2021-08-13T21:06:26.285Z,1628888786.285 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:06:26.286Z,1628888786.286 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:06:26.287Z,1628888786.287 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:06:26.685Z,1628888786.685 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:06:27.093Z,1628888787.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,268,000,003C5,189,80,80,72,FF
2021-08-13T21:06:27.094Z,1628888787.094 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:06:27.228Z,1628888787.228 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:06:27.521Z,1628888787.521 [Micromodem](INFO): Nmea in: $SNTTA,,,,,210627.86*50

2021-08-13T21:06:27.568Z,1628888787.568 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.400002 m, bearing: 78.848940 deg, deltaT: 4.570350 s, approachRate: -0.459483 m/s, LOS rate: -1.045691 deg/s, posRepo size: 4
2021-08-13T21:06:27.570Z,1628888787.570 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 20.400002 m,
      bearing: 78.848940 deg,
      approachRate: -0.459483 m/s,
      LOS rate: -1.045691 deg/s,
      cmd update: -3.137072 deg/s,
      cmd heading: 95.617961 deg,
      new cmd heading: 94.528643 deg.

2021-08-13T21:06:29.927Z,1628888789.927 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:06:30.325Z,1628888790.325 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:06:30.325Z,1628888790.325 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:06:30.325Z,1628888790.325 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:06:30.326Z,1628888790.326 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:06:30.721Z,1628888790.721 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
268,000,003C5,189,80,80,72,FF
2021-08-13T21:06:30.721Z,1628888790.721 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:06:30.721Z,1628888790.721 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:06:30.723Z,1628888790.723 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:06:31.140Z,1628888791.140 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:06:31.525Z,1628888791.525 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,13D,000,003A2,185,80,80,A4,FF
2021-08-13T21:06:31.525Z,1628888791.525 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:06:31.565Z,1628888791.565 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:06:31.981Z,1628888791.981 [Micromodem](INFO): Nmea in: $SNTTA,0.033536,,,,210632.30*47

2021-08-13T21:06:32.004Z,1628888792.004 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.299999 m, bearing: 81.018338 deg, deltaT: 4.337248 s, approachRate: -0.484179 m/s, LOS rate: 0.500178 deg/s, posRepo size: 4
2021-08-13T21:06:32.006Z,1628888792.006 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.299999 m,
      bearing: 81.018338 deg,
      approachRate: -0.484179 m/s,
      LOS rate: 0.500178 deg/s,
      cmd update: 1.500535 deg/s,
      cmd heading: 82.048083 deg,
      new cmd heading: 80.600578 deg.

2021-08-13T21:06:34.422Z,1628888794.422 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:06:34.770Z,1628888794.770 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:06:34.770Z,1628888794.770 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:06:34.770Z,1628888794.770 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:06:34.771Z,1628888794.771 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:06:35.158Z,1628888795.158 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
13D,000,003A2,185,80,80,A4,FF
2021-08-13T21:06:35.159Z,1628888795.159 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:06:35.159Z,1628888795.159 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:06:35.161Z,1628888795.161 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:06:35.577Z,1628888795.577 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:06:35.971Z,1628888795.971 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,024,000,00388,185,80,80,A7,FF
2021-08-13T21:06:35.971Z,1628888795.971 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:06:36.040Z,1628888796.040 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:06:36.406Z,1628888796.406 [Micromodem](INFO): Nmea in: $SNTTA,,,,,210636.73*5A

2021-08-13T21:06:36.432Z,1628888796.432 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.740000 m, bearing: 81.673093 deg, deltaT: 4.474828 s, approachRate: -0.348617 m/s, LOS rate: 0.146320 deg/s, posRepo size: 4
2021-08-13T21:06:36.434Z,1628888796.434 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.740000 m,
      bearing: 81.673093 deg,
      approachRate: -0.348617 m/s,
      LOS rate: 0.146320 deg/s,
      cmd update: 0.438959 deg/s,
      cmd heading: 88.780401 deg,
      new cmd heading: 89.384845 deg.

2021-08-13T21:06:38.850Z,1628888798.850 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:06:39.226Z,1628888799.226 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:06:39.226Z,1628888799.226 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:06:39.226Z,1628888799.226 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:06:39.227Z,1628888799.227 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:06:39.613Z,1628888799.613 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
024,000,00388,185,80,80,A7,FF
2021-08-13T21:06:39.613Z,1628888799.613 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:06:39.614Z,1628888799.614 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:06:39.615Z,1628888799.615 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:06:40.013Z,1628888800.013 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:06:40.417Z,1628888800.417 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0FA,000,00373,185,80,80,7A,FF
2021-08-13T21:06:40.417Z,1628888800.417 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:06:40.480Z,1628888800.480 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:06:40.855Z,1628888800.855 [Micromodem](INFO): Nmea in: $SNTTA,0.035646,,,,210641.19*4A

2021-08-13T21:06:40.905Z,1628888800.905 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.479998 m, bearing: 76.498549 deg, deltaT: 4.439920 s, approachRate: -0.283789 m/s, LOS rate: -1.165459 deg/s, posRepo size: 4
2021-08-13T21:06:40.907Z,1628888800.907 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.479998 m,
      bearing: 76.498549 deg,
      approachRate: -0.283789 m/s,
      LOS rate: -1.165459 deg/s,
      cmd update: -3.496377 deg/s,
      cmd heading: 90.718765 deg,
      new cmd heading: 90.918998 deg.

2021-08-13T21:06:43.357Z,1628888803.357 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:06:43.645Z,1628888803.645 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:06:43.645Z,1628888803.645 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:06:43.645Z,1628888803.645 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:06:43.646Z,1628888803.646 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:06:44.057Z,1628888804.057 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0FA,000,00373,185,80,80,7A,FF
2021-08-13T21:06:44.057Z,1628888804.057 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:06:44.057Z,1628888804.057 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:06:44.059Z,1628888804.059 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:06:44.464Z,1628888804.464 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:06:44.865Z,1628888804.865 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,202,000,00331,187,80,80,A6,FF
2021-08-13T21:06:44.866Z,1628888804.866 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:06:44.939Z,1628888804.939 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:06:45.301Z,1628888805.301 [Micromodem](INFO): Nmea in: $SNTTA,0.042877,,,,210645.63*4F

2021-08-13T21:06:45.370Z,1628888805.370 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.520001 m, bearing: 66.275689 deg, deltaT: 4.464937 s, approachRate: -0.886910 m/s, LOS rate: -2.289587 deg/s, posRepo size: 4
2021-08-13T21:06:45.373Z,1628888805.373 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.520001 m,
      bearing: 66.275689 deg,
      approachRate: -0.886910 m/s,
      LOS rate: -2.289587 deg/s,
      cmd update: -6.868760 deg/s,
      cmd heading: 75.082642 deg,
      new cmd heading: 73.496756 deg.

2021-08-13T21:06:47.716Z,1628888807.716 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:06:48.089Z,1628888808.089 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:06:48.089Z,1628888808.089 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:06:48.089Z,1628888808.089 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:06:48.090Z,1628888808.090 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:06:48.501Z,1628888808.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
202,000,00331,187,80,80,A6,FF
2021-08-13T21:06:48.501Z,1628888808.501 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:06:48.501Z,1628888808.501 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:06:48.503Z,1628888808.503 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:06:48.905Z,1628888808.905 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:06:49.305Z,1628888809.305 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,08F,000,00310,186,80,80,9E,FF
2021-08-13T21:06:49.305Z,1628888809.305 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:06:49.395Z,1628888809.395 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:06:49.750Z,1628888809.750 [Micromodem](INFO): Nmea in: $SNTTA,0.023359,,,,210650.07*49

2021-08-13T21:06:49.771Z,1628888809.771 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.540000 m, bearing: 70.027908 deg, deltaT: 4.449800 s, approachRate: -0.444964 m/s, LOS rate: 0.843233 deg/s, posRepo size: 4
2021-08-13T21:06:49.773Z,1628888809.773 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.540000 m,
      bearing: 70.027908 deg,
      approachRate: -0.444964 m/s,
      LOS rate: 0.843233 deg/s,
      cmd update: 2.529700 deg/s,
      cmd heading: 44.428108 deg,
      new cmd heading: 41.738494 deg.

2021-08-13T21:06:52.230Z,1628888812.230 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:06:52.533Z,1628888812.533 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:06:52.533Z,1628888812.533 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:06:52.533Z,1628888812.533 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:06:52.534Z,1628888812.534 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:06:52.941Z,1628888812.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
08F,000,00310,186,80,80,9E,FF
2021-08-13T21:06:52.941Z,1628888812.941 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:06:52.942Z,1628888812.942 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:06:52.948Z,1628888812.948 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:06:53.357Z,1628888813.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:06:53.753Z,1628888813.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA6,000,002F1,187,80,80,BF,FF
2021-08-13T21:06:53.753Z,1628888813.753 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:06:53.813Z,1628888813.813 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:06:54.201Z,1628888814.201 [Micromodem](INFO): Nmea in: $SNTTA,,,,,210654.52*5D

2021-08-13T21:06:54.249Z,1628888814.249 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.680000 m, bearing: 64.855610 deg, deltaT: 4.418714 s, approachRate: -0.420937 m/s, LOS rate: -1.170544 deg/s, posRepo size: 4
2021-08-13T21:06:54.251Z,1628888814.251 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.680000 m,
      bearing: 64.855610 deg,
      approachRate: -0.420937 m/s,
      LOS rate: -1.170544 deg/s,
      cmd update: -3.511631 deg/s,
      cmd heading: 55.606314 deg,
      new cmd heading: 56.734952 deg.

2021-08-13T21:06:56.596Z,1628888816.596 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:06:57.017Z,1628888817.017 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:06:57.017Z,1628888817.017 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:06:57.017Z,1628888817.017 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:06:57.018Z,1628888817.018 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:06:57.385Z,1628888817.385 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA6,000,002F1,187,80,80,BF,FF
2021-08-13T21:06:57.385Z,1628888817.385 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:06:57.385Z,1628888817.385 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:06:57.387Z,1628888817.387 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:06:57.805Z,1628888817.805 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:06:58.204Z,1628888818.204 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EFD,000,002D5,186,80,80,A3,FF
2021-08-13T21:06:58.205Z,1628888818.205 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:06:58.268Z,1628888818.268 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:06:58.625Z,1628888818.625 [Micromodem](INFO): Nmea in: $SNTTA,,,,,210658.96*59

2021-08-13T21:06:58.664Z,1628888818.664 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.999998 m, bearing: 68.644480 deg, deltaT: 4.454529 s, approachRate: -0.377145 m/s, LOS rate: 0.850566 deg/s, posRepo size: 4
2021-08-13T21:06:58.666Z,1628888818.666 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.999998 m,
      bearing: 68.644480 deg,
      approachRate: -0.377145 m/s,
      LOS rate: 0.850566 deg/s,
      cmd update: 2.551697 deg/s,
      cmd heading: 39.950930 deg,
      new cmd heading: 38.521756 deg.

2021-08-13T21:07:01.078Z,1628888821.078 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:07:01.421Z,1628888821.421 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:07:01.421Z,1628888821.421 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:07:01.421Z,1628888821.421 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:07:01.422Z,1628888821.422 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:07:01.826Z,1628888821.826 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EFD,000,002D5,186,80,80,A3,FF
2021-08-13T21:07:01.826Z,1628888821.826 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:07:01.826Z,1628888821.826 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:07:01.829Z,1628888821.829 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:07:02.262Z,1628888822.262 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:07:02.283Z,1628888822.283 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T21:07:02.633Z,1628888822.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,14F,000,002C2,186,80,80,9D,FF
2021-08-13T21:07:02.633Z,1628888822.633 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:07:02.711Z,1628888822.711 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:07:03.077Z,1628888823.077 [Micromodem](INFO): Nmea in: $SNTTA,,,,,210703.40*5D

2021-08-13T21:07:03.125Z,1628888823.125 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.860001 m, bearing: 29.294545 deg, deltaT: 4.442591 s, approachRate: -0.256606 m/s, LOS rate: -8.857429 deg/s, posRepo size: 4
2021-08-13T21:07:03.127Z,1628888823.127 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.860001 m,
      bearing: 29.294545 deg,
      approachRate: -0.256606 m/s,
      LOS rate: -8.857429 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 51.308440 deg,
      new cmd heading: 52.373016 deg.

2021-08-13T21:07:05.498Z,1628888825.498 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:07:05.873Z,1628888825.873 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:07:05.873Z,1628888825.873 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:07:05.873Z,1628888825.873 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:07:05.874Z,1628888825.874 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:07:06.269Z,1628888826.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
14F,000,002C2,186,80,80,9D,FF
2021-08-13T21:07:06.269Z,1628888826.269 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:07:06.270Z,1628888826.270 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:07:06.271Z,1628888826.271 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:07:06.677Z,1628888826.677 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:07:07.081Z,1628888827.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F0A,000,002C6,186,80,80,57,FF
2021-08-13T21:07:07.081Z,1628888827.081 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:07:07.210Z,1628888827.210 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:07:07.529Z,1628888827.529 [Micromodem](INFO): Nmea in: $SNTTA,0.045374,,,,210707.84*4E

2021-08-13T21:07:07.538Z,1628888827.538 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T21:07:07.555Z,1628888827.555 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.100000 m, bearing: 62.938506 deg, deltaT: 4.499389 s, approachRate: 0.053340 m/s, LOS rate: 7.477451 deg/s, posRepo size: 4
2021-08-13T21:07:07.558Z,1628888827.558 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.100000 m,
      bearing: 62.938506 deg,
      approachRate: 0.053340 m/s,
      LOS rate: 7.477451 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 357.893439 deg,
      new cmd heading: 353.133818 deg.

2021-08-13T21:07:09.925Z,1628888829.925 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:07:10.317Z,1628888830.317 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:07:10.317Z,1628888830.317 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:07:10.317Z,1628888830.317 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:07:10.318Z,1628888830.318 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:07:10.713Z,1628888830.713 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F0A,000,002C6,186,80,80,57,FF
2021-08-13T21:07:10.714Z,1628888830.714 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:07:10.714Z,1628888830.714 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:07:10.715Z,1628888830.715 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:07:11.125Z,1628888831.125 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:07:11.958Z,1628888831.958 [Micromodem](INFO): Nmea in: $SNTTA,,,,,210712.29*52

2021-08-13T21:07:12.330Z,1628888832.330 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F05,000,002C6,186,80,80,57,FF
2021-08-13T21:07:12.330Z,1628888832.330 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:07:12.406Z,1628888832.406 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:07:12.781Z,1628888832.781 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.100000 m, bearing: 52.789064 deg, deltaT: 5.196032 s, approachRate: 0.000000 m/s, LOS rate: -1.953306 deg/s, posRepo size: 4
2021-08-13T21:07:12.783Z,1628888832.783 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.100000 m,
      bearing: 52.789064 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -1.953306 deg/s,
      cmd update: -5.859919 deg/s,
      cmd heading: 60.775085 deg,
      new cmd heading: 65.351249 deg.

2021-08-13T21:07:15.246Z,1628888835.246 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:07:15.561Z,1628888835.561 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:07:15.561Z,1628888835.561 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:07:15.561Z,1628888835.561 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:07:15.562Z,1628888835.562 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:07:15.973Z,1628888835.973 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F05,000,002C6,186,80,80,57,FF
2021-08-13T21:07:15.973Z,1628888835.973 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:07:15.973Z,1628888835.973 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:07:15.975Z,1628888835.975 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:07:16.381Z,1628888836.381 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:07:16.777Z,1628888836.777 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E4C,000,00314,186,80,80,7A,FF
2021-08-13T21:07:16.777Z,1628888836.777 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:07:16.848Z,1628888836.848 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:07:17.262Z,1628888837.262 [Micromodem](INFO): Nmea in: $SNTTA,0.026585,,,,210717.54*4F

2021-08-13T21:07:17.294Z,1628888837.294 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T21:07:17.327Z,1628888837.327 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.780002 m, bearing: 54.903618 deg, deltaT: 4.442501 s, approachRate: 1.053461 m/s, LOS rate: 0.475983 deg/s, posRepo size: 4
2021-08-13T21:07:17.333Z,1628888837.333 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.780002 m,
      bearing: 54.903618 deg,
      approachRate: 1.053461 m/s,
      LOS rate: 0.475983 deg/s,
      cmd update: 1.427949 deg/s,
      cmd heading: 34.826283 deg,
      new cmd heading: 31.897238 deg.

2021-08-13T21:07:19.628Z,1628888839.628 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:07:20.005Z,1628888840.005 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:07:20.005Z,1628888840.005 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:07:20.005Z,1628888840.005 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:07:20.006Z,1628888840.006 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:07:20.413Z,1628888840.413 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E4C,000,00314,186,80,80,7A,FF
2021-08-13T21:07:20.413Z,1628888840.413 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:07:20.413Z,1628888840.413 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:07:20.415Z,1628888840.415 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:07:20.820Z,1628888840.820 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:07:21.237Z,1628888841.237 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,14A,000,00337,186,80,80,6E,FF
2021-08-13T21:07:21.238Z,1628888841.238 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:07:21.241Z,1628888841.241 [PowerOnly](INFO): Powering down loadControl
2021-08-13T21:07:21.336Z,1628888841.336 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:07:21.665Z,1628888841.665 [Micromodem](INFO): Nmea in: $SNTTA,,,,,210721.98*58

2021-08-13T21:07:21.760Z,1628888841.760 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.879998 m, bearing: 30.149982 deg, deltaT: 4.487414 s, approachRate: 0.467975 m/s, LOS rate: -5.516237 deg/s, posRepo size: 4
2021-08-13T21:07:21.762Z,1628888841.762 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.879998 m,
      bearing: 30.149982 deg,
      approachRate: 0.467975 m/s,
      LOS rate: -5.516237 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 41.260006 deg,
      new cmd heading: 41.869763 deg.

2021-08-13T21:07:24.090Z,1628888844.090 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:07:24.449Z,1628888844.449 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:07:24.449Z,1628888844.449 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:07:24.449Z,1628888844.449 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:07:24.450Z,1628888844.450 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:07:24.869Z,1628888844.869 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
14A,000,00337,186,80,80,6E,FF
2021-08-13T21:07:24.869Z,1628888844.869 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:07:24.869Z,1628888844.869 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:07:24.871Z,1628888844.871 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:07:25.269Z,1628888845.269 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:07:25.685Z,1628888845.685 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,140,000,0035F,186,80,80,90,FF
2021-08-13T21:07:25.686Z,1628888845.686 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:07:25.706Z,1628888845.706 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:07:26.098Z,1628888846.098 [Micromodem](INFO): Nmea in: $SNTTA,0.047091,,,,210726.44*4B

2021-08-13T21:07:26.113Z,1628888846.113 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.280000 m, bearing: 28.147198 deg, deltaT: 4.369697 s, approachRate: 0.549237 m/s, LOS rate: -0.458335 deg/s, posRepo size: 4
2021-08-13T21:07:26.115Z,1628888846.115 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.280000 m,
      bearing: 28.147198 deg,
      approachRate: 0.549237 m/s,
      LOS rate: -0.458335 deg/s,
      cmd update: -1.375004 deg/s,
      cmd heading: 348.821097 deg,
      new cmd heading: 343.895504 deg.

2021-08-13T21:07:27.335Z,1628888847.335 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T21:07:28.527Z,1628888848.527 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:07:28.909Z,1628888848.909 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:07:28.909Z,1628888848.909 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:07:28.909Z,1628888848.909 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:07:28.910Z,1628888848.910 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:07:29.301Z,1628888849.301 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
140,000,0035F,186,80,80,90,FF
2021-08-13T21:07:29.302Z,1628888849.302 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:07:29.302Z,1628888849.302 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:07:29.303Z,1628888849.303 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:07:29.728Z,1628888849.728 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:07:30.117Z,1628888850.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,029,000,00386,185,80,80,76,FF
2021-08-13T21:07:30.117Z,1628888850.117 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:07:30.174Z,1628888850.174 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:07:30.565Z,1628888850.565 [Micromodem](INFO): Nmea in: $SNTTA,,,,,210730.87*56

2021-08-13T21:07:30.591Z,1628888850.591 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.619999 m, bearing: 24.347369 deg, deltaT: 4.469013 s, approachRate: 0.523605 m/s, LOS rate: -0.850261 deg/s, posRepo size: 4
2021-08-13T21:07:30.591Z,1628888850.591 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 16.62 m. Rolling out.
2021-08-13T21:07:30.592Z,1628888850.592 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-08-13T21:07:31.015Z,1628888851.015 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2021-08-13T21:07:31.015Z,1628888851.015 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-13T21:07:31.015Z,1628888851.015 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2021-08-13T21:07:31.015Z,1628888851.015 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2021-08-13T21:07:31.015Z,1628888851.015 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2021-08-13T21:07:31.015Z,1628888851.015 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2021-08-13T21:07:31.015Z,1628888851.015 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-08-13T21:07:33.049Z,1628888853.049 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:07:33.345Z,1628888853.345 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:07:33.345Z,1628888853.345 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:07:33.345Z,1628888853.345 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:07:33.346Z,1628888853.346 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:07:33.366Z,1628888853.366 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T21:07:33.753Z,1628888853.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
029,000,00386,185,80,80,76,FF
2021-08-13T21:07:33.754Z,1628888853.754 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:07:33.754Z,1628888853.754 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:07:33.757Z,1628888853.757 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:07:34.152Z,1628888854.152 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:07:34.563Z,1628888854.563 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EDE,000,003AB,186,80,80,51,FF
2021-08-13T21:07:34.563Z,1628888854.563 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:07:34.624Z,1628888854.624 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:07:35.017Z,1628888855.017 [Micromodem](INFO): Nmea in: $SNTTA,,,,,210735.33*5C

2021-08-13T21:07:35.061Z,1628888855.061 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.840000 m, bearing: 22.136479 deg, deltaT: 4.449738 s, approachRate: 0.498906 m/s, LOS rate: -0.496858 deg/s, posRepo size: 4
2021-08-13T21:07:37.054Z,1628888857.054 [RDI_Pathfinder](ERROR): only read -1 of 1 data item for altitude
2021-08-13T21:07:37.389Z,1628888857.389 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T21:07:37.403Z,1628888857.403 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:07:37.793Z,1628888857.793 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:07:37.793Z,1628888857.793 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:07:37.793Z,1628888857.793 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:07:37.794Z,1628888857.794 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:07:38.196Z,1628888858.196 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EDE,000,003AB,186,80,80,51,FF
2021-08-13T21:07:38.197Z,1628888858.197 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:07:38.197Z,1628888858.197 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:07:38.202Z,1628888858.202 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:07:38.606Z,1628888858.606 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:07:39.033Z,1628888859.033 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,07C,000,003C2,186,80,80,97,FF
2021-08-13T21:07:39.033Z,1628888859.033 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:07:39.102Z,1628888859.102 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:07:39.422Z,1628888859.422 [Micromodem](INFO): Nmea in: $SNTTA,0.039914,,,,210739.77*48

2021-08-13T21:07:39.478Z,1628888859.478 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.219997 m, bearing: 347.940573 deg, deltaT: 4.477429 s, approachRate: 0.308212 m/s, LOS rate: -7.637398 deg/s, posRepo size: 4
2021-08-13T21:07:41.875Z,1628888861.875 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:07:42.265Z,1628888862.265 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:07:42.265Z,1628888862.265 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:07:42.265Z,1628888862.265 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:07:42.266Z,1628888862.266 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:07:42.629Z,1628888862.629 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
07C,000,003C2,186,80,80,97,FF
2021-08-13T21:07:42.629Z,1628888862.629 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:07:42.629Z,1628888862.629 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:07:42.631Z,1628888862.631 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:07:43.053Z,1628888863.053 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:07:43.437Z,1628888863.437 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,046,000,003CB,184,80,80,71,FF
2021-08-13T21:07:43.438Z,1628888863.438 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:07:43.514Z,1628888863.514 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:07:43.881Z,1628888863.881 [Micromodem](INFO): Nmea in: $SNTTA,,,,,210744.20*58

2021-08-13T21:07:43.903Z,1628888863.903 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.759998 m, bearing: 346.324687 deg, deltaT: 4.412803 s, approachRate: 0.122371 m/s, LOS rate: -0.366181 deg/s, posRepo size: 4
2021-08-13T21:07:46.304Z,1628888866.304 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:07:46.669Z,1628888866.669 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:07:46.669Z,1628888866.669 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:07:46.669Z,1628888866.669 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:07:46.670Z,1628888866.670 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:07:47.074Z,1628888867.074 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
046,000,003CB,184,80,80,71,FF
2021-08-13T21:07:47.075Z,1628888867.075 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:07:47.075Z,1628888867.075 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:07:47.077Z,1628888867.077 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:07:47.296Z,1628888867.296 [RDI_PathfinderUp](ERROR): DVL uart error: serial timeout
2021-08-13T21:07:47.296Z,1628888867.296 [RDI_PathfinderUp] Communications Fault, FailCount= 1
2021-08-13T21:07:47.296Z,1628888867.296 [RDI_PathfinderUp](ERROR): Communications Fault
2021-08-13T21:07:47.432Z,1628888867.432 [CBIT](ERROR): Communications Fault in component: RDI_PathfinderUp
2021-08-13T21:07:47.496Z,1628888867.496 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:07:47.584Z,1628888867.584 [RDI_PathfinderUp](INFO): Powering down
2021-08-13T21:07:47.893Z,1628888867.893 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F05,000,003DF,187,80,80,72,FF
2021-08-13T21:07:47.893Z,1628888867.893 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:07:47.912Z,1628888867.912 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:07:48.313Z,1628888868.313 [Micromodem](INFO): Nmea in: $SNTTA,,0.042287,,,210748.65*40

2021-08-13T21:07:48.361Z,1628888868.361 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.959997 m, bearing: 1.091390 deg, deltaT: 4.397631 s, approachRate: 0.272874 m/s, LOS rate: 3.357875 deg/s, posRepo size: 4
2021-08-13T21:07:48.451Z,1628888868.451 [CBIT](INFO): Clearing failed state for component RDI_PathfinderUp
2021-08-13T21:07:48.451Z,1628888868.451 [RDI_PathfinderUp] No Fault, FailCount= 1
2021-08-13T21:07:50.747Z,1628888870.747 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:07:51.121Z,1628888871.121 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:07:51.121Z,1628888871.121 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:07:51.121Z,1628888871.121 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:07:51.122Z,1628888871.122 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:07:51.529Z,1628888871.529 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F05,000,003DF,187,80,80,72,FF
2021-08-13T21:07:51.529Z,1628888871.529 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:07:51.529Z,1628888871.529 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:07:51.531Z,1628888871.531 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:07:51.929Z,1628888871.929 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:07:52.333Z,1628888872.333 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F6B,000,003E8,187,80,80,5B,FF
2021-08-13T21:07:52.334Z,1628888872.334 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:07:52.353Z,1628888872.353 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:07:52.761Z,1628888872.761 [Micromodem](INFO): Nmea in: $SNTTA,,,,,210753.10*5D

2021-08-13T21:07:52.783Z,1628888872.783 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.499998 m, bearing: 354.876057 deg, deltaT: 4.440679 s, approachRate: 0.121603 m/s, LOS rate: -1.399634 deg/s, posRepo size: 4
2021-08-13T21:07:55.187Z,1628888875.187 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:07:55.567Z,1628888875.567 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:07:55.567Z,1628888875.567 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:07:55.567Z,1628888875.567 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:07:55.568Z,1628888875.568 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:07:55.965Z,1628888875.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F6B,000,003E8,187,80,80,5B,FF
2021-08-13T21:07:55.965Z,1628888875.965 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:07:55.965Z,1628888875.965 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:07:55.967Z,1628888875.967 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:07:56.398Z,1628888876.398 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:07:56.777Z,1628888876.777 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EEA,000,003EB,186,80,80,5F,FF
2021-08-13T21:07:56.778Z,1628888876.778 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:07:56.796Z,1628888876.796 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:07:57.217Z,1628888877.217 [Micromodem](INFO): Nmea in: $SNTTA,0.032756,0.398061,,,210757.54*59

2021-08-13T21:07:57.267Z,1628888877.267 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.679996 m, bearing: 0.856933 deg, deltaT: 4.443430 s, approachRate: 0.040509 m/s, LOS rate: 1.346007 deg/s, posRepo size: 4
2021-08-13T21:07:59.630Z,1628888879.630 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:08:00.013Z,1628888880.013 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:08:00.014Z,1628888880.014 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:08:00.014Z,1628888880.014 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:08:00.015Z,1628888880.015 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:08:00.413Z,1628888880.413 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EEA,000,003EB,186,80,80,5F,FF
2021-08-13T21:08:00.413Z,1628888880.413 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:08:00.414Z,1628888880.414 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:08:00.416Z,1628888880.416 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:08:00.826Z,1628888880.826 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:08:01.221Z,1628888881.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EDA,000,003F8,186,80,80,86,FF
2021-08-13T21:08:01.221Z,1628888881.221 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:08:01.241Z,1628888881.241 [Micromodem](INFO): Nmea in: $SNTTA,0.068996,0.212547,,,210801.99*5B

2021-08-13T21:08:01.369Z,1628888881.369 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:08:01.664Z,1628888881.664 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.459999 m, bearing: 1.495318 deg, deltaT: 4.572695 s, approachRate: 0.170578 m/s, LOS rate: 0.139608 deg/s, posRepo size: 4
2021-08-13T21:08:04.079Z,1628888884.079 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:08:04.461Z,1628888884.461 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:08:04.461Z,1628888884.461 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:08:04.461Z,1628888884.461 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:08:04.462Z,1628888884.462 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:08:04.885Z,1628888884.885 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EDA,000,003F8,186,80,80,86,FF
2021-08-13T21:08:04.885Z,1628888884.885 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:08:04.885Z,1628888884.885 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:08:04.887Z,1628888884.887 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:08:05.284Z,1628888885.284 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:08:05.666Z,1628888885.666 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE5,000,003FA,186,80,80,78,FF
2021-08-13T21:08:05.666Z,1628888885.666 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:08:05.839Z,1628888885.839 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:08:06.141Z,1628888886.141 [Micromodem](INFO): Nmea in: $SNTTA,0.060389,,,,210806.46*4B

2021-08-13T21:08:06.192Z,1628888886.192 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.580000 m, bearing: 0.941915 deg, deltaT: 4.469739 s, approachRate: 0.026847 m/s, LOS rate: -0.123811 deg/s, posRepo size: 4
2021-08-13T21:08:08.542Z,1628888888.542 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:08:08.925Z,1628888888.925 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:08:08.925Z,1628888888.925 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:08:08.925Z,1628888888.925 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:08:08.926Z,1628888888.926 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:08:09.330Z,1628888889.330 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE5,000,003FA,186,80,80,78,FF
2021-08-13T21:08:09.330Z,1628888889.330 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:08:09.330Z,1628888889.330 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:08:09.332Z,1628888889.332 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:08:09.733Z,1628888889.733 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:08:10.137Z,1628888890.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F12,000,00400,186,80,80,4D,FF
2021-08-13T21:08:10.137Z,1628888890.137 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:08:10.191Z,1628888890.191 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:08:10.573Z,1628888890.573 [Micromodem](INFO): Nmea in: $SNTTA,0.034191,,,,210810.90*4D

2021-08-13T21:08:10.608Z,1628888890.608 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.939999 m, bearing: 358.945074 deg, deltaT: 4.352043 s, approachRate: 0.082719 m/s, LOS rate: -0.458827 deg/s, posRepo size: 4
2021-08-13T21:08:13.061Z,1628888893.061 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:08:13.373Z,1628888893.373 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:08:13.373Z,1628888893.373 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:08:13.373Z,1628888893.373 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:08:13.374Z,1628888893.374 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:08:13.780Z,1628888893.780 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F12,000,00400,186,80,80,4D,FF
2021-08-13T21:08:13.781Z,1628888893.781 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:08:13.781Z,1628888893.781 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:08:13.783Z,1628888893.783 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:08:14.176Z,1628888894.176 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:08:14.585Z,1628888894.585 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,325,000,00411,189,80,80,68,FF
2021-08-13T21:08:14.585Z,1628888894.585 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:08:14.604Z,1628888894.604 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:08:15.045Z,1628888895.045 [Micromodem](INFO): Nmea in: $SNTTA,,0.130029,,,210815.35*40

2021-08-13T21:08:15.109Z,1628888895.109 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.959997 m, bearing: 307.077874 deg, deltaT: 4.413470 s, approachRate: 0.231110 m/s, LOS rate: -11.752023 deg/s, posRepo size: 4
2021-08-13T21:08:17.455Z,1628888897.455 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:08:17.819Z,1628888897.819 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:08:17.820Z,1628888897.820 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:08:17.821Z,1628888897.821 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:08:17.822Z,1628888897.822 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:08:18.221Z,1628888898.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
325,000,00411,189,80,80,68,FF
2021-08-13T21:08:18.221Z,1628888898.221 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:08:18.221Z,1628888898.221 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:08:18.223Z,1628888898.223 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:08:18.621Z,1628888898.621 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:08:19.043Z,1628888899.043 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2A2,000,00410,189,80,80,39,FF
2021-08-13T21:08:19.060Z,1628888899.060 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:08:19.067Z,1628888899.067 [Micromodem](INFO): Nmea in: $SNTTA,0.311101,0.269283,,,210819.79*54

2021-08-13T21:08:19.114Z,1628888899.114 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-13T21:08:19.139Z,1628888899.139 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:08:19.479Z,1628888899.479 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.900000 m, bearing: 314.109636 deg, deltaT: 4.535059 s, approachRate: -0.013230 m/s, LOS rate: 1.550534 deg/s, posRepo size: 4
2021-08-13T21:08:21.928Z,1628888901.928 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:08:22.284Z,1628888902.284 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:08:22.285Z,1628888902.285 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:08:22.285Z,1628888902.285 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:08:22.286Z,1628888902.286 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:08:22.661Z,1628888902.661 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2A2,000,00410,189,80,80,39,FF
2021-08-13T21:08:22.661Z,1628888902.661 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:08:22.661Z,1628888902.661 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:08:22.663Z,1628888902.663 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:08:23.077Z,1628888903.077 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:08:23.473Z,1628888903.473 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,236,000,0040D,189,80,80,81,FF
2021-08-13T21:08:23.473Z,1628888903.473 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:08:23.525Z,1628888903.525 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:08:23.917Z,1628888903.917 [Micromodem](INFO): Nmea in: $SNTTA,,,,,210824.23*52

2021-08-13T21:08:23.943Z,1628888903.943 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.720001 m, bearing: 319.468848 deg, deltaT: 4.385357 s, approachRate: -0.041045 m/s, LOS rate: 1.222070 deg/s, posRepo size: 4
2021-08-13T21:08:26.323Z,1628888906.323 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:08:26.709Z,1628888906.709 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:08:26.709Z,1628888906.709 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:08:26.709Z,1628888906.709 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:08:26.710Z,1628888906.710 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:08:27.109Z,1628888907.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
236,000,0040D,189,80,80,81,FF
2021-08-13T21:08:27.109Z,1628888907.109 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:08:27.109Z,1628888907.109 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:08:27.111Z,1628888907.111 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:08:27.269Z,1628888907.269 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T21:08:27.524Z,1628888907.524 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:08:27.913Z,1628888907.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,08C,000,00417,186,80,80,5B,FF
2021-08-13T21:08:27.913Z,1628888907.913 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:08:27.967Z,1628888907.967 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:08:28.361Z,1628888908.361 [Micromodem](INFO): Nmea in: $SNTTA,0.145706,,,,210828.68*4E

2021-08-13T21:08:28.380Z,1628888908.380 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.320000 m, bearing: 340.416574 deg, deltaT: 4.441893 s, approachRate: 0.135077 m/s, LOS rate: 4.715946 deg/s, posRepo size: 4
2021-08-13T21:08:30.779Z,1628888910.779 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:08:31.156Z,1628888911.156 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:08:31.156Z,1628888911.156 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:08:31.157Z,1628888911.157 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:08:31.158Z,1628888911.158 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:08:31.561Z,1628888911.561 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
08C,000,00417,186,80,80,5B,FF
2021-08-13T21:08:31.561Z,1628888911.561 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:08:31.561Z,1628888911.561 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:08:31.563Z,1628888911.563 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:08:31.957Z,1628888911.957 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:08:32.372Z,1628888912.372 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,14F,000,0041C,186,80,80,6F,FF
2021-08-13T21:08:32.373Z,1628888912.373 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:08:32.391Z,1628888912.391 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:08:32.804Z,1628888912.804 [Micromodem](INFO): Nmea in: $SNTTA,,,,,210833.14*50

2021-08-13T21:08:32.865Z,1628888912.865 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.619999 m, bearing: 331.147215 deg, deltaT: 4.424933 s, approachRate: 0.067797 m/s, LOS rate: -2.094802 deg/s, posRepo size: 4
2021-08-13T21:08:35.254Z,1628888915.254 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:08:35.602Z,1628888915.602 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:08:35.602Z,1628888915.602 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:08:35.602Z,1628888915.602 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:08:35.602Z,1628888915.602 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:08:35.995Z,1628888915.995 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
14F,000,0041C,186,80,80,6F,FF
2021-08-13T21:08:35.995Z,1628888915.995 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:08:35.996Z,1628888915.996 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:08:35.998Z,1628888915.998 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:08:36.502Z,1628888916.502 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:08:36.817Z,1628888916.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0D3,000,00418,186,80,80,69,FF
2021-08-13T21:08:36.818Z,1628888916.818 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:08:36.905Z,1628888916.905 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:08:37.226Z,1628888917.226 [Micromodem](INFO): Nmea in: $SNTTA,0.036340,0.422268,,,210837.57*59

2021-08-13T21:08:37.316Z,1628888917.316 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.379997 m, bearing: 337.598164 deg, deltaT: 4.513880 s, approachRate: -0.053170 m/s, LOS rate: 1.429136 deg/s, posRepo size: 4
2021-08-13T21:08:39.677Z,1628888919.677 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:08:40.037Z,1628888920.037 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:08:40.037Z,1628888920.037 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:08:40.037Z,1628888920.037 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:08:40.038Z,1628888920.038 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:08:40.451Z,1628888920.451 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0D3,000,00418,186,80,80,69,FF
2021-08-13T21:08:40.451Z,1628888920.451 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:08:40.451Z,1628888920.451 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:08:40.454Z,1628888920.454 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:08:40.876Z,1628888920.876 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:08:41.249Z,1628888921.249 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,02A,000,00427,185,80,80,7F,FF
2021-08-13T21:08:41.249Z,1628888921.249 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:08:41.371Z,1628888921.371 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:08:41.673Z,1628888921.673 [Micromodem](INFO): Nmea in: $SNTTA,,,,,210842.03*50

2021-08-13T21:08:41.706Z,1628888921.706 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.280003 m, bearing: 346.118552 deg, deltaT: 4.466265 s, approachRate: 0.201512 m/s, LOS rate: 1.907721 deg/s, posRepo size: 4
2021-08-13T21:08:44.117Z,1628888924.117 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:08:44.481Z,1628888924.481 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:08:44.481Z,1628888924.481 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:08:44.481Z,1628888924.481 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:08:44.482Z,1628888924.482 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:08:44.901Z,1628888924.901 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
02A,000,00427,185,80,80,7F,FF
2021-08-13T21:08:44.901Z,1628888924.901 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:08:44.901Z,1628888924.901 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:08:44.903Z,1628888924.903 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:08:45.289Z,1628888925.289 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:08:45.703Z,1628888925.703 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FBE,000,0042C,184,80,80,93,FF
2021-08-13T21:08:45.704Z,1628888925.704 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:08:45.723Z,1628888925.723 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:08:46.113Z,1628888926.113 [Micromodem](INFO): Nmea in: $SNTTA,0.053853,,,,210846.47*42

2021-08-13T21:08:46.171Z,1628888926.171 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.580002 m, bearing: 351.497381 deg, deltaT: 4.351223 s, approachRate: 0.068946 m/s, LOS rate: 1.236165 deg/s, posRepo size: 4
2021-08-13T21:08:48.530Z,1628888928.530 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:08:48.925Z,1628888928.925 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:08:48.925Z,1628888928.925 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:08:48.925Z,1628888928.925 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:08:48.926Z,1628888928.926 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:08:49.325Z,1628888929.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FBE,000,0042C,184,80,80,93,FF
2021-08-13T21:08:49.325Z,1628888929.325 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:08:49.325Z,1628888929.325 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:08:49.327Z,1628888929.327 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:08:49.753Z,1628888929.753 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:08:50.566Z,1628888930.566 [Micromodem](INFO): Nmea in: $SNTTA,,,,,210850.90*59

2021-08-13T21:08:51.078Z,1628888931.078 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:08:53.002Z,1628888933.002 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,184,80,80,93,FF
2021-08-13T21:08:53.003Z,1628888933.003 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,184,80,80,93,FF
2021-08-13T21:08:53.003Z,1628888933.003 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T21:08:53.839Z,1628888933.839 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:08:54.189Z,1628888934.189 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:08:54.189Z,1628888934.189 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:08:54.189Z,1628888934.189 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:08:54.190Z,1628888934.190 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:08:54.585Z,1628888934.585 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,184,80,80,93,FF
2021-08-13T21:08:54.585Z,1628888934.585 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:08:54.586Z,1628888934.586 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:08:54.588Z,1628888934.588 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:08:55.036Z,1628888935.036 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:08:55.844Z,1628888935.844 [Micromodem](INFO): Nmea in: $SNTTA,0.035031,,,,210856.16*4B

2021-08-13T21:08:56.613Z,1628888936.613 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F55,000,03C34,187,80,80,42,FF
2021-08-13T21:08:56.614Z,1628888936.614 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:08:56.633Z,1628888936.633 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:08:57.106Z,1628888937.106 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 887.220032 m, bearing: 356.641224 deg, deltaT: 10.910375 s, approachRate: 78.882713 m/s, LOS rate: 0.471463 deg/s, posRepo size: 4
2021-08-13T21:08:57.452Z,1628888937.452 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-13T21:08:57.452Z,1628888937.452 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T21:08:57.453Z,1628888937.453 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-13T21:08:57.453Z,1628888937.453 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-13T21:08:57.453Z,1628888937.453 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-13T21:08:57.453Z,1628888937.453 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-13T21:08:57.879Z,1628888937.879 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-13T21:08:57.879Z,1628888937.879 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T21:08:57.879Z,1628888937.879 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-13T21:08:57.880Z,1628888937.880 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T21:08:59.454Z,1628888939.454 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:08:59.884Z,1628888939.884 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:08:59.885Z,1628888939.885 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:08:59.885Z,1628888939.885 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:08:59.886Z,1628888939.886 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:09:00.250Z,1628888940.250 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F55,000,03C34,187,80,80,42,FF
2021-08-13T21:09:00.250Z,1628888940.250 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:09:00.250Z,1628888940.250 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:09:00.252Z,1628888940.252 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:09:00.670Z,1628888940.670 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:09:01.073Z,1628888941.073 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE2,000,005D1,185,80,80,18,FF
2021-08-13T21:09:01.073Z,1628888941.073 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:09:01.077Z,1628888941.077 [Micromodem](INFO): Nmea in: $SNTTA,0.296461,0.296230,,,210901.82*5D

2021-08-13T21:09:01.487Z,1628888941.487 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.840004 m, bearing: 349.795325 deg, deltaT: 4.532146 s, approachRate: -184.323273 m/s, LOS rate: -1.510520 deg/s, posRepo size: 4
2021-08-13T21:09:03.930Z,1628888943.930 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:09:04.285Z,1628888944.285 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:09:04.285Z,1628888944.285 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:09:04.285Z,1628888944.285 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:09:04.286Z,1628888944.286 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:09:04.689Z,1628888944.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE2,000,005D1,185,80,80,18,FF
2021-08-13T21:09:04.689Z,1628888944.689 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:09:04.690Z,1628888944.690 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:09:04.691Z,1628888944.691 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:09:05.136Z,1628888945.136 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:09:05.542Z,1628888945.542 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F21,000,0042E,186,80,80,55,FF
2021-08-13T21:09:05.542Z,1628888945.542 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:09:05.963Z,1628888945.963 [Micromodem](INFO): Nmea in: $SNTTA,,,,,210906.26*56

2021-08-13T21:09:05.988Z,1628888945.988 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.700003 m, bearing: 0.242311 deg, deltaT: 4.399888 s, approachRate: -5.713782 m/s, LOS rate: 2.374375 deg/s, posRepo size: 4
2021-08-13T21:09:06.384Z,1628888946.384 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-13T21:09:06.384Z,1628888946.384 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T21:09:06.385Z,1628888946.385 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-13T21:09:06.385Z,1628888946.385 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-13T21:09:06.385Z,1628888946.385 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-13T21:09:06.385Z,1628888946.385 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-13T21:09:06.777Z,1628888946.777 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-13T21:09:06.777Z,1628888946.777 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T21:09:06.777Z,1628888946.777 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-13T21:09:06.778Z,1628888946.778 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T21:09:08.381Z,1628888948.381 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:09:08.765Z,1628888948.765 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:09:08.765Z,1628888948.765 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:09:08.765Z,1628888948.765 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:09:08.766Z,1628888948.766 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:09:09.169Z,1628888949.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F21,000,0042E,186,80,80,55,FF
2021-08-13T21:09:09.169Z,1628888949.169 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:09:09.169Z,1628888949.169 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:09:09.171Z,1628888949.171 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:09:09.582Z,1628888949.582 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:09:10.419Z,1628888950.419 [Micromodem](INFO): Nmea in: $SNTTA,0.070938,,,,210910.74*4D

2021-08-13T21:09:11.272Z,1628888951.272 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:09:12.805Z,1628888952.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
E,186,80,80,55,FF
2021-08-13T21:09:12.806Z,1628888952.806 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
E,186,80,80,55,FF
2021-08-13T21:09:12.806Z,1628888952.806 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T21:09:14.056Z,1628888954.056 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:09:14.425Z,1628888954.425 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:09:14.425Z,1628888954.425 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:09:14.425Z,1628888954.425 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:09:14.426Z,1628888954.426 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:09:14.846Z,1628888954.846 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
E,186,80,80,55,FF
2021-08-13T21:09:14.846Z,1628888954.846 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:09:14.846Z,1628888954.846 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:09:14.849Z,1628888954.849 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:09:15.260Z,1628888955.260 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:09:15.657Z,1628888955.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E78,000,00434,186,80,80,65,FF
2021-08-13T21:09:15.658Z,1628888955.658 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:09:15.676Z,1628888955.676 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:09:16.102Z,1628888956.102 [Micromodem](INFO): Nmea in: $SNTTA,0.035787,,,,210916.42*45

2021-08-13T21:09:16.127Z,1628888956.127 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.059999 m, bearing: 10.344982 deg, deltaT: 10.111024 s, approachRate: 0.035604 m/s, LOS rate: 0.999174 deg/s, posRepo size: 4
2021-08-13T21:09:18.530Z,1628888958.530 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:09:18.901Z,1628888958.901 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:09:18.901Z,1628888958.901 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:09:18.901Z,1628888958.901 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:09:18.902Z,1628888958.902 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:09:19.303Z,1628888959.303 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E78,000,00434,186,80,80,65,FF
2021-08-13T21:09:19.303Z,1628888959.303 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:09:19.303Z,1628888959.303 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:09:19.305Z,1628888959.305 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:09:19.752Z,1628888959.752 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:09:20.157Z,1628888960.157 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E1E,000,00435,187,80,80,82,FF
2021-08-13T21:09:20.158Z,1628888960.158 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:09:20.186Z,1628888960.186 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:09:20.585Z,1628888960.585 [Micromodem](INFO): Nmea in: $SNTTA,,0.038186,,,210920.88*4C

2021-08-13T21:09:20.608Z,1628888960.608 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.119997 m, bearing: 15.157733 deg, deltaT: 4.510037 s, approachRate: 0.013303 m/s, LOS rate: 1.067120 deg/s, posRepo size: 4
2021-08-13T21:09:23.099Z,1628888963.099 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:09:23.393Z,1628888963.393 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:09:23.393Z,1628888963.393 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:09:23.393Z,1628888963.393 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:09:23.394Z,1628888963.394 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:09:23.815Z,1628888963.815 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E1E,000,00435,187,80,80,82,FF
2021-08-13T21:09:23.816Z,1628888963.816 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:09:23.817Z,1628888963.817 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:09:23.823Z,1628888963.823 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:09:24.248Z,1628888964.248 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:09:24.630Z,1628888964.630 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DB7,000,00438,188,80,80,59,FF
2021-08-13T21:09:24.630Z,1628888964.630 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:09:24.679Z,1628888964.679 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:09:25.082Z,1628888965.082 [Micromodem](INFO): Nmea in: $SNTTA,0.051777,,,,210925.40*4A

2021-08-13T21:09:25.154Z,1628888965.154 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.300001 m, bearing: 20.868374 deg, deltaT: 4.492588 s, approachRate: 0.040067 m/s, LOS rate: 1.271125 deg/s, posRepo size: 4
2021-08-13T21:09:26.441Z,1628888966.441 [CTD_Seabird](ERROR): Failed to parse device response: .23
2021-08-13T21:09:27.478Z,1628888967.478 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:09:27.893Z,1628888967.893 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:09:27.893Z,1628888967.893 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:09:27.893Z,1628888967.893 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:09:27.894Z,1628888967.894 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:09:28.265Z,1628888968.265 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DB7,000,00438,188,80,80,59,FF
2021-08-13T21:09:28.265Z,1628888968.265 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:09:28.266Z,1628888968.266 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:09:28.267Z,1628888968.267 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:09:28.677Z,1628888968.677 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:09:29.103Z,1628888969.103 [Micromodem](INFO): Nmea in: $SNTTA,0.288990,0.289028,,,210929.84*58

2021-08-13T21:09:30.306Z,1628888970.306 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:09:31.909Z,1628888971.909 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
8,188,80,80,59,FF
2021-08-13T21:09:31.909Z,1628888971.909 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
8,188,80,80,59,FF
2021-08-13T21:09:31.909Z,1628888971.909 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T21:09:33.179Z,1628888973.179 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:09:33.529Z,1628888973.529 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:09:33.529Z,1628888973.529 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:09:33.530Z,1628888973.530 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:09:33.531Z,1628888973.531 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:09:33.927Z,1628888973.927 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
8,188,80,80,59,FF
2021-08-13T21:09:33.927Z,1628888973.927 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:09:33.927Z,1628888973.927 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:09:33.929Z,1628888973.929 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:09:34.336Z,1628888974.336 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:09:34.737Z,1628888974.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D1C,000,00445,189,80,80,43,FF
2021-08-13T21:09:34.738Z,1628888974.738 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:09:34.756Z,1628888974.756 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:09:35.173Z,1628888975.173 [Micromodem](INFO): Nmea in: $SNTTA,,,,,210935.50*57

2021-08-13T21:09:35.260Z,1628888975.260 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.079998 m, bearing: 30.564092 deg, deltaT: 10.077430 s, approachRate: 0.077400 m/s, LOS rate: 0.962122 deg/s, posRepo size: 4
2021-08-13T21:09:37.600Z,1628888977.600 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:09:37.969Z,1628888977.969 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:09:37.969Z,1628888977.969 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:09:37.969Z,1628888977.969 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:09:37.970Z,1628888977.970 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:09:38.369Z,1628888978.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D1C,000,00445,189,80,80,43,FF
2021-08-13T21:09:38.369Z,1628888978.369 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:09:38.370Z,1628888978.370 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:09:38.371Z,1628888978.371 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:09:38.794Z,1628888978.794 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:09:39.177Z,1628888979.177 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D08,000,0043F,189,80,80,80,FF
2021-08-13T21:09:39.177Z,1628888979.177 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:09:39.181Z,1628888979.181 [Micromodem](INFO): Nmea in: $SNTTA,0.196064,0.195952,,,210939.94*5C

2021-08-13T21:09:39.279Z,1628888979.279 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:09:39.611Z,1628888979.611 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.720001 m, bearing: 32.418175 deg, deltaT: 4.523165 s, approachRate: -0.079590 m/s, LOS rate: 0.409908 deg/s, posRepo size: 4
2021-08-13T21:09:42.043Z,1628888982.043 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:09:42.421Z,1628888982.421 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:09:42.421Z,1628888982.421 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:09:42.421Z,1628888982.421 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:09:42.422Z,1628888982.422 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:09:42.829Z,1628888982.829 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D08,000,0043F,189,80,80,80,FF
2021-08-13T21:09:42.829Z,1628888982.829 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:09:42.830Z,1628888982.830 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:09:42.837Z,1628888982.837 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:09:43.242Z,1628888983.242 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:09:43.625Z,1628888983.625 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FED,000,00444,183,80,80,4E,FF
2021-08-13T21:09:43.625Z,1628888983.625 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:09:43.644Z,1628888983.644 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:09:44.061Z,1628888984.061 [Micromodem](INFO): Nmea in: $SNTTA,0.173885,,,,210944.41*4F

2021-08-13T21:09:44.111Z,1628888984.111 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.020000 m, bearing: 356.225593 deg, deltaT: 4.364700 s, approachRate: 0.068733 m/s, LOS rate: -8.292113 deg/s, posRepo size: 4
2021-08-13T21:09:46.552Z,1628888986.552 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:09:46.888Z,1628888986.888 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:09:46.889Z,1628888986.889 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:09:46.889Z,1628888986.889 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:09:46.890Z,1628888986.890 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:09:47.283Z,1628888987.283 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FED,000,00444,183,80,80,4E,FF
2021-08-13T21:09:47.285Z,1628888987.285 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:09:47.286Z,1628888987.286 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:09:47.336Z,1628888987.336 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:09:47.680Z,1628888987.680 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:09:48.086Z,1628888988.086 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC9,000,00452,185,80,80,6F,FF
2021-08-13T21:09:48.086Z,1628888988.086 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:09:48.115Z,1628888988.115 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:09:48.511Z,1628888988.511 [Micromodem](INFO): Nmea in: $SNTTA,0.054144,,,,210948.91*4E

2021-08-13T21:09:48.571Z,1628888988.571 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.860003 m, bearing: 358.987393 deg, deltaT: 4.470657 s, approachRate: 0.187892 m/s, LOS rate: 0.617762 deg/s, posRepo size: 4
2021-08-13T21:09:51.002Z,1628888991.002 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:09:51.311Z,1628888991.311 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:09:51.311Z,1628888991.311 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:09:51.311Z,1628888991.311 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:09:51.328Z,1628888991.328 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:09:51.713Z,1628888991.713 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC9,000,00452,185,80,80,6F,FF
2021-08-13T21:09:51.713Z,1628888991.713 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:09:51.713Z,1628888991.713 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:09:51.715Z,1628888991.715 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:09:52.129Z,1628888992.129 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:09:52.517Z,1628888992.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F42,000,0044E,186,80,80,8C,FF
2021-08-13T21:09:52.517Z,1628888992.517 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:09:52.537Z,1628888992.537 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:09:53.023Z,1628888993.023 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.620001 m, bearing: 6.360103 deg, deltaT: 4.422261 s, approachRate: -0.054271 m/s, LOS rate: 1.667182 deg/s, posRepo size: 4
2021-08-13T21:09:55.414Z,1628888995.414 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:09:55.749Z,1628888995.749 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:09:55.749Z,1628888995.749 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:09:55.749Z,1628888995.749 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:09:55.750Z,1628888995.750 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:09:56.155Z,1628888996.155 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F42,000,0044E,186,80,80,8C,FF
2021-08-13T21:09:56.155Z,1628888996.155 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:09:56.155Z,1628888996.155 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:09:56.158Z,1628888996.158 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:09:56.569Z,1628888996.569 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:09:56.989Z,1628888996.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F7D,000,0044A,187,80,80,93,FF
2021-08-13T21:09:56.991Z,1628888996.991 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:09:57.101Z,1628888997.101 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:09:57.409Z,1628888997.409 [Micromodem](INFO): Nmea in: $SNTTA,,,,,210957.73*52

2021-08-13T21:09:57.444Z,1628888997.444 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.379997 m, bearing: 4.017963 deg, deltaT: 4.563543 s, approachRate: -0.052592 m/s, LOS rate: -0.513228 deg/s, posRepo size: 4
2021-08-13T21:09:59.853Z,1628888999.853 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:10:00.201Z,1628889000.201 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:10:00.201Z,1628889000.201 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:10:00.202Z,1628889000.202 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:10:00.202Z,1628889000.202 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:10:00.601Z,1628889000.601 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F7D,000,0044A,187,80,80,93,FF
2021-08-13T21:10:00.601Z,1628889000.601 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:10:00.601Z,1628889000.601 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:10:00.603Z,1628889000.603 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:10:01.039Z,1628889001.039 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:10:01.413Z,1628889001.413 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F21,000,0044D,186,80,80,71,FF
2021-08-13T21:10:01.414Z,1628889001.414 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:10:01.433Z,1628889001.433 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:10:01.867Z,1628889001.867 [Micromodem](INFO): Nmea in: $SNTTA,,,,,211002.18*57

2021-08-13T21:10:01.930Z,1628889001.930 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.559998 m, bearing: 9.368701 deg, deltaT: 4.331872 s, approachRate: 0.041553 m/s, LOS rate: 1.235202 deg/s, posRepo size: 4
2021-08-13T21:10:04.257Z,1628889004.257 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:10:04.641Z,1628889004.641 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:10:04.641Z,1628889004.641 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:10:04.641Z,1628889004.641 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:10:04.642Z,1628889004.642 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:10:05.053Z,1628889005.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F21,000,0044D,186,80,80,71,FF
2021-08-13T21:10:05.053Z,1628889005.053 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:10:05.053Z,1628889005.053 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:10:05.055Z,1628889005.055 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:10:05.449Z,1628889005.449 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:10:05.873Z,1628889005.873 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E6B,000,00454,185,80,80,7D,FF
2021-08-13T21:10:05.874Z,1628889005.874 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:10:05.967Z,1628889005.967 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:10:06.288Z,1628889006.288 [Micromodem](INFO): Nmea in: $SNTTA,0.038315,,,,211006.63*4D

2021-08-13T21:10:06.335Z,1628889006.335 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.979998 m, bearing: 18.467985 deg, deltaT: 4.534460 s, approachRate: 0.092624 m/s, LOS rate: 2.006696 deg/s, posRepo size: 4
2021-08-13T21:10:08.702Z,1628889008.702 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:10:09.083Z,1628889009.083 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:10:09.084Z,1628889009.084 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:10:09.084Z,1628889009.084 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:10:09.085Z,1628889009.085 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:10:09.494Z,1628889009.494 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E6B,000,00454,185,80,80,7D,FF
2021-08-13T21:10:09.494Z,1628889009.494 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:10:09.494Z,1628889009.494 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:10:09.495Z,1628889009.495 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:10:09.896Z,1628889009.896 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:10:10.298Z,1628889010.298 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EC2,000,00454,187,80,80,89,FF
2021-08-13T21:10:10.298Z,1628889010.298 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:10:10.322Z,1628889010.322 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:10:10.733Z,1628889010.733 [Micromodem](INFO): Nmea in: $SNTTA,0.058957,,,,211011.07*43

2021-08-13T21:10:10.764Z,1628889010.764 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.979998 m, bearing: 13.766131 deg, deltaT: 4.354451 s, approachRate: 0.000000 m/s, LOS rate: -1.079781 deg/s, posRepo size: 4
2021-08-13T21:10:13.177Z,1628889013.177 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:10:13.525Z,1628889013.525 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:10:13.525Z,1628889013.525 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:10:13.525Z,1628889013.525 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:10:13.526Z,1628889013.526 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:10:13.938Z,1628889013.938 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EC2,000,00454,187,80,80,89,FF
2021-08-13T21:10:13.938Z,1628889013.938 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:10:13.938Z,1628889013.938 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:10:13.940Z,1628889013.940 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:10:14.337Z,1628889014.337 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:10:14.741Z,1628889014.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FFE,000,00525,183,80,80,2D,FF
2021-08-13T21:10:14.741Z,1628889014.741 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:10:14.760Z,1628889014.760 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:10:15.177Z,1628889015.177 [Micromodem](INFO): Nmea in: $SNTTA,,,,,211015.51*5C

2021-08-13T21:10:15.238Z,1628889015.238 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 41.520000 m, bearing: 357.468359 deg, deltaT: 4.438563 s, approachRate: 2.825239 m/s, LOS rate: -3.671859 deg/s, posRepo size: 4
2021-08-13T21:10:15.581Z,1628889015.581 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-13T21:10:15.581Z,1628889015.581 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T21:10:15.581Z,1628889015.581 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-13T21:10:15.582Z,1628889015.582 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-13T21:10:15.582Z,1628889015.582 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-13T21:10:15.582Z,1628889015.582 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-13T21:10:15.985Z,1628889015.985 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-13T21:10:15.985Z,1628889015.985 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T21:10:15.985Z,1628889015.985 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-13T21:10:15.985Z,1628889015.985 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T21:10:17.582Z,1628889017.582 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:10:17.973Z,1628889017.973 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:10:17.973Z,1628889017.973 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:10:17.973Z,1628889017.973 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:10:17.974Z,1628889017.974 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:10:18.379Z,1628889018.379 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FFE,000,00525,183,80,80,2D,FF
2021-08-13T21:10:18.379Z,1628889018.379 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:10:18.379Z,1628889018.379 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:10:18.381Z,1628889018.381 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:10:18.834Z,1628889018.834 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:10:19.205Z,1628889019.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA9,000,0045A,186,80,80,4F,FF
2021-08-13T21:10:19.205Z,1628889019.205 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:10:19.638Z,1628889019.638 [Micromodem](INFO): Nmea in: $SNTTA,,,,,211019.95*58

2021-08-13T21:10:19.664Z,1628889019.664 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.340000 m, bearing: 14.479694 deg, deltaT: 4.521999 s, approachRate: -2.693499 m/s, LOS rate: 3.761907 deg/s, posRepo size: 4
2021-08-13T21:10:20.064Z,1628889020.064 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-13T21:10:20.064Z,1628889020.064 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T21:10:20.065Z,1628889020.065 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-13T21:10:20.065Z,1628889020.065 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-13T21:10:20.065Z,1628889020.065 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-13T21:10:20.065Z,1628889020.065 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-13T21:10:20.449Z,1628889020.449 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-13T21:10:20.449Z,1628889020.449 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T21:10:20.449Z,1628889020.449 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-13T21:10:20.449Z,1628889020.449 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T21:10:22.060Z,1628889022.060 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:10:22.446Z,1628889022.446 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:10:22.446Z,1628889022.446 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:10:22.447Z,1628889022.447 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:10:22.447Z,1628889022.447 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:10:22.873Z,1628889022.873 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EA9,000,0045A,186,80,80,4F,FF
2021-08-13T21:10:22.873Z,1628889022.873 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:10:22.873Z,1628889022.873 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:10:22.875Z,1628889022.875 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:10:23.259Z,1628889023.259 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:10:23.649Z,1628889023.649 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EAD,000,00458,186,80,80,7A,FF
2021-08-13T21:10:23.649Z,1628889023.649 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:10:23.703Z,1628889023.703 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:10:24.075Z,1628889024.075 [Micromodem](INFO): Nmea in: $SNTTA,,,,,211024.45*5B

2021-08-13T21:10:24.113Z,1628889024.113 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.219999 m, bearing: 14.575555 deg, deltaT: 4.421041 s, approachRate: -0.027143 m/s, LOS rate: 0.021683 deg/s, posRepo size: 4
2021-08-13T21:10:26.502Z,1628889026.502 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:10:26.921Z,1628889026.921 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:10:26.921Z,1628889026.921 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:10:26.921Z,1628889026.921 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:10:26.922Z,1628889026.922 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:10:27.289Z,1628889027.289 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EAD,000,00458,186,80,80,7A,FF
2021-08-13T21:10:27.289Z,1628889027.289 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:10:27.289Z,1628889027.289 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:10:27.291Z,1628889027.291 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:10:27.708Z,1628889027.708 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:10:28.093Z,1628889028.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA0,000,0045F,186,80,80,38,FF
2021-08-13T21:10:28.093Z,1628889028.093 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:10:28.155Z,1628889028.155 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:10:28.534Z,1628889028.534 [Micromodem](INFO): Nmea in: $SNTTA,,,,,211028.86*58

2021-08-13T21:10:28.555Z,1628889028.555 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.639999 m, bearing: 15.445899 deg, deltaT: 4.460469 s, approachRate: 0.094161 m/s, LOS rate: 0.195124 deg/s, posRepo size: 4
2021-08-13T21:10:31.015Z,1628889031.015 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:10:31.325Z,1628889031.325 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:10:31.325Z,1628889031.325 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:10:31.325Z,1628889031.325 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:10:31.326Z,1628889031.326 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:10:31.737Z,1628889031.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EA0,000,0045F,186,80,80,38,FF
2021-08-13T21:10:31.737Z,1628889031.737 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:10:31.737Z,1628889031.737 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:10:31.739Z,1628889031.739 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:10:32.137Z,1628889032.137 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:10:32.533Z,1628889032.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA9,000,00462,186,80,80,59,FF
2021-08-13T21:10:32.534Z,1628889032.534 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:10:32.558Z,1628889032.558 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:10:32.993Z,1628889032.993 [Micromodem](INFO): Nmea in: $SNTTA,,,,,211033.31*5E

2021-08-13T21:10:33.082Z,1628889033.082 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.819998 m, bearing: 15.570453 deg, deltaT: 4.394643 s, approachRate: 0.040959 m/s, LOS rate: 0.028342 deg/s, posRepo size: 4
2021-08-13T21:10:35.069Z,1628889035.069 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:10:35.373Z,1628889035.373 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:10:35.373Z,1628889035.373 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:10:35.373Z,1628889035.373 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:10:35.374Z,1628889035.374 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:10:35.784Z,1628889035.784 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EA9,000,00462,186,80,80,59,FF
2021-08-13T21:10:35.785Z,1628889035.785 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:10:35.785Z,1628889035.785 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:10:35.786Z,1628889035.786 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:10:36.176Z,1628889036.176 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:10:36.581Z,1628889036.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E73,000,00465,186,80,80,74,FF
2021-08-13T21:10:36.581Z,1628889036.581 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:10:36.601Z,1628889036.601 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:10:37.041Z,1628889037.041 [Micromodem](INFO): Nmea in: $SNTTA,,0.487103,,,211037.36*4A

2021-08-13T21:10:37.115Z,1628889037.115 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.000002 m, bearing: 18.662232 deg, deltaT: 4.042871 s, approachRate: 0.044524 m/s, LOS rate: 0.764748 deg/s, posRepo size: 4
2021-08-13T21:10:39.103Z,1628889039.103 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:10:39.405Z,1628889039.405 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:10:39.405Z,1628889039.405 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:10:39.405Z,1628889039.405 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:10:39.406Z,1628889039.406 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:10:39.817Z,1628889039.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E73,000,00465,186,80,80,74,FF
2021-08-13T21:10:39.817Z,1628889039.817 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:10:39.818Z,1628889039.818 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:10:39.823Z,1628889039.823 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:10:40.225Z,1628889040.225 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:10:40.617Z,1628889040.617 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E8B,000,0046C,187,80,80,2E,FF
2021-08-13T21:10:40.617Z,1628889040.617 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:10:40.697Z,1628889040.697 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:10:41.073Z,1628889041.073 [Micromodem](INFO): Nmea in: $SNTTA,0.067878,,,,211041.40*45

2021-08-13T21:10:41.141Z,1628889041.141 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.419996 m, bearing: 17.601536 deg, deltaT: 4.096021 s, approachRate: 0.102537 m/s, LOS rate: -0.258958 deg/s, posRepo size: 4
2021-08-13T21:10:43.474Z,1628889043.474 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:10:43.893Z,1628889043.893 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:10:43.893Z,1628889043.893 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:10:43.893Z,1628889043.893 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:10:43.894Z,1628889043.894 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:10:44.265Z,1628889044.265 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E8B,000,0046C,187,80,80,2E,FF
2021-08-13T21:10:44.265Z,1628889044.265 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:10:44.265Z,1628889044.265 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:10:44.267Z,1628889044.267 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:10:44.660Z,1628889044.660 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:10:45.065Z,1628889045.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED9,000,00473,186,80,80,84,FF
2021-08-13T21:10:45.066Z,1628889045.066 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:10:45.151Z,1628889045.151 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:10:45.505Z,1628889045.505 [Micromodem](INFO): Nmea in: $SNTTA,0.050303,,,,211045.84*4A

2021-08-13T21:10:45.538Z,1628889045.538 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.839998 m, bearing: 13.869352 deg, deltaT: 4.458367 s, approachRate: 0.094205 m/s, LOS rate: -0.837119 deg/s, posRepo size: 4
2021-08-13T21:10:47.937Z,1628889047.937 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:10:48.313Z,1628889048.313 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:10:48.313Z,1628889048.313 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:10:48.313Z,1628889048.313 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:10:48.314Z,1628889048.314 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:10:48.705Z,1628889048.705 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ED9,000,00473,186,80,80,84,FF
2021-08-13T21:10:48.705Z,1628889048.705 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:10:48.705Z,1628889048.705 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:10:48.707Z,1628889048.707 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:10:49.145Z,1628889049.145 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:10:49.545Z,1628889049.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F2C,000,00475,186,80,80,92,FF
2021-08-13T21:10:49.546Z,1628889049.546 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:10:49.565Z,1628889049.565 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:10:49.977Z,1628889049.977 [Micromodem](INFO): Nmea in: $SNTTA,,,,,211050.28*53

2021-08-13T21:10:50.025Z,1628889050.025 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.959999 m, bearing: 9.905833 deg, deltaT: 4.408999 s, approachRate: 0.027217 m/s, LOS rate: -0.898961 deg/s, posRepo size: 4
2021-08-13T21:10:52.435Z,1628889052.435 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:10:52.773Z,1628889052.773 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:10:52.773Z,1628889052.773 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:10:52.773Z,1628889052.773 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:10:52.774Z,1628889052.774 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:10:53.179Z,1628889053.179 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F2C,000,00475,186,80,80,92,FF
2021-08-13T21:10:53.179Z,1628889053.179 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:10:53.179Z,1628889053.179 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:10:53.181Z,1628889053.181 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:10:53.601Z,1628889053.601 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:10:54.009Z,1628889054.009 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E84,000,0047B,186,80,80,86,FF
2021-08-13T21:10:54.009Z,1628889054.009 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:10:54.038Z,1628889054.038 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:10:54.437Z,1628889054.437 [Micromodem](INFO): Nmea in: $SNTTA,0.080056,,,,211054.75*4A

2021-08-13T21:10:54.458Z,1628889054.458 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.320002 m, bearing: 17.727650 deg, deltaT: 4.473159 s, approachRate: 0.080481 m/s, LOS rate: 1.748612 deg/s, posRepo size: 4
2021-08-13T21:10:56.903Z,1628889056.903 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:10:57.242Z,1628889057.242 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:10:57.242Z,1628889057.242 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:10:57.242Z,1628889057.242 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:10:57.243Z,1628889057.243 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:10:57.268Z,1628889057.268 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E84,000,0047B,186,80,80,86,FF
2021-08-13T21:10:57.268Z,1628889057.268 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:10:57.268Z,1628889057.268 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:10:57.270Z,1628889057.270 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:10:57.673Z,1628889057.673 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:10:58.078Z,1628889058.078 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F24,000,0047B,186,80,80,90,FF
2021-08-13T21:10:58.078Z,1628889058.078 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:10:58.113Z,1628889058.113 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:10:58.509Z,1628889058.509 [Micromodem](INFO): Nmea in: $SNTTA,,,,,211058.84*5D

2021-08-13T21:10:58.532Z,1628889058.532 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.320002 m, bearing: 9.621542 deg, deltaT: 4.075801 s, approachRate: 0.000000 m/s, LOS rate: -1.988838 deg/s, posRepo size: 4
2021-08-13T21:11:01.005Z,1628889061.005 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:11:01.323Z,1628889061.323 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:11:01.323Z,1628889061.323 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:11:01.323Z,1628889061.323 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:11:01.323Z,1628889061.323 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:11:01.809Z,1628889061.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F24,000,0047B,186,80,80,90,FF
2021-08-13T21:11:01.809Z,1628889061.809 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:11:01.810Z,1628889061.810 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:11:01.818Z,1628889061.818 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:11:02.204Z,1628889062.204 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:11:02.593Z,1628889062.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ECA,000,00482,186,80,80,62,FF
2021-08-13T21:11:02.593Z,1628889062.593 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:11:02.613Z,1628889062.613 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:11:03.073Z,1628889063.073 [Micromodem](INFO): Nmea in: $SNTTA,0.033441,,,,211103.39*4B

2021-08-13T21:11:03.140Z,1628889063.140 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.740002 m, bearing: 13.819739 deg, deltaT: 4.500157 s, approachRate: 0.093330 m/s, LOS rate: 0.932900 deg/s, posRepo size: 4
2021-08-13T21:11:05.469Z,1628889065.469 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:11:05.839Z,1628889065.839 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:11:05.839Z,1628889065.839 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:11:05.839Z,1628889065.839 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:11:05.841Z,1628889065.841 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:11:06.248Z,1628889066.248 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ECA,000,00482,186,80,80,62,FF
2021-08-13T21:11:06.248Z,1628889066.248 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:11:06.248Z,1628889066.248 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:11:06.250Z,1628889066.250 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:11:06.645Z,1628889066.645 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:11:07.054Z,1628889067.054 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E78,000,0048C,186,80,80,98,FF
2021-08-13T21:11:07.054Z,1628889067.054 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:11:07.125Z,1628889067.125 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:11:07.473Z,1628889067.473 [Micromodem](INFO): Nmea in: $SNTTA,0.037387,,,,211107.82*46

2021-08-13T21:11:07.516Z,1628889067.516 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.340000 m, bearing: 17.191134 deg, deltaT: 4.511001 s, approachRate: 0.133008 m/s, LOS rate: 0.747372 deg/s, posRepo size: 4
2021-08-13T21:11:09.934Z,1628889069.934 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:11:10.297Z,1628889070.297 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:11:10.297Z,1628889070.297 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:11:10.297Z,1628889070.297 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:11:10.298Z,1628889070.298 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:11:10.681Z,1628889070.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E78,000,0048C,186,80,80,98,FF
2021-08-13T21:11:10.682Z,1628889070.682 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:11:10.682Z,1628889070.682 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:11:10.684Z,1628889070.684 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:11:11.100Z,1628889071.100 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:11:11.497Z,1628889071.497 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EC2,000,0048C,186,80,80,93,FF
2021-08-13T21:11:11.497Z,1628889071.497 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:11:11.516Z,1628889071.516 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:11:11.950Z,1628889071.950 [Micromodem](INFO): Nmea in: $SNTTA,,,,,211112.26*5A

2021-08-13T21:11:11.977Z,1628889071.977 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.340000 m, bearing: 13.101358 deg, deltaT: 4.391764 s, approachRate: 0.000000 m/s, LOS rate: -0.931238 deg/s, posRepo size: 4
2021-08-13T21:11:14.355Z,1628889074.355 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:11:14.721Z,1628889074.721 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:11:14.721Z,1628889074.721 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:11:14.721Z,1628889074.721 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:11:14.722Z,1628889074.722 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:11:15.142Z,1628889075.142 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EC2,000,0048C,186,80,80,93,FF
2021-08-13T21:11:15.142Z,1628889075.142 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:11:15.142Z,1628889075.142 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:11:15.145Z,1628889075.145 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:11:15.603Z,1628889075.602 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:11:16.005Z,1628889076.005 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E30,000,00495,186,80,80,49,FF
2021-08-13T21:11:16.005Z,1628889076.005 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:11:16.059Z,1628889076.059 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:11:16.413Z,1628889076.413 [Micromodem](INFO): Nmea in: $SNTTA,0.075309,,,,211116.71*4A

2021-08-13T21:11:16.448Z,1628889076.448 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.880001 m, bearing: 20.145436 deg, deltaT: 4.542132 s, approachRate: 0.118887 m/s, LOS rate: 1.550831 deg/s, posRepo size: 4
2021-08-13T21:11:18.881Z,1628889078.881 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:11:19.245Z,1628889079.245 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:11:19.245Z,1628889079.245 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:11:19.245Z,1628889079.245 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:11:19.246Z,1628889079.246 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:11:19.639Z,1628889079.639 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E30,000,00495,186,80,80,49,FF
2021-08-13T21:11:19.639Z,1628889079.639 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:11:19.639Z,1628889079.639 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:11:19.641Z,1628889079.641 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:11:20.060Z,1628889080.060 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:11:20.441Z,1628889080.441 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E8E,000,00497,186,80,80,78,FF
2021-08-13T21:11:20.441Z,1628889080.441 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:11:20.480Z,1628889080.480 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:11:20.901Z,1628889080.901 [Micromodem](INFO): Nmea in: $SNTTA,0.077876,,,,211121.21*4A

2021-08-13T21:11:20.998Z,1628889080.998 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.999996 m, bearing: 15.437433 deg, deltaT: 4.421775 s, approachRate: 0.027137 m/s, LOS rate: -1.064732 deg/s, posRepo size: 4
2021-08-13T21:11:23.339Z,1628889083.339 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:11:23.673Z,1628889083.673 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:11:23.673Z,1628889083.673 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:11:23.673Z,1628889083.673 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:11:23.674Z,1628889083.674 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:11:24.081Z,1628889084.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E8E,000,00497,186,80,80,78,FF
2021-08-13T21:11:24.081Z,1628889084.081 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:11:24.081Z,1628889084.081 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:11:24.085Z,1628889084.085 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:11:24.490Z,1628889084.490 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:11:24.906Z,1628889084.906 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E58,000,00499,187,80,80,46,FF
2021-08-13T21:11:24.906Z,1628889084.906 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:11:25.014Z,1628889085.014 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:11:25.305Z,1628889085.305 [Micromodem](INFO): Nmea in: $SNTTA,0.036427,0.337547,,,211125.66*5F

2021-08-13T21:11:25.354Z,1628889085.354 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 33.119999 m, bearing: 18.034081 deg, deltaT: 4.534003 s, approachRate: 0.026467 m/s, LOS rate: 0.572705 deg/s, posRepo size: 4
2021-08-13T21:11:27.767Z,1628889087.767 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:11:28.150Z,1628889088.150 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:11:28.150Z,1628889088.150 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:11:28.150Z,1628889088.150 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:11:28.151Z,1628889088.151 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:11:28.521Z,1628889088.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E58,000,00499,187,80,80,46,FF
2021-08-13T21:11:28.521Z,1628889088.521 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:11:28.521Z,1628889088.521 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:11:28.523Z,1628889088.523 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:11:28.935Z,1628889088.935 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:11:29.354Z,1628889089.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DE3,000,0049F,188,80,80,78,FF
2021-08-13T21:11:29.354Z,1628889089.354 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:11:29.357Z,1628889089.357 [Micromodem](INFO): Nmea in: $SNTTA,0.160404,0.160410,,,211130.09*52

2021-08-13T21:11:29.438Z,1628889089.438 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:11:29.827Z,1628889089.827 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 33.480000 m, bearing: 24.414521 deg, deltaT: 4.423844 s, approachRate: 0.081377 m/s, LOS rate: 1.442284 deg/s, posRepo size: 4
2021-08-13T21:11:32.246Z,1628889092.246 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:11:32.573Z,1628889092.573 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:11:32.573Z,1628889092.573 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:11:32.574Z,1628889092.574 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:11:32.574Z,1628889092.574 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:11:33.033Z,1628889093.033 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DE3,000,0049F,188,80,80,78,FF
2021-08-13T21:11:33.033Z,1628889093.033 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:11:33.034Z,1628889093.034 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:11:33.037Z,1628889093.037 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:11:33.387Z,1628889093.387 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:11:33.834Z,1628889093.834 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D41,000,004A3,189,80,80,82,FF
2021-08-13T21:11:33.835Z,1628889093.835 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:11:33.903Z,1628889093.903 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:11:34.239Z,1628889094.239 [Micromodem](INFO): Nmea in: $SNTTA,0.055394,,,,211134.61*4D

2021-08-13T21:11:34.272Z,1628889094.272 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 33.719997 m, bearing: 32.535784 deg, deltaT: 4.469383 s, approachRate: 0.053698 m/s, LOS rate: 1.817088 deg/s, posRepo size: 4
2021-08-13T21:11:36.640Z,1628889096.640 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:11:37.049Z,1628889097.049 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:11:37.049Z,1628889097.049 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:11:37.049Z,1628889097.049 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:11:37.050Z,1628889097.050 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:11:37.456Z,1628889097.456 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D41,000,004A3,189,80,80,82,FF
2021-08-13T21:11:37.456Z,1628889097.456 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:11:37.457Z,1628889097.457 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:11:37.458Z,1628889097.458 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:11:37.884Z,1628889097.884 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:11:38.246Z,1628889098.246 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0DB,000,004A9,187,80,80,4F,FF
2021-08-13T21:11:38.246Z,1628889098.246 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:11:38.265Z,1628889098.265 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:11:38.659Z,1628889098.659 [Micromodem](INFO): Nmea in: $SNTTA,0.069065,,,,211139.03*46

2021-08-13T21:11:38.700Z,1628889098.700 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.079998 m, bearing: 347.121033 deg, deltaT: 4.357210 s, approachRate: 0.082622 m/s, LOS rate: -10.422900 deg/s, posRepo size: 4
2021-08-13T21:11:41.154Z,1628889101.154 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:11:41.477Z,1628889101.477 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:11:41.478Z,1628889101.478 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:11:41.478Z,1628889101.478 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:11:41.479Z,1628889101.479 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:11:41.897Z,1628889101.897 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0DB,000,004A9,187,80,80,4F,FF
2021-08-13T21:11:41.897Z,1628889101.897 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:11:41.897Z,1628889101.897 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:11:41.899Z,1628889101.899 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:11:42.285Z,1628889102.285 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:11:42.691Z,1628889102.691 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0DB,000,004AC,186,80,80,62,FF
2021-08-13T21:11:42.691Z,1628889102.691 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:11:42.710Z,1628889102.710 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:11:43.121Z,1628889103.121 [Micromodem](INFO): Nmea in: $SNTTA,0.050824,0.429753,,,211143.47*5C

2021-08-13T21:11:43.195Z,1628889103.195 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.259998 m, bearing: 347.850196 deg, deltaT: 4.445724 s, approachRate: 0.040488 m/s, LOS rate: 0.164015 deg/s, posRepo size: 4
2021-08-13T21:11:45.530Z,1628889105.530 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:11:45.921Z,1628889105.921 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:11:45.921Z,1628889105.921 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:11:45.922Z,1628889105.922 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:11:45.923Z,1628889105.923 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:11:46.325Z,1628889106.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0DB,000,004AC,186,80,80,62,FF
2021-08-13T21:11:46.325Z,1628889106.325 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:11:46.325Z,1628889106.325 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:11:46.327Z,1628889106.327 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:11:46.736Z,1628889106.736 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:11:47.137Z,1628889107.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0B2,000,00278,187,80,80,69,FF
2021-08-13T21:11:47.138Z,1628889107.138 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:11:47.218Z,1628889107.218 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:11:47.709Z,1628889107.709 [Micromodem](INFO): Nmea in: $SNTTA,,,,,211147.90*57

2021-08-13T21:11:47.729Z,1628889107.729 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-08-13T21:11:47.729Z,1628889107.729 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-08-13T21:11:47.730Z,1628889107.730 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-08-13T21:11:47.730Z,1628889107.730 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-13T21:11:47.730Z,1628889107.730 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-08-13T21:11:47.731Z,1628889107.731 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 0.420000 m 
2021-08-13T21:11:47.731Z,1628889107.731 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-08-13T21:11:47.731Z,1628889107.731 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-08-13T21:11:47.731Z,1628889107.731 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-08-13T21:11:47.734Z,1628889107.734 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 0.420000 m, bearing: 350.595768 deg, deltaT: 4.507792 s, approachRate: -7.507000 m/s, LOS rate: 0.609073 deg/s, posRepo size: 4
2021-08-13T21:11:48.016Z,1628889108.016 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210813T211148: (41.552319, -70.708603)
2021-08-13T21:11:48.016Z,1628889108.016 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-08-13T21:11:48.016Z,1628889108.016 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-08-13T21:11:48.016Z,1628889108.016 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-13T21:11:48.016Z,1628889108.016 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-08-13T21:11:48.017Z,1628889108.017 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-13T21:11:48.017Z,1628889108.017 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-08-13T21:11:48.017Z,1628889108.017 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-08-13T21:11:48.017Z,1628889108.017 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-08-13T21:11:49.984Z,1628889109.984 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:11:50.361Z,1628889110.361 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:11:50.361Z,1628889110.361 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:11:50.362Z,1628889110.362 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:11:50.363Z,1628889110.363 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:11:50.765Z,1628889110.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0B2,000,00278,187,80,80,69,FF
2021-08-13T21:11:50.765Z,1628889110.765 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:11:50.765Z,1628889110.765 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:11:50.767Z,1628889110.767 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:11:51.185Z,1628889111.185 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:11:51.573Z,1628889111.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FBE,000,004B5,184,80,80,79,FF
2021-08-13T21:11:51.573Z,1628889111.573 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:11:51.620Z,1628889111.620 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:11:52.014Z,1628889112.014 [Micromodem](INFO): Nmea in: $SNTTA,0.022775,,,,211152.34*46

2021-08-13T21:11:52.039Z,1628889112.039 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.799999 m, bearing: 3.542619 deg, deltaT: 4.402190 s, approachRate: 7.809749 m/s, LOS rate: 2.941004 deg/s, posRepo size: 4
2021-08-13T21:11:54.422Z,1628889114.422 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:11:54.812Z,1628889114.812 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:11:54.813Z,1628889114.813 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:11:54.813Z,1628889114.813 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:11:54.815Z,1628889114.815 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:11:55.217Z,1628889115.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FBE,000,004B5,184,80,80,79,FF
2021-08-13T21:11:55.217Z,1628889115.217 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:11:55.217Z,1628889115.217 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:11:55.219Z,1628889115.219 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:11:55.628Z,1628889115.628 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:11:56.017Z,1628889116.017 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F5C,000,004B8,187,80,80,5C,FF
2021-08-13T21:11:56.018Z,1628889116.018 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:11:56.105Z,1628889116.105 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:11:56.462Z,1628889116.462 [Micromodem](INFO): Nmea in: $SNTTA,,,,,211156.79*50

2021-08-13T21:11:56.483Z,1628889116.483 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.980000 m, bearing: 8.920565 deg, deltaT: 4.484879 s, approachRate: 0.040135 m/s, LOS rate: 1.199129 deg/s, posRepo size: 4
2021-08-13T21:11:58.904Z,1628889118.904 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:11:59.261Z,1628889119.261 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:11:59.261Z,1628889119.261 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:11:59.261Z,1628889119.261 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:11:59.262Z,1628889119.262 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:11:59.661Z,1628889119.661 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F5C,000,004B8,187,80,80,5C,FF
2021-08-13T21:11:59.662Z,1628889119.662 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:11:59.662Z,1628889119.662 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:11:59.663Z,1628889119.663 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:12:00.065Z,1628889120.065 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:12:00.473Z,1628889120.473 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F27,000,004BC,187,80,80,89,FF
2021-08-13T21:12:00.473Z,1628889120.473 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:12:00.492Z,1628889120.492 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:12:01.049Z,1628889121.049 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.220001 m, bearing: 12.088528 deg, deltaT: 4.387058 s, approachRate: 0.054707 m/s, LOS rate: 0.722116 deg/s, posRepo size: 4
2021-08-13T21:12:03.339Z,1628889123.339 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:12:03.693Z,1628889123.693 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:12:03.693Z,1628889123.693 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:12:03.693Z,1628889123.693 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:12:03.694Z,1628889123.694 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:12:04.105Z,1628889124.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F27,000,004BC,187,80,80,89,FF
2021-08-13T21:12:04.105Z,1628889124.105 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:12:04.105Z,1628889124.105 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:12:04.107Z,1628889124.107 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:12:04.512Z,1628889124.512 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:12:04.918Z,1628889124.918 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EBA,000,004CC,186,80,80,B3,FF
2021-08-13T21:12:04.918Z,1628889124.918 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:12:05.032Z,1628889125.032 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:12:05.337Z,1628889125.337 [Micromodem](INFO): Nmea in: $SNTTA,,,,,211205.68*55

2021-08-13T21:12:05.395Z,1628889125.395 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.180000 m, bearing: 17.918672 deg, deltaT: 4.539914 s, approachRate: 0.211458 m/s, LOS rate: 1.284197 deg/s, posRepo size: 4
2021-08-13T21:12:07.758Z,1628889127.758 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:12:08.140Z,1628889128.140 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:12:08.140Z,1628889128.140 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:12:08.141Z,1628889128.141 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:12:08.141Z,1628889128.141 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:12:08.550Z,1628889128.550 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EBA,000,004CC,186,80,80,B3,FF
2021-08-13T21:12:08.550Z,1628889128.550 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:12:08.550Z,1628889128.550 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:12:08.551Z,1628889128.551 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:12:08.965Z,1628889128.965 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:12:09.352Z,1628889129.352 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F0A,000,004CA,186,80,80,8F,FF
2021-08-13T21:12:09.353Z,1628889129.353 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:12:09.356Z,1628889129.356 [Micromodem](INFO): Nmea in: $SNTTA,0.053116,0.146735,,,211210.12*5E

2021-08-13T21:12:09.374Z,1628889129.374 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:12:09.820Z,1628889129.820 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.060001 m, bearing: 14.031280 deg, deltaT: 4.341955 s, approachRate: -0.027637 m/s, LOS rate: -0.895309 deg/s, posRepo size: 4
2021-08-13T21:12:12.240Z,1628889132.240 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:12:12.589Z,1628889132.589 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:12:12.589Z,1628889132.589 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:12:12.589Z,1628889132.589 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:12:12.590Z,1628889132.590 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:12:13.037Z,1628889133.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F0A,000,004CA,186,80,80,8F,FF
2021-08-13T21:12:13.037Z,1628889133.037 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:12:13.038Z,1628889133.038 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:12:13.039Z,1628889133.039 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:12:13.409Z,1628889133.409 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:12:13.812Z,1628889133.812 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F15,000,004D0,187,80,80,91,FF
2021-08-13T21:12:13.814Z,1628889133.814 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:12:13.897Z,1628889133.897 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:12:14.227Z,1628889134.227 [Micromodem](INFO): Nmea in: $SNTTA,0.083785,,,,211214.61*43

2021-08-13T21:12:14.263Z,1628889134.263 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.419998 m, bearing: 13.299586 deg, deltaT: 4.522295 s, approachRate: 0.079605 m/s, LOS rate: -0.161797 deg/s, posRepo size: 4
2021-08-13T21:12:16.650Z,1628889136.650 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:12:17.049Z,1628889137.049 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:12:17.049Z,1628889137.049 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:12:17.049Z,1628889137.049 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:12:17.050Z,1628889137.050 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:12:17.454Z,1628889137.454 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F15,000,004D0,187,80,80,91,FF
2021-08-13T21:12:17.455Z,1628889137.455 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:12:17.455Z,1628889137.455 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:12:17.457Z,1628889137.457 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:12:17.880Z,1628889137.880 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:12:18.245Z,1628889138.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF6,000,004E1,186,80,80,5A,FF
2021-08-13T21:12:18.246Z,1628889138.246 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:12:18.265Z,1628889138.265 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:12:18.677Z,1628889138.677 [Micromodem](INFO): Nmea in: $SNTTA,,,,,211219.03*55

2021-08-13T21:12:18.719Z,1628889138.719 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.439999 m, bearing: 14.719143 deg, deltaT: 4.368273 s, approachRate: 0.233502 m/s, LOS rate: 0.324970 deg/s, posRepo size: 4
2021-08-13T21:12:21.132Z,1628889141.132 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:12:21.473Z,1628889141.473 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:12:21.473Z,1628889141.473 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:12:21.473Z,1628889141.473 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:12:21.474Z,1628889141.474 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:12:21.893Z,1628889141.893 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF6,000,004E1,186,80,80,5A,FF
2021-08-13T21:12:21.893Z,1628889141.893 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:12:21.893Z,1628889141.893 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:12:21.895Z,1628889141.895 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:12:22.289Z,1628889142.289 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:12:22.709Z,1628889142.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE9,000,004E2,187,80,80,89,FF
2021-08-13T21:12:22.709Z,1628889142.709 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:12:22.756Z,1628889142.756 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:12:23.125Z,1628889143.125 [Micromodem](INFO): Nmea in: $SNTTA,0.165468,,,,211223.46*4B

2021-08-13T21:12:23.205Z,1628889143.205 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.500000 m, bearing: 15.594442 deg, deltaT: 4.491555 s, approachRate: 0.013359 m/s, LOS rate: 0.194877 deg/s, posRepo size: 4
2021-08-13T21:12:25.554Z,1628889145.554 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:12:25.929Z,1628889145.929 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:12:25.929Z,1628889145.929 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:12:25.930Z,1628889145.930 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:12:25.930Z,1628889145.930 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:12:26.329Z,1628889146.329 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE9,000,004E2,187,80,80,89,FF
2021-08-13T21:12:26.329Z,1628889146.329 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:12:26.329Z,1628889146.329 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:12:26.331Z,1628889146.331 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:12:26.743Z,1628889146.743 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:12:27.145Z,1628889147.145 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E9C,000,004E4,186,80,80,8B,FF
2021-08-13T21:12:27.145Z,1628889147.145 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:12:27.234Z,1628889147.234 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:12:27.585Z,1628889147.585 [Micromodem](INFO): Nmea in: $SNTTA,,,,,211227.90*52

2021-08-13T21:12:27.600Z,1628889147.600 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.620003 m, bearing: 19.430847 deg, deltaT: 4.477688 s, approachRate: 0.026800 m/s, LOS rate: 0.856782 deg/s, posRepo size: 4
2021-08-13T21:12:30.019Z,1628889150.019 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:12:30.365Z,1628889150.365 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:12:30.365Z,1628889150.365 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:12:30.365Z,1628889150.365 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:12:30.366Z,1628889150.366 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:12:30.770Z,1628889150.770 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E9C,000,004E4,186,80,80,8B,FF
2021-08-13T21:12:30.770Z,1628889150.770 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:12:30.770Z,1628889150.770 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:12:30.772Z,1628889150.772 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:12:31.181Z,1628889151.181 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:12:31.590Z,1628889151.590 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F5D,000,004ED,186,80,80,7B,FF
2021-08-13T21:12:31.590Z,1628889151.590 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:12:31.656Z,1628889151.656 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:12:32.017Z,1628889152.017 [Micromodem](INFO): Nmea in: $SNTTA,,,,,211232.34*58

2021-08-13T21:12:32.054Z,1628889152.054 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.159996 m, bearing: 10.053595 deg, deltaT: 4.421942 s, approachRate: 0.122117 m/s, LOS rate: -2.120618 deg/s, posRepo size: 4
2021-08-13T21:12:34.422Z,1628889154.422 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:12:34.824Z,1628889154.824 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:12:34.825Z,1628889154.825 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:12:34.825Z,1628889154.825 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:12:34.827Z,1628889154.827 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:12:35.213Z,1628889155.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F5D,000,004ED,186,80,80,7B,FF
2021-08-13T21:12:35.213Z,1628889155.213 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:12:35.213Z,1628889155.213 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:12:35.215Z,1628889155.215 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:12:35.621Z,1628889155.621 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:12:36.025Z,1628889156.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EEE,000,004F7,186,80,80,96,FF
2021-08-13T21:12:36.026Z,1628889156.026 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:12:36.079Z,1628889156.079 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:12:36.463Z,1628889156.463 [Micromodem](INFO): Nmea in: $SNTTA,0.037588,,,,211236.78*4B

2021-08-13T21:12:36.487Z,1628889156.487 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.760002 m, bearing: 15.774260 deg, deltaT: 4.422934 s, approachRate: 0.135658 m/s, LOS rate: 1.293410 deg/s, posRepo size: 4
2021-08-13T21:12:38.950Z,1628889158.950 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:12:39.253Z,1628889159.253 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:12:39.253Z,1628889159.253 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:12:39.253Z,1628889159.253 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:12:39.254Z,1628889159.254 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:12:39.657Z,1628889159.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EEE,000,004F7,186,80,80,96,FF
2021-08-13T21:12:39.657Z,1628889159.657 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:12:39.658Z,1628889159.658 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:12:39.659Z,1628889159.659 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:12:40.070Z,1628889160.070 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:12:40.465Z,1628889160.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA1,000,00507,186,80,80,70,FF
2021-08-13T21:12:40.466Z,1628889160.466 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:12:40.559Z,1628889160.559 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:12:41.013Z,1628889161.013 [Micromodem](INFO): Nmea in: $SNTTA,0.044511,,,,211241.23*41

2021-08-13T21:12:41.075Z,1628889161.075 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.719997 m, bearing: 19.715701 deg, deltaT: 4.479751 s, approachRate: 0.214297 m/s, LOS rate: 0.879835 deg/s, posRepo size: 4
2021-08-13T21:12:43.365Z,1628889163.365 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:12:43.698Z,1628889163.698 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:12:43.698Z,1628889163.698 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:12:43.699Z,1628889163.699 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:12:43.699Z,1628889163.699 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:12:44.101Z,1628889164.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EA1,000,00507,186,80,80,70,FF
2021-08-13T21:12:44.101Z,1628889164.101 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:12:44.101Z,1628889164.101 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:12:44.103Z,1628889164.103 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:12:44.522Z,1628889164.522 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:12:44.918Z,1628889164.918 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E01,000,0050C,186,80,80,86,FF
2021-08-13T21:12:44.918Z,1628889164.918 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:12:45.021Z,1628889165.021 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:12:45.357Z,1628889165.357 [Micromodem](INFO): Nmea in: $SNTTA,,,,,211245.68*51

2021-08-13T21:12:45.403Z,1628889165.403 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.019997 m, bearing: 27.902480 deg, deltaT: 4.462489 s, approachRate: 0.067227 m/s, LOS rate: 1.834577 deg/s, posRepo size: 4
2021-08-13T21:12:45.761Z,1628889165.761 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-13T21:12:45.761Z,1628889165.761 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T21:12:45.761Z,1628889165.761 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-13T21:12:45.762Z,1628889165.762 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-13T21:12:45.762Z,1628889165.762 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-13T21:12:45.762Z,1628889165.762 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-13T21:12:46.154Z,1628889166.154 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-13T21:12:46.154Z,1628889166.154 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T21:12:46.154Z,1628889166.154 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-13T21:12:46.155Z,1628889166.155 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T21:12:47.766Z,1628889167.766 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:12:48.141Z,1628889168.141 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:12:48.141Z,1628889168.141 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:12:48.141Z,1628889168.141 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:12:48.142Z,1628889168.142 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:12:48.545Z,1628889168.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E01,000,0050C,186,80,80,86,FF
2021-08-13T21:12:48.545Z,1628889168.545 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:12:48.545Z,1628889168.545 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:12:48.547Z,1628889168.547 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:12:48.984Z,1628889168.984 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:12:49.361Z,1628889169.361 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E55,000,00507,186,80,80,8A,FF
2021-08-13T21:12:49.362Z,1628889169.362 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:12:49.365Z,1628889169.365 [Micromodem](INFO): Nmea in: $SNTTA,0.148258,0.148145,,,211250.12*57

2021-08-13T21:12:49.790Z,1628889169.790 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.719997 m, bearing: 23.454938 deg, deltaT: 4.361792 s, approachRate: -0.068779 m/s, LOS rate: -1.019660 deg/s, posRepo size: 4
2021-08-13T21:12:50.207Z,1628889170.207 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-13T21:12:50.207Z,1628889170.207 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T21:12:50.207Z,1628889170.207 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-13T21:12:50.208Z,1628889170.208 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-13T21:12:50.208Z,1628889170.208 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-13T21:12:50.208Z,1628889170.208 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-13T21:12:50.607Z,1628889170.607 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-13T21:12:50.607Z,1628889170.607 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T21:12:50.607Z,1628889170.607 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-13T21:12:50.607Z,1628889170.607 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T21:12:52.228Z,1628889172.228 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:12:52.585Z,1628889172.585 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:12:52.586Z,1628889172.586 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:12:52.586Z,1628889172.586 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:12:52.587Z,1628889172.587 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:12:53.033Z,1628889173.033 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E55,000,00507,186,80,80,8A,FF
2021-08-13T21:12:53.033Z,1628889173.033 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:12:53.033Z,1628889173.033 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:12:53.035Z,1628889173.035 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:12:53.400Z,1628889173.400 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:12:53.809Z,1628889173.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D57,000,00511,189,80,80,AD,FF
2021-08-13T21:12:53.810Z,1628889173.810 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:12:53.891Z,1628889173.891 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:12:54.223Z,1628889174.223 [Micromodem](INFO): Nmea in: $SNTTA,,,,,211254.60*59

2021-08-13T21:12:54.255Z,1628889174.255 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.319996 m, bearing: 36.386655 deg, deltaT: 4.512518 s, approachRate: 0.132963 m/s, LOS rate: 2.865743 deg/s, posRepo size: 4
2021-08-13T21:12:54.710Z,1628889174.710 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-13T21:12:54.710Z,1628889174.710 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T21:12:54.710Z,1628889174.710 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-13T21:12:54.710Z,1628889174.710 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-13T21:12:54.711Z,1628889174.711 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-13T21:12:54.711Z,1628889174.711 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-13T21:12:55.220Z,1628889175.220 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-13T21:12:55.220Z,1628889175.220 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T21:12:55.220Z,1628889175.220 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-13T21:12:55.221Z,1628889175.221 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T21:12:56.680Z,1628889176.680 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:12:57.057Z,1628889177.057 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:12:57.057Z,1628889177.057 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:12:57.057Z,1628889177.057 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:12:57.058Z,1628889177.058 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:12:57.466Z,1628889177.466 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D57,000,00511,189,80,80,AD,FF
2021-08-13T21:12:57.466Z,1628889177.466 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:12:57.466Z,1628889177.466 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:12:57.468Z,1628889177.468 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:12:57.888Z,1628889177.888 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:12:58.269Z,1628889178.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D05,000,00516,189,80,80,6D,FF
2021-08-13T21:12:58.269Z,1628889178.269 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:12:58.714Z,1628889178.714 [Micromodem](INFO): Nmea in: $SNTTA,,,,,211259.04*56

2021-08-13T21:12:58.735Z,1628889178.735 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.620003 m, bearing: 40.689646 deg, deltaT: 4.446067 s, approachRate: 0.067477 m/s, LOS rate: 0.967820 deg/s, posRepo size: 4
2021-08-13T21:13:01.153Z,1628889181.153 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:13:01.505Z,1628889181.505 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:13:01.505Z,1628889181.505 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:13:01.505Z,1628889181.505 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:13:01.506Z,1628889181.506 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:13:01.905Z,1628889181.905 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D05,000,00516,189,80,80,6D,FF
2021-08-13T21:13:01.905Z,1628889181.905 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:13:01.905Z,1628889181.905 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:13:01.907Z,1628889181.907 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:13:02.313Z,1628889182.313 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:13:03.127Z,1628889183.127 [Micromodem](INFO): Nmea in: $SNTTA,0.427458,0.427433,,,211303.48*5D

2021-08-13T21:13:03.972Z,1628889183.972 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:13:05.545Z,1628889185.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,189,80,80,6D,FF
2021-08-13T21:13:05.545Z,1628889185.545 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,189,80,80,6D,FF
2021-08-13T21:13:05.545Z,1628889185.545 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T21:13:06.788Z,1628889186.788 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:13:07.157Z,1628889187.157 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:13:07.157Z,1628889187.157 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:13:07.158Z,1628889187.158 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:13:07.159Z,1628889187.159 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:13:07.629Z,1628889187.629 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,189,80,80,6D,FF
2021-08-13T21:13:07.629Z,1628889187.629 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:13:07.629Z,1628889187.629 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:13:07.631Z,1628889187.631 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:13:07.980Z,1628889187.980 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:13:08.379Z,1628889188.379 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CD2,000,00528,18A,80,80,93,FF
2021-08-13T21:13:08.379Z,1628889188.379 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:13:08.909Z,1628889188.909 [Micromodem](INFO): Nmea in: $SNTTA,0.055957,,,,211309.21*40

2021-08-13T21:13:09.007Z,1628889189.007 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 41.700001 m, bearing: 43.614064 deg, deltaT: 10.056116 s, approachRate: 0.107397 m/s, LOS rate: 0.290810 deg/s, posRepo size: 4
2021-08-13T21:13:11.277Z,1628889191.277 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:13:11.601Z,1628889191.601 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:13:11.601Z,1628889191.601 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:13:11.601Z,1628889191.601 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:13:11.602Z,1628889191.602 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:13:12.005Z,1628889192.005 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CD2,000,00528,18A,80,80,93,FF
2021-08-13T21:13:12.005Z,1628889192.005 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:13:12.006Z,1628889192.006 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:13:12.007Z,1628889192.007 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:13:12.424Z,1628889192.424 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:13:12.829Z,1628889192.829 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CE8,000,00531,188,80,80,8D,FF
2021-08-13T21:13:12.830Z,1628889192.830 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:13:13.229Z,1628889193.229 [Micromodem](INFO): Nmea in: $SNTTA,0.053012,0.376186,,,211313.58*58

2021-08-13T21:13:13.304Z,1628889193.304 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.240002 m, bearing: 42.756451 deg, deltaT: 4.505132 s, approachRate: 0.119864 m/s, LOS rate: -0.190363 deg/s, posRepo size: 4
2021-08-13T21:13:15.662Z,1628889195.662 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:13:16.059Z,1628889196.059 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:13:16.059Z,1628889196.059 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:13:16.059Z,1628889196.059 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:13:16.060Z,1628889196.060 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:13:16.459Z,1628889196.459 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CE8,000,00531,188,80,80,8D,FF
2021-08-13T21:13:16.459Z,1628889196.459 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:13:16.459Z,1628889196.459 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:13:16.485Z,1628889196.485 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:13:16.881Z,1628889196.881 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:13:17.258Z,1628889197.258 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CF5,000,00536,189,80,80,98,FF
2021-08-13T21:13:17.259Z,1628889197.259 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:13:17.278Z,1628889197.278 [Micromodem](INFO): Nmea in: $SNTTA,0.178756,0.178506,,,211318.06*57

2021-08-13T21:13:17.701Z,1628889197.701 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.540001 m, bearing: 42.546509 deg, deltaT: 4.446460 s, approachRate: 0.067469 m/s, LOS rate: -0.047216 deg/s, posRepo size: 4
2021-08-13T21:13:20.120Z,1628889200.120 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:13:20.509Z,1628889200.509 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:13:20.509Z,1628889200.509 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:13:20.509Z,1628889200.509 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:13:20.510Z,1628889200.510 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:13:20.905Z,1628889200.905 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CF5,000,00536,189,80,80,98,FF
2021-08-13T21:13:20.905Z,1628889200.905 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:13:20.905Z,1628889200.905 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:13:20.907Z,1628889200.907 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:13:21.381Z,1628889201.381 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:13:21.717Z,1628889201.717 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CE1,000,00540,189,80,80,89,FF
2021-08-13T21:13:21.718Z,1628889201.718 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:13:22.221Z,1628889202.221 [Micromodem](INFO): Nmea in: $SNTTA,0.042382,,,,211322.48*42

2021-08-13T21:13:22.263Z,1628889202.263 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.139999 m, bearing: 43.823853 deg, deltaT: 4.403418 s, approachRate: 0.136257 m/s, LOS rate: 0.290080 deg/s, posRepo size: 4
2021-08-13T21:13:24.562Z,1628889204.562 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:13:24.938Z,1628889204.938 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:13:24.938Z,1628889204.938 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:13:24.938Z,1628889204.938 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:13:24.940Z,1628889204.940 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:13:25.354Z,1628889205.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CE1,000,00540,189,80,80,89,FF
2021-08-13T21:13:25.354Z,1628889205.354 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:13:25.354Z,1628889205.354 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:13:25.355Z,1628889205.355 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:13:25.753Z,1628889205.753 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:13:26.154Z,1628889206.154 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,BBF,000,00543,18A,80,80,54,FF
2021-08-13T21:13:26.154Z,1628889206.154 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:13:26.577Z,1628889206.577 [Micromodem](INFO): Nmea in: $SNTTA,,,,,211326.92*50

2021-08-13T21:13:26.599Z,1628889206.599 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.319996 m, bearing: 58.550670 deg, deltaT: 4.430061 s, approachRate: 0.040631 m/s, LOS rate: 3.324292 deg/s, posRepo size: 4
2021-08-13T21:13:29.080Z,1628889209.080 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:13:29.386Z,1628889209.386 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:13:29.386Z,1628889209.386 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:13:29.386Z,1628889209.386 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:13:29.387Z,1628889209.387 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:13:29.787Z,1628889209.787 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
BBF,000,00543,18A,80,80,54,FF
2021-08-13T21:13:29.792Z,1628889209.792 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:13:29.792Z,1628889209.792 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:13:29.802Z,1628889209.802 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:13:30.195Z,1628889210.195 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:13:30.593Z,1628889210.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3EB,000,00546,189,80,80,6B,FF
2021-08-13T21:13:30.594Z,1628889210.594 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:13:31.054Z,1628889211.054 [Micromodem](INFO): Nmea in: $SNTTA,,,,,211331.37*59

2021-08-13T21:13:31.120Z,1628889211.120 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.500000 m, bearing: 314.186298 deg, deltaT: 4.429817 s, approachRate: 0.040635 m/s, LOS rate: -23.559523 deg/s, posRepo size: 4
2021-08-13T21:13:33.120Z,1628889213.120 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:13:33.421Z,1628889213.421 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:13:33.421Z,1628889213.421 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:13:33.421Z,1628889213.421 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:13:33.422Z,1628889213.422 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:13:33.833Z,1628889213.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3EB,000,00546,189,80,80,6B,FF
2021-08-13T21:13:33.834Z,1628889213.834 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:13:33.834Z,1628889213.834 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:13:33.840Z,1628889213.840 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:13:34.250Z,1628889214.250 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:13:34.693Z,1628889214.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,271,000,0054E,189,80,80,6A,FF
2021-08-13T21:13:34.694Z,1628889214.694 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:13:35.102Z,1628889215.102 [Micromodem](INFO): Nmea in: $SNTTA,0.043835,,,,211335.41*4B

2021-08-13T21:13:35.164Z,1628889215.164 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.980000 m, bearing: 332.963089 deg, deltaT: 4.119929 s, approachRate: 0.116507 m/s, LOS rate: 4.557552 deg/s, posRepo size: 4
2021-08-13T21:13:37.543Z,1628889217.543 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:13:37.885Z,1628889217.885 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:13:37.885Z,1628889217.885 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:13:37.885Z,1628889217.885 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:13:37.886Z,1628889217.886 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:13:38.271Z,1628889218.271 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
271,000,0054E,189,80,80,6A,FF
2021-08-13T21:13:38.271Z,1628889218.271 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:13:38.271Z,1628889218.271 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:13:38.273Z,1628889218.273 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:13:38.682Z,1628889218.682 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:13:39.077Z,1628889219.077 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,288,000,00556,188,80,80,80,FF
2021-08-13T21:13:39.077Z,1628889219.077 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:13:39.159Z,1628889219.159 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-13T21:13:39.518Z,1628889219.518 [Micromodem](INFO): Nmea in: $SNTTA,,,,,211339.84*59

2021-08-13T21:13:39.539Z,1628889219.539 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 44.459999 m, bearing: 331.669587 deg, deltaT: 4.463691 s, approachRate: 0.107534 m/s, LOS rate: -0.289783 deg/s, posRepo size: 4
2021-08-13T21:13:41.940Z,1628889221.940 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:13:42.301Z,1628889222.301 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:13:42.301Z,1628889222.301 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:13:42.301Z,1628889222.301 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:13:42.302Z,1628889222.302 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:13:42.713Z,1628889222.713 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
288,000,00556,188,80,80,80,FF
2021-08-13T21:13:42.714Z,1628889222.714 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:13:42.714Z,1628889222.714 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:13:42.716Z,1628889222.716 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:13:43.117Z,1628889223.117 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:13:43.521Z,1628889223.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B70,000,00561,18A,80,80,65,FF
2021-08-13T21:13:43.522Z,1628889223.522 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:13:43.949Z,1628889223.949 [Micromodem](INFO): Nmea in: $SNTTA,,,,,211344.29*54

2021-08-13T21:13:43.991Z,1628889223.991 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.119999 m, bearing: 62.182998 deg, deltaT: 4.343960 s, approachRate: 0.151935 m/s, LOS rate: 20.836612 deg/s, posRepo size: 4
2021-08-13T21:13:46.383Z,1628889226.383 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:13:46.745Z,1628889226.745 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:13:46.745Z,1628889226.745 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:13:46.746Z,1628889226.746 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:13:46.747Z,1628889226.747 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:13:47.161Z,1628889227.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B70,000,00561,18A,80,80,65,FF
2021-08-13T21:13:47.161Z,1628889227.161 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:13:47.161Z,1628889227.161 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:13:47.163Z,1628889227.163 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:13:47.580Z,1628889227.580 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:13:48.029Z,1628889228.029 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2B7,000,00565,189,80,80,93,FF
2021-08-13T21:13:48.029Z,1628889228.029 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:13:48.433Z,1628889228.433 [Micromodem](INFO): Nmea in: $SNTTA,0.044007,,,,211348.74*49

2021-08-13T21:13:48.449Z,1628889228.449 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.360001 m, bearing: 329.437946 deg, deltaT: 4.564243 s, approachRate: 0.052583 m/s, LOS rate: -20.319920 deg/s, posRepo size: 4
2021-08-13T21:13:50.859Z,1628889230.859 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:13:51.197Z,1628889231.197 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:13:51.197Z,1628889231.197 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:13:51.197Z,1628889231.197 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:13:51.198Z,1628889231.198 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:13:51.597Z,1628889231.597 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2B7,000,00565,189,80,80,93,FF
2021-08-13T21:13:51.597Z,1628889231.597 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:13:51.597Z,1628889231.597 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:13:51.599Z,1628889231.599 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:13:52.018Z,1628889232.018 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:13:52.405Z,1628889232.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2B1,000,0056C,189,80,80,70,FF
2021-08-13T21:13:52.405Z,1628889232.405 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:13:52.865Z,1628889232.865 [Micromodem](INFO): Nmea in: $SNTTA,,,,,211353.17*5F

2021-08-13T21:13:52.909Z,1628889232.909 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.780003 m, bearing: 329.688259 deg, deltaT: 4.352589 s, approachRate: 0.096495 m/s, LOS rate: 0.057509 deg/s, posRepo size: 4
2021-08-13T21:13:55.278Z,1628889235.278 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:13:55.649Z,1628889235.649 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:13:55.649Z,1628889235.649 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:13:55.649Z,1628889235.649 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:13:55.650Z,1628889235.650 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:13:56.053Z,1628889236.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2B1,000,0056C,189,80,80,70,FF
2021-08-13T21:13:56.053Z,1628889236.053 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:13:56.053Z,1628889236.053 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:13:56.055Z,1628889236.055 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:13:56.456Z,1628889236.456 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:13:56.885Z,1628889236.885 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2D3,000,0056F,189,80,80,7F,FF
2021-08-13T21:13:56.885Z,1628889236.885 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:13:57.282Z,1628889237.282 [Micromodem](INFO): Nmea in: $SNTTA,0.352682,0.352620,,,211357.63*50

2021-08-13T21:13:57.318Z,1628889237.318 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.959999 m, bearing: 327.985793 deg, deltaT: 4.544404 s, approachRate: 0.039608 m/s, LOS rate: -0.374629 deg/s, posRepo size: 4
2021-08-13T21:13:59.702Z,1628889239.702 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:14:00.085Z,1628889240.085 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:14:00.085Z,1628889240.085 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:14:00.085Z,1628889240.085 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:14:00.086Z,1628889240.086 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:14:00.485Z,1628889240.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2D3,000,0056F,189,80,80,7F,FF
2021-08-13T21:14:00.485Z,1628889240.485 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:14:00.485Z,1628889240.485 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:14:00.487Z,1628889240.487 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:14:00.906Z,1628889240.906 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:14:01.581Z,1628889241.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2B4,000,00576,189,80,80,7A,FF
2021-08-13T21:14:01.582Z,1628889241.582 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:14:01.650Z,1628889241.650 [Micromodem](INFO): Nmea in: $SNTTA,,,,,211402.06*5C

2021-08-13T21:14:01.940Z,1628889241.940 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.380001 m, bearing: 330.094956 deg, deltaT: 4.711564 s, approachRate: 0.089143 m/s, LOS rate: 0.447657 deg/s, posRepo size: 4
2021-08-13T21:14:04.262Z,1628889244.262 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:14:04.633Z,1628889244.633 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:14:04.633Z,1628889244.633 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:14:04.633Z,1628889244.633 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:14:04.634Z,1628889244.634 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:14:05.045Z,1628889245.045 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2B4,000,00576,189,80,80,7A,FF
2021-08-13T21:14:05.045Z,1628889245.045 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:14:05.045Z,1628889245.045 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:14:05.047Z,1628889245.047 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:14:05.441Z,1628889245.441 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:14:05.915Z,1628889245.915 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2AB,000,00580,189,80,80,63,FF
2021-08-13T21:14:05.915Z,1628889245.915 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:14:06.265Z,1628889246.265 [Micromodem](INFO): Nmea in: $SNTTA,0.044735,,,,211406.62*45

2021-08-13T21:14:06.363Z,1628889246.363 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.979996 m, bearing: 330.167000 deg, deltaT: 4.272739 s, approachRate: 0.140424 m/s, LOS rate: 0.016862 deg/s, posRepo size: 4
2021-08-13T21:14:08.682Z,1628889248.682 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:14:09.069Z,1628889249.069 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:14:09.069Z,1628889249.069 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:14:09.069Z,1628889249.069 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:14:09.070Z,1628889249.070 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:14:09.478Z,1628889249.478 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2AB,000,00580,189,80,80,63,FF
2021-08-13T21:14:09.478Z,1628889249.478 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:14:09.478Z,1628889249.478 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:14:09.480Z,1628889249.480 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:14:09.893Z,1628889249.893 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:14:10.281Z,1628889250.281 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,298,000,00586,189,80,80,5F,FF
2021-08-13T21:14:10.282Z,1628889250.282 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:14:10.725Z,1628889250.725 [Micromodem](INFO): Nmea in: $SNTTA,,,,,211411.05*5D

2021-08-13T21:14:10.756Z,1628889250.756 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.339996 m, bearing: 331.182103 deg, deltaT: 4.314298 s, approachRate: 0.083444 m/s, LOS rate: 0.235288 deg/s, posRepo size: 4
2021-08-13T21:14:13.181Z,1628889253.181 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:14:13.521Z,1628889253.521 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:14:13.521Z,1628889253.521 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:14:13.521Z,1628889253.521 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:14:13.522Z,1628889253.522 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:14:13.921Z,1628889253.921 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
298,000,00586,189,80,80,5F,FF
2021-08-13T21:14:13.921Z,1628889253.921 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:14:13.921Z,1628889253.921 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:14:13.923Z,1628889253.923 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:14:14.329Z,1628889254.329 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:14:14.729Z,1628889254.729 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,29B,000,0058E,189,80,80,4D,FF
2021-08-13T21:14:14.729Z,1628889254.729 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:14:15.237Z,1628889255.237 [Micromodem](INFO): Nmea in: $SNTTA,,,,,211415.49*51

2021-08-13T21:14:15.313Z,1628889255.313 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.820000 m, bearing: 331.145302 deg, deltaT: 4.544685 s, approachRate: 0.105619 m/s, LOS rate: -0.008098 deg/s, posRepo size: 4
2021-08-13T21:14:17.602Z,1628889257.602 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:14:17.957Z,1628889257.957 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:14:17.957Z,1628889257.957 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:14:17.957Z,1628889257.957 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:14:17.958Z,1628889257.958 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:14:18.369Z,1628889258.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
29B,000,0058E,189,80,80,4D,FF
2021-08-13T21:14:18.369Z,1628889258.369 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:14:18.369Z,1628889258.369 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:14:18.371Z,1628889258.371 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:14:18.773Z,1628889258.773 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:14:19.173Z,1628889259.173 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DD7,000,00594,189,80,80,69,FF
2021-08-13T21:14:19.173Z,1628889259.173 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:14:19.601Z,1628889259.601 [Micromodem](INFO): Nmea in: $SNTTA,0.062867,,,,211419.94*4E

2021-08-13T21:14:19.635Z,1628889259.635 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 48.179996 m, bearing: 32.150066 deg, deltaT: 4.402275 s, approachRate: 0.081775 m/s, LOS rate: 13.857551 deg/s, posRepo size: 4
2021-08-13T21:14:22.038Z,1628889262.038 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:14:22.405Z,1628889262.405 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:14:22.405Z,1628889262.405 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:14:22.405Z,1628889262.405 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:14:22.406Z,1628889262.406 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:14:22.813Z,1628889262.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DD7,000,00594,189,80,80,69,FF
2021-08-13T21:14:22.813Z,1628889262.813 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:14:22.813Z,1628889262.813 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:14:22.823Z,1628889262.823 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:14:23.221Z,1628889263.221 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:14:23.627Z,1628889263.627 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DF9,000,0059A,188,80,80,66,FF
2021-08-13T21:14:23.627Z,1628889263.627 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:14:24.057Z,1628889264.057 [Micromodem](INFO): Nmea in: $SNTTA,,,,,211424.40*5A

2021-08-13T21:14:24.087Z,1628889264.087 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 48.540005 m, bearing: 30.399847 deg, deltaT: 4.398402 s, approachRate: 0.081850 m/s, LOS rate: -0.397922 deg/s, posRepo size: 4
2021-08-13T21:14:26.466Z,1628889266.466 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:14:26.877Z,1628889266.877 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:14:26.877Z,1628889266.877 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:14:26.877Z,1628889266.877 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:14:26.878Z,1628889266.878 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:14:27.259Z,1628889267.259 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DF9,000,0059A,188,80,80,66,FF
2021-08-13T21:14:27.259Z,1628889267.259 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:14:27.259Z,1628889267.259 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:14:27.261Z,1628889267.261 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:14:27.665Z,1628889267.665 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:14:28.065Z,1628889268.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,267,000,005A6,188,80,80,51,FF
2021-08-13T21:14:28.066Z,1628889268.066 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:14:28.573Z,1628889268.573 [Micromodem](INFO): Nmea in: $SNTTA,0.044723,,,,211428.83*41

2021-08-13T21:14:28.597Z,1628889268.597 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.259998 m, bearing: 333.843582 deg, deltaT: 4.472702 s, approachRate: 0.160975 m/s, LOS rate: -12.644768 deg/s, posRepo size: 4
2021-08-13T21:14:30.969Z,1628889270.969 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:14:31.289Z,1628889271.289 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:14:31.289Z,1628889271.289 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:14:31.289Z,1628889271.289 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:14:31.290Z,1628889271.290 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:14:31.697Z,1628889271.697 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
267,000,005A6,188,80,80,51,FF
2021-08-13T21:14:31.697Z,1628889271.697 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:14:31.698Z,1628889271.698 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:14:31.699Z,1628889271.699 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:14:32.101Z,1628889272.101 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:14:32.497Z,1628889272.497 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,212,000,005AB,187,80,80,81,FF
2021-08-13T21:14:32.498Z,1628889272.498 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:14:32.944Z,1628889272.944 [Micromodem](INFO): Nmea in: $SNTTA,,,,,211433.27*5D

2021-08-13T21:14:33.017Z,1628889273.017 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.560001 m, bearing: 338.177556 deg, deltaT: 4.451878 s, approachRate: 0.067388 m/s, LOS rate: 0.973516 deg/s, posRepo size: 4
2021-08-13T21:14:35.384Z,1628889275.384 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:14:35.729Z,1628889275.729 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:14:35.729Z,1628889275.729 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:14:35.729Z,1628889275.729 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:14:35.730Z,1628889275.730 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:14:36.141Z,1628889276.141 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
212,000,005AB,187,80,80,81,FF
2021-08-13T21:14:36.141Z,1628889276.141 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:14:36.141Z,1628889276.141 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:14:36.143Z,1628889276.143 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:14:36.545Z,1628889276.545 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:14:36.970Z,1628889276.970 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,227,000,005B5,188,80,80,77,FF
2021-08-13T21:14:36.971Z,1628889276.971 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:14:36.998Z,1628889276.998 [Micromodem](INFO): Nmea in: $SNTTA,0.308229,0.307479,,,211437.71*56

2021-08-13T21:14:37.388Z,1628889277.388 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 50.160004 m, bearing: 337.145569 deg, deltaT: 4.502732 s, approachRate: 0.133253 m/s, LOS rate: -0.229191 deg/s, posRepo size: 4
2021-08-13T21:14:39.842Z,1628889279.842 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:14:40.192Z,1628889280.192 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:14:40.192Z,1628889280.192 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:14:40.193Z,1628889280.193 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:14:40.193Z,1628889280.193 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:14:40.589Z,1628889280.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
227,000,005B5,188,80,80,77,FF
2021-08-13T21:14:40.589Z,1628889280.589 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:14:40.589Z,1628889280.589 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:14:40.591Z,1628889280.591 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:14:41.041Z,1628889281.041 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:14:41.427Z,1628889281.427 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1D8,000,005C3,186,80,80,99,FF
2021-08-13T21:14:41.427Z,1628889281.427 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:14:41.941Z,1628889281.941 [Micromodem](INFO): Nmea in: $SNTTA,0.122233,,,,211442.16*44

2021-08-13T21:14:42.007Z,1628889282.007 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.000004 m, bearing: 340.944411 deg, deltaT: 4.443273 s, approachRate: 0.189050 m/s, LOS rate: 0.854965 deg/s, posRepo size: 4
2021-08-13T21:14:44.257Z,1628889284.257 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:14:44.621Z,1628889284.621 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:14:44.621Z,1628889284.621 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:14:44.621Z,1628889284.621 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:14:44.622Z,1628889284.622 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:14:45.046Z,1628889285.046 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1D8,000,005C3,186,80,80,99,FF
2021-08-13T21:14:45.046Z,1628889285.046 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:14:45.046Z,1628889285.046 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:14:45.049Z,1628889285.049 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:14:45.436Z,1628889285.436 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:14:46.249Z,1628889286.249 [Micromodem](INFO): Nmea in: $SNTTA,,,,,211446.62*5E

2021-08-13T21:14:47.117Z,1628889287.117 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:14:48.669Z,1628889288.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
3,186,80,80,99,FF
2021-08-13T21:14:48.670Z,1628889288.670 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
3,186,80,80,99,FF
2021-08-13T21:14:48.670Z,1628889288.670 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T21:14:49.947Z,1628889289.947 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:14:50.277Z,1628889290.277 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:14:50.277Z,1628889290.277 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:14:50.277Z,1628889290.277 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:14:50.278Z,1628889290.278 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:14:50.690Z,1628889290.690 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
3,186,80,80,99,FF
2021-08-13T21:14:50.691Z,1628889290.691 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:14:50.691Z,1628889290.691 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:14:50.694Z,1628889290.694 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:14:51.092Z,1628889291.092 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:14:51.498Z,1628889291.498 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,18F,000,005CE,186,80,80,A6,FF
2021-08-13T21:14:51.499Z,1628889291.499 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:14:51.937Z,1628889291.937 [Micromodem](INFO): Nmea in: $SNTTA,,,,,211452.26*5B

2021-08-13T21:14:51.967Z,1628889291.967 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.660004 m, bearing: 344.902888 deg, deltaT: 10.060533 s, approachRate: 0.065603 m/s, LOS rate: 0.393466 deg/s, posRepo size: 4
2021-08-13T21:14:54.354Z,1628889294.354 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:14:54.721Z,1628889294.721 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:14:54.721Z,1628889294.721 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:14:54.721Z,1628889294.721 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:14:54.722Z,1628889294.722 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:14:55.197Z,1628889295.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
18F,000,005CE,186,80,80,A6,FF
2021-08-13T21:14:55.197Z,1628889295.197 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:14:55.197Z,1628889295.197 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:14:55.199Z,1628889295.199 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:14:55.561Z,1628889295.561 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:14:56.385Z,1628889296.385 [Micromodem](INFO): Nmea in: $SNTTA,,,,,211456.77*5B

2021-08-13T21:14:57.241Z,1628889297.241 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:14:58.773Z,1628889298.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,14D,000,08695,185,80,80,8D,FF
2021-08-13T21:14:58.773Z,1628889298.773 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:14:59.238Z,1628889299.238 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 2029.679932 m, bearing: 348.347297 deg, deltaT: 7.289038 s, approachRate: 271.369141 m/s, LOS rate: 0.472547 deg/s, posRepo size: 4
2021-08-13T21:14:59.239Z,1628889299.239 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 2029.68 m. Resuming terminal guidance.
2021-08-13T21:14:59.239Z,1628889299.239 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-13T21:14:59.607Z,1628889299.607 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-08-13T21:14:59.607Z,1628889299.607 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-13T21:14:59.607Z,1628889299.607 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-08-13T21:14:59.608Z,1628889299.608 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-08-13T21:14:59.608Z,1628889299.608 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2021-08-13T21:14:59.608Z,1628889299.608 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-08-13T21:14:59.608Z,1628889299.608 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-08-13T21:15:01.606Z,1628889301.606 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:15:01.993Z,1628889301.993 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:15:01.993Z,1628889301.993 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:15:01.993Z,1628889301.993 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:15:01.994Z,1628889301.994 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:15:02.402Z,1628889302.402 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
14D,000,08695,185,80,80,8D,FF
2021-08-13T21:15:02.402Z,1628889302.402 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:15:02.402Z,1628889302.402 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:15:02.404Z,1628889302.404 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:15:02.807Z,1628889302.807 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:15:03.205Z,1628889303.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,176,000,005E3,187,80,80,93,FF
2021-08-13T21:15:03.205Z,1628889303.205 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:15:03.649Z,1628889303.649 [Micromodem](INFO): Nmea in: $SNTTA,0.050923,,,,211503.97*47

2021-08-13T21:15:03.672Z,1628889303.672 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.919994 m, bearing: 346.511507 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-13T21:15:03.673Z,1628889303.673 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 346.511507deg and heading rate command to 0 deg/s.
2021-08-13T21:15:06.074Z,1628889306.074 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:15:06.441Z,1628889306.441 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:15:06.441Z,1628889306.441 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:15:06.441Z,1628889306.441 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:15:06.442Z,1628889306.442 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:15:06.881Z,1628889306.881 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
176,000,005E3,187,80,80,93,FF
2021-08-13T21:15:06.881Z,1628889306.881 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:15:06.881Z,1628889306.881 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:15:06.883Z,1628889306.883 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:15:07.276Z,1628889307.276 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:15:08.098Z,1628889308.098 [Micromodem](INFO): Nmea in: $SNTTA,,,,,211508.46*53

2021-08-13T21:15:09.106Z,1628889309.106 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:15:10.513Z,1628889310.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
3,187,80,80,93,FF
2021-08-13T21:15:10.513Z,1628889310.513 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
3,187,80,80,93,FF
2021-08-13T21:15:10.513Z,1628889310.513 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T21:15:11.738Z,1628889311.738 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:15:12.117Z,1628889312.117 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:15:12.117Z,1628889312.117 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:15:12.117Z,1628889312.117 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:15:12.118Z,1628889312.118 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:15:12.521Z,1628889312.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
3,187,80,80,93,FF
2021-08-13T21:15:12.521Z,1628889312.521 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:15:12.521Z,1628889312.521 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:15:12.523Z,1628889312.523 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:15:12.943Z,1628889312.943 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:15:13.335Z,1628889313.335 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CBB,000,0060B,189,80,80,A1,FF
2021-08-13T21:15:13.335Z,1628889313.335 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:15:13.765Z,1628889313.765 [Micromodem](INFO): Nmea in: $SNTTA,0.063610,,,,211514.10*41

2021-08-13T21:15:13.845Z,1628889313.845 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 55.320004 m, bearing: 30.275756 deg, deltaT: 10.109161 s, approachRate: 0.237409 m/s, LOS rate: 4.329169 deg/s, posRepo size: 2
2021-08-13T21:15:13.853Z,1628889313.853 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 55.320004 m,
      bearing: 30.275756 deg,
      approachRate: 0.237409 m/s,
      LOS rate: 4.329169 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 346.511507 deg,
      new cmd heading: 346.511507 deg.

2021-08-13T21:15:16.201Z,1628889316.201 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:15:16.557Z,1628889316.557 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:15:16.557Z,1628889316.557 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:15:16.558Z,1628889316.558 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:15:16.559Z,1628889316.559 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:15:16.989Z,1628889316.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CBB,000,0060B,189,80,80,A1,FF
2021-08-13T21:15:16.989Z,1628889316.989 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:15:16.990Z,1628889316.990 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:15:16.996Z,1628889316.996 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:15:17.372Z,1628889317.372 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:15:17.773Z,1628889317.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E8B,000,0062C,186,80,80,9E,FF
2021-08-13T21:15:17.774Z,1628889317.774 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:15:18.209Z,1628889318.209 [Micromodem](INFO): Nmea in: $SNTTA,0.045905,,,,211518.57*41

2021-08-13T21:15:18.247Z,1628889318.247 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 57.299999 m, bearing: 2.358262 deg, deltaT: 4.465208 s, approachRate: 0.443427 m/s, LOS rate: -6.252227 deg/s, posRepo size: 3
2021-08-13T21:15:18.253Z,1628889318.253 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 57.299999 m,
      bearing: 2.358262 deg,
      approachRate: 0.443427 m/s,
      LOS rate: -6.252227 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 39.745032 deg,
      new cmd heading: 45.010764 deg.

2021-08-13T21:15:20.622Z,1628889320.622 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:15:21.045Z,1628889321.045 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:15:21.045Z,1628889321.045 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:15:21.045Z,1628889321.045 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:15:21.046Z,1628889321.046 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:15:21.413Z,1628889321.413 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E8B,000,0062C,186,80,80,9E,FF
2021-08-13T21:15:21.413Z,1628889321.413 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:15:21.413Z,1628889321.413 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:15:21.415Z,1628889321.415 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:15:21.920Z,1628889321.920 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:15:22.313Z,1628889322.313 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DD0,000,0064B,188,80,80,92,FF
2021-08-13T21:15:22.314Z,1628889322.314 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:15:22.693Z,1628889322.693 [Micromodem](INFO): Nmea in: $SNTTA,,,,,211522.98*58

2021-08-13T21:15:22.713Z,1628889322.713 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 59.159996 m, bearing: 28.090428 deg, deltaT: 4.526473 s, approachRate: 0.410915 m/s, LOS rate: 5.684816 deg/s, posRepo size: 4
2021-08-13T21:15:22.715Z,1628889322.715 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 59.159996 m,
      bearing: 28.090428 deg,
      approachRate: 0.410915 m/s,
      LOS rate: 5.684816 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 344.988694 deg,
      new cmd heading: 340.891306 deg.

2021-08-13T21:15:25.114Z,1628889325.114 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:15:25.455Z,1628889325.455 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:15:25.455Z,1628889325.455 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:15:25.455Z,1628889325.455 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:15:25.456Z,1628889325.456 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:15:25.885Z,1628889325.885 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DD0,000,0064B,188,80,80,92,FF
2021-08-13T21:15:25.885Z,1628889325.885 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:15:25.885Z,1628889325.885 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:15:25.887Z,1628889325.887 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:15:26.268Z,1628889326.268 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:15:26.661Z,1628889326.661 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1EC,000,0018F,186,80,80,86,FF
2021-08-13T21:15:26.662Z,1628889326.662 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2021-08-13T21:15:27.103Z,1628889327.103 [Micromodem](INFO): Nmea in: $SNTTA,0.475657,0.475232,,,211527.46*59

2021-08-13T21:15:27.933Z,1628889327.933 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:15:30.717Z,1628889330.717 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:15:31.109Z,1628889331.109 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:15:31.109Z,1628889331.109 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:15:31.109Z,1628889331.109 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:15:31.110Z,1628889331.110 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:15:31.513Z,1628889331.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1EC,000,0018F,186,80,80,86,FF
2021-08-13T21:15:31.513Z,1628889331.513 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:15:31.513Z,1628889331.513 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:15:31.515Z,1628889331.515 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:15:31.920Z,1628889331.920 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:15:32.323Z,1628889332.323 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,283,000,0067C,18A,80,80,75,FF
2021-08-13T21:15:32.323Z,1628889332.323 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:15:32.765Z,1628889332.765 [Micromodem](INFO): Nmea in: $SNTTA,,,,,211533.09*50

2021-08-13T21:15:32.849Z,1628889332.849 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 62.100002 m, bearing: 341.184642 deg, deltaT: 9.959249 s, approachRate: 0.295204 m/s, LOS rate: -4.709772 deg/s, posRepo size: 4
2021-08-13T21:15:32.857Z,1628889332.857 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 62.100002 m,
      bearing: 341.184642 deg,
      approachRate: 0.295204 m/s,
      LOS rate: -4.709772 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 104.602250 deg,
      new cmd heading: 110.661506 deg.

2021-08-13T21:15:35.224Z,1628889335.224 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:15:35.672Z,1628889335.672 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:15:35.672Z,1628889335.672 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:15:35.672Z,1628889335.672 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:15:35.673Z,1628889335.673 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:15:35.993Z,1628889335.993 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
283,000,0067C,18A,80,80,75,FF
2021-08-13T21:15:35.993Z,1628889335.993 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:15:35.993Z,1628889335.993 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:15:35.995Z,1628889335.995 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:15:36.448Z,1628889336.448 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:15:36.871Z,1628889336.871 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DFD,000,00687,186,80,80,93,FF
2021-08-13T21:15:36.871Z,1628889336.871 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:15:37.249Z,1628889337.249 [Micromodem](INFO): Nmea in: $SNTTA,,,,,211537.56*5E

2021-08-13T21:15:37.298Z,1628889337.298 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 62.760002 m, bearing: 59.104680 deg, deltaT: 4.578550 s, approachRate: 0.144150 m/s, LOS rate: 17.018499 deg/s, posRepo size: 4
2021-08-13T21:15:37.299Z,1628889337.299 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 17.018499 deg/s. Setting heading cmd to target bearing of 59.104680deg and heading rate command to 0 deg/s.
2021-08-13T21:15:39.681Z,1628889339.681 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:15:40.057Z,1628889340.057 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:15:40.057Z,1628889340.057 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:15:40.057Z,1628889340.057 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:15:40.058Z,1628889340.058 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:15:40.465Z,1628889340.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DFD,000,00687,186,80,80,93,FF
2021-08-13T21:15:40.465Z,1628889340.465 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:15:40.466Z,1628889340.466 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:15:40.467Z,1628889340.467 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:15:40.897Z,1628889340.897 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:15:41.276Z,1628889341.276 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C61,000,00686,189,80,80,96,FF
2021-08-13T21:15:41.277Z,1628889341.277 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:15:41.705Z,1628889341.705 [Micromodem](INFO): Nmea in: $SNTTA,0.041468,,,,211542.04*4A

2021-08-13T21:15:41.745Z,1628889341.745 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 62.700001 m, bearing: 99.141343 deg, deltaT: 4.415233 s, approachRate: -0.013590 m/s, LOS rate: 9.067848 deg/s, posRepo size: 4
2021-08-13T21:15:41.747Z,1628889341.747 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 62.700001 m,
      bearing: 99.141343 deg,
      approachRate: -0.013590 m/s,
      LOS rate: 9.067848 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 59.104680 deg,
      new cmd heading: 59.104680 deg.

2021-08-13T21:15:44.137Z,1628889344.137 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:15:44.501Z,1628889344.501 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:15:44.501Z,1628889344.501 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:15:44.501Z,1628889344.501 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:15:44.502Z,1628889344.502 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:15:44.909Z,1628889344.909 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C61,000,00686,189,80,80,96,FF
2021-08-13T21:15:44.909Z,1628889344.909 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:15:44.909Z,1628889344.909 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:15:44.915Z,1628889344.915 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:15:45.316Z,1628889345.316 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:15:45.713Z,1628889345.713 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,0067C,189,80,80,B3,FF
2021-08-13T21:15:45.714Z,1628889345.714 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:15:46.171Z,1628889346.171 [Micromodem](INFO): Nmea in: $SNTTA,0.055474,,,,211546.49*4F

2021-08-13T21:15:46.197Z,1628889346.197 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 62.100002 m, bearing: 125.101936 deg, deltaT: 4.397040 s, approachRate: -0.136455 m/s, LOS rate: 5.904106 deg/s, posRepo size: 4
2021-08-13T21:15:46.199Z,1628889346.199 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 62.100002 m,
      bearing: 125.101936 deg,
      approachRate: -0.136455 m/s,
      LOS rate: 5.904106 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 112.111874 deg,
      new cmd heading: 117.716366 deg.

2021-08-13T21:15:48.578Z,1628889348.578 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:15:49.065Z,1628889349.065 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:15:49.065Z,1628889349.065 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:15:49.065Z,1628889349.065 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:15:49.066Z,1628889349.066 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:15:49.460Z,1628889349.460 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,0067C,189,80,80,B3,FF
2021-08-13T21:15:49.460Z,1628889349.460 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:15:49.461Z,1628889349.461 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:15:49.462Z,1628889349.462 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:15:49.782Z,1628889349.782 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:15:50.193Z,1628889350.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,BEF,000,0066F,189,80,80,B7,FF
2021-08-13T21:15:50.193Z,1628889350.193 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:15:50.637Z,1628889350.637 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 61.320004 m, bearing: 127.700891 deg, deltaT: 4.491439 s, approachRate: -0.173663 m/s, LOS rate: 0.578646 deg/s, posRepo size: 4
2021-08-13T21:15:50.642Z,1628889350.642 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 61.320004 m,
      bearing: 127.700891 deg,
      approachRate: -0.173663 m/s,
      LOS rate: 0.578646 deg/s,
      cmd update: 1.735939 deg/s,
      cmd heading: 166.009467 deg,
      new cmd heading: 170.965815 deg.

2021-08-13T21:15:51.025Z,1628889351.025 [Micromodem](INFO): Nmea in: $SNTTA,,,,,211551.03*5E

2021-08-13T21:15:53.107Z,1628889353.107 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:15:53.402Z,1628889353.402 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:15:53.402Z,1628889353.402 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:15:53.402Z,1628889353.402 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:15:53.403Z,1628889353.403 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:15:53.806Z,1628889353.806 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
BEF,000,0066F,189,80,80,B7,FF
2021-08-13T21:15:53.807Z,1628889353.807 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:15:53.809Z,1628889353.809 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:15:53.815Z,1628889353.815 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:15:54.207Z,1628889354.207 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:15:54.601Z,1628889354.601 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DB2,000,00657,189,80,80,8E,FF
2021-08-13T21:15:54.602Z,1628889354.602 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:15:55.073Z,1628889355.073 [Micromodem](INFO): Nmea in: $SNTTA,,,,,211555.39*53

2021-08-13T21:15:55.155Z,1628889355.155 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 59.880005 m, bearing: 123.390345 deg, deltaT: 4.402610 s, approachRate: -0.327078 m/s, LOS rate: -0.979089 deg/s, posRepo size: 4
2021-08-13T21:15:55.162Z,1628889355.162 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 59.880005 m,
      bearing: 123.390345 deg,
      approachRate: -0.327078 m/s,
      LOS rate: -0.979089 deg/s,
      cmd update: -2.937266 deg/s,
      cmd heading: 173.651107 deg,
      new cmd heading: 174.574171 deg.

2021-08-13T21:15:57.130Z,1628889357.130 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:15:57.442Z,1628889357.442 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:15:57.442Z,1628889357.442 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:15:57.442Z,1628889357.442 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:15:57.443Z,1628889357.443 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:15:57.866Z,1628889357.866 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DB2,000,00657,189,80,80,8E,FF
2021-08-13T21:15:57.866Z,1628889357.866 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:15:57.866Z,1628889357.866 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:15:57.867Z,1628889357.867 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:15:58.271Z,1628889358.271 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:15:58.641Z,1628889358.641 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E26,000,00631,187,80,80,7B,FF
2021-08-13T21:15:58.641Z,1628889358.641 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:15:59.146Z,1628889359.146 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 57.600002 m, bearing: 134.979469 deg, deltaT: 4.062151 s, approachRate: -0.561280 m/s, LOS rate: 2.852953 deg/s, posRepo size: 4
2021-08-13T21:15:59.150Z,1628889359.150 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 57.600002 m,
      bearing: 134.979469 deg,
      approachRate: -0.561280 m/s,
      LOS rate: 2.852953 deg/s,
      cmd update: 8.558857 deg/s,
      cmd heading: 161.729816 deg,
      new cmd heading: 160.368006 deg.

2021-08-13T21:16:01.512Z,1628889361.512 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:16:01.900Z,1628889361.900 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:16:01.900Z,1628889361.900 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:16:01.901Z,1628889361.901 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:16:01.902Z,1628889361.902 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:16:02.365Z,1628889362.365 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E26,000,00631,187,80,80,7B,FF
2021-08-13T21:16:02.365Z,1628889362.365 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:16:02.365Z,1628889362.365 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:16:02.366Z,1628889362.366 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:16:02.789Z,1628889362.789 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:16:03.133Z,1628889363.133 [Micromodem](INFO): Nmea in: $SNTTA,0.197686,0.235813,,,211603.94*5D

2021-08-13T21:16:04.330Z,1628889364.330 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:16:05.921Z,1628889365.921 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
1,187,80,80,7B,FF
2021-08-13T21:16:05.922Z,1628889365.922 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
1,187,80,80,7B,FF
2021-08-13T21:16:05.922Z,1628889365.922 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T21:16:07.221Z,1628889367.221 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:16:07.537Z,1628889367.537 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:16:07.537Z,1628889367.537 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:16:07.537Z,1628889367.537 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:16:07.538Z,1628889367.538 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:16:07.933Z,1628889367.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
1,187,80,80,7B,FF
2021-08-13T21:16:07.933Z,1628889367.933 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:16:07.934Z,1628889367.934 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:16:07.935Z,1628889367.935 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:16:08.337Z,1628889368.337 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:16:08.737Z,1628889368.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,304,000,005DB,188,80,80,6B,FF
2021-08-13T21:16:08.738Z,1628889368.738 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:16:09.170Z,1628889369.170 [Micromodem](INFO): Nmea in: $SNTTA,0.050419,0.452787,,,211609.51*55

2021-08-13T21:16:09.231Z,1628889369.231 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.440002 m, bearing: 116.262770 deg, deltaT: 10.120043 s, approachRate: -0.509879 m/s, LOS rate: -1.849468 deg/s, posRepo size: 4
2021-08-13T21:16:09.237Z,1628889369.237 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 52.440002 m,
      bearing: 116.262770 deg,
      approachRate: -0.509879 m/s,
      LOS rate: -1.849468 deg/s,
      cmd update: -5.548405 deg/s,
      cmd heading: 248.217410 deg,
      new cmd heading: 252.017517 deg.

2021-08-13T21:16:11.590Z,1628889371.590 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:16:11.982Z,1628889371.982 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:16:11.982Z,1628889371.982 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:16:11.982Z,1628889371.982 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:16:11.983Z,1628889371.983 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:16:12.377Z,1628889372.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
304,000,005DB,188,80,80,6B,FF
2021-08-13T21:16:12.377Z,1628889372.377 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:16:12.377Z,1628889372.377 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:16:12.379Z,1628889372.379 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:16:12.798Z,1628889372.798 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:16:13.193Z,1628889373.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,498,000,005C1,189,80,80,91,FF
2021-08-13T21:16:13.193Z,1628889373.193 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:16:13.626Z,1628889373.626 [Micromodem](INFO): Nmea in: $SNTTA,,,,,211613.95*54

2021-08-13T21:16:13.641Z,1628889373.641 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 50.879997 m, bearing: 113.729118 deg, deltaT: 4.470897 s, approachRate: -0.348924 m/s, LOS rate: -0.566699 deg/s, posRepo size: 4
2021-08-13T21:16:13.643Z,1628889373.643 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 50.879997 m,
      bearing: 113.729118 deg,
      approachRate: -0.348924 m/s,
      LOS rate: -0.566699 deg/s,
      cmd update: -1.700096 deg/s,
      cmd heading: 223.307268 deg,
      new cmd heading: 221.285962 deg.

2021-08-13T21:16:16.193Z,1628889376.193 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:16:16.449Z,1628889376.449 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:16:16.449Z,1628889376.449 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:16:16.449Z,1628889376.449 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:16:16.450Z,1628889376.450 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:16:16.858Z,1628889376.858 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
498,000,005C1,189,80,80,91,FF
2021-08-13T21:16:16.858Z,1628889376.858 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:16:16.858Z,1628889376.858 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:16:16.861Z,1628889376.861 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:16:17.253Z,1628889377.253 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:16:17.673Z,1628889377.673 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D48,000,005B3,18A,80,80,A0,FF
2021-08-13T21:16:17.673Z,1628889377.673 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:16:18.077Z,1628889378.077 [Micromodem](INFO): Nmea in: $SNTTA,,,,,211618.43*54

2021-08-13T21:16:18.116Z,1628889378.116 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 50.039997 m, bearing: 225.064500 deg, deltaT: 4.437205 s, approachRate: -0.189308 m/s, LOS rate: 25.091332 deg/s, posRepo size: 4
2021-08-13T21:16:18.117Z,1628889378.117 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 25.091332 deg/s. Setting heading cmd to target bearing of 225.064500deg and heading rate command to 0 deg/s.
2021-08-13T21:16:20.506Z,1628889380.506 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:16:20.885Z,1628889380.885 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:16:20.885Z,1628889380.885 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:16:20.885Z,1628889380.885 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:16:20.886Z,1628889380.886 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:16:21.286Z,1628889381.286 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D48,000,005B3,18A,80,80,A0,FF
2021-08-13T21:16:21.286Z,1628889381.286 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:16:21.286Z,1628889381.286 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:16:21.288Z,1628889381.288 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:16:21.685Z,1628889381.685 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:16:22.093Z,1628889382.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,005AD,189,80,80,9C,FF
2021-08-13T21:16:22.093Z,1628889382.093 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:16:22.537Z,1628889382.537 [Micromodem](INFO): Nmea in: $SNTTA,,,,,211622.86*54

2021-08-13T21:16:22.553Z,1628889382.553 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.679996 m, bearing: 142.857996 deg, deltaT: 4.433117 s, approachRate: -0.081207 m/s, LOS rate: -18.543725 deg/s, posRepo size: 4
2021-08-13T21:16:22.554Z,1628889382.554 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -18.543725 deg/s. Setting heading cmd to target bearing of 142.857996deg and heading rate command to 0 deg/s.
2021-08-13T21:16:25.015Z,1628889385.015 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:16:25.321Z,1628889385.321 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:16:25.321Z,1628889385.321 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:16:25.322Z,1628889385.322 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:16:25.322Z,1628889385.322 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:16:25.721Z,1628889385.721 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,005AD,189,80,80,9C,FF
2021-08-13T21:16:25.721Z,1628889385.721 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:16:25.721Z,1628889385.721 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:16:25.723Z,1628889385.723 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:16:26.136Z,1628889386.136 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:16:26.533Z,1628889386.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4D7,000,005B7,189,80,80,48,FF
2021-08-13T21:16:26.534Z,1628889386.534 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:16:26.995Z,1628889386.995 [Micromodem](INFO): Nmea in: $SNTTA,0.058302,,,,211627.30*4E

2021-08-13T21:16:27.071Z,1628889387.071 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 50.279999 m, bearing: 159.277621 deg, deltaT: 4.403237 s, approachRate: 0.136264 m/s, LOS rate: 3.728990 deg/s, posRepo size: 4
2021-08-13T21:16:27.078Z,1628889387.078 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 50.279999 m,
      bearing: 159.277621 deg,
      approachRate: 0.136264 m/s,
      LOS rate: 3.728990 deg/s,
      cmd update: 11.186969 deg/s,
      cmd heading: 142.857996 deg,
      new cmd heading: 142.857996 deg.

2021-08-13T21:16:29.124Z,1628889389.124 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:16:29.377Z,1628889389.377 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:16:29.377Z,1628889389.377 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:16:29.377Z,1628889389.377 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:16:29.377Z,1628889389.377 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:16:29.877Z,1628889389.877 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
4D7,000,005B7,189,80,80,48,FF
2021-08-13T21:16:29.877Z,1628889389.877 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:16:29.877Z,1628889389.877 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:16:29.879Z,1628889389.879 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:16:30.264Z,1628889390.264 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:16:30.633Z,1628889390.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,203,000,005D3,186,80,80,79,FF
2021-08-13T21:16:30.633Z,1628889390.633 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:16:31.067Z,1628889391.067 [Micromodem](INFO): Nmea in: $SNTTA,,0.045620,,,211631.45*42

2021-08-13T21:16:31.155Z,1628889391.155 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.959999 m, bearing: 186.217034 deg, deltaT: 4.099344 s, approachRate: 0.409822 m/s, LOS rate: 6.571640 deg/s, posRepo size: 4
2021-08-13T21:16:31.158Z,1628889391.158 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 51.959999 m,
      bearing: 186.217034 deg,
      approachRate: 0.409822 m/s,
      LOS rate: 6.571640 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 188.718964 deg,
      new cmd heading: 194.370754 deg.

2021-08-13T21:16:33.474Z,1628889393.474 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:16:33.885Z,1628889393.885 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:16:33.885Z,1628889393.885 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:16:33.886Z,1628889393.886 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:16:33.887Z,1628889393.887 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:16:34.265Z,1628889394.265 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
203,000,005D3,186,80,80,79,FF
2021-08-13T21:16:34.265Z,1628889394.265 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:16:34.265Z,1628889394.265 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:16:34.267Z,1628889394.267 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:16:34.668Z,1628889394.668 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:16:35.073Z,1628889395.073 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,005E0,18A,80,80,BC,FF
2021-08-13T21:16:35.074Z,1628889395.074 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:16:35.509Z,1628889395.509 [Micromodem](INFO): Nmea in: $SNTTA,0.054877,,,,211635.84*47

2021-08-13T21:16:35.528Z,1628889395.528 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.739998 m, bearing: 131.471292 deg, deltaT: 4.490948 s, approachRate: 0.173682 m/s, LOS rate: -12.190242 deg/s, posRepo size: 4
2021-08-13T21:16:35.529Z,1628889395.529 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.190242 deg/s. Setting heading cmd to target bearing of 131.471292deg and heading rate command to 0 deg/s.
2021-08-13T21:16:37.939Z,1628889397.939 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:16:38.301Z,1628889398.301 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:16:38.301Z,1628889398.301 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:16:38.301Z,1628889398.301 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:16:38.302Z,1628889398.302 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:16:38.701Z,1628889398.701 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,005E0,18A,80,80,BC,FF
2021-08-13T21:16:38.701Z,1628889398.701 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:16:38.701Z,1628889398.701 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:16:38.703Z,1628889398.703 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:16:39.109Z,1628889399.109 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:16:39.515Z,1628889399.515 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,096,000,005EE,186,80,80,81,FF
2021-08-13T21:16:39.515Z,1628889399.515 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:16:39.953Z,1628889399.953 [Micromodem](INFO): Nmea in: $SNTTA,0.083795,,,,211640.27*45

2021-08-13T21:16:39.983Z,1628889399.983 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.579998 m, bearing: 194.249897 deg, deltaT: 4.394578 s, approachRate: 0.191145 m/s, LOS rate: 14.285468 deg/s, posRepo size: 4
2021-08-13T21:16:40.013Z,1628889400.013 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 14.285468 deg/s. Setting heading cmd to target bearing of 194.249897deg and heading rate command to 0 deg/s.
2021-08-13T21:16:42.367Z,1628889402.367 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:16:42.831Z,1628889402.831 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:16:42.831Z,1628889402.831 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:16:42.832Z,1628889402.832 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:16:42.833Z,1628889402.833 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:16:43.236Z,1628889403.236 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
096,000,005EE,186,80,80,81,FF
2021-08-13T21:16:43.236Z,1628889403.236 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:16:43.237Z,1628889403.237 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:16:43.239Z,1628889403.239 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:16:43.608Z,1628889403.608 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:16:44.012Z,1628889404.012 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,375,000,00607,188,80,80,B5,FF
2021-08-13T21:16:44.013Z,1628889404.013 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:16:44.460Z,1628889404.460 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 55.080002 m, bearing: 167.342995 deg, deltaT: 4.502363 s, approachRate: 0.333159 m/s, LOS rate: -5.976173 deg/s, posRepo size: 4
2021-08-13T21:16:44.462Z,1628889404.462 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 55.080002 m,
      bearing: 167.342995 deg,
      approachRate: 0.333159 m/s,
      LOS rate: -5.976173 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 194.249897 deg,
      new cmd heading: 194.249897 deg.

2021-08-13T21:16:44.830Z,1628889404.830 [Micromodem](INFO): Nmea in: $SNTTA,0.071210,,,,211644.81*48

2021-08-13T21:16:46.899Z,1628889406.899 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:16:47.221Z,1628889407.221 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:16:47.221Z,1628889407.221 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:16:47.221Z,1628889407.221 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:16:47.222Z,1628889407.222 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:16:47.649Z,1628889407.649 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
375,000,00607,188,80,80,B5,FF
2021-08-13T21:16:47.651Z,1628889407.651 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:16:47.651Z,1628889407.651 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:16:47.668Z,1628889407.668 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:16:48.033Z,1628889408.033 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:16:48.433Z,1628889408.433 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1EA,000,00624,186,80,80,A6,FF
2021-08-13T21:16:48.433Z,1628889408.433 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:16:48.893Z,1628889408.893 [Micromodem](INFO): Nmea in: $SNTTA,,,,,211649.24*51

2021-08-13T21:16:48.926Z,1628889408.926 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 56.820004 m, bearing: 175.556475 deg, deltaT: 4.473795 s, approachRate: 0.388932 m/s, LOS rate: 1.835909 deg/s, posRepo size: 4
2021-08-13T21:16:48.934Z,1628889408.934 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 56.820004 m,
      bearing: 175.556475 deg,
      approachRate: 0.388932 m/s,
      LOS rate: 1.835909 deg/s,
      cmd update: 5.507727 deg/s,
      cmd heading: 140.563839 deg,
      new cmd heading: 135.590643 deg.

2021-08-13T21:16:51.339Z,1628889411.339 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:16:51.677Z,1628889411.677 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:16:51.677Z,1628889411.677 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:16:51.677Z,1628889411.677 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:16:51.678Z,1628889411.678 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:16:52.077Z,1628889412.077 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1EA,000,00624,186,80,80,A6,FF
2021-08-13T21:16:52.077Z,1628889412.077 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:16:52.077Z,1628889412.077 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:16:52.079Z,1628889412.079 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:16:52.482Z,1628889412.482 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:16:52.897Z,1628889412.897 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D03,000,00634,189,80,80,90,FF
2021-08-13T21:16:52.898Z,1628889412.898 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:16:53.324Z,1628889413.324 [Micromodem](INFO): Nmea in: $SNTTA,,0.052817,,,211653.65*48

2021-08-13T21:16:53.378Z,1628889413.378 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 57.780003 m, bearing: 221.006193 deg, deltaT: 4.487654 s, approachRate: 0.213920 m/s, LOS rate: 10.127723 deg/s, posRepo size: 4
2021-08-13T21:16:53.384Z,1628889413.384 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 57.780003 m,
      bearing: 221.006193 deg,
      approachRate: 0.213920 m/s,
      LOS rate: 10.127723 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 164.903031 deg,
      new cmd heading: 167.272626 deg.

2021-08-13T21:16:55.738Z,1628889415.738 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:16:56.173Z,1628889416.173 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:16:56.173Z,1628889416.173 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:16:56.173Z,1628889416.173 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:16:56.174Z,1628889416.174 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:16:56.609Z,1628889416.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D03,000,00634,189,80,80,90,FF
2021-08-13T21:16:56.609Z,1628889416.609 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:16:56.610Z,1628889416.610 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:16:56.611Z,1628889416.611 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:16:56.999Z,1628889416.999 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:16:57.358Z,1628889417.358 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4AE,000,0063C,189,80,80,99,FF
2021-08-13T21:16:57.358Z,1628889417.358 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:16:57.842Z,1628889417.842 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.260006 m, bearing: 113.844049 deg, deltaT: 4.376037 s, approachRate: 0.109689 m/s, LOS rate: -24.488400 deg/s, posRepo size: 4
2021-08-13T21:16:57.843Z,1628889417.843 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -24.488400 deg/s. Setting heading cmd to target bearing of 113.844049deg and heading rate command to 0 deg/s.
2021-08-13T21:16:58.150Z,1628889418.150 [Micromodem](INFO): Nmea in: $SNTTA,0.053886,,,,211658.18*40

2021-08-13T21:17:00.201Z,1628889420.201 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:17:00.553Z,1628889420.553 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:17:00.553Z,1628889420.553 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:17:00.553Z,1628889420.553 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:17:00.554Z,1628889420.554 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:17:00.990Z,1628889420.990 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
4AE,000,0063C,189,80,80,99,FF
2021-08-13T21:17:00.990Z,1628889420.990 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:17:00.991Z,1628889420.991 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:17:00.995Z,1628889420.995 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:17:01.392Z,1628889421.392 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:17:01.769Z,1628889421.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0DB,000,00644,187,80,80,78,FF
2021-08-13T21:17:01.769Z,1628889421.769 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:17:02.199Z,1628889422.199 [Micromodem](INFO): Nmea in: $SNTTA,0.061071,,,,211702.57*44

2021-08-13T21:17:02.238Z,1628889422.238 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.739998 m, bearing: 175.644653 deg, deltaT: 4.493358 s, approachRate: 0.106823 m/s, LOS rate: 13.753768 deg/s, posRepo size: 4
2021-08-13T21:17:02.239Z,1628889422.239 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.753768 deg/s. Setting heading cmd to target bearing of 175.644653deg and heading rate command to 0 deg/s.
2021-08-13T21:17:04.632Z,1628889424.632 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:17:05.045Z,1628889425.045 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:17:05.045Z,1628889425.045 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:17:05.045Z,1628889425.045 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:17:05.046Z,1628889425.046 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:17:05.425Z,1628889425.425 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0DB,000,00644,187,80,80,78,FF
2021-08-13T21:17:05.425Z,1628889425.425 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:17:05.425Z,1628889425.425 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:17:05.427Z,1628889425.427 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:17:05.846Z,1628889425.846 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:17:06.225Z,1628889426.225 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,39E,000,0065E,189,80,80,74,FF
2021-08-13T21:17:06.225Z,1628889426.225 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:17:06.661Z,1628889426.661 [Micromodem](INFO): Nmea in: $SNTTA,0.055145,,,,211707.00*42

2021-08-13T21:17:06.681Z,1628889426.681 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 60.300003 m, bearing: 149.123138 deg, deltaT: 4.393416 s, approachRate: 0.355078 m/s, LOS rate: -6.036650 deg/s, posRepo size: 4
2021-08-13T21:17:06.683Z,1628889426.683 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 60.300003 m,
      bearing: 149.123138 deg,
      approachRate: 0.355078 m/s,
      LOS rate: -6.036650 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 175.644653 deg,
      new cmd heading: 175.644653 deg.

2021-08-13T21:17:09.114Z,1628889429.114 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:17:09.517Z,1628889429.517 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:17:09.517Z,1628889429.517 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:17:09.517Z,1628889429.517 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:17:09.518Z,1628889429.518 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:17:09.985Z,1628889429.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
39E,000,0065E,189,80,80,74,FF
2021-08-13T21:17:09.985Z,1628889429.985 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:17:09.985Z,1628889429.985 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:17:09.987Z,1628889429.987 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:17:10.349Z,1628889430.349 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:17:10.725Z,1628889430.725 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1B9,000,00679,185,80,80,72,FF
2021-08-13T21:17:10.725Z,1628889430.725 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:17:11.208Z,1628889431.208 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 61.920002 m, bearing: 161.354203 deg, deltaT: 4.481044 s, approachRate: 0.361523 m/s, LOS rate: 2.729512 deg/s, posRepo size: 4
2021-08-13T21:17:11.210Z,1628889431.210 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 61.920002 m,
      bearing: 161.354203 deg,
      approachRate: 0.361523 m/s,
      LOS rate: 2.729512 deg/s,
      cmd update: 8.188537 deg/s,
      cmd heading: 121.873251 deg,
      new cmd heading: 116.293095 deg.

2021-08-13T21:17:11.525Z,1628889431.525 [Micromodem](INFO): Nmea in: $SNTTA,,,,,211711.56*58

2021-08-13T21:17:13.550Z,1628889433.550 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:17:13.944Z,1628889433.944 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:17:13.944Z,1628889433.944 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:17:13.945Z,1628889433.945 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:17:13.946Z,1628889433.946 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:17:14.333Z,1628889434.333 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1B9,000,00679,185,80,80,72,FF
2021-08-13T21:17:14.333Z,1628889434.333 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:17:14.333Z,1628889434.333 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:17:14.335Z,1628889434.335 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:17:14.749Z,1628889434.749 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:17:15.137Z,1628889435.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,499,000,00682,189,80,80,7E,FF
2021-08-13T21:17:15.137Z,1628889435.137 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:17:15.141Z,1628889435.141 [Micromodem](INFO): Nmea in: $SNTTA,0.251108,0.251127,,,211715.91*5A

2021-08-13T21:17:15.587Z,1628889435.587 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 62.459999 m, bearing: 108.095619 deg, deltaT: 4.487868 s, approachRate: 0.120324 m/s, LOS rate: -11.867235 deg/s, posRepo size: 4
2021-08-13T21:17:15.588Z,1628889435.588 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -11.867235 deg/s. Setting heading cmd to target bearing of 108.095619deg and heading rate command to 0 deg/s.
2021-08-13T21:17:18.010Z,1628889438.010 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:17:18.369Z,1628889438.369 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:17:18.369Z,1628889438.369 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:17:18.369Z,1628889438.369 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:17:18.370Z,1628889438.370 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:17:18.790Z,1628889438.790 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
499,000,00682,189,80,80,7E,FF
2021-08-13T21:17:18.790Z,1628889438.790 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:17:18.790Z,1628889438.790 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:17:18.793Z,1628889438.793 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:17:19.198Z,1628889439.198 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:17:19.586Z,1628889439.586 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0068C,189,80,80,9B,FF
2021-08-13T21:17:19.587Z,1628889439.587 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:17:20.013Z,1628889440.013 [Micromodem](INFO): Nmea in: $SNTTA,0.055110,,,,211720.37*43

2021-08-13T21:17:20.058Z,1628889440.058 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 63.059998 m, bearing: 94.222309 deg, deltaT: 4.409752 s, approachRate: 0.136062 m/s, LOS rate: -3.146052 deg/s, posRepo size: 4
2021-08-13T21:17:20.061Z,1628889440.061 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 63.059998 m,
      bearing: 94.222309 deg,
      approachRate: 0.136062 m/s,
      LOS rate: -3.146052 deg/s,
      cmd update: -9.438157 deg/s,
      cmd heading: 108.095619 deg,
      new cmd heading: 108.095619 deg.

2021-08-13T21:17:22.450Z,1628889442.450 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:17:22.924Z,1628889442.924 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:17:22.924Z,1628889442.924 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:17:22.925Z,1628889442.925 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:17:22.926Z,1628889442.926 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:17:23.253Z,1628889443.253 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0068C,189,80,80,9B,FF
2021-08-13T21:17:23.253Z,1628889443.253 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:17:23.253Z,1628889443.253 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:17:23.255Z,1628889443.255 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:17:23.726Z,1628889443.726 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:17:24.053Z,1628889444.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00686,189,80,80,AF,FF
2021-08-13T21:17:24.053Z,1628889444.053 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:17:24.462Z,1628889444.462 [Micromodem](INFO): Nmea in: $SNTTA,,,,,211724.82*57

2021-08-13T21:17:24.506Z,1628889444.506 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 62.700001 m, bearing: 85.386059 deg, deltaT: 4.451077 s, approachRate: -0.080879 m/s, LOS rate: -1.985194 deg/s, posRepo size: 4
2021-08-13T21:17:24.513Z,1628889444.513 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 62.700001 m,
      bearing: 85.386059 deg,
      approachRate: -0.080879 m/s,
      LOS rate: -1.985194 deg/s,
      cmd update: -5.955581 deg/s,
      cmd heading: 66.029451 deg,
      new cmd heading: 62.081857 deg.

2021-08-13T21:17:26.998Z,1628889446.998 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:17:27.261Z,1628889447.261 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:17:27.261Z,1628889447.261 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:17:27.261Z,1628889447.261 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:17:27.262Z,1628889447.262 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:17:27.659Z,1628889447.659 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00686,189,80,80,AF,FF
2021-08-13T21:17:27.661Z,1628889447.661 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:17:27.662Z,1628889447.662 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:17:27.701Z,1628889447.701 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:17:28.065Z,1628889448.065 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:17:28.473Z,1628889448.473 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4A7,000,00686,189,80,80,81,FF
2021-08-13T21:17:28.473Z,1628889448.473 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:17:28.901Z,1628889448.901 [Micromodem](INFO): Nmea in: $SNTTA,,,,,211729.27*55

2021-08-13T21:17:29.007Z,1628889449.007 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 62.700001 m, bearing: 75.146855 deg, deltaT: 4.397840 s, approachRate: 0.000000 m/s, LOS rate: -2.328235 deg/s, posRepo size: 4
2021-08-13T21:17:29.013Z,1628889449.013 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 62.700001 m,
      bearing: 75.146855 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -2.328235 deg/s,
      cmd update: -6.984705 deg/s,
      cmd heading: 39.813675 deg,
      new cmd heading: 36.732770 deg.

2021-08-13T21:17:30.999Z,1628889450.999 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:17:31.297Z,1628889451.297 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:17:31.297Z,1628889451.297 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:17:31.297Z,1628889451.297 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:17:31.298Z,1628889451.298 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:17:31.695Z,1628889451.695 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
4A7,000,00686,189,80,80,81,FF
2021-08-13T21:17:31.695Z,1628889451.695 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:17:31.695Z,1628889451.695 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:17:31.697Z,1628889451.697 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:17:32.101Z,1628889452.101 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:17:32.506Z,1628889452.506 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,443,000,00673,189,80,80,93,FF
2021-08-13T21:17:32.506Z,1628889452.506 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:17:32.940Z,1628889452.940 [Micromodem](INFO): Nmea in: $SNTTA,,,,,211733.27*5E

2021-08-13T21:17:33.021Z,1628889453.021 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 61.560005 m, bearing: 67.369284 deg, deltaT: 4.060658 s, approachRate: -0.280742 m/s, LOS rate: -1.915347 deg/s, posRepo size: 4
2021-08-13T21:17:33.023Z,1628889453.023 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 61.560005 m,
      bearing: 67.369284 deg,
      approachRate: -0.280742 m/s,
      LOS rate: -1.915347 deg/s,
      cmd update: -5.746042 deg/s,
      cmd heading: 11.611077 deg,
      new cmd heading: 8.165054 deg.

2021-08-13T21:17:35.384Z,1628889455.384 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:17:35.744Z,1628889455.744 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:17:35.745Z,1628889455.745 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:17:35.745Z,1628889455.745 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:17:35.747Z,1628889455.747 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:17:36.145Z,1628889456.145 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
443,000,00673,189,80,80,93,FF
2021-08-13T21:17:36.146Z,1628889456.146 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:17:36.146Z,1628889456.146 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:17:36.148Z,1628889456.148 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:17:36.624Z,1628889456.624 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:17:37.093Z,1628889457.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2F5,000,0065B,189,80,80,B1,FF
2021-08-13T21:17:37.093Z,1628889457.093 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:17:37.486Z,1628889457.486 [Micromodem](INFO): Nmea in: $SNTTA,0.182731,,,,211737.72*4A

2021-08-13T21:17:37.537Z,1628889457.537 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 60.120007 m, bearing: 69.949962 deg, deltaT: 4.639923 s, approachRate: -0.310350 m/s, LOS rate: 0.556190 deg/s, posRepo size: 4
2021-08-13T21:17:37.539Z,1628889457.539 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 60.120007 m,
      bearing: 69.949962 deg,
      approachRate: -0.310350 m/s,
      LOS rate: 0.556190 deg/s,
      cmd update: 1.668569 deg/s,
      cmd heading: 344.841952 deg,
      new cmd heading: 342.823683 deg.

2021-08-13T21:17:39.964Z,1628889459.964 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:17:40.266Z,1628889460.266 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:17:40.266Z,1628889460.266 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:17:40.266Z,1628889460.266 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:17:40.267Z,1628889460.267 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:17:40.665Z,1628889460.665 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2F5,000,0065B,189,80,80,B1,FF
2021-08-13T21:17:40.665Z,1628889460.665 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:17:40.666Z,1628889460.666 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:17:40.667Z,1628889460.667 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:17:41.077Z,1628889461.077 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:17:41.481Z,1628889461.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1AA,000,00635,186,80,80,42,FF
2021-08-13T21:17:41.481Z,1628889461.481 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:17:41.909Z,1628889461.909 [Micromodem](INFO): Nmea in: $SNTTA,,,,,211742.24*5B

2021-08-13T21:17:41.956Z,1628889461.956 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 57.840004 m, bearing: 72.857006 deg, deltaT: 4.381288 s, approachRate: -0.520396 m/s, LOS rate: 0.663514 deg/s, posRepo size: 4
2021-08-13T21:17:41.958Z,1628889461.958 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 57.840004 m,
      bearing: 72.857006 deg,
      approachRate: -0.520396 m/s,
      LOS rate: 0.663514 deg/s,
      cmd update: 1.990541 deg/s,
      cmd heading: 352.141667 deg,
      new cmd heading: 352.800780 deg.

2021-08-13T21:17:44.371Z,1628889464.371 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:17:44.713Z,1628889464.713 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:17:44.713Z,1628889464.713 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:17:44.713Z,1628889464.713 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:17:44.714Z,1628889464.714 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:17:45.127Z,1628889465.127 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1AA,000,00635,186,80,80,42,FF
2021-08-13T21:17:45.127Z,1628889465.127 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:17:45.127Z,1628889465.127 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:17:45.129Z,1628889465.129 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:17:45.517Z,1628889465.517 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:17:45.917Z,1628889465.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,03F,000,00614,184,80,80,6C,FF
2021-08-13T21:17:45.917Z,1628889465.917 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:17:46.354Z,1628889466.354 [Micromodem](INFO): Nmea in: $SNTTA,0.045235,,,,211746.70*45

2021-08-13T21:17:46.384Z,1628889466.384 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 55.859997 m, bearing: 73.022427 deg, deltaT: 4.403469 s, approachRate: -0.449647 m/s, LOS rate: 0.037566 deg/s, posRepo size: 4
2021-08-13T21:17:46.386Z,1628889466.386 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 55.859997 m,
      bearing: 73.022427 deg,
      approachRate: -0.449647 m/s,
      LOS rate: 0.037566 deg/s,
      cmd update: 0.112698 deg/s,
      cmd heading: 0.919086 deg,
      new cmd heading: 1.741550 deg.

2021-08-13T21:17:48.768Z,1628889468.768 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:17:49.153Z,1628889469.153 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:17:49.154Z,1628889469.154 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:17:49.154Z,1628889469.154 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:17:49.155Z,1628889469.155 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:17:49.622Z,1628889469.622 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
03F,000,00614,184,80,80,6C,FF
2021-08-13T21:17:49.622Z,1628889469.622 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:17:49.622Z,1628889469.622 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:17:49.624Z,1628889469.624 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:17:49.931Z,1628889469.931 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2021-08-13T21:17:49.950Z,1628889469.950 [BPC1](INFO): Received data from all battery sticks.
2021-08-13T21:17:49.982Z,1628889469.982 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:17:50.361Z,1628889470.361 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE6,000,00166,186,80,80,AD,FF
2021-08-13T21:17:50.361Z,1628889470.361 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2021-08-13T21:17:50.790Z,1628889470.790 [Micromodem](INFO): Nmea in: $SNTTA,,,,,211751.19*57

2021-08-13T21:17:51.620Z,1628889471.620 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:17:54.419Z,1628889474.419 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:17:54.807Z,1628889474.807 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:17:54.808Z,1628889474.808 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:17:54.809Z,1628889474.809 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:17:54.810Z,1628889474.810 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:17:55.209Z,1628889475.209 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE6,000,00166,186,80,80,AD,FF
2021-08-13T21:17:55.209Z,1628889475.209 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:17:55.209Z,1628889475.209 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:17:55.211Z,1628889475.211 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:17:55.621Z,1628889475.621 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:17:56.017Z,1628889476.017 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D01,000,005C1,18A,80,80,88,FF
2021-08-13T21:17:56.017Z,1628889476.017 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:17:56.461Z,1628889476.461 [Micromodem](INFO): Nmea in: $SNTTA,,,,,211756.78*57

2021-08-13T21:17:56.484Z,1628889476.484 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 50.879997 m, bearing: 77.254200 deg, deltaT: 10.095352 s, approachRate: -0.493296 m/s, LOS rate: 0.419180 deg/s, posRepo size: 4
2021-08-13T21:17:56.486Z,1628889476.486 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 50.879997 m,
      bearing: 77.254200 deg,
      approachRate: -0.493296 m/s,
      LOS rate: 0.419180 deg/s,
      cmd update: 1.257541 deg/s,
      cmd heading: 2.057312 deg,
      new cmd heading: 2.103890 deg.

2021-08-13T21:17:58.923Z,1628889478.923 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:17:59.254Z,1628889479.254 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:17:59.255Z,1628889479.255 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:17:59.255Z,1628889479.255 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:17:59.256Z,1628889479.256 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:17:59.665Z,1628889479.665 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D01,000,005C1,18A,80,80,88,FF
2021-08-13T21:17:59.665Z,1628889479.665 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:17:59.665Z,1628889479.665 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:17:59.666Z,1628889479.666 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:18:00.057Z,1628889480.057 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:18:00.462Z,1628889480.462 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B37,000,005AB,189,80,80,79,FF
2021-08-13T21:18:00.462Z,1628889480.462 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:18:00.922Z,1628889480.922 [Micromodem](INFO): Nmea in: $SNTTA,,,,,211801.24*53

2021-08-13T21:18:01.018Z,1628889481.018 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.560001 m, bearing: 83.143046 deg, deltaT: 4.407846 s, approachRate: -0.299465 m/s, LOS rate: 1.335992 deg/s, posRepo size: 4
2021-08-13T21:18:01.020Z,1628889481.020 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 49.560001 m,
      bearing: 83.143046 deg,
      approachRate: -0.299465 m/s,
      LOS rate: 1.335992 deg/s,
      cmd update: 4.007975 deg/s,
      cmd heading: 7.600380 deg,
      new cmd heading: 8.278799 deg.

2021-08-13T21:18:03.021Z,1628889483.021 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:18:03.293Z,1628889483.293 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:18:03.293Z,1628889483.293 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:18:03.293Z,1628889483.293 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:18:03.294Z,1628889483.294 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:18:03.701Z,1628889483.701 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B37,000,005AB,189,80,80,79,FF
2021-08-13T21:18:03.702Z,1628889483.702 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:18:03.702Z,1628889483.702 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:18:03.703Z,1628889483.703 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:18:04.114Z,1628889484.114 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:18:04.501Z,1628889484.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,005A1,189,80,80,70,FF
2021-08-13T21:18:04.502Z,1628889484.502 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:18:04.977Z,1628889484.977 [Micromodem](INFO): Nmea in: $SNTTA,,,,,211805.28*5B

2021-08-13T21:18:05.068Z,1628889485.068 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 48.960003 m, bearing: 75.508834 deg, deltaT: 4.082451 s, approachRate: -0.146970 m/s, LOS rate: -1.870007 deg/s, posRepo size: 4
2021-08-13T21:18:05.070Z,1628889485.070 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 48.960003 m,
      bearing: 75.508834 deg,
      approachRate: -0.146970 m/s,
      LOS rate: -1.870007 deg/s,
      cmd update: -5.610021 deg/s,
      cmd heading: 23.929387 deg,
      new cmd heading: 25.979138 deg.

2021-08-13T21:18:07.400Z,1628889487.400 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:18:07.777Z,1628889487.777 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:18:07.777Z,1628889487.777 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:18:07.777Z,1628889487.777 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:18:07.778Z,1628889487.778 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:18:08.187Z,1628889488.187 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,005A1,189,80,80,70,FF
2021-08-13T21:18:08.187Z,1628889488.187 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:18:08.188Z,1628889488.188 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:18:08.189Z,1628889488.189 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:18:08.616Z,1628889488.616 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:18:09.041Z,1628889489.041 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B40,000,0058F,189,80,80,71,FF
2021-08-13T21:18:09.042Z,1628889489.042 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:18:09.051Z,1628889489.051 [Micromodem](INFO): Nmea in: $SNTTA,0.079299,0.325724,,,211809.76*55

2021-08-13T21:18:09.424Z,1628889489.424 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.880001 m, bearing: 83.834766 deg, deltaT: 4.582525 s, approachRate: -0.235678 m/s, LOS rate: 1.816888 deg/s, posRepo size: 4
2021-08-13T21:18:09.426Z,1628889489.426 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 47.880001 m,
      bearing: 83.834766 deg,
      approachRate: -0.235678 m/s,
      LOS rate: 1.816888 deg/s,
      cmd update: 5.450663 deg/s,
      cmd heading: 358.174678 deg,
      new cmd heading: 356.601325 deg.

2021-08-13T21:18:11.879Z,1628889491.879 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:18:12.233Z,1628889492.233 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:18:12.233Z,1628889492.233 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:18:12.233Z,1628889492.233 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:18:12.234Z,1628889492.234 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:18:12.638Z,1628889492.638 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B40,000,0058F,189,80,80,71,FF
2021-08-13T21:18:12.638Z,1628889492.638 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:18:12.639Z,1628889492.639 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:18:12.641Z,1628889492.641 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:18:13.040Z,1628889493.040 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:18:13.439Z,1628889493.439 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,0057E,18A,80,80,C7,FF
2021-08-13T21:18:13.439Z,1628889493.439 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:18:13.902Z,1628889493.902 [Micromodem](INFO): Nmea in: $SNTTA,,,,,211814.21*52

2021-08-13T21:18:13.928Z,1628889493.928 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.860001 m, bearing: 82.185925 deg, deltaT: 4.312173 s, approachRate: -0.236540 m/s, LOS rate: -0.382369 deg/s, posRepo size: 4
2021-08-13T21:18:13.930Z,1628889493.930 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 46.860001 m,
      bearing: 82.185925 deg,
      approachRate: -0.236540 m/s,
      LOS rate: -0.382369 deg/s,
      cmd update: -1.147107 deg/s,
      cmd heading: 21.678551 deg,
      new cmd heading: 24.254518 deg.

2021-08-13T21:18:16.357Z,1628889496.357 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:18:16.688Z,1628889496.688 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:18:16.688Z,1628889496.688 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:18:16.689Z,1628889496.689 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:18:16.690Z,1628889496.690 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:18:17.075Z,1628889497.075 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,0057E,18A,80,80,C7,FF
2021-08-13T21:18:17.075Z,1628889497.075 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:18:17.075Z,1628889497.075 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:18:17.077Z,1628889497.077 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:18:17.486Z,1628889497.486 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:18:17.894Z,1628889497.894 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,00577,189,80,80,73,FF
2021-08-13T21:18:17.894Z,1628889497.894 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:18:18.325Z,1628889498.325 [Micromodem](INFO): Nmea in: $SNTTA,,,,,211818.65*5E

2021-08-13T21:18:18.351Z,1628889498.351 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.439999 m, bearing: 78.463075 deg, deltaT: 4.464920 s, approachRate: -0.094067 m/s, LOS rate: -0.833800 deg/s, posRepo size: 4
2021-08-13T21:18:18.355Z,1628889498.355 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 46.439999 m,
      bearing: 78.463075 deg,
      approachRate: -0.094067 m/s,
      LOS rate: -0.833800 deg/s,
      cmd update: -2.501399 deg/s,
      cmd heading: 16.556717 deg,
      new cmd heading: 16.062916 deg.

2021-08-13T21:18:20.750Z,1628889500.750 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:18:21.115Z,1628889501.115 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:18:21.115Z,1628889501.115 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:18:21.115Z,1628889501.115 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:18:21.116Z,1628889501.116 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:18:21.527Z,1628889501.527 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,00577,189,80,80,73,FF
2021-08-13T21:18:21.527Z,1628889501.527 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:18:21.527Z,1628889501.527 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:18:21.529Z,1628889501.529 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:18:21.926Z,1628889501.926 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:18:22.327Z,1628889502.327 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,0056B,189,80,80,83,FF
2021-08-13T21:18:22.327Z,1628889502.327 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:18:22.805Z,1628889502.805 [Micromodem](INFO): Nmea in: $SNTTA,0.289175,,,,211823.10*4A

2021-08-13T21:18:22.871Z,1628889502.871 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.719997 m, bearing: 87.356535 deg, deltaT: 4.423661 s, approachRate: -0.162761 m/s, LOS rate: 2.010430 deg/s, posRepo size: 4
2021-08-13T21:18:22.873Z,1628889502.873 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 45.719997 m,
      bearing: 87.356535 deg,
      approachRate: -0.162761 m/s,
      LOS rate: 2.010430 deg/s,
      cmd update: 6.031289 deg/s,
      cmd heading: 5.491449 deg,
      new cmd heading: 4.181031 deg.

2021-08-13T21:18:25.218Z,1628889505.218 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:18:25.559Z,1628889505.559 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:18:25.559Z,1628889505.559 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:18:25.559Z,1628889505.559 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:18:25.561Z,1628889505.561 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:18:25.971Z,1628889505.971 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,0056B,189,80,80,83,FF
2021-08-13T21:18:25.972Z,1628889505.972 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:18:25.972Z,1628889505.972 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:18:25.974Z,1628889505.974 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:18:26.373Z,1628889506.373 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:18:26.771Z,1628889506.771 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,156,000,0056C,186,80,80,23,FF
2021-08-13T21:18:26.771Z,1628889506.771 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:18:27.193Z,1628889507.193 [Micromodem](INFO): Nmea in: $SNTTA,0.432325,0.432188,,,211827.55*54

2021-08-13T21:18:27.287Z,1628889507.287 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.780003 m, bearing: 358.262847 deg, deltaT: 4.454784 s, approachRate: 0.013470 m/s, LOS rate: -19.999552 deg/s, posRepo size: 4
2021-08-13T21:18:27.292Z,1628889507.292 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -19.999552 deg/s. Setting heading cmd to target bearing of 358.262847deg and heading rate command to 0 deg/s.
2021-08-13T21:18:29.639Z,1628889509.639 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:18:30.003Z,1628889510.003 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:18:30.003Z,1628889510.003 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:18:30.003Z,1628889510.003 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:18:30.004Z,1628889510.004 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:18:30.421Z,1628889510.421 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
156,000,0056C,186,80,80,23,FF
2021-08-13T21:18:30.421Z,1628889510.421 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:18:30.421Z,1628889510.421 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:18:30.423Z,1628889510.423 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:18:30.845Z,1628889510.845 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:18:31.229Z,1628889511.229 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,BC9,000,00568,189,80,80,78,FF
2021-08-13T21:18:31.229Z,1628889511.229 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:18:31.649Z,1628889511.649 [Micromodem](INFO): Nmea in: $SNTTA,,,,,211831.99*56

2021-08-13T21:18:31.701Z,1628889511.701 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.540001 m, bearing: 79.368854 deg, deltaT: 4.539602 s, approachRate: -0.052868 m/s, LOS rate: 17.866323 deg/s, posRepo size: 4
2021-08-13T21:18:31.702Z,1628889511.702 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 17.866323 deg/s. Setting heading cmd to target bearing of 79.368854deg and heading rate command to 0 deg/s.
2021-08-13T21:18:34.092Z,1628889514.092 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:18:34.454Z,1628889514.454 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:18:34.454Z,1628889514.454 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:18:34.455Z,1628889514.455 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:18:34.455Z,1628889514.455 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:18:34.877Z,1628889514.877 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
BC9,000,00568,189,80,80,78,FF
2021-08-13T21:18:34.878Z,1628889514.878 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:18:34.878Z,1628889514.878 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:18:34.879Z,1628889514.879 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:18:35.282Z,1628889515.282 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:18:35.670Z,1628889515.670 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,219,000,00568,187,80,80,75,FF
2021-08-13T21:18:35.686Z,1628889515.686 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:18:36.076Z,1628889516.076 [Micromodem](INFO): Nmea in: $SNTTA,,,,,211836.45*50

2021-08-13T21:18:36.119Z,1628889516.119 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.540001 m, bearing: 359.110064 deg, deltaT: 4.368522 s, approachRate: 0.000000 m/s, LOS rate: -18.372068 deg/s, posRepo size: 4
2021-08-13T21:18:36.120Z,1628889516.120 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -18.372068 deg/s. Setting heading cmd to target bearing of 359.110064deg and heading rate command to 0 deg/s.
2021-08-13T21:18:38.534Z,1628889518.534 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:18:38.897Z,1628889518.897 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:18:38.897Z,1628889518.897 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:18:38.897Z,1628889518.897 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:18:38.898Z,1628889518.898 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:18:39.305Z,1628889519.305 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
219,000,00568,187,80,80,75,FF
2021-08-13T21:18:39.305Z,1628889519.305 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:18:39.306Z,1628889519.306 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:18:39.309Z,1628889519.309 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:18:39.705Z,1628889519.705 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:18:40.110Z,1628889520.110 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D96,000,00563,188,80,80,78,FF
2021-08-13T21:18:40.111Z,1628889520.111 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:18:40.545Z,1628889520.545 [Micromodem](INFO): Nmea in: $SNTTA,0.144218,,,,211840.88*44

2021-08-13T21:18:40.578Z,1628889520.578 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.240002 m, bearing: 53.973794 deg, deltaT: 4.467745 s, approachRate: -0.067148 m/s, LOS rate: 12.279960 deg/s, posRepo size: 4
2021-08-13T21:18:40.579Z,1628889520.579 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.279960 deg/s. Setting heading cmd to target bearing of 53.973794deg and heading rate command to 0 deg/s.
2021-08-13T21:18:43.026Z,1628889523.026 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:18:43.333Z,1628889523.333 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:18:43.333Z,1628889523.333 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:18:43.333Z,1628889523.333 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:18:43.334Z,1628889523.334 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:18:43.741Z,1628889523.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D96,000,00563,188,80,80,78,FF
2021-08-13T21:18:43.741Z,1628889523.741 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:18:43.742Z,1628889523.742 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:18:43.743Z,1628889523.743 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:18:44.145Z,1628889524.145 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:18:44.550Z,1628889524.550 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,0055E,189,80,80,98,FF
2021-08-13T21:18:44.550Z,1628889524.550 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:18:45.018Z,1628889525.018 [Micromodem](INFO): Nmea in: $SNTTA,0.029646,,,,211845.31*46

2021-08-13T21:18:45.080Z,1628889525.080 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 44.940002 m, bearing: 97.781357 deg, deltaT: 4.393493 s, approachRate: -0.068283 m/s, LOS rate: 9.971010 deg/s, posRepo size: 4
2021-08-13T21:18:45.082Z,1628889525.082 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 44.940002 m,
      bearing: 97.781357 deg,
      approachRate: -0.068283 m/s,
      LOS rate: 9.971010 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 53.973794 deg,
      new cmd heading: 53.973794 deg.

2021-08-13T21:18:47.082Z,1628889527.082 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:18:47.373Z,1628889527.373 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:18:47.373Z,1628889527.373 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:18:47.373Z,1628889527.373 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:18:47.374Z,1628889527.374 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:18:47.805Z,1628889527.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,0055E,189,80,80,98,FF
2021-08-13T21:18:47.806Z,1628889527.806 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:18:47.806Z,1628889527.806 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:18:47.830Z,1628889527.830 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:18:48.190Z,1628889528.190 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:18:48.585Z,1628889528.585 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E01,000,0055C,187,80,80,76,FF
2021-08-13T21:18:48.585Z,1628889528.585 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:18:49.050Z,1628889529.050 [Micromodem](INFO): Nmea in: $SNTTA,0.040516,0.465872,,,211849.40*51

2021-08-13T21:18:49.147Z,1628889529.147 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 44.820000 m, bearing: 58.052838 deg, deltaT: 4.059143 s, approachRate: -0.029564 m/s, LOS rate: -9.787415 deg/s, posRepo size: 4
2021-08-13T21:18:49.149Z,1628889529.149 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 44.820000 m,
      bearing: 58.052838 deg,
      approachRate: -0.029564 m/s,
      LOS rate: -9.787415 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 102.703539 deg,
      new cmd heading: 108.939196 deg.

2021-08-13T21:18:51.442Z,1628889531.442 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:18:51.861Z,1628889531.861 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:18:51.861Z,1628889531.861 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:18:51.862Z,1628889531.862 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:18:51.862Z,1628889531.862 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:18:52.221Z,1628889532.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E01,000,0055C,187,80,80,76,FF
2021-08-13T21:18:52.221Z,1628889532.221 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:18:52.222Z,1628889532.222 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:18:52.223Z,1628889532.223 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:18:52.645Z,1628889532.645 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:18:53.037Z,1628889533.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B0F,000,00556,189,80,80,8B,FF
2021-08-13T21:18:53.037Z,1628889533.037 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:18:53.465Z,1628889533.465 [Micromodem](INFO): Nmea in: $SNTTA,0.039112,,,,211853.79*4A

2021-08-13T21:18:53.508Z,1628889533.508 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 44.459999 m, bearing: 113.463096 deg, deltaT: 4.534573 s, approachRate: -0.079390 m/s, LOS rate: 12.219510 deg/s, posRepo size: 4
2021-08-13T21:18:53.509Z,1628889533.509 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.219510 deg/s. Setting heading cmd to target bearing of 113.463096deg and heading rate command to 0 deg/s.
2021-08-13T21:18:55.920Z,1628889535.920 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:18:56.265Z,1628889536.265 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:18:56.265Z,1628889536.265 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:18:56.266Z,1628889536.266 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:18:56.266Z,1628889536.266 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:18:56.665Z,1628889536.665 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B0F,000,00556,189,80,80,8B,FF
2021-08-13T21:18:56.665Z,1628889536.665 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:18:56.665Z,1628889536.665 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:18:56.667Z,1628889536.667 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:18:57.077Z,1628889537.077 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:18:57.478Z,1628889537.478 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,BD0,000,0054B,189,80,80,87,FF
2021-08-13T21:18:57.478Z,1628889537.478 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:18:57.921Z,1628889537.921 [Micromodem](INFO): Nmea in: $SNTTA,,,,,211858.24*5F

2021-08-13T21:18:57.974Z,1628889537.974 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.799999 m, bearing: 119.925705 deg, deltaT: 4.337617 s, approachRate: -0.152157 m/s, LOS rate: 1.489898 deg/s, posRepo size: 4
2021-08-13T21:18:57.978Z,1628889537.978 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 43.799999 m,
      bearing: 119.925705 deg,
      approachRate: -0.152157 m/s,
      LOS rate: 1.489898 deg/s,
      cmd update: 4.469695 deg/s,
      cmd heading: 113.463096 deg,
      new cmd heading: 113.463096 deg.

2021-08-13T21:19:00.328Z,1628889540.328 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:19:00.705Z,1628889540.705 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:19:00.705Z,1628889540.705 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:19:00.705Z,1628889540.705 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:19:00.706Z,1628889540.706 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:19:01.109Z,1628889541.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
BD0,000,0054B,189,80,80,87,FF
2021-08-13T21:19:01.109Z,1628889541.109 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:19:01.109Z,1628889541.109 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:19:01.111Z,1628889541.111 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:19:01.528Z,1628889541.528 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:19:01.917Z,1628889541.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D67,000,0052F,189,80,80,7C,FF
2021-08-13T21:19:01.917Z,1628889541.917 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:19:02.366Z,1628889542.366 [Micromodem](INFO): Nmea in: $SNTTA,0.044272,,,,211902.68*40

2021-08-13T21:19:02.387Z,1628889542.387 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.119999 m, bearing: 116.240763 deg, deltaT: 4.480868 s, approachRate: -0.374927 m/s, LOS rate: -0.822372 deg/s, posRepo size: 4
2021-08-13T21:19:02.390Z,1628889542.390 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 42.119999 m,
      bearing: 116.240763 deg,
      approachRate: -0.374927 m/s,
      LOS rate: -0.822372 deg/s,
      cmd update: -2.467117 deg/s,
      cmd heading: 133.473077 deg,
      new cmd heading: 135.311208 deg.

2021-08-13T21:19:04.766Z,1628889544.766 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:19:05.157Z,1628889545.157 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:19:05.157Z,1628889545.157 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:19:05.157Z,1628889545.157 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:19:05.158Z,1628889545.158 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:19:05.553Z,1628889545.553 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D67,000,0052F,189,80,80,7C,FF
2021-08-13T21:19:05.553Z,1628889545.553 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:19:05.553Z,1628889545.553 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:19:05.555Z,1628889545.555 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:19:05.972Z,1628889545.972 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:19:06.365Z,1628889546.365 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E22,000,00512,187,80,80,7D,FF
2021-08-13T21:19:06.365Z,1628889546.365 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:19:06.820Z,1628889546.820 [Micromodem](INFO): Nmea in: $SNTTA,,,,,211907.12*51

2021-08-13T21:19:06.891Z,1628889546.891 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.380001 m, bearing: 125.737157 deg, deltaT: 4.474708 s, approachRate: -0.388852 m/s, LOS rate: 2.122238 deg/s, posRepo size: 4
2021-08-13T21:19:06.899Z,1628889546.899 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 40.380001 m,
      bearing: 125.737157 deg,
      approachRate: -0.388852 m/s,
      LOS rate: 2.122238 deg/s,
      cmd update: 6.366713 deg/s,
      cmd heading: 122.423658 deg,
      new cmd heading: 121.348429 deg.

2021-08-13T21:19:09.273Z,1628889549.273 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:19:09.593Z,1628889549.593 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:19:09.593Z,1628889549.593 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:19:09.593Z,1628889549.593 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:19:09.594Z,1628889549.594 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:19:10.001Z,1628889550.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E22,000,00512,187,80,80,7D,FF
2021-08-13T21:19:10.001Z,1628889550.001 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:19:10.001Z,1628889550.001 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:19:10.003Z,1628889550.003 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:19:10.404Z,1628889550.404 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:19:10.820Z,1628889550.820 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF8,000,004EC,183,80,80,5D,FF
2021-08-13T21:19:10.822Z,1628889550.822 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:19:11.253Z,1628889551.253 [Micromodem](INFO): Nmea in: $SNTTA,,,,,211911.58*58

2021-08-13T21:19:11.301Z,1628889551.301 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.099998 m, bearing: 121.407569 deg, deltaT: 4.446969 s, approachRate: -0.512709 m/s, LOS rate: -0.973604 deg/s, posRepo size: 4
2021-08-13T21:19:11.301Z,1628889551.301 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 38.10 m.
2021-08-13T21:19:11.303Z,1628889551.303 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 38.099998 m,
      bearing: 121.407569 deg,
      approachRate: -0.512709 m/s,
      LOS rate: -0.973604 deg/s,
      cmd update: -2.920813 deg/s,
      cmd heading: 150.736978 deg,
      new cmd heading: 153.273489 deg.

2021-08-13T21:19:11.658Z,1628889551.658 [PowerOnly](INFO): Powering up loadControl
2021-08-13T21:19:11.765Z,1628889551.765 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-13T21:19:11.766Z,1628889551.766 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T21:19:11.767Z,1628889551.767 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-13T21:19:11.768Z,1628889551.768 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-13T21:19:11.769Z,1628889551.769 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-13T21:19:11.769Z,1628889551.769 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-13T21:19:12.083Z,1628889552.083 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-13T21:19:12.083Z,1628889552.083 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T21:19:12.083Z,1628889552.083 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-13T21:19:12.083Z,1628889552.083 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T21:19:13.663Z,1628889553.663 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:19:14.037Z,1628889554.037 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:19:14.037Z,1628889554.037 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:19:14.037Z,1628889554.037 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:19:14.038Z,1628889554.038 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:19:14.449Z,1628889554.449 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF8,000,004EC,183,80,80,5D,FF
2021-08-13T21:19:14.449Z,1628889554.449 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:19:14.449Z,1628889554.449 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:19:14.451Z,1628889554.451 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:19:14.892Z,1628889554.892 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:19:15.257Z,1628889555.257 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,21A,000,004C0,187,80,80,8F,FF
2021-08-13T21:19:15.258Z,1628889555.258 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:19:15.297Z,1628889555.297 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:19:15.697Z,1628889555.697 [Micromodem](INFO): Nmea in: $SNTTA,,,,,211916.02*50

2021-08-13T21:19:15.719Z,1628889555.719 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.460003 m, bearing: 107.556451 deg, deltaT: 4.392674 s, approachRate: -0.601000 m/s, LOS rate: -3.153232 deg/s, posRepo size: 4
2021-08-13T21:19:15.720Z,1628889555.720 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 35.46 m.
2021-08-13T21:19:15.722Z,1628889555.722 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 35.460003 m,
      bearing: 107.556451 deg,
      approachRate: -0.601000 m/s,
      LOS rate: -3.153232 deg/s,
      cmd update: -9.459694 deg/s,
      cmd heading: 137.908203 deg,
      new cmd heading: 136.666317 deg.

2021-08-13T21:19:18.124Z,1628889558.124 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:19:18.485Z,1628889558.485 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:19:18.485Z,1628889558.485 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:19:18.485Z,1628889558.485 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:19:18.486Z,1628889558.486 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:19:18.901Z,1628889558.901 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
21A,000,004C0,187,80,80,8F,FF
2021-08-13T21:19:18.901Z,1628889558.901 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:19:18.901Z,1628889558.901 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:19:18.903Z,1628889558.903 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:19:19.289Z,1628889559.289 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:19:19.694Z,1628889559.694 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,338,000,004A7,189,80,80,72,FF
2021-08-13T21:19:19.694Z,1628889559.694 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:19:19.714Z,1628889559.714 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:19:20.125Z,1628889560.125 [Micromodem](INFO): Nmea in: $SNTTA,,,,,211920.47*54

2021-08-13T21:19:20.162Z,1628889560.162 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 33.959999 m, bearing: 106.037253 deg, deltaT: 4.416613 s, approachRate: -0.339628 m/s, LOS rate: -0.343974 deg/s, posRepo size: 4
2021-08-13T21:19:20.163Z,1628889560.163 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 33.96 m.
2021-08-13T21:19:20.165Z,1628889560.165 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 33.959999 m,
      bearing: 106.037253 deg,
      approachRate: -0.339628 m/s,
      LOS rate: -0.343974 deg/s,
      cmd update: -1.031921 deg/s,
      cmd heading: 96.128991 deg,
      new cmd heading: 91.856747 deg.

2021-08-13T21:19:22.547Z,1628889562.547 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:19:22.936Z,1628889562.936 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:19:22.937Z,1628889562.937 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:19:22.937Z,1628889562.937 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:19:22.939Z,1628889562.939 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:19:23.329Z,1628889563.329 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
338,000,004A7,189,80,80,72,FF
2021-08-13T21:19:23.329Z,1628889563.329 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:19:23.329Z,1628889563.329 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:19:23.331Z,1628889563.331 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:19:23.745Z,1628889563.745 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:19:24.137Z,1628889564.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1EC,000,00482,187,80,80,AF,FF
2021-08-13T21:19:24.137Z,1628889564.137 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:19:24.207Z,1628889564.207 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:19:24.581Z,1628889564.581 [Micromodem](INFO): Nmea in: $SNTTA,,,,,211924.90*5A

2021-08-13T21:19:24.604Z,1628889564.604 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.740002 m, bearing: 107.861241 deg, deltaT: 4.492651 s, approachRate: -0.494140 m/s, LOS rate: 0.405994 deg/s, posRepo size: 4
2021-08-13T21:19:24.605Z,1628889564.605 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 31.74 m.
2021-08-13T21:19:24.607Z,1628889564.607 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 31.740002 m,
      bearing: 107.861241 deg,
      approachRate: -0.494140 m/s,
      LOS rate: 0.405994 deg/s,
      cmd update: 1.217981 deg/s,
      cmd heading: 91.505362 deg,
      new cmd heading: 91.079780 deg.

2021-08-13T21:19:27.112Z,1628889567.112 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:19:27.373Z,1628889567.373 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:19:27.373Z,1628889567.373 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:19:27.373Z,1628889567.373 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:19:27.374Z,1628889567.374 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:19:27.793Z,1628889567.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1EC,000,00482,187,80,80,AF,FF
2021-08-13T21:19:27.796Z,1628889567.796 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:19:27.798Z,1628889567.798 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:19:27.799Z,1628889567.799 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:19:28.180Z,1628889568.180 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:19:28.581Z,1628889568.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0BF,000,0045F,185,80,80,59,FF
2021-08-13T21:19:28.581Z,1628889568.581 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:19:28.602Z,1628889568.602 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:19:29.057Z,1628889569.057 [Micromodem](INFO): Nmea in: $SNTTA,,,,,211929.37*5A

2021-08-13T21:19:29.156Z,1628889569.156 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.639999 m, bearing: 108.634473 deg, deltaT: 4.394792 s, approachRate: -0.477839 m/s, LOS rate: 0.175943 deg/s, posRepo size: 4
2021-08-13T21:19:29.156Z,1628889569.156 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 29.64 m.
2021-08-13T21:19:29.159Z,1628889569.159 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 29.639999 m,
      bearing: 108.634473 deg,
      approachRate: -0.477839 m/s,
      LOS rate: 0.175943 deg/s,
      cmd update: 0.527828 deg/s,
      cmd heading: 96.872877 deg,
      new cmd heading: 97.546939 deg.

2021-08-13T21:19:31.122Z,1628889571.122 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:19:31.417Z,1628889571.417 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:19:31.417Z,1628889571.417 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:19:31.417Z,1628889571.417 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:19:31.418Z,1628889571.418 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:19:31.856Z,1628889571.856 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0BF,000,0045F,185,80,80,59,FF
2021-08-13T21:19:31.857Z,1628889571.857 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:19:31.857Z,1628889571.857 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:19:31.901Z,1628889571.901 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:19:31.945Z,1628889571.945 [CTD_Seabird](ERROR): Failed to parse device response: 33
2021-08-13T21:19:32.216Z,1628889572.216 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:19:32.645Z,1628889572.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,011,000,0043D,183,80,80,8B,FF
2021-08-13T21:19:32.646Z,1628889572.646 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:19:32.666Z,1628889572.666 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:19:33.138Z,1628889573.138 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.600000 m, bearing: 106.723413 deg, deltaT: 4.064233 s, approachRate: -0.501939 m/s, LOS rate: -0.470214 deg/s, posRepo size: 4
2021-08-13T21:19:33.139Z,1628889573.139 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 27.60 m.
2021-08-13T21:19:33.139Z,1628889573.139 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 27.60 m.
2021-08-13T21:19:33.139Z,1628889573.139 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-13T21:19:33.142Z,1628889573.142 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 27.600000 m,
      bearing: 106.723413 deg,
      approachRate: -0.501939 m/s,
      LOS rate: -0.470214 deg/s,
      cmd update: -1.410642 deg/s,
      cmd heading: 99.018180 deg,
      new cmd heading: 99.269227 deg.

2021-08-13T21:19:33.441Z,1628889573.441 [Micromodem](INFO): Nmea in: $SNTTA,,,,,211933.47*56

2021-08-13T21:19:35.482Z,1628889575.482 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:19:35.885Z,1628889575.885 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:19:35.885Z,1628889575.885 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:19:35.885Z,1628889575.885 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:19:35.886Z,1628889575.886 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:19:36.273Z,1628889576.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
011,000,0043D,183,80,80,8B,FF
2021-08-13T21:19:36.273Z,1628889576.273 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:19:36.273Z,1628889576.273 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:19:36.275Z,1628889576.275 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:19:36.670Z,1628889576.670 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:19:37.089Z,1628889577.089 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FFE,000,0041F,183,80,80,3A,FF
2021-08-13T21:19:37.089Z,1628889577.089 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:19:37.164Z,1628889577.164 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:19:37.502Z,1628889577.502 [Micromodem](INFO): Nmea in: $SNTTA,,,,,211937.84*5D

2021-08-13T21:19:37.518Z,1628889577.518 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.799997 m, bearing: 107.136599 deg, deltaT: 4.498180 s, approachRate: -0.400163 m/s, LOS rate: 0.091856 deg/s, posRepo size: 4
2021-08-13T21:19:37.520Z,1628889577.520 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 25.799997 m,
      bearing: 107.136599 deg,
      approachRate: -0.400163 m/s,
      LOS rate: 0.091856 deg/s,
      cmd update: 0.275568 deg/s,
      cmd heading: 92.678817 deg,
      new cmd heading: 92.169165 deg.

2021-08-13T21:19:39.941Z,1628889579.941 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:19:40.309Z,1628889580.309 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:19:40.309Z,1628889580.309 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:19:40.309Z,1628889580.309 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:19:40.310Z,1628889580.310 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:19:40.701Z,1628889580.701 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FFE,000,0041F,183,80,80,3A,FF
2021-08-13T21:19:40.701Z,1628889580.701 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:19:40.701Z,1628889580.701 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:19:40.703Z,1628889580.703 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:19:41.125Z,1628889581.125 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:19:41.509Z,1628889581.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EC2,000,003ED,186,80,80,7F,FF
2021-08-13T21:19:41.509Z,1628889581.509 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:19:41.557Z,1628889581.557 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:19:41.953Z,1628889581.953 [Micromodem](INFO): Nmea in: $SNTTA,0.017666,,,,211942.27*48

2021-08-13T21:19:42.012Z,1628889582.012 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.799997 m, bearing: 112.670671 deg, deltaT: 4.392811 s, approachRate: -0.682934 m/s, LOS rate: 1.259802 deg/s, posRepo size: 4
2021-08-13T21:19:42.014Z,1628889582.014 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 22.799997 m,
      bearing: 112.670671 deg,
      approachRate: -0.682934 m/s,
      LOS rate: 1.259802 deg/s,
      cmd update: 3.779406 deg/s,
      cmd heading: 93.890504 deg,
      new cmd heading: 94.016682 deg.

2021-08-13T21:19:44.370Z,1628889584.370 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:19:44.749Z,1628889584.749 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:19:44.750Z,1628889584.750 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:19:44.750Z,1628889584.750 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:19:44.751Z,1628889584.751 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:19:45.154Z,1628889585.154 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EC2,000,003ED,186,80,80,7F,FF
2021-08-13T21:19:45.154Z,1628889585.154 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:19:45.154Z,1628889585.154 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:19:45.157Z,1628889585.157 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:19:45.557Z,1628889585.557 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:19:45.962Z,1628889585.962 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F5A,000,003C3,187,80,80,9D,FF
2021-08-13T21:19:45.963Z,1628889585.963 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:19:46.050Z,1628889586.050 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:19:46.393Z,1628889586.393 [Micromodem](INFO): Nmea in: $SNTTA,,,,,211946.73*53

2021-08-13T21:19:46.415Z,1628889586.415 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.280001 m, bearing: 110.074775 deg, deltaT: 4.493767 s, approachRate: -0.560776 m/s, LOS rate: -0.577666 deg/s, posRepo size: 4
2021-08-13T21:19:46.418Z,1628889586.418 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 20.280001 m,
      bearing: 110.074775 deg,
      approachRate: -0.560776 m/s,
      LOS rate: -0.577666 deg/s,
      cmd update: -1.732997 deg/s,
      cmd heading: 110.859023 deg,
      new cmd heading: 112.264615 deg.

2021-08-13T21:19:48.003Z,1628889588.003 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T21:19:48.877Z,1628889588.877 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:19:49.187Z,1628889589.187 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:19:49.188Z,1628889589.188 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:19:49.188Z,1628889589.188 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:19:49.189Z,1628889589.189 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:19:49.589Z,1628889589.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F5A,000,003C3,187,80,80,9D,FF
2021-08-13T21:19:49.589Z,1628889589.589 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:19:49.590Z,1628889589.590 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:19:49.591Z,1628889589.591 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:19:50.021Z,1628889590.021 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:19:50.397Z,1628889590.397 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0AF,000,0039A,186,80,80,92,FF
2021-08-13T21:19:50.397Z,1628889590.397 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:19:50.437Z,1628889590.437 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:19:50.862Z,1628889590.862 [Micromodem](INFO): Nmea in: $SNTTA,,,,,211951.16*56

2021-08-13T21:19:50.922Z,1628889590.922 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.820002 m, bearing: 107.404533 deg, deltaT: 4.386758 s, approachRate: -0.560778 m/s, LOS rate: -0.608705 deg/s, posRepo size: 4
2021-08-13T21:19:50.928Z,1628889590.928 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.820002 m,
      bearing: 107.404533 deg,
      approachRate: -0.560778 m/s,
      LOS rate: -0.608705 deg/s,
      cmd update: -1.826115 deg/s,
      cmd heading: 103.284488 deg,
      new cmd heading: 102.405045 deg.

2021-08-13T21:19:53.300Z,1628889593.300 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:19:53.625Z,1628889593.625 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:19:53.625Z,1628889593.625 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:19:53.625Z,1628889593.625 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:19:53.626Z,1628889593.626 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:19:54.033Z,1628889594.033 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0AF,000,0039A,186,80,80,92,FF
2021-08-13T21:19:54.034Z,1628889594.034 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:19:54.034Z,1628889594.034 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:19:54.035Z,1628889594.035 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:19:54.083Z,1628889594.083 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T21:19:54.441Z,1628889594.441 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:19:54.882Z,1628889594.882 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A3,000,0037C,186,80,80,68,FF
2021-08-13T21:19:54.883Z,1628889594.883 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:19:55.027Z,1628889595.027 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:19:55.285Z,1628889595.285 [Micromodem](INFO): Nmea in: $SNTTA,,0.029600,,,211955.61*41

2021-08-13T21:19:55.345Z,1628889595.345 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.019999 m, bearing: 101.447850 deg, deltaT: 4.602308 s, approachRate: -0.391109 m/s, LOS rate: -1.294282 deg/s, posRepo size: 4
2021-08-13T21:19:55.347Z,1628889595.347 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.019999 m,
      bearing: 101.447850 deg,
      approachRate: -0.391109 m/s,
      LOS rate: -1.294282 deg/s,
      cmd update: -3.882845 deg/s,
      cmd heading: 94.873198 deg,
      new cmd heading: 94.281239 deg.

2021-08-13T21:19:57.687Z,1628889597.687 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:19:58.090Z,1628889598.090 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:19:58.090Z,1628889598.090 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:19:58.090Z,1628889598.090 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:19:58.091Z,1628889598.091 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:19:58.107Z,1628889598.107 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T21:19:58.477Z,1628889598.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0A3,000,0037C,186,80,80,68,FF
2021-08-13T21:19:58.477Z,1628889598.477 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:19:58.477Z,1628889598.477 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:19:58.479Z,1628889598.479 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:19:58.906Z,1628889598.906 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:19:59.289Z,1628889599.289 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F48,000,0034A,186,80,80,68,FF
2021-08-13T21:19:59.290Z,1628889599.290 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:19:59.352Z,1628889599.352 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:19:59.733Z,1628889599.733 [Micromodem](INFO): Nmea in: $SNTTA,,,,,212000.05*5A

2021-08-13T21:19:59.765Z,1628889599.765 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.019999 m, bearing: 103.061209 deg, deltaT: 4.312921 s, approachRate: -0.695584 m/s, LOS rate: 0.374076 deg/s, posRepo size: 4
2021-08-13T21:19:59.769Z,1628889599.769 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.019999 m,
      bearing: 103.061209 deg,
      approachRate: -0.695584 m/s,
      LOS rate: 0.374076 deg/s,
      cmd update: 1.122227 deg/s,
      cmd heading: 78.066590 deg,
      new cmd heading: 76.452682 deg.

2021-08-13T21:20:02.143Z,1628889602.143 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:20:02.530Z,1628889602.530 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:20:02.530Z,1628889602.530 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:20:02.530Z,1628889602.530 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:20:02.530Z,1628889602.530 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:20:02.925Z,1628889602.925 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F48,000,0034A,186,80,80,68,FF
2021-08-13T21:20:02.926Z,1628889602.926 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:20:02.926Z,1628889602.926 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:20:02.933Z,1628889602.933 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:20:02.989Z,1628889602.989 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T21:20:03.341Z,1628889603.341 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:20:03.733Z,1628889603.733 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E06,000,00327,187,80,80,93,FF
2021-08-13T21:20:03.733Z,1628889603.733 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:20:03.792Z,1628889603.792 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:20:04.185Z,1628889604.185 [Micromodem](INFO): Nmea in: $SNTTA,,,,,212004.50*5E

2021-08-13T21:20:04.211Z,1628889604.211 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.920002 m, bearing: 107.159125 deg, deltaT: 4.439928 s, approachRate: -0.472980 m/s, LOS rate: 0.922969 deg/s, posRepo size: 4
2021-08-13T21:20:04.233Z,1628889604.233 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.920002 m,
      bearing: 107.159125 deg,
      approachRate: -0.472980 m/s,
      LOS rate: 0.922969 deg/s,
      cmd update: 2.768907 deg/s,
      cmd heading: 83.045435 deg,
      new cmd heading: 83.523346 deg.

2021-08-13T21:20:06.582Z,1628889606.582 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:20:06.992Z,1628889606.992 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:20:06.993Z,1628889606.993 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:20:06.993Z,1628889606.993 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:20:06.995Z,1628889606.995 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:20:07.369Z,1628889607.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E06,000,00327,187,80,80,93,FF
2021-08-13T21:20:07.369Z,1628889607.369 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:20:07.369Z,1628889607.369 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:20:07.371Z,1628889607.371 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:20:07.785Z,1628889607.785 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:20:07.864Z,1628889607.864 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T21:20:08.186Z,1628889608.186 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF8,000,00315,186,80,80,64,FF
2021-08-13T21:20:08.186Z,1628889608.186 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:20:08.211Z,1628889608.211 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:20:08.617Z,1628889608.617 [Micromodem](INFO): Nmea in: $SNTTA,,,,,212008.94*5A

2021-08-13T21:20:08.640Z,1628889608.640 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.839999 m, bearing: 102.727759 deg, deltaT: 4.418218 s, approachRate: -0.244443 m/s, LOS rate: -1.002976 deg/s, posRepo size: 4
2021-08-13T21:20:08.642Z,1628889608.642 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.839999 m,
      bearing: 102.727759 deg,
      approachRate: -0.244443 m/s,
      LOS rate: -1.002976 deg/s,
      cmd update: -3.008927 deg/s,
      cmd heading: 95.290061 deg,
      new cmd heading: 96.486480 deg.

2021-08-13T21:20:11.108Z,1628889611.108 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:20:11.417Z,1628889611.417 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:20:11.417Z,1628889611.417 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:20:11.417Z,1628889611.417 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:20:11.418Z,1628889611.418 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:20:11.825Z,1628889611.825 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF8,000,00315,186,80,80,64,FF
2021-08-13T21:20:11.826Z,1628889611.826 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:20:11.827Z,1628889611.827 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:20:11.860Z,1628889611.860 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:20:12.265Z,1628889612.265 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:20:12.658Z,1628889612.658 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F98,000,002E2,186,80,80,BD,FF
2021-08-13T21:20:12.658Z,1628889612.658 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:20:12.683Z,1628889612.683 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:20:13.105Z,1628889613.105 [Micromodem](INFO): Nmea in: $SNTTA,,,,,212013.43*5A

2021-08-13T21:20:13.163Z,1628889613.163 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T21:20:13.196Z,1628889613.196 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 6.779999 m, bearing: 106.675691 deg, deltaT: 4.472259 s, approachRate: -0.684218 m/s, LOS rate: 0.882760 deg/s, posRepo size: 4
2021-08-13T21:20:13.198Z,1628889613.198 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.779999 m,
      bearing: 106.675691 deg,
      approachRate: -0.684218 m/s,
      LOS rate: 0.882760 deg/s,
      cmd update: 2.648280 deg/s,
      cmd heading: 81.833257 deg,
      new cmd heading: 80.292747 deg.

2021-08-13T21:20:15.503Z,1628889615.503 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:20:15.901Z,1628889615.901 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:20:15.901Z,1628889615.901 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:20:15.901Z,1628889615.901 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:20:15.902Z,1628889615.902 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:20:16.293Z,1628889616.293 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F98,000,002E2,186,80,80,BD,FF
2021-08-13T21:20:16.293Z,1628889616.293 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:20:16.293Z,1628889616.293 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:20:16.295Z,1628889616.295 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:20:16.709Z,1628889616.709 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:20:17.097Z,1628889617.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1E4,000,002C7,187,80,80,53,FF
2021-08-13T21:20:17.098Z,1628889617.098 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:20:17.197Z,1628889617.197 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:20:17.553Z,1628889617.553 [Micromodem](INFO): Nmea in: $SNTTA,,,,,212017.87*56

2021-08-13T21:20:17.576Z,1628889617.576 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.160000 m, bearing: 67.695344 deg, deltaT: 4.514423 s, approachRate: -0.358849 m/s, LOS rate: -8.634624 deg/s, posRepo size: 4
2021-08-13T21:20:17.578Z,1628889617.578 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.160000 m,
      bearing: 67.695344 deg,
      approachRate: -0.358849 m/s,
      LOS rate: -8.634624 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 93.783668 deg,
      new cmd heading: 94.799363 deg.

2021-08-13T21:20:17.927Z,1628889617.927 [RDI_PathfinderUp](ERROR): only read 0 of 4 data items
2021-08-13T21:20:19.966Z,1628889619.966 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:20:20.333Z,1628889620.333 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:20:20.333Z,1628889620.333 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:20:20.333Z,1628889620.333 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:20:20.334Z,1628889620.334 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:20:20.741Z,1628889620.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1E4,000,002C7,187,80,80,53,FF
2021-08-13T21:20:20.741Z,1628889620.741 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:20:20.741Z,1628889620.741 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:20:20.743Z,1628889620.743 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:20:21.165Z,1628889621.165 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:20:21.549Z,1628889621.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,029,000,002DF,184,80,80,95,FF
2021-08-13T21:20:21.549Z,1628889621.549 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:20:21.593Z,1628889621.593 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:20:21.993Z,1628889621.993 [Micromodem](INFO): Nmea in: $SNTTA,,,,,212022.32*5E

2021-08-13T21:20:22.019Z,1628889622.019 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 6.600000 m, bearing: 90.210072 deg, deltaT: 4.395867 s, approachRate: 0.327580 m/s, LOS rate: 5.121795 deg/s, posRepo size: 4
2021-08-13T21:20:22.021Z,1628889622.021 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.600000 m,
      bearing: 90.210072 deg,
      approachRate: 0.327580 m/s,
      LOS rate: 5.121795 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 41.297347 deg,
      new cmd heading: 35.860542 deg.

2021-08-13T21:20:23.219Z,1628889623.219 [RDI_PathfinderUp](ERROR): DVL BIT error. See manual. Result code: 48
2021-08-13T21:20:24.411Z,1628889624.411 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:20:24.850Z,1628889624.850 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:20:24.850Z,1628889624.850 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:20:24.850Z,1628889624.850 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:20:24.851Z,1628889624.851 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:20:25.189Z,1628889625.189 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
029,000,002DF,184,80,80,95,FF
2021-08-13T21:20:25.189Z,1628889625.189 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:20:25.190Z,1628889625.190 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:20:25.191Z,1628889625.191 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:20:25.593Z,1628889625.593 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:20:25.989Z,1628889625.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F31,000,002EF,187,80,80,3D,FF
2021-08-13T21:20:25.989Z,1628889625.989 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:20:26.020Z,1628889626.020 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:20:26.429Z,1628889626.429 [Micromodem](INFO): Nmea in: $SNTTA,,,,,212026.76*5A

2021-08-13T21:20:26.468Z,1628889626.468 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.559999 m, bearing: 93.906625 deg, deltaT: 4.426784 s, approachRate: 0.216862 m/s, LOS rate: 0.835043 deg/s, posRepo size: 4
2021-08-13T21:20:26.470Z,1628889626.470 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.559999 m,
      bearing: 93.906625 deg,
      approachRate: 0.216862 m/s,
      LOS rate: 0.835043 deg/s,
      cmd update: 2.505128 deg/s,
      cmd heading: 94.703468 deg,
      new cmd heading: 100.115996 deg.

2021-08-13T21:20:28.883Z,1628889628.883 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:20:29.237Z,1628889629.237 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:20:29.237Z,1628889629.237 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:20:29.237Z,1628889629.237 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:20:29.238Z,1628889629.238 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:20:29.625Z,1628889629.625 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F31,000,002EF,187,80,80,3D,FF
2021-08-13T21:20:29.625Z,1628889629.625 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:20:29.625Z,1628889629.625 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:20:29.627Z,1628889629.627 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:20:30.032Z,1628889630.032 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:20:30.441Z,1628889630.441 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E56,000,002FE,186,80,80,93,FF
2021-08-13T21:20:30.441Z,1628889630.441 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:20:30.461Z,1628889630.461 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:20:30.890Z,1628889630.890 [Micromodem](INFO): Nmea in: $SNTTA,0.023978,,,,212031.20*46

2021-08-13T21:20:30.920Z,1628889630.920 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.460000 m, bearing: 95.839459 deg, deltaT: 4.441514 s, approachRate: 0.202634 m/s, LOS rate: 0.435175 deg/s, posRepo size: 4
2021-08-13T21:20:30.922Z,1628889630.922 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.460000 m,
      bearing: 95.839459 deg,
      approachRate: 0.202634 m/s,
      LOS rate: 0.435175 deg/s,
      cmd update: 1.305524 deg/s,
      cmd heading: 105.830608 deg,
      new cmd heading: 106.987098 deg.

2021-08-13T21:20:33.007Z,1628889633.007 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:20:33.265Z,1628889633.265 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:20:33.265Z,1628889633.265 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:20:33.265Z,1628889633.265 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:20:33.266Z,1628889633.266 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:20:33.665Z,1628889633.665 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E56,000,002FE,186,80,80,93,FF
2021-08-13T21:20:33.665Z,1628889633.665 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:20:33.665Z,1628889633.665 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:20:33.667Z,1628889633.667 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:20:34.072Z,1628889634.072 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:20:34.481Z,1628889634.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EAA,000,00328,186,80,80,A7,FF
2021-08-13T21:20:34.482Z,1628889634.482 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:20:34.502Z,1628889634.502 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:20:34.917Z,1628889634.917 [Micromodem](INFO): Nmea in: $SNTTA,0.030794,,,,212035.24*48

2021-08-13T21:20:35.018Z,1628889635.018 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.980000 m, bearing: 103.332402 deg, deltaT: 4.040293 s, approachRate: 0.623717 m/s, LOS rate: 1.854554 deg/s, posRepo size: 4
2021-08-13T21:20:35.019Z,1628889635.019 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 10.98 m. Rolling out.
2021-08-13T21:20:35.019Z,1628889635.019 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-08-13T21:20:35.337Z,1628889635.337 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2021-08-13T21:20:35.338Z,1628889635.338 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-13T21:20:35.338Z,1628889635.338 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2021-08-13T21:20:35.338Z,1628889635.338 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2021-08-13T21:20:35.338Z,1628889635.338 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2021-08-13T21:20:35.338Z,1628889635.338 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2021-08-13T21:20:35.338Z,1628889635.338 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-08-13T21:20:37.008Z,1628889637.008 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:20:37.305Z,1628889637.305 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:20:37.305Z,1628889637.305 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:20:37.305Z,1628889637.305 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:20:37.306Z,1628889637.306 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:20:37.705Z,1628889637.705 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EAA,000,00328,186,80,80,A7,FF
2021-08-13T21:20:37.705Z,1628889637.705 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:20:37.705Z,1628889637.705 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:20:37.707Z,1628889637.707 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:20:38.133Z,1628889638.133 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:20:38.525Z,1628889638.525 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F7B,000,0033E,186,80,80,9C,FF
2021-08-13T21:20:38.526Z,1628889638.526 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:20:38.606Z,1628889638.606 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:20:38.985Z,1628889638.985 [Micromodem](INFO): Nmea in: $SNTTA,0.044848,,,,212039.28*45

2021-08-13T21:20:39.055Z,1628889639.055 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.299998 m, bearing: 110.324132 deg, deltaT: 4.104710 s, approachRate: 0.321581 m/s, LOS rate: 1.703343 deg/s, posRepo size: 4
2021-08-13T21:20:41.394Z,1628889641.394 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:20:41.761Z,1628889641.761 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:20:41.761Z,1628889641.761 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:20:41.761Z,1628889641.761 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:20:41.762Z,1628889641.762 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:20:42.165Z,1628889642.165 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F7B,000,0033E,186,80,80,9C,FF
2021-08-13T21:20:42.165Z,1628889642.165 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:20:42.166Z,1628889642.166 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:20:42.167Z,1628889642.167 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:20:42.569Z,1628889642.569 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:20:42.994Z,1628889642.994 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DF5,000,00352,187,80,80,A8,FF
2021-08-13T21:20:42.995Z,1628889642.995 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:20:43.100Z,1628889643.100 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:20:43.405Z,1628889643.405 [Micromodem](INFO): Nmea in: $SNTTA,,,,,212043.74*5B

2021-08-13T21:20:43.442Z,1628889643.442 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.500002 m, bearing: 140.255530 deg, deltaT: 4.493550 s, approachRate: 0.267050 m/s, LOS rate: 6.660969 deg/s, posRepo size: 4
2021-08-13T21:20:45.867Z,1628889645.867 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:20:46.201Z,1628889646.201 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:20:46.201Z,1628889646.201 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:20:46.201Z,1628889646.201 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:20:46.202Z,1628889646.202 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:20:46.209Z,1628889646.209 [PowerOnly](INFO): Powering down loadControl
2021-08-13T21:20:46.610Z,1628889646.610 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DF5,000,00352,187,80,80,A8,FF
2021-08-13T21:20:46.610Z,1628889646.610 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:20:46.610Z,1628889646.610 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:20:46.612Z,1628889646.612 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:20:47.051Z,1628889647.051 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:20:47.064Z,1628889647.064 [Micromodem](INFO): Nmea in: ,0.20.0.39330*76

2021-08-13T21:20:47.065Z,1628889647.065 [Micromodem](ERROR): Response from modem failed NMEA checksum: ,0.20.0.39330*76
 expected 0
2021-08-13T21:20:47.425Z,1628889647.425 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DF0,000,00362,188,80,80,87,FF
2021-08-13T21:20:47.425Z,1628889647.425 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:20:47.461Z,1628889647.461 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:20:47.905Z,1628889647.905 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.459998 m, bearing: 144.063101 deg, deltaT: 4.360723 s, approachRate: 0.220146 m/s, LOS rate: 0.873151 deg/s, posRepo size: 4
2021-08-13T21:20:50.258Z,1628889650.258 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:20:50.645Z,1628889650.645 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:20:50.645Z,1628889650.645 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:20:50.645Z,1628889650.645 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:20:50.646Z,1628889650.646 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:20:51.053Z,1628889651.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DF0,000,00362,188,80,80,87,FF
2021-08-13T21:20:51.054Z,1628889651.054 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:20:51.054Z,1628889651.054 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:20:51.055Z,1628889651.055 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:20:51.457Z,1628889651.457 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:20:51.874Z,1628889651.874 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E1B,000,00371,186,80,80,80,FF
2021-08-13T21:20:51.874Z,1628889651.874 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:20:51.931Z,1628889651.931 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:20:52.293Z,1628889652.293 [Micromodem](INFO): Nmea in: $SNTTA,,,,,212052.63*5D

2021-08-13T21:20:52.350Z,1628889652.350 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.359997 m, bearing: 142.828012 deg, deltaT: 4.474635 s, approachRate: 0.201133 m/s, LOS rate: -0.276020 deg/s, posRepo size: 4
2021-08-13T21:20:53.123Z,1628889653.123 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-13T21:20:54.702Z,1628889654.702 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:20:55.089Z,1628889655.089 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:20:55.089Z,1628889655.089 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:20:55.089Z,1628889655.089 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:20:55.090Z,1628889655.090 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:20:55.499Z,1628889655.499 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E1B,000,00371,186,80,80,80,FF
2021-08-13T21:20:55.499Z,1628889655.499 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:20:55.499Z,1628889655.499 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:20:55.501Z,1628889655.501 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:20:55.920Z,1628889655.920 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:20:56.310Z,1628889656.310 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E78,000,00376,186,80,80,76,FF
2021-08-13T21:20:56.310Z,1628889656.310 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:20:56.353Z,1628889656.353 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:20:56.750Z,1628889656.750 [Micromodem](INFO): Nmea in: $SNTTA,0.055048,,,,212057.07*48

2021-08-13T21:20:56.771Z,1628889656.771 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.660002 m, bearing: 137.940861 deg, deltaT: 4.417932 s, approachRate: 0.067906 m/s, LOS rate: -1.106208 deg/s, posRepo size: 4
2021-08-13T21:20:59.198Z,1628889659.198 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:20:59.545Z,1628889659.545 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:20:59.545Z,1628889659.545 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:20:59.545Z,1628889659.545 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:20:59.546Z,1628889659.546 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:20:59.949Z,1628889659.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E78,000,00376,186,80,80,76,FF
2021-08-13T21:20:59.949Z,1628889659.949 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:20:59.949Z,1628889659.949 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:20:59.951Z,1628889659.951 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:21:00.357Z,1628889660.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:21:00.757Z,1628889660.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E82,000,0037D,186,80,80,4D,FF
2021-08-13T21:21:00.757Z,1628889660.757 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:21:00.779Z,1628889660.779 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:21:01.181Z,1628889661.181 [Micromodem](INFO): Nmea in: $SNTTA,0.402172,,,,212101.53*45

2021-08-13T21:21:01.241Z,1628889661.241 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.079996 m, bearing: 136.938490 deg, deltaT: 4.451398 s, approachRate: 0.094351 m/s, LOS rate: -0.225181 deg/s, posRepo size: 4
2021-08-13T21:21:03.598Z,1628889663.598 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:21:03.981Z,1628889663.981 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:21:03.981Z,1628889663.981 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:21:03.981Z,1628889663.981 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:21:03.982Z,1628889663.982 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:21:04.401Z,1628889664.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E82,000,0037D,186,80,80,4D,FF
2021-08-13T21:21:04.401Z,1628889664.401 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:21:04.401Z,1628889664.401 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:21:04.402Z,1628889664.402 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:21:04.833Z,1628889664.833 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:21:05.197Z,1628889665.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA4,000,0037B,186,80,80,35,FF
2021-08-13T21:21:05.198Z,1628889665.198 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:21:05.237Z,1628889665.237 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:21:05.629Z,1628889665.629 [Micromodem](INFO): Nmea in: $SNTTA,,,,,212105.97*55

2021-08-13T21:21:05.651Z,1628889665.651 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.960001 m, bearing: 134.874707 deg, deltaT: 4.432012 s, approachRate: -0.027075 m/s, LOS rate: -0.465654 deg/s, posRepo size: 4
2021-08-13T21:21:08.056Z,1628889668.056 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:21:08.432Z,1628889668.432 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:21:08.432Z,1628889668.432 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:21:08.433Z,1628889668.433 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:21:08.433Z,1628889668.433 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:21:08.857Z,1628889668.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EA4,000,0037B,186,80,80,35,FF
2021-08-13T21:21:08.857Z,1628889668.857 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:21:08.857Z,1628889668.857 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:21:08.859Z,1628889668.859 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:21:09.241Z,1628889669.241 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:21:09.643Z,1628889669.643 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,001,000,0037C,182,80,80,77,FF
2021-08-13T21:21:09.643Z,1628889669.643 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:21:09.694Z,1628889669.694 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:21:10.055Z,1628889670.055 [Micromodem](INFO): Nmea in: $SNTTA,,,,,212110.43*58

2021-08-13T21:21:10.094Z,1628889670.094 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.019999 m, bearing: 121.174878 deg, deltaT: 4.456916 s, approachRate: 0.013462 m/s, LOS rate: -3.073836 deg/s, posRepo size: 4
2021-08-13T21:21:12.494Z,1628889672.494 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:21:12.925Z,1628889672.925 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:21:12.925Z,1628889672.925 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:21:12.926Z,1628889672.926 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:21:12.927Z,1628889672.927 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:21:13.297Z,1628889673.297 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
001,000,0037C,182,80,80,77,FF
2021-08-13T21:21:13.297Z,1628889673.297 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:21:13.297Z,1628889673.297 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:21:13.299Z,1628889673.299 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:21:13.723Z,1628889673.723 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:21:14.105Z,1628889674.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E35,000,0038A,187,80,80,33,FF
2021-08-13T21:21:14.106Z,1628889674.106 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:21:14.162Z,1628889674.162 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:21:14.537Z,1628889674.537 [Micromodem](INFO): Nmea in: $SNTTA,0.050063,,,,212114.87*4A

2021-08-13T21:21:14.571Z,1628889674.571 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.860001 m, bearing: 146.881989 deg, deltaT: 4.468602 s, approachRate: 0.187979 m/s, LOS rate: 5.752831 deg/s, posRepo size: 4
2021-08-13T21:21:17.038Z,1628889677.038 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:21:17.333Z,1628889677.333 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:21:17.333Z,1628889677.333 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:21:17.333Z,1628889677.333 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:21:17.334Z,1628889677.334 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:21:17.754Z,1628889677.754 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E35,000,0038A,187,80,80,33,FF
2021-08-13T21:21:17.754Z,1628889677.754 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:21:17.754Z,1628889677.754 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:21:17.756Z,1628889677.756 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:21:18.141Z,1628889678.141 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:21:18.546Z,1628889678.546 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FBD,000,0038A,185,80,80,37,FF
2021-08-13T21:21:18.547Z,1628889678.547 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:21:18.600Z,1628889678.600 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:21:18.989Z,1628889678.989 [Micromodem](INFO): Nmea in: $SNTTA,0.061539,,,,212119.33*40

2021-08-13T21:21:19.064Z,1628889679.064 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.860001 m, bearing: 126.744815 deg, deltaT: 4.437818 s, approachRate: 0.000000 m/s, LOS rate: -4.537629 deg/s, posRepo size: 4
2021-08-13T21:21:21.405Z,1628889681.405 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:21:21.789Z,1628889681.789 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:21:21.790Z,1628889681.790 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:21:21.790Z,1628889681.790 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:21:21.791Z,1628889681.791 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:21:22.185Z,1628889682.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FBD,000,0038A,185,80,80,37,FF
2021-08-13T21:21:22.186Z,1628889682.186 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:21:22.186Z,1628889682.186 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:21:22.187Z,1628889682.187 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:21:22.590Z,1628889682.590 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:21:23.029Z,1628889683.029 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,07A,000,0038C,186,80,80,57,FF
2021-08-13T21:21:23.029Z,1628889683.029 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:21:23.033Z,1628889683.033 [Micromodem](INFO): Nmea in: $SNTTA,0.286822,0.285797,,,212123.76*5C

2021-08-13T21:21:23.111Z,1628889683.111 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:21:23.456Z,1628889683.456 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.980001 m, bearing: 116.380386 deg, deltaT: 4.510949 s, approachRate: 0.026602 m/s, LOS rate: -2.297616 deg/s, posRepo size: 4
2021-08-13T21:21:25.907Z,1628889685.907 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:21:26.225Z,1628889686.225 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:21:26.225Z,1628889686.225 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:21:26.225Z,1628889686.225 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:21:26.226Z,1628889686.226 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:21:26.629Z,1628889686.629 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
07A,000,0038C,186,80,80,57,FF
2021-08-13T21:21:26.630Z,1628889686.630 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:21:26.630Z,1628889686.630 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:21:26.632Z,1628889686.632 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:21:27.056Z,1628889687.056 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:21:27.437Z,1628889687.437 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CD9,000,00385,189,80,80,5E,FF
2021-08-13T21:21:27.437Z,1628889687.437 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:21:27.501Z,1628889687.501 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:21:27.905Z,1628889687.905 [Micromodem](INFO): Nmea in: $SNTTA,0.035161,,,,212128.21*49

2021-08-13T21:21:27.957Z,1628889687.957 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.559999 m, bearing: 162.075458 deg, deltaT: 4.389954 s, approachRate: -0.095673 m/s, LOS rate: 10.409009 deg/s, posRepo size: 4
2021-08-13T21:21:30.300Z,1628889690.300 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:21:30.665Z,1628889690.665 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:21:30.665Z,1628889690.665 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:21:30.665Z,1628889690.665 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:21:30.666Z,1628889690.666 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:21:31.069Z,1628889691.069 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CD9,000,00385,189,80,80,5E,FF
2021-08-13T21:21:31.069Z,1628889691.069 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:21:31.070Z,1628889691.070 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:21:31.071Z,1628889691.071 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:21:31.476Z,1628889691.476 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:21:31.897Z,1628889691.897 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F5D,000,00398,187,80,80,3A,FF
2021-08-13T21:21:31.897Z,1628889691.897 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:21:31.950Z,1628889691.950 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:21:32.331Z,1628889692.331 [Micromodem](INFO): Nmea in: $SNTTA,0.057365,,,,212132.64*41

2021-08-13T21:21:32.365Z,1628889692.365 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.700001 m, bearing: 129.367676 deg, deltaT: 4.448706 s, approachRate: 0.256255 m/s, LOS rate: -7.352201 deg/s, posRepo size: 4
2021-08-13T21:21:34.739Z,1628889694.739 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:21:35.117Z,1628889695.117 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:21:35.117Z,1628889695.117 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:21:35.118Z,1628889695.118 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:21:35.118Z,1628889695.118 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:21:35.533Z,1628889695.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F5D,000,00398,187,80,80,3A,FF
2021-08-13T21:21:35.533Z,1628889695.533 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:21:35.533Z,1628889695.533 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:21:35.535Z,1628889695.535 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:21:35.920Z,1628889695.920 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:21:36.330Z,1628889696.330 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,210,000,00391,187,80,80,47,FF
2021-08-13T21:21:36.330Z,1628889696.330 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:21:36.371Z,1628889696.371 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:21:36.757Z,1628889696.757 [Micromodem](INFO): Nmea in: $SNTTA,0.045478,,,,212137.11*4E

2021-08-13T21:21:36.784Z,1628889696.784 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.280001 m, bearing: 94.362397 deg, deltaT: 4.421364 s, approachRate: -0.094993 m/s, LOS rate: -7.917303 deg/s, posRepo size: 4
2021-08-13T21:21:38.884Z,1628889698.884 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:21:39.157Z,1628889699.157 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:21:39.157Z,1628889699.157 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:21:39.157Z,1628889699.157 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:21:39.158Z,1628889699.158 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:21:39.557Z,1628889699.557 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
210,000,00391,187,80,80,47,FF
2021-08-13T21:21:39.558Z,1628889699.558 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:21:39.558Z,1628889699.558 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:21:39.559Z,1628889699.559 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:21:39.960Z,1628889699.960 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:21:40.365Z,1628889700.365 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DC6,000,00399,189,80,80,81,FF
2021-08-13T21:21:40.366Z,1628889700.366 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:21:40.385Z,1628889700.385 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:21:40.800Z,1628889700.800 [Micromodem](INFO): Nmea in: $SNTTA,,,,,212141.13*59

2021-08-13T21:21:40.872Z,1628889700.872 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.759998 m, bearing: 148.842745 deg, deltaT: 4.013589 s, approachRate: 0.119593 m/s, LOS rate: 13.573973 deg/s, posRepo size: 4
2021-08-13T21:21:42.911Z,1628889702.911 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:21:43.197Z,1628889703.197 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:21:43.197Z,1628889703.197 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:21:43.197Z,1628889703.197 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:21:43.198Z,1628889703.198 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:21:43.597Z,1628889703.597 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DC6,000,00399,189,80,80,81,FF
2021-08-13T21:21:43.597Z,1628889703.597 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:21:43.597Z,1628889703.597 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:21:43.599Z,1628889703.599 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:21:44.000Z,1628889704.000 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:21:44.405Z,1628889704.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E55,000,0038F,186,80,80,73,FF
2021-08-13T21:21:44.405Z,1628889704.405 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:21:44.424Z,1628889704.424 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:21:44.842Z,1628889704.842 [Micromodem](INFO): Nmea in: $SNTTA,,,,,212145.17*59

2021-08-13T21:21:44.913Z,1628889704.913 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.160000 m, bearing: 141.878930 deg, deltaT: 4.039712 s, approachRate: -0.148525 m/s, LOS rate: -1.723839 deg/s, posRepo size: 4
2021-08-13T21:21:47.278Z,1628889707.278 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:21:47.633Z,1628889707.633 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:21:47.633Z,1628889707.633 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:21:47.633Z,1628889707.633 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:21:47.634Z,1628889707.634 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:21:48.041Z,1628889708.041 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E55,000,0038F,186,80,80,73,FF
2021-08-13T21:21:48.041Z,1628889708.041 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:21:48.041Z,1628889708.041 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:21:48.043Z,1628889708.043 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:21:48.462Z,1628889708.462 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:21:48.881Z,1628889708.881 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF6,000,0039A,186,80,80,34,FF
2021-08-13T21:21:48.881Z,1628889708.881 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:21:48.914Z,1628889708.914 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:21:49.281Z,1628889709.281 [Micromodem](INFO): Nmea in: $SNTTA,0.032809,,,,212149.62*49

2021-08-13T21:21:49.338Z,1628889709.338 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.820002 m, bearing: 133.576124 deg, deltaT: 4.489863 s, approachRate: 0.146998 m/s, LOS rate: -1.849234 deg/s, posRepo size: 4
2021-08-13T21:21:51.419Z,1628889711.419 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:21:51.673Z,1628889711.673 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:21:51.673Z,1628889711.673 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:21:51.673Z,1628889711.673 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:21:51.674Z,1628889711.674 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:21:52.085Z,1628889712.085 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF6,000,0039A,186,80,80,34,FF
2021-08-13T21:21:52.085Z,1628889712.085 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:21:52.085Z,1628889712.085 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:21:52.087Z,1628889712.087 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:21:52.484Z,1628889712.484 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:21:52.901Z,1628889712.901 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA9,000,0038E,187,80,80,2C,FF
2021-08-13T21:21:52.902Z,1628889712.902 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:21:53.030Z,1628889713.030 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:21:53.325Z,1628889713.325 [Micromodem](INFO): Nmea in: $SNTTA,,,,,212153.66*58

2021-08-13T21:21:53.373Z,1628889713.373 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.100002 m, bearing: 137.393845 deg, deltaT: 4.116191 s, approachRate: -0.174919 m/s, LOS rate: 0.927489 deg/s, posRepo size: 4
2021-08-13T21:21:55.750Z,1628889715.750 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:21:56.121Z,1628889716.121 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:21:56.121Z,1628889716.121 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:21:56.121Z,1628889716.121 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:21:56.122Z,1628889716.122 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:21:56.522Z,1628889716.522 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EA9,000,0038E,187,80,80,2C,FF
2021-08-13T21:21:56.522Z,1628889716.522 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:21:56.522Z,1628889716.522 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:21:56.523Z,1628889716.523 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:21:56.924Z,1628889716.924 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:21:57.333Z,1628889717.333 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E96,000,0038C,186,80,80,74,FF
2021-08-13T21:21:57.333Z,1628889717.333 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:21:57.337Z,1628889717.337 [Micromodem](INFO): Nmea in: $SNTTA,0.037666,0.157829,,,212158.09*58

2021-08-13T21:21:57.418Z,1628889717.418 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:21:57.763Z,1628889717.763 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.980001 m, bearing: 137.748045 deg, deltaT: 4.387540 s, approachRate: -0.027350 m/s, LOS rate: 0.080729 deg/s, posRepo size: 4
2021-08-13T21:22:00.192Z,1628889720.192 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:22:00.569Z,1628889720.569 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:22:00.569Z,1628889720.569 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:22:00.569Z,1628889720.569 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:22:00.570Z,1628889720.570 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:22:01.002Z,1628889721.002 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E96,000,0038C,186,80,80,74,FF
2021-08-13T21:22:01.002Z,1628889721.002 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:22:01.002Z,1628889721.002 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:22:01.004Z,1628889721.004 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:22:01.408Z,1628889721.408 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:22:01.813Z,1628889721.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F86,000,0038C,186,80,80,90,FF
2021-08-13T21:22:01.814Z,1628889721.814 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:22:01.913Z,1628889721.913 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:22:02.254Z,1628889722.254 [Micromodem](INFO): Nmea in: $SNTTA,0.036394,,,,212202.58*47

2021-08-13T21:22:02.277Z,1628889722.277 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.980001 m, bearing: 125.360978 deg, deltaT: 4.495036 s, approachRate: 0.000000 m/s, LOS rate: -2.755721 deg/s, posRepo size: 4
2021-08-13T21:22:04.678Z,1628889724.678 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:22:05.041Z,1628889725.041 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:22:05.041Z,1628889725.041 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:22:05.041Z,1628889725.041 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:22:05.042Z,1628889725.042 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:22:05.449Z,1628889725.449 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F86,000,0038C,186,80,80,90,FF
2021-08-13T21:22:05.449Z,1628889725.449 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:22:05.449Z,1628889725.449 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:22:05.451Z,1628889725.451 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:22:05.893Z,1628889725.893 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:22:06.257Z,1628889726.257 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA4,000,0038A,187,80,80,A9,FF
2021-08-13T21:22:06.258Z,1628889726.258 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:22:06.282Z,1628889726.282 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:22:06.697Z,1628889726.697 [Micromodem](INFO): Nmea in: $SNTTA,,,,,212207.02*58

2021-08-13T21:22:06.731Z,1628889726.731 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.860001 m, bearing: 123.168952 deg, deltaT: 4.368641 s, approachRate: -0.027469 m/s, LOS rate: -0.501764 deg/s, posRepo size: 4
2021-08-13T21:22:09.135Z,1628889729.135 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:22:09.477Z,1628889729.477 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:22:09.477Z,1628889729.477 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:22:09.477Z,1628889729.477 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:22:09.478Z,1628889729.478 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:22:09.893Z,1628889729.893 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA4,000,0038A,187,80,80,A9,FF
2021-08-13T21:22:09.893Z,1628889729.893 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:22:09.893Z,1628889729.893 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:22:09.895Z,1628889729.895 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:22:10.293Z,1628889730.293 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:22:10.697Z,1628889730.697 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC0,000,00386,184,80,80,93,FF
2021-08-13T21:22:10.697Z,1628889730.697 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:22:10.717Z,1628889730.717 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:22:11.109Z,1628889731.109 [Micromodem](INFO): Nmea in: $SNTTA,0.431116,0.431110,,,212211.47*58

2021-08-13T21:22:11.175Z,1628889731.175 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.619999 m, bearing: 118.136919 deg, deltaT: 4.434916 s, approachRate: -0.054116 m/s, LOS rate: -1.134640 deg/s, posRepo size: 4
2021-08-13T21:22:13.538Z,1628889733.538 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:22:13.933Z,1628889733.933 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:22:13.933Z,1628889733.933 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:22:13.934Z,1628889733.934 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:22:13.935Z,1628889733.935 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:22:14.336Z,1628889734.336 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC0,000,00386,184,80,80,93,FF
2021-08-13T21:22:14.336Z,1628889734.336 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:22:14.336Z,1628889734.336 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:22:14.338Z,1628889734.338 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:22:14.740Z,1628889734.740 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:22:15.137Z,1628889735.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD6,000,00386,184,80,80,A0,FF
2021-08-13T21:22:15.137Z,1628889735.137 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:22:15.226Z,1628889735.226 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:22:15.577Z,1628889735.577 [Micromodem](INFO): Nmea in: $SNTTA,0.028232,,,,212215.91*46

2021-08-13T21:22:15.620Z,1628889735.620 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.619999 m, bearing: 116.114568 deg, deltaT: 4.509300 s, approachRate: 0.000000 m/s, LOS rate: -0.448484 deg/s, posRepo size: 4
2021-08-13T21:22:18.009Z,1628889738.009 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:22:18.377Z,1628889738.377 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:22:18.377Z,1628889738.377 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:22:18.377Z,1628889738.377 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:22:18.378Z,1628889738.378 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:22:18.777Z,1628889738.777 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD6,000,00386,184,80,80,A0,FF
2021-08-13T21:22:18.778Z,1628889738.778 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:22:18.778Z,1628889738.778 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:22:18.780Z,1628889738.780 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:22:19.233Z,1628889739.233 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:22:20.042Z,1628889740.042 [Micromodem](INFO): Nmea in: $SNTTA,0.036177,,,,212220.35*43

2021-08-13T21:22:20.902Z,1628889740.902 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:22:21.666Z,1628889741.666 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC3,000,0713D,184,80,80,55,FF
2021-08-13T21:22:21.667Z,1628889741.667 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:22:21.687Z,1628889741.687 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:22:22.095Z,1628889742.095 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1701.839966 m, bearing: 117.459091 deg, deltaT: 6.461668 s, approachRate: 260.802612 m/s, LOS rate: 0.208077 deg/s, posRepo size: 4
2021-08-13T21:22:22.493Z,1628889742.493 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-13T21:22:22.493Z,1628889742.493 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T21:22:22.494Z,1628889742.494 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-13T21:22:22.494Z,1628889742.494 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-13T21:22:22.494Z,1628889742.494 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-13T21:22:22.494Z,1628889742.494 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-13T21:22:23.026Z,1628889743.026 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-13T21:22:23.026Z,1628889743.026 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T21:22:23.026Z,1628889743.026 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-13T21:22:23.026Z,1628889743.026 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T21:22:24.493Z,1628889744.493 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:22:24.893Z,1628889744.893 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:22:24.893Z,1628889744.893 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:22:24.893Z,1628889744.893 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:22:24.894Z,1628889744.894 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:22:25.285Z,1628889745.285 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC3,000,0713D,184,80,80,55,FF
2021-08-13T21:22:25.285Z,1628889745.285 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:22:25.286Z,1628889745.286 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:22:25.287Z,1628889745.287 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:22:25.694Z,1628889745.694 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:22:26.097Z,1628889746.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC5,000,00382,185,80,80,92,FF
2021-08-13T21:22:26.097Z,1628889746.097 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:22:26.542Z,1628889746.542 [Micromodem](INFO): Nmea in: $SNTTA,,,,,212226.86*57

2021-08-13T21:22:26.560Z,1628889746.560 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.380001 m, bearing: 117.159546 deg, deltaT: 4.463112 s, approachRate: -377.642303 m/s, LOS rate: -0.067116 deg/s, posRepo size: 4
2021-08-13T21:22:27.007Z,1628889747.007 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-13T21:22:27.007Z,1628889747.007 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T21:22:27.007Z,1628889747.007 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-13T21:22:27.012Z,1628889747.012 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-13T21:22:27.012Z,1628889747.012 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-13T21:22:27.013Z,1628889747.013 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-13T21:22:27.357Z,1628889747.357 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-13T21:22:27.357Z,1628889747.357 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T21:22:27.358Z,1628889747.358 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-13T21:22:27.358Z,1628889747.358 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T21:22:29.027Z,1628889749.027 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:22:29.333Z,1628889749.333 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:22:29.333Z,1628889749.333 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:22:29.333Z,1628889749.333 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:22:29.334Z,1628889749.334 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:22:29.737Z,1628889749.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC5,000,00382,185,80,80,92,FF
2021-08-13T21:22:29.737Z,1628889749.737 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:22:29.737Z,1628889749.737 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:22:29.739Z,1628889749.739 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:22:30.140Z,1628889750.140 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:22:30.537Z,1628889750.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F1A,000,00389,186,80,80,58,FF
2021-08-13T21:22:30.537Z,1628889750.537 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:22:30.556Z,1628889750.556 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:22:31.003Z,1628889751.003 [Micromodem](INFO): Nmea in: $SNTTA,0.048037,,,,212231.31*4B

2021-08-13T21:22:31.075Z,1628889751.075 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.800003 m, bearing: 125.921040 deg, deltaT: 4.405488 s, approachRate: 0.095336 m/s, LOS rate: 1.988768 deg/s, posRepo size: 4
2021-08-13T21:22:33.108Z,1628889753.108 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:22:33.394Z,1628889753.394 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:22:33.394Z,1628889753.394 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:22:33.394Z,1628889753.394 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:22:33.395Z,1628889753.395 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:22:33.773Z,1628889753.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F1A,000,00389,186,80,80,58,FF
2021-08-13T21:22:33.773Z,1628889753.773 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:22:33.773Z,1628889753.773 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:22:33.775Z,1628889753.775 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:22:34.199Z,1628889754.199 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:22:34.581Z,1628889754.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FFB,000,00374,183,80,80,57,FF
2021-08-13T21:22:34.582Z,1628889754.582 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:22:34.606Z,1628889754.606 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:22:35.057Z,1628889755.057 [Micromodem](INFO): Nmea in: $SNTTA,0.065338,,,,212235.35*48

2021-08-13T21:22:35.120Z,1628889755.120 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.540001 m, bearing: 115.046600 deg, deltaT: 4.049914 s, approachRate: -0.311118 m/s, LOS rate: -2.685104 deg/s, posRepo size: 4
2021-08-13T21:22:37.129Z,1628889757.129 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:22:37.431Z,1628889757.431 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:22:37.431Z,1628889757.431 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:22:37.431Z,1628889757.431 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:22:37.434Z,1628889757.434 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:22:37.829Z,1628889757.829 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FFB,000,00374,183,80,80,57,FF
2021-08-13T21:22:37.830Z,1628889757.830 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:22:37.831Z,1628889757.831 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:22:37.856Z,1628889757.856 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:22:38.294Z,1628889758.294 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:22:38.679Z,1628889758.679 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF6,000,00372,184,80,80,8A,FF
2021-08-13T21:22:38.679Z,1628889758.679 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:22:38.699Z,1628889758.699 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:22:39.127Z,1628889759.127 [Micromodem](INFO): Nmea in: $SNTTA,0.451385,0.451767,,,212239.43*58

2021-08-13T21:22:39.196Z,1628889759.196 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.420000 m, bearing: 115.890579 deg, deltaT: 4.092674 s, approachRate: -0.029321 m/s, LOS rate: 0.206217 deg/s, posRepo size: 4
2021-08-13T21:22:41.550Z,1628889761.550 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:22:41.911Z,1628889761.911 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:22:41.911Z,1628889761.911 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:22:41.911Z,1628889761.911 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:22:41.912Z,1628889761.912 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:22:42.329Z,1628889762.329 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF6,000,00372,184,80,80,8A,FF
2021-08-13T21:22:42.330Z,1628889762.330 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:22:42.330Z,1628889762.330 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:22:42.331Z,1628889762.331 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:22:42.741Z,1628889762.741 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:22:43.141Z,1628889763.141 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FAE,000,00370,184,80,80,7C,FF
2021-08-13T21:22:43.141Z,1628889763.141 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:22:43.145Z,1628889763.145 [Micromodem](INFO): Nmea in: $SNTTA,0.045992,0.253769,,,212243.90*5C

2021-08-13T21:22:43.243Z,1628889763.243 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:22:43.576Z,1628889763.576 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.299999 m, bearing: 119.967505 deg, deltaT: 4.545434 s, approachRate: -0.026400 m/s, LOS rate: 0.896928 deg/s, posRepo size: 4
2021-08-13T21:22:46.006Z,1628889766.006 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:22:46.403Z,1628889766.403 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:22:46.403Z,1628889766.403 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:22:46.403Z,1628889766.403 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:22:46.404Z,1628889766.404 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:22:46.777Z,1628889766.777 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FAE,000,00370,184,80,80,7C,FF
2021-08-13T21:22:46.777Z,1628889766.777 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:22:46.777Z,1628889766.777 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:22:46.781Z,1628889766.781 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:22:47.212Z,1628889767.212 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:22:47.589Z,1628889767.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FAC,000,0036C,185,80,80,58,FF
2021-08-13T21:22:47.589Z,1628889767.589 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:22:47.633Z,1628889767.633 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:22:48.045Z,1628889768.045 [Micromodem](INFO): Nmea in: $SNTTA,0.022366,,,,212248.35*4A

2021-08-13T21:22:48.071Z,1628889768.071 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.059998 m, bearing: 120.529562 deg, deltaT: 4.388616 s, approachRate: -0.054687 m/s, LOS rate: 0.128071 deg/s, posRepo size: 4
2021-08-13T21:22:50.467Z,1628889770.467 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:22:50.861Z,1628889770.861 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:22:50.861Z,1628889770.861 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:22:50.862Z,1628889770.862 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:22:50.862Z,1628889770.862 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:22:51.238Z,1628889771.238 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FAC,000,0036C,185,80,80,58,FF
2021-08-13T21:22:51.238Z,1628889771.238 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:22:51.238Z,1628889771.238 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:22:51.241Z,1628889771.241 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:22:51.629Z,1628889771.629 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:22:52.042Z,1628889772.042 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F83,000,00368,186,80,80,84,FF
2021-08-13T21:22:52.042Z,1628889772.042 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:22:52.126Z,1628889772.126 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:22:52.473Z,1628889772.473 [Micromodem](INFO): Nmea in: $SNTTA,,,,,212252.81*53

2021-08-13T21:22:52.496Z,1628889772.496 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.820001 m, bearing: 122.770328 deg, deltaT: 4.493521 s, approachRate: -0.053410 m/s, LOS rate: 0.498666 deg/s, posRepo size: 4
2021-08-13T21:22:53.274Z,1628889773.274 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T21:22:54.998Z,1628889774.998 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:22:55.272Z,1628889775.272 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:22:55.273Z,1628889775.273 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:22:55.273Z,1628889775.273 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:22:55.274Z,1628889775.274 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:22:55.675Z,1628889775.675 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F83,000,00368,186,80,80,84,FF
2021-08-13T21:22:55.675Z,1628889775.675 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:22:55.675Z,1628889775.675 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:22:55.677Z,1628889775.677 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:22:56.103Z,1628889776.103 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:22:56.483Z,1628889776.483 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD5,000,00364,185,80,80,48,FF
2021-08-13T21:22:56.483Z,1628889776.483 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:22:56.534Z,1628889776.534 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:22:57.020Z,1628889777.020 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.579999 m, bearing: 118.897256 deg, deltaT: 4.408000 s, approachRate: -0.054447 m/s, LOS rate: -0.878646 deg/s, posRepo size: 4
2021-08-13T21:22:59.393Z,1628889779.393 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:22:59.717Z,1628889779.717 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:22:59.717Z,1628889779.717 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:22:59.718Z,1628889779.718 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:22:59.718Z,1628889779.718 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:23:00.117Z,1628889780.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD5,000,00364,185,80,80,48,FF
2021-08-13T21:23:00.117Z,1628889780.117 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:23:00.117Z,1628889780.117 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:23:00.119Z,1628889780.119 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:23:00.521Z,1628889780.521 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:23:01.351Z,1628889781.351 [Micromodem](INFO): Nmea in: $SNTTA,,,,,212301.69*52

2021-08-13T21:23:02.182Z,1628889782.182 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:23:03.754Z,1628889783.754 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
4,185,80,80,48,FF
2021-08-13T21:23:03.755Z,1628889783.755 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
4,185,80,80,48,FF
2021-08-13T21:23:03.755Z,1628889783.755 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T21:23:05.075Z,1628889785.075 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:23:05.365Z,1628889785.365 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:23:05.365Z,1628889785.365 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:23:05.365Z,1628889785.365 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:23:05.366Z,1628889785.366 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:23:05.769Z,1628889785.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
4,185,80,80,48,FF
2021-08-13T21:23:05.769Z,1628889785.769 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:23:05.769Z,1628889785.769 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:23:05.771Z,1628889785.771 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:23:06.176Z,1628889786.176 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:23:06.599Z,1628889786.599 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F8D,000,00360,187,80,80,7A,FF
2021-08-13T21:23:06.599Z,1628889786.599 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:23:06.655Z,1628889786.655 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:23:07.053Z,1628889787.053 [Micromodem](INFO): Nmea in: $SNTTA,0.492951,0.493026,,,212307.34*54

2021-08-13T21:23:07.125Z,1628889787.125 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.339997 m, bearing: 123.076416 deg, deltaT: 10.120731 s, approachRate: -0.023714 m/s, LOS rate: 0.412931 deg/s, posRepo size: 4
2021-08-13T21:23:09.441Z,1628889789.441 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:23:09.820Z,1628889789.820 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:23:09.820Z,1628889789.820 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:23:09.821Z,1628889789.821 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:23:09.822Z,1628889789.822 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:23:10.213Z,1628889790.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F8D,000,00360,187,80,80,7A,FF
2021-08-13T21:23:10.213Z,1628889790.213 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:23:10.213Z,1628889790.213 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:23:10.215Z,1628889790.215 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:23:10.628Z,1628889790.628 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:23:11.043Z,1628889791.043 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FEE,000,0035B,183,80,80,67,FF
2021-08-13T21:23:11.043Z,1628889791.043 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:23:11.046Z,1628889791.046 [Micromodem](INFO): Nmea in: $SNTTA,0.271662,0.271631,,,212311.78*55

2021-08-13T21:23:11.135Z,1628889791.135 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:23:11.468Z,1628889791.468 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.039998 m, bearing: 118.454837 deg, deltaT: 4.479729 s, approachRate: -0.066968 m/s, LOS rate: -1.031665 deg/s, posRepo size: 4
2021-08-13T21:23:13.074Z,1628889793.074 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-13T21:23:13.930Z,1628889793.930 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:23:14.261Z,1628889794.261 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:23:14.261Z,1628889794.261 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:23:14.261Z,1628889794.261 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:23:14.262Z,1628889794.262 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:23:14.657Z,1628889794.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FEE,000,0035B,183,80,80,67,FF
2021-08-13T21:23:14.657Z,1628889794.657 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:23:14.657Z,1628889794.657 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:23:14.659Z,1628889794.659 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:23:15.073Z,1628889795.073 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:23:15.465Z,1628889795.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF6,000,0035B,183,80,80,89,FF
2021-08-13T21:23:15.465Z,1628889795.465 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:23:15.519Z,1628889795.519 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:23:15.921Z,1628889795.921 [Micromodem](INFO): Nmea in: $SNTTA,0.032793,,,,212316.23*48

2021-08-13T21:23:15.974Z,1628889795.974 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.039998 m, bearing: 118.200809 deg, deltaT: 4.384813 s, approachRate: 0.000000 m/s, LOS rate: -0.057934 deg/s, posRepo size: 4
2021-08-13T21:23:18.321Z,1628889798.321 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:23:18.697Z,1628889798.697 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:23:18.697Z,1628889798.697 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:23:18.697Z,1628889798.697 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:23:18.698Z,1628889798.698 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:23:19.101Z,1628889799.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF6,000,0035B,183,80,80,89,FF
2021-08-13T21:23:19.101Z,1628889799.101 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:23:19.101Z,1628889799.101 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:23:19.103Z,1628889799.103 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:23:19.517Z,1628889799.517 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:23:19.924Z,1628889799.924 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FEE,000,0035A,184,80,80,61,FF
2021-08-13T21:23:19.925Z,1628889799.925 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:23:19.955Z,1628889799.955 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:23:20.354Z,1628889800.354 [Micromodem](INFO): Nmea in: $SNTTA,,,,,212320.67*5F

2021-08-13T21:23:20.376Z,1628889800.376 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.980000 m, bearing: 118.614172 deg, deltaT: 4.452119 s, approachRate: -0.013476 m/s, LOS rate: 0.092846 deg/s, posRepo size: 4
2021-08-13T21:23:22.766Z,1628889802.766 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:23:23.157Z,1628889803.157 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:23:23.157Z,1628889803.157 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:23:23.157Z,1628889803.157 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:23:23.158Z,1628889803.158 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:23:23.549Z,1628889803.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FEE,000,0035A,184,80,80,61,FF
2021-08-13T21:23:23.549Z,1628889803.549 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:23:23.549Z,1628889803.549 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:23:23.551Z,1628889803.551 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:23:23.964Z,1628889803.964 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:23:24.354Z,1628889804.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F52,000,00363,186,80,80,5C,FF
2021-08-13T21:23:24.354Z,1628889804.354 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:23:24.401Z,1628889804.401 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:23:24.814Z,1628889804.814 [Micromodem](INFO): Nmea in: $SNTTA,0.032676,,,,212325.12*40

2021-08-13T21:23:24.894Z,1628889804.894 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.520001 m, bearing: 126.692236 deg, deltaT: 4.429177 s, approachRate: 0.121919 m/s, LOS rate: 1.823830 deg/s, posRepo size: 4
2021-08-13T21:23:27.263Z,1628889807.263 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:23:27.589Z,1628889807.589 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:23:27.589Z,1628889807.589 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:23:27.589Z,1628889807.589 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:23:27.590Z,1628889807.590 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:23:28.025Z,1628889808.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F52,000,00363,186,80,80,5C,FF
2021-08-13T21:23:28.025Z,1628889808.025 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:23:28.025Z,1628889808.025 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:23:28.027Z,1628889808.027 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:23:28.405Z,1628889808.405 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:23:28.821Z,1628889808.821 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EC9,000,00357,186,80,80,9A,FF
2021-08-13T21:23:28.822Z,1628889808.822 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:23:28.916Z,1628889808.916 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:23:29.234Z,1628889809.234 [Micromodem](INFO): Nmea in: $SNTTA,0.035657,,,,212329.60*4D

2021-08-13T21:23:29.293Z,1628889809.293 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.800002 m, bearing: 133.780265 deg, deltaT: 4.515212 s, approachRate: -0.159461 m/s, LOS rate: 1.569811 deg/s, posRepo size: 4
2021-08-13T21:23:31.651Z,1628889811.651 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:23:32.040Z,1628889812.040 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:23:32.040Z,1628889812.040 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:23:32.040Z,1628889812.040 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:23:32.041Z,1628889812.041 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:23:32.437Z,1628889812.437 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EC9,000,00357,186,80,80,9A,FF
2021-08-13T21:23:32.437Z,1628889812.437 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:23:32.437Z,1628889812.437 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:23:32.439Z,1628889812.439 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:23:32.887Z,1628889812.887 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:23:33.249Z,1628889813.249 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2E6,000,00355,189,80,80,6B,FF
2021-08-13T21:23:33.249Z,1628889813.249 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:23:33.253Z,1628889813.253 [Micromodem](INFO): Nmea in: $SNTTA,0.200594,0.200600,,,212334.01*54

2021-08-13T21:23:33.294Z,1628889813.294 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-13T21:23:33.343Z,1628889813.343 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:23:33.679Z,1628889813.679 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.680001 m, bearing: 81.280303 deg, deltaT: 4.426618 s, approachRate: -0.027109 m/s, LOS rate: -11.860062 deg/s, posRepo size: 4
2021-08-13T21:23:36.114Z,1628889816.114 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:23:36.473Z,1628889816.473 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:23:36.473Z,1628889816.473 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:23:36.473Z,1628889816.473 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:23:36.474Z,1628889816.474 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:23:36.889Z,1628889816.889 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2E6,000,00355,189,80,80,6B,FF
2021-08-13T21:23:36.889Z,1628889816.889 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:23:36.889Z,1628889816.889 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:23:36.891Z,1628889816.891 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:23:37.293Z,1628889817.293 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:23:37.687Z,1628889817.687 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E8C,000,00351,187,80,80,71,FF
2021-08-13T21:23:37.687Z,1628889817.687 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:23:37.714Z,1628889817.714 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:23:38.117Z,1628889818.117 [Micromodem](INFO): Nmea in: $SNTTA,0.031306,,,,212338.47*4D

2021-08-13T21:23:38.155Z,1628889818.155 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.439999 m, bearing: 136.952096 deg, deltaT: 4.370864 s, approachRate: -0.054910 m/s, LOS rate: 12.737022 deg/s, posRepo size: 4
2021-08-13T21:23:40.545Z,1628889820.545 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:23:40.921Z,1628889820.921 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:23:40.921Z,1628889820.921 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:23:40.921Z,1628889820.921 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:23:40.922Z,1628889820.922 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:23:41.341Z,1628889821.341 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E8C,000,00351,187,80,80,71,FF
2021-08-13T21:23:41.341Z,1628889821.341 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:23:41.342Z,1628889821.342 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:23:41.343Z,1628889821.343 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:23:41.755Z,1628889821.755 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:23:42.141Z,1628889822.141 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F00,000,0034F,186,80,80,A7,FF
2021-08-13T21:23:42.141Z,1628889822.141 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:23:42.203Z,1628889822.203 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:23:42.573Z,1628889822.573 [Micromodem](INFO): Nmea in: $SNTTA,0.034211,,,,212342.93*4B

2021-08-13T21:23:42.604Z,1628889822.604 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.319998 m, bearing: 131.151066 deg, deltaT: 4.489004 s, approachRate: -0.026732 m/s, LOS rate: -1.292276 deg/s, posRepo size: 4
2021-08-13T21:23:43.042Z,1628889823.042 [RDI_Pathfinder](ERROR): only read 1 of 4 data items
2021-08-13T21:23:45.067Z,1628889825.067 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:23:45.373Z,1628889825.373 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:23:45.373Z,1628889825.373 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:23:45.373Z,1628889825.373 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:23:45.374Z,1628889825.374 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:23:45.773Z,1628889825.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F00,000,0034F,186,80,80,A7,FF
2021-08-13T21:23:45.773Z,1628889825.773 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:23:45.773Z,1628889825.773 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:23:45.775Z,1628889825.775 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:23:46.197Z,1628889826.197 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:23:46.585Z,1628889826.585 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F0E,000,0034F,186,80,80,A0,FF
2021-08-13T21:23:46.585Z,1628889826.585 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:23:46.646Z,1628889826.646 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:23:47.049Z,1628889827.049 [Micromodem](INFO): Nmea in: $SNTTA,0.029405,,,,212347.35*4D

2021-08-13T21:23:47.117Z,1628889827.117 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.319998 m, bearing: 129.990630 deg, deltaT: 4.443892 s, approachRate: 0.000000 m/s, LOS rate: -0.261130 deg/s, posRepo size: 4
2021-08-13T21:23:49.441Z,1628889829.441 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:23:49.828Z,1628889829.828 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:23:49.829Z,1628889829.829 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:23:49.830Z,1628889829.830 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:23:49.831Z,1628889829.831 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:23:49.906Z,1628889829.906 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-13T21:23:50.018Z,1628889830.018 [CTD_Seabird](ERROR): Failed to parse device response: 5.99,65
2021-08-13T21:23:50.225Z,1628889830.225 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F0E,000,0034F,186,80,80,A0,FF
2021-08-13T21:23:50.225Z,1628889830.225 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:23:50.225Z,1628889830.225 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:23:50.227Z,1628889830.227 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:23:50.625Z,1628889830.625 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:23:51.036Z,1628889831.036 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F61,000,0034F,187,80,80,B2,FF
2021-08-13T21:23:51.037Z,1628889831.037 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:23:51.045Z,1628889831.045 [Micromodem](INFO): Nmea in: $SNTTA,0.038532,0.304705,,,212351.80*5A

2021-08-13T21:23:51.159Z,1628889831.159 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:23:51.463Z,1628889831.463 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.319998 m, bearing: 125.252788 deg, deltaT: 4.517107 s, approachRate: 0.000000 m/s, LOS rate: -1.048867 deg/s, posRepo size: 4
2021-08-13T21:23:53.101Z,1628889833.101 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-13T21:23:53.908Z,1628889833.908 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:23:54.253Z,1628889834.253 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:23:54.253Z,1628889834.253 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:23:54.253Z,1628889834.253 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:23:54.254Z,1628889834.254 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:23:54.665Z,1628889834.665 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F61,000,0034F,187,80,80,B2,FF
2021-08-13T21:23:54.665Z,1628889834.665 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:23:54.665Z,1628889834.665 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:23:54.667Z,1628889834.667 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:23:55.090Z,1628889835.090 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:23:55.473Z,1628889835.473 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB4,000,00358,185,80,80,3F,FF
2021-08-13T21:23:55.473Z,1628889835.473 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:23:55.513Z,1628889835.513 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:23:55.914Z,1628889835.914 [Micromodem](INFO): Nmea in: $SNTTA,,,,,212356.24*59

2021-08-13T21:23:55.940Z,1628889835.940 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.860000 m, bearing: 120.427505 deg, deltaT: 4.349100 s, approachRate: 0.124164 m/s, LOS rate: -1.109490 deg/s, posRepo size: 4
2021-08-13T21:23:58.338Z,1628889838.338 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:23:58.702Z,1628889838.702 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:23:58.702Z,1628889838.702 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:23:58.703Z,1628889838.703 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:23:58.703Z,1628889838.703 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:23:59.109Z,1628889839.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB4,000,00358,185,80,80,3F,FF
2021-08-13T21:23:59.109Z,1628889839.109 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:23:59.109Z,1628889839.109 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:23:59.111Z,1628889839.111 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:23:59.537Z,1628889839.537 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:23:59.925Z,1628889839.925 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0B5,000,00358,186,80,80,57,FF
2021-08-13T21:23:59.925Z,1628889839.925 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:23:59.979Z,1628889839.979 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:24:00.369Z,1628889840.369 [Micromodem](INFO): Nmea in: $SNTTA,0.023602,,,,212400.68*4E

2021-08-13T21:24:00.391Z,1628889840.391 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.860000 m, bearing: 107.098773 deg, deltaT: 4.466869 s, approachRate: 0.000000 m/s, LOS rate: -2.983909 deg/s, posRepo size: 4
2021-08-13T21:24:02.791Z,1628889842.791 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:24:03.164Z,1628889843.164 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:24:03.164Z,1628889843.164 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:24:03.165Z,1628889843.165 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:24:03.165Z,1628889843.165 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:24:03.195Z,1628889843.195 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-13T21:24:03.580Z,1628889843.580 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0B5,000,00358,186,80,80,57,FF
2021-08-13T21:24:03.580Z,1628889843.580 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:24:03.581Z,1628889843.581 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:24:03.582Z,1628889843.582 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:24:03.969Z,1628889843.969 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:24:04.381Z,1628889844.381 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A8,000,00359,187,80,80,1F,FF
2021-08-13T21:24:04.382Z,1628889844.382 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:24:04.401Z,1628889844.401 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:24:04.805Z,1628889844.805 [Micromodem](INFO): Nmea in: $SNTTA,,,,,212405.15*5A

2021-08-13T21:24:04.865Z,1628889844.865 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.919997 m, bearing: 107.454203 deg, deltaT: 4.421521 s, approachRate: 0.013569 m/s, LOS rate: 0.080386 deg/s, posRepo size: 4
2021-08-13T21:24:07.249Z,1628889847.249 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:24:07.613Z,1628889847.613 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:24:07.614Z,1628889847.614 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:24:07.614Z,1628889847.614 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:24:07.615Z,1628889847.615 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:24:08.025Z,1628889848.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0A8,000,00359,187,80,80,1F,FF
2021-08-13T21:24:08.025Z,1628889848.025 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:24:08.025Z,1628889848.025 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:24:08.027Z,1628889848.027 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:24:08.427Z,1628889848.427 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:24:08.825Z,1628889848.825 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,03C,000,00359,185,80,80,26,FF
2021-08-13T21:24:08.826Z,1628889848.826 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:24:08.911Z,1628889848.911 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:24:09.249Z,1628889849.249 [Micromodem](INFO): Nmea in: $SNTTA,0.030111,,,,212409.60*48

2021-08-13T21:24:09.297Z,1628889849.297 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.919997 m, bearing: 114.751344 deg, deltaT: 4.519184 s, approachRate: 0.000000 m/s, LOS rate: 1.614703 deg/s, posRepo size: 4
2021-08-13T21:24:11.690Z,1628889851.690 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:24:12.049Z,1628889852.049 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:24:12.049Z,1628889852.049 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:24:12.049Z,1628889852.049 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:24:12.050Z,1628889852.050 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:24:12.450Z,1628889852.450 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
03C,000,00359,185,80,80,26,FF
2021-08-13T21:24:12.450Z,1628889852.450 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:24:12.451Z,1628889852.451 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:24:12.454Z,1628889852.454 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:24:12.892Z,1628889852.892 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:24:13.258Z,1628889853.258 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1B4,000,00358,187,80,80,34,FF
2021-08-13T21:24:13.259Z,1628889853.259 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:24:13.350Z,1628889853.350 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:24:13.709Z,1628889853.709 [Micromodem](INFO): Nmea in: $SNTTA,,0.149133,,,212414.03*4E

2021-08-13T21:24:13.731Z,1628889853.731 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.860000 m, bearing: 98.552274 deg, deltaT: 4.429991 s, approachRate: -0.013543 m/s, LOS rate: -3.656683 deg/s, posRepo size: 4
2021-08-13T21:24:16.128Z,1628889856.128 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:24:16.482Z,1628889856.482 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:24:16.482Z,1628889856.482 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:24:16.483Z,1628889856.483 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:24:16.483Z,1628889856.483 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:24:16.905Z,1628889856.905 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1B4,000,00358,187,80,80,34,FF
2021-08-13T21:24:16.905Z,1628889856.905 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:24:16.905Z,1628889856.905 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:24:16.907Z,1628889856.907 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:24:17.312Z,1628889857.312 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:24:17.705Z,1628889857.705 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,24B,000,0034B,189,80,80,B3,FF
2021-08-13T21:24:17.705Z,1628889857.705 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:24:17.757Z,1628889857.757 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:24:18.169Z,1628889858.169 [Micromodem](INFO): Nmea in: $SNTTA,,,,,212418.48*5E

2021-08-13T21:24:18.215Z,1628889858.215 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.080002 m, bearing: 91.188735 deg, deltaT: 4.406749 s, approachRate: -0.177001 m/s, LOS rate: -1.670968 deg/s, posRepo size: 4
2021-08-13T21:24:20.555Z,1628889860.555 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:24:20.936Z,1628889860.936 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:24:20.936Z,1628889860.936 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:24:20.937Z,1628889860.937 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:24:20.938Z,1628889860.938 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:24:21.345Z,1628889861.345 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
24B,000,0034B,189,80,80,B3,FF
2021-08-13T21:24:21.345Z,1628889861.345 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:24:21.345Z,1628889861.345 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:24:21.347Z,1628889861.347 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:24:21.741Z,1628889861.741 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:24:22.141Z,1628889862.141 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2A5,000,0034B,189,80,80,AC,FF
2021-08-13T21:24:22.141Z,1628889862.141 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:24:22.250Z,1628889862.250 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:24:22.574Z,1628889862.574 [Micromodem](INFO): Nmea in: $SNTTA,,,,,212422.92*50

2021-08-13T21:24:22.589Z,1628889862.589 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.080002 m, bearing: 87.091660 deg, deltaT: 4.493523 s, approachRate: 0.000000 m/s, LOS rate: -0.911773 deg/s, posRepo size: 4
2021-08-13T21:24:25.061Z,1628889865.061 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:24:25.377Z,1628889865.377 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:24:25.377Z,1628889865.377 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:24:25.377Z,1628889865.377 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:24:25.378Z,1628889865.378 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:24:25.777Z,1628889865.777 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2A5,000,0034B,189,80,80,AC,FF
2021-08-13T21:24:25.777Z,1628889865.777 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:24:25.777Z,1628889865.777 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:24:25.779Z,1628889865.779 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:24:26.195Z,1628889866.195 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:24:26.585Z,1628889866.585 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2B0,000,0034A,189,80,80,A1,FF
2021-08-13T21:24:26.585Z,1628889866.585 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:24:26.637Z,1628889866.637 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:24:27.045Z,1628889867.045 [Micromodem](INFO): Nmea in: $SNTTA,0.037370,,,,212427.35*46

2021-08-13T21:24:27.142Z,1628889867.142 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.019999 m, bearing: 86.481082 deg, deltaT: 4.386401 s, approachRate: -0.013679 m/s, LOS rate: -0.139198 deg/s, posRepo size: 4
2021-08-13T21:24:29.430Z,1628889869.430 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:24:29.833Z,1628889869.833 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:24:29.833Z,1628889869.833 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:24:29.834Z,1628889869.834 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:24:29.835Z,1628889869.835 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:24:30.237Z,1628889870.237 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2B0,000,0034A,189,80,80,A1,FF
2021-08-13T21:24:30.237Z,1628889870.237 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:24:30.237Z,1628889870.237 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:24:30.239Z,1628889870.239 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:24:30.633Z,1628889870.633 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:24:31.037Z,1628889871.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2E1,000,0034B,189,80,80,A8,FF
2021-08-13T21:24:31.037Z,1628889871.037 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:24:31.149Z,1628889871.149 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:24:31.474Z,1628889871.474 [Micromodem](INFO): Nmea in: $SNTTA,0.026557,,,,212431.81*4D

2021-08-13T21:24:31.491Z,1628889871.491 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.080002 m, bearing: 83.947048 deg, deltaT: 4.511947 s, approachRate: 0.013299 m/s, LOS rate: -0.561628 deg/s, posRepo size: 4
2021-08-13T21:24:33.908Z,1628889873.908 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:24:34.265Z,1628889874.265 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:24:34.265Z,1628889874.265 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:24:34.265Z,1628889874.265 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:24:34.266Z,1628889874.266 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:24:34.665Z,1628889874.665 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2E1,000,0034B,189,80,80,A8,FF
2021-08-13T21:24:34.665Z,1628889874.665 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:24:34.665Z,1628889874.665 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:24:34.667Z,1628889874.667 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:24:35.073Z,1628889875.073 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:24:35.473Z,1628889875.473 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3A3,000,0034A,189,80,80,BC,FF
2021-08-13T21:24:35.473Z,1628889875.473 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:24:35.493Z,1628889875.493 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:24:35.929Z,1628889875.929 [Micromodem](INFO): Nmea in: $SNTTA,0.034109,,,,212436.24*49

2021-08-13T21:24:35.959Z,1628889875.959 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.019999 m, bearing: 74.521906 deg, deltaT: 4.343764 s, approachRate: -0.013814 m/s, LOS rate: -2.169810 deg/s, posRepo size: 4
2021-08-13T21:24:38.334Z,1628889878.334 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:24:38.713Z,1628889878.713 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:24:38.713Z,1628889878.713 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:24:38.713Z,1628889878.713 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:24:38.714Z,1628889878.714 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:24:39.117Z,1628889879.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3A3,000,0034A,189,80,80,BC,FF
2021-08-13T21:24:39.117Z,1628889879.117 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:24:39.117Z,1628889879.117 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:24:39.119Z,1628889879.119 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:24:39.521Z,1628889879.521 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:24:39.923Z,1628889879.923 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3E3,000,00349,189,80,80,AC,FF
2021-08-13T21:24:39.923Z,1628889879.923 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:24:39.952Z,1628889879.952 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:24:40.369Z,1628889880.369 [Micromodem](INFO): Nmea in: $SNTTA,,,,,212440.69*50

2021-08-13T21:24:40.401Z,1628889880.401 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.960001 m, bearing: 71.527619 deg, deltaT: 4.459589 s, approachRate: -0.013454 m/s, LOS rate: -0.671427 deg/s, posRepo size: 4
2021-08-13T21:24:42.762Z,1628889882.762 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:24:43.157Z,1628889883.157 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:24:43.157Z,1628889883.157 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:24:43.157Z,1628889883.157 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:24:43.158Z,1628889883.158 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:24:43.557Z,1628889883.557 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3E3,000,00349,189,80,80,AC,FF
2021-08-13T21:24:43.557Z,1628889883.557 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:24:43.557Z,1628889883.557 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:24:43.559Z,1628889883.559 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:24:43.961Z,1628889883.961 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:24:44.361Z,1628889884.361 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F35,000,0034A,186,80,80,88,FF
2021-08-13T21:24:44.362Z,1628889884.362 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:24:44.405Z,1628889884.405 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:24:44.817Z,1628889884.817 [Micromodem](INFO): Nmea in: $SNTTA,0.030046,,,,212445.13*47

2021-08-13T21:24:44.874Z,1628889884.874 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.019999 m, bearing: 131.732028 deg, deltaT: 4.452778 s, approachRate: 0.013474 m/s, LOS rate: 13.520640 deg/s, posRepo size: 4
2021-08-13T21:24:47.267Z,1628889887.267 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:24:47.593Z,1628889887.593 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:24:47.593Z,1628889887.593 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:24:47.593Z,1628889887.593 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:24:47.594Z,1628889887.594 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:24:47.997Z,1628889887.997 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F35,000,0034A,186,80,80,88,FF
2021-08-13T21:24:47.997Z,1628889887.997 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:24:47.997Z,1628889887.997 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:24:47.999Z,1628889887.999 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:24:48.435Z,1628889888.435 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:24:48.834Z,1628889888.834 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0FD,000,00357,186,80,80,89,FF
2021-08-13T21:24:48.835Z,1628889888.835 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:24:48.903Z,1628889888.903 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:24:49.249Z,1628889889.249 [Micromodem](INFO): Nmea in: $SNTTA,,,,,212449.58*5B

2021-08-13T21:24:49.312Z,1628889889.312 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.800002 m, bearing: 109.371095 deg, deltaT: 4.503369 s, approachRate: 0.173204 m/s, LOS rate: -4.965379 deg/s, posRepo size: 4
2021-08-13T21:24:51.662Z,1628889891.662 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:24:52.045Z,1628889892.045 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:24:52.045Z,1628889892.045 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:24:52.045Z,1628889892.045 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:24:52.046Z,1628889892.046 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:24:52.445Z,1628889892.445 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0FD,000,00357,186,80,80,89,FF
2021-08-13T21:24:52.446Z,1628889892.446 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:24:52.446Z,1628889892.446 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:24:52.447Z,1628889892.447 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:24:52.900Z,1628889892.900 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:24:53.284Z,1628889893.284 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1F4,000,00357,187,80,80,4A,FF
2021-08-13T21:24:53.284Z,1628889893.284 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:24:53.362Z,1628889893.362 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:24:53.693Z,1628889893.693 [Micromodem](INFO): Nmea in: $SNTTA,0.028588,,,,212454.02*49

2021-08-13T21:24:53.715Z,1628889893.715 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.800002 m, bearing: 97.446876 deg, deltaT: 4.454047 s, approachRate: 0.000000 m/s, LOS rate: -2.677165 deg/s, posRepo size: 4
2021-08-13T21:24:56.112Z,1628889896.112 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:24:56.485Z,1628889896.485 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:24:56.485Z,1628889896.485 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:24:56.485Z,1628889896.485 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:24:56.486Z,1628889896.486 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:24:56.901Z,1628889896.901 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1F4,000,00357,187,80,80,4A,FF
2021-08-13T21:24:56.901Z,1628889896.901 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:24:56.901Z,1628889896.901 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:24:56.903Z,1628889896.903 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:24:57.309Z,1628889897.309 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:24:57.707Z,1628889897.707 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,22D,000,0034D,188,80,80,BF,FF
2021-08-13T21:24:57.707Z,1628889897.707 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:24:57.726Z,1628889897.726 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:24:58.149Z,1628889898.149 [Micromodem](INFO): Nmea in: $SNTTA,,,,,212458.48*5A

2021-08-13T21:24:58.199Z,1628889898.199 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.199997 m, bearing: 94.632722 deg, deltaT: 4.363877 s, approachRate: -0.137494 m/s, LOS rate: -0.644875 deg/s, posRepo size: 4
2021-08-13T21:25:00.555Z,1628889900.555 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:25:00.936Z,1628889900.936 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:25:00.936Z,1628889900.936 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:25:00.937Z,1628889900.937 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:25:00.938Z,1628889900.938 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:25:01.349Z,1628889901.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
22D,000,0034D,188,80,80,BF,FF
2021-08-13T21:25:01.349Z,1628889901.349 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:25:01.349Z,1628889901.349 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:25:01.351Z,1628889901.351 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:25:01.753Z,1628889901.753 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:25:02.151Z,1628889902.151 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,258,000,0034D,189,80,80,A7,FF
2021-08-13T21:25:02.151Z,1628889902.151 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:25:02.180Z,1628889902.180 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:25:02.577Z,1628889902.577 [Micromodem](INFO): Nmea in: $SNTTA,,,,,212502.92*53

2021-08-13T21:25:02.620Z,1628889902.620 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.199997 m, bearing: 92.420881 deg, deltaT: 4.454083 s, approachRate: 0.000000 m/s, LOS rate: -0.496587 deg/s, posRepo size: 4
2021-08-13T21:25:05.093Z,1628889905.093 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:25:05.385Z,1628889905.385 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:25:05.385Z,1628889905.385 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:25:05.385Z,1628889905.385 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:25:05.386Z,1628889905.386 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:25:05.782Z,1628889905.782 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
258,000,0034D,189,80,80,A7,FF
2021-08-13T21:25:05.782Z,1628889905.782 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:25:05.783Z,1628889905.783 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:25:05.822Z,1628889905.822 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:25:06.197Z,1628889906.197 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:25:06.593Z,1628889906.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,277,000,0034B,189,80,80,AC,FF
2021-08-13T21:25:06.593Z,1628889906.593 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:25:06.643Z,1628889906.643 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:25:07.061Z,1628889907.061 [Micromodem](INFO): Nmea in: $SNTTA,0.068794,,,,212507.39*4D

2021-08-13T21:25:07.099Z,1628889907.099 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T21:25:07.113Z,1628889907.113 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.080002 m, bearing: 90.467174 deg, deltaT: 4.467263 s, approachRate: -0.026861 m/s, LOS rate: -0.437339 deg/s, posRepo size: 4
2021-08-13T21:25:09.445Z,1628889909.445 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:25:09.846Z,1628889909.846 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:25:09.847Z,1628889909.847 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:25:09.847Z,1628889909.847 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:25:09.848Z,1628889909.848 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:25:10.225Z,1628889910.225 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
277,000,0034B,189,80,80,AC,FF
2021-08-13T21:25:10.225Z,1628889910.225 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:25:10.225Z,1628889910.225 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:25:10.227Z,1628889910.227 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:25:10.642Z,1628889910.642 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:25:11.055Z,1628889911.055 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,20A,000,0034D,186,80,80,80,FF
2021-08-13T21:25:11.057Z,1628889911.057 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:25:11.062Z,1628889911.062 [Micromodem](INFO): Nmea in: $SNTTA,0.022157,0.304892,,,212511.80*55

2021-08-13T21:25:11.174Z,1628889911.174 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:25:11.483Z,1628889911.483 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.199997 m, bearing: 95.733154 deg, deltaT: 4.526315 s, approachRate: 0.026511 m/s, LOS rate: 1.163414 deg/s, posRepo size: 4
2021-08-13T21:25:13.928Z,1628889913.928 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:25:14.285Z,1628889914.285 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:25:14.285Z,1628889914.285 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:25:14.285Z,1628889914.285 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:25:14.286Z,1628889914.286 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:25:14.685Z,1628889914.685 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
20A,000,0034D,186,80,80,80,FF
2021-08-13T21:25:14.685Z,1628889914.685 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:25:14.685Z,1628889914.685 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:25:14.687Z,1628889914.687 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:25:15.093Z,1628889915.093 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:25:15.501Z,1628889915.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,196,000,0034D,185,80,80,89,FF
2021-08-13T21:25:15.501Z,1628889915.501 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:25:15.521Z,1628889915.520 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:25:15.933Z,1628889915.933 [Micromodem](INFO): Nmea in: $SNTTA,0.024242,,,,212516.26*45

2021-08-13T21:25:15.983Z,1628889915.983 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.199997 m, bearing: 101.296425 deg, deltaT: 4.346612 s, approachRate: 0.000000 m/s, LOS rate: 1.279910 deg/s, posRepo size: 4
2021-08-13T21:25:18.354Z,1628889918.354 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:25:18.725Z,1628889918.725 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:25:18.725Z,1628889918.725 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:25:18.725Z,1628889918.725 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:25:18.726Z,1628889918.726 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:25:19.145Z,1628889919.145 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
196,000,0034D,185,80,80,89,FF
2021-08-13T21:25:19.145Z,1628889919.145 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:25:19.145Z,1628889919.145 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:25:19.147Z,1628889919.147 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:25:19.541Z,1628889919.541 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:25:19.950Z,1628889919.950 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,180,000,0034E,186,80,80,8D,FF
2021-08-13T21:25:19.951Z,1628889919.951 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:25:19.979Z,1628889919.979 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:25:20.366Z,1628889920.366 [Micromodem](INFO): Nmea in: $SNTTA,,,,,212520.72*5D

2021-08-13T21:25:20.397Z,1628889920.397 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.260000 m, bearing: 102.260882 deg, deltaT: 4.459213 s, approachRate: 0.013456 m/s, LOS rate: 0.216284 deg/s, posRepo size: 4
2021-08-13T21:25:22.778Z,1628889922.778 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:25:23.177Z,1628889923.177 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:25:23.177Z,1628889923.177 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:25:23.178Z,1628889923.178 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:25:23.179Z,1628889923.179 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:25:23.590Z,1628889923.590 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
180,000,0034E,186,80,80,8D,FF
2021-08-13T21:25:23.590Z,1628889923.590 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:25:23.590Z,1628889923.590 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:25:23.591Z,1628889923.591 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:25:23.990Z,1628889923.990 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:25:24.377Z,1628889924.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,195,000,0034E,185,80,80,BE,FF
2021-08-13T21:25:24.378Z,1628889924.378 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:25:24.427Z,1628889924.427 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:25:24.836Z,1628889924.836 [Micromodem](INFO): Nmea in: $SNTTA,,,,,212525.16*5A

2021-08-13T21:25:24.881Z,1628889924.881 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.260000 m, bearing: 101.059745 deg, deltaT: 4.447425 s, approachRate: 0.000000 m/s, LOS rate: -0.270075 deg/s, posRepo size: 4
2021-08-13T21:25:27.271Z,1628889927.271 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:25:27.625Z,1628889927.625 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:25:27.625Z,1628889927.625 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:25:27.625Z,1628889927.625 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:25:27.626Z,1628889927.626 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:25:28.030Z,1628889928.030 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
195,000,0034E,185,80,80,BE,FF
2021-08-13T21:25:28.030Z,1628889928.030 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:25:28.030Z,1628889928.030 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:25:28.032Z,1628889928.032 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:25:28.433Z,1628889928.433 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:25:28.858Z,1628889928.858 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,19C,000,00350,186,80,80,90,FF
2021-08-13T21:25:28.858Z,1628889928.858 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:25:28.913Z,1628889928.913 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:25:29.249Z,1628889929.249 [Micromodem](INFO): Nmea in: $SNTTA,,0.400217,,,212529.61*48

2021-08-13T21:25:29.295Z,1628889929.295 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.380001 m, bearing: 100.535795 deg, deltaT: 4.485608 s, approachRate: 0.026752 m/s, LOS rate: -0.116807 deg/s, posRepo size: 4
2021-08-13T21:25:31.438Z,1628889931.438 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:25:31.661Z,1628889931.661 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:25:31.661Z,1628889931.661 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:25:31.661Z,1628889931.661 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:25:31.662Z,1628889931.662 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:25:32.061Z,1628889932.061 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
19C,000,00350,186,80,80,90,FF
2021-08-13T21:25:32.062Z,1628889932.062 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:25:32.062Z,1628889932.062 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:25:32.065Z,1628889932.065 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:25:32.477Z,1628889932.477 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:25:32.894Z,1628889932.894 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,19C,000,00351,186,80,80,A7,FF
2021-08-13T21:25:32.895Z,1628889932.895 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:25:33.002Z,1628889933.002 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:25:33.285Z,1628889933.285 [Micromodem](INFO): Nmea in: $SNTTA,0.385298,0.385541,,,212533.64*5B

2021-08-13T21:25:33.341Z,1628889933.341 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.439999 m, bearing: 100.622634 deg, deltaT: 4.089137 s, approachRate: 0.014672 m/s, LOS rate: 0.021237 deg/s, posRepo size: 4
2021-08-13T21:25:35.709Z,1628889935.709 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:25:36.098Z,1628889936.098 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:25:36.098Z,1628889936.098 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:25:36.098Z,1628889936.098 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:25:36.099Z,1628889936.099 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:25:36.505Z,1628889936.505 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
19C,000,00351,186,80,80,A7,FF
2021-08-13T21:25:36.505Z,1628889936.505 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:25:36.505Z,1628889936.505 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:25:36.507Z,1628889936.507 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:25:36.915Z,1628889936.915 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:25:37.317Z,1628889937.317 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1B8,000,00352,185,80,80,83,FF
2021-08-13T21:25:37.318Z,1628889937.318 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:25:37.356Z,1628889937.356 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:25:37.753Z,1628889937.753 [Micromodem](INFO): Nmea in: $SNTTA,,,,,212538.08*59

2021-08-13T21:25:37.817Z,1628889937.817 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.500002 m, bearing: 99.173220 deg, deltaT: 4.354493 s, approachRate: 0.013780 m/s, LOS rate: -0.332855 deg/s, posRepo size: 4
2021-08-13T21:25:40.210Z,1628889940.210 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:25:40.552Z,1628889940.552 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:25:40.552Z,1628889940.552 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:25:40.553Z,1628889940.553 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:25:40.553Z,1628889940.553 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:25:40.952Z,1628889940.952 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1B8,000,00352,185,80,80,83,FF
2021-08-13T21:25:40.953Z,1628889940.953 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:25:40.953Z,1628889940.953 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:25:40.959Z,1628889940.959 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:25:41.357Z,1628889941.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:25:41.761Z,1628889941.761 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1F6,000,00354,186,80,80,85,FF
2021-08-13T21:25:41.761Z,1628889941.761 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:25:41.863Z,1628889941.863 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:25:42.197Z,1628889942.197 [Micromodem](INFO): Nmea in: $SNTTA,0.045366,,,,212542.53*46

2021-08-13T21:25:42.227Z,1628889942.227 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.619998 m, bearing: 96.058428 deg, deltaT: 4.511190 s, approachRate: 0.026600 m/s, LOS rate: -0.690459 deg/s, posRepo size: 4
2021-08-13T21:25:44.618Z,1628889944.618 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:25:45.026Z,1628889945.026 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:25:45.026Z,1628889945.026 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:25:45.026Z,1628889945.026 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:25:45.027Z,1628889945.027 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:25:45.389Z,1628889945.389 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1F6,000,00354,186,80,80,85,FF
2021-08-13T21:25:45.389Z,1628889945.389 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:25:45.389Z,1628889945.389 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:25:45.391Z,1628889945.391 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:25:45.831Z,1628889945.831 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:25:46.197Z,1628889946.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,19D,000,00355,185,80,80,9B,FF
2021-08-13T21:25:46.197Z,1628889946.197 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:25:46.217Z,1628889946.217 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:25:46.637Z,1628889946.637 [Micromodem](INFO): Nmea in: $SNTTA,0.039872,,,,212546.96*4E

2021-08-13T21:25:46.685Z,1628889946.685 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.680001 m, bearing: 100.379547 deg, deltaT: 4.349091 s, approachRate: 0.013797 m/s, LOS rate: 0.993568 deg/s, posRepo size: 4
2021-08-13T21:25:49.142Z,1628889949.142 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:25:49.429Z,1628889949.429 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:25:49.429Z,1628889949.429 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:25:49.429Z,1628889949.429 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:25:49.430Z,1628889949.430 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:25:49.854Z,1628889949.854 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
19D,000,00355,185,80,80,9B,FF
2021-08-13T21:25:49.854Z,1628889949.854 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:25:49.854Z,1628889949.854 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:25:49.858Z,1628889949.858 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:25:50.241Z,1628889950.241 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:25:51.064Z,1628889951.064 [Micromodem](INFO): Nmea in: $SNTTA,0.451188,0.491276,,,212551.43*57

2021-08-13T21:25:51.918Z,1628889951.918 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:25:52.509Z,1628889952.509 [CTD_Seabird](ERROR): Failed to parse device response: .49
2021-08-13T21:25:53.157Z,1628889953.157 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-13T21:25:53.469Z,1628889953.469 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
5,185,80,80,9B,FF
2021-08-13T21:25:53.469Z,1628889953.469 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
5,185,80,80,9B,FF
2021-08-13T21:25:53.469Z,1628889953.469 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T21:25:54.709Z,1628889954.709 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:25:55.085Z,1628889955.085 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:25:55.085Z,1628889955.085 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:25:55.085Z,1628889955.085 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:25:55.086Z,1628889955.086 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:25:55.497Z,1628889955.497 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
5,185,80,80,9B,FF
2021-08-13T21:25:55.497Z,1628889955.497 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:25:55.497Z,1628889955.497 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:25:55.499Z,1628889955.499 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:25:55.908Z,1628889955.908 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:25:56.297Z,1628889956.297 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,173,000,0035B,185,80,80,91,FF
2021-08-13T21:25:56.297Z,1628889956.297 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:25:56.316Z,1628889956.316 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:25:56.746Z,1628889956.746 [Micromodem](INFO): Nmea in: $SNTTA,0.035805,,,,212557.07*4A

2021-08-13T21:25:56.785Z,1628889956.785 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.039998 m, bearing: 102.594195 deg, deltaT: 10.099691 s, approachRate: 0.035644 m/s, LOS rate: 0.219279 deg/s, posRepo size: 4
2021-08-13T21:25:59.180Z,1628889959.180 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:25:59.525Z,1628889959.525 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:25:59.525Z,1628889959.525 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:25:59.525Z,1628889959.525 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:25:59.526Z,1628889959.526 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:25:59.934Z,1628889959.934 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
173,000,0035B,185,80,80,91,FF
2021-08-13T21:25:59.934Z,1628889959.934 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:25:59.934Z,1628889959.934 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:25:59.935Z,1628889959.935 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:26:00.355Z,1628889960.355 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:26:00.742Z,1628889960.742 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,104,000,00362,187,80,80,6F,FF
2021-08-13T21:26:00.742Z,1628889960.742 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:26:00.786Z,1628889960.786 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:26:01.189Z,1628889961.189 [Micromodem](INFO): Nmea in: $SNTTA,0.413556,,,,212601.51*42

2021-08-13T21:26:01.254Z,1628889961.254 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.459998 m, bearing: 108.215816 deg, deltaT: 4.469446 s, approachRate: 0.093971 m/s, LOS rate: 1.257789 deg/s, posRepo size: 4
2021-08-13T21:26:03.610Z,1628889963.610 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:26:03.981Z,1628889963.981 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:26:03.981Z,1628889963.981 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:26:03.981Z,1628889963.981 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:26:03.982Z,1628889963.982 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:26:04.385Z,1628889964.385 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
104,000,00362,187,80,80,6F,FF
2021-08-13T21:26:04.385Z,1628889964.385 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:26:04.385Z,1628889964.385 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:26:04.387Z,1628889964.387 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:26:04.789Z,1628889964.789 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:26:05.189Z,1628889965.189 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,228,000,0036F,188,80,80,5F,FF
2021-08-13T21:26:05.189Z,1628889965.189 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:26:05.266Z,1628889965.266 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:26:05.621Z,1628889965.621 [Micromodem](INFO): Nmea in: $SNTTA,0.060022,,,,212605.96*4B

2021-08-13T21:26:05.643Z,1628889965.643 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.240002 m, bearing: 93.753150 deg, deltaT: 4.480130 s, approachRate: 0.174103 m/s, LOS rate: -3.228180 deg/s, posRepo size: 4
2021-08-13T21:26:08.045Z,1628889968.045 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:26:08.413Z,1628889968.413 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:26:08.413Z,1628889968.413 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:26:08.414Z,1628889968.414 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:26:08.415Z,1628889968.415 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:26:08.833Z,1628889968.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
228,000,0036F,188,80,80,5F,FF
2021-08-13T21:26:08.833Z,1628889968.833 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:26:08.834Z,1628889968.834 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:26:08.839Z,1628889968.839 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:26:09.233Z,1628889969.233 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:26:09.638Z,1628889969.638 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,07D,000,00369,187,80,80,88,FF
2021-08-13T21:26:09.638Z,1628889969.638 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:26:09.681Z,1628889969.681 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:26:10.061Z,1628889970.061 [Micromodem](INFO): Nmea in: $SNTTA,,,,,212610.41*5D

2021-08-13T21:26:10.086Z,1628889970.086 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.879999 m, bearing: 114.952330 deg, deltaT: 4.415032 s, approachRate: -0.081540 m/s, LOS rate: 4.801591 deg/s, posRepo size: 4
2021-08-13T21:26:12.473Z,1628889972.473 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:26:12.885Z,1628889972.885 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:26:12.885Z,1628889972.885 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:26:12.885Z,1628889972.885 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:26:12.886Z,1628889972.886 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:26:13.273Z,1628889973.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
07D,000,00369,187,80,80,88,FF
2021-08-13T21:26:13.273Z,1628889973.273 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:26:13.273Z,1628889973.273 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:26:13.275Z,1628889973.275 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:26:13.687Z,1628889973.687 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:26:14.081Z,1628889974.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,076,000,0036C,187,80,80,73,FF
2021-08-13T21:26:14.081Z,1628889974.081 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:26:14.138Z,1628889974.138 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:26:14.521Z,1628889974.521 [Micromodem](INFO): Nmea in: $SNTTA,0.056176,,,,212614.84*4D

2021-08-13T21:26:14.544Z,1628889974.544 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.059998 m, bearing: 115.410608 deg, deltaT: 4.457443 s, approachRate: 0.040382 m/s, LOS rate: 0.102812 deg/s, posRepo size: 4
2021-08-13T21:26:17.013Z,1628889977.013 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:26:17.305Z,1628889977.305 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:26:17.305Z,1628889977.305 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:26:17.305Z,1628889977.305 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:26:17.306Z,1628889977.306 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:26:17.751Z,1628889977.751 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
076,000,0036C,187,80,80,73,FF
2021-08-13T21:26:17.751Z,1628889977.751 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:26:17.751Z,1628889977.751 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:26:17.756Z,1628889977.756 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:26:18.130Z,1628889978.130 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:26:18.517Z,1628889978.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,067,000,0036B,186,80,80,89,FF
2021-08-13T21:26:18.517Z,1628889978.517 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:26:18.569Z,1628889978.569 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:26:18.968Z,1628889978.968 [Micromodem](INFO): Nmea in: $SNTTA,,,,,212619.33*51

2021-08-13T21:26:19.026Z,1628889979.026 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.000000 m, bearing: 116.055719 deg, deltaT: 4.430140 s, approachRate: -0.013543 m/s, LOS rate: 0.145619 deg/s, posRepo size: 4
2021-08-13T21:26:21.391Z,1628889981.391 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:26:21.749Z,1628889981.749 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:26:21.749Z,1628889981.749 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:26:21.749Z,1628889981.749 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:26:21.750Z,1628889981.750 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:26:22.153Z,1628889982.153 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
067,000,0036B,186,80,80,89,FF
2021-08-13T21:26:22.153Z,1628889982.153 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:26:22.153Z,1628889982.153 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:26:22.155Z,1628889982.155 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:26:22.561Z,1628889982.561 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:26:22.992Z,1628889982.992 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,07D,000,0036F,186,80,80,81,FF
2021-08-13T21:26:22.993Z,1628889982.993 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:26:23.016Z,1628889983.016 [Micromodem](INFO): Nmea in: $SNTTA,0.302228,0.302165,,,212623.72*57

2021-08-13T21:26:23.077Z,1628889983.077 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:26:23.403Z,1628889983.403 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.240002 m, bearing: 114.732807 deg, deltaT: 4.508926 s, approachRate: 0.053228 m/s, LOS rate: -0.293398 deg/s, posRepo size: 4
2021-08-13T21:26:25.842Z,1628889985.842 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:26:26.189Z,1628889986.189 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:26:26.189Z,1628889986.189 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:26:26.190Z,1628889986.190 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:26:26.191Z,1628889986.191 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:26:26.603Z,1628889986.603 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
07D,000,0036F,186,80,80,81,FF
2021-08-13T21:26:26.603Z,1628889986.603 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:26:26.603Z,1628889986.603 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:26:26.605Z,1628889986.605 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:26:27.029Z,1628889987.029 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:26:27.411Z,1628889987.411 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CA1,000,00371,189,80,80,8C,FF
2021-08-13T21:26:27.411Z,1628889987.411 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:26:27.431Z,1628889987.431 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:26:27.858Z,1628889987.858 [Micromodem](INFO): Nmea in: $SNTTA,0.029076,,,,212628.18*4E

2021-08-13T21:26:27.892Z,1628889987.892 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.359997 m, bearing: 164.174484 deg, deltaT: 4.353178 s, approachRate: 0.027565 m/s, LOS rate: 11.357605 deg/s, posRepo size: 4
2021-08-13T21:26:30.254Z,1628889990.254 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:26:30.637Z,1628889990.637 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:26:30.637Z,1628889990.637 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:26:30.637Z,1628889990.637 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:26:30.638Z,1628889990.638 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:26:31.038Z,1628889991.038 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CA1,000,00371,189,80,80,8C,FF
2021-08-13T21:26:31.038Z,1628889991.038 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:26:31.038Z,1628889991.038 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:26:31.060Z,1628889991.060 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:26:31.448Z,1628889991.448 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:26:31.873Z,1628889991.873 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00370,18A,80,80,7B,FF
2021-08-13T21:26:31.874Z,1628889991.874 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:26:31.940Z,1628889991.940 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:26:32.281Z,1628889992.281 [Micromodem](INFO): Nmea in: $SNTTA,0.028658,,,,212632.63*42

2021-08-13T21:26:32.325Z,1628889992.325 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.299999 m, bearing: 56.980197 deg, deltaT: 4.509144 s, approachRate: -0.013306 m/s, LOS rate: -23.772646 deg/s, posRepo size: 4
2021-08-13T21:26:34.712Z,1628889994.712 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:26:35.081Z,1628889995.081 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:26:35.081Z,1628889995.081 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:26:35.081Z,1628889995.081 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:26:35.082Z,1628889995.082 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:26:35.489Z,1628889995.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00370,18A,80,80,7B,FF
2021-08-13T21:26:35.489Z,1628889995.489 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:26:35.490Z,1628889995.490 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:26:35.491Z,1628889995.491 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:26:35.909Z,1628889995.909 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:26:36.297Z,1628889996.297 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00376,189,80,80,9A,FF
2021-08-13T21:26:36.298Z,1628889996.298 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:26:36.317Z,1628889996.317 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:26:36.737Z,1628889996.737 [Micromodem](INFO): Nmea in: $SNTTA,0.037315,,,,212637.06*46

2021-08-13T21:26:36.788Z,1628889996.788 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.660002 m, bearing: 56.973832 deg, deltaT: 4.377139 s, approachRate: 0.082246 m/s, LOS rate: -0.001454 deg/s, posRepo size: 4
2021-08-13T21:26:39.182Z,1628889999.182 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:26:39.533Z,1628889999.533 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:26:39.533Z,1628889999.533 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:26:39.533Z,1628889999.533 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:26:39.534Z,1628889999.534 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:26:39.933Z,1628889999.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00376,189,80,80,9A,FF
2021-08-13T21:26:39.933Z,1628889999.933 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:26:39.933Z,1628889999.933 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:26:39.935Z,1628889999.935 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:26:40.344Z,1628890000.344 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:26:40.745Z,1628890000.745 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00375,189,80,80,B5,FF
2021-08-13T21:26:40.745Z,1628890000.745 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:26:40.765Z,1628890000.765 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:26:41.177Z,1628890001.177 [Micromodem](INFO): Nmea in: $SNTTA,0.043806,,,,212641.51*4F

2021-08-13T21:26:41.234Z,1628890001.234 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.599998 m, bearing: 57.018450 deg, deltaT: 4.447775 s, approachRate: -0.013491 m/s, LOS rate: 0.010032 deg/s, posRepo size: 4
2021-08-13T21:26:43.590Z,1628890003.590 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:26:43.973Z,1628890003.973 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:26:43.973Z,1628890003.973 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:26:43.974Z,1628890003.974 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:26:43.975Z,1628890003.975 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:26:44.386Z,1628890004.386 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00375,189,80,80,B5,FF
2021-08-13T21:26:44.386Z,1628890004.386 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:26:44.386Z,1628890004.386 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:26:44.389Z,1628890004.389 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:26:44.786Z,1628890004.786 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:26:45.189Z,1628890005.189 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00378,189,80,80,81,FF
2021-08-13T21:26:45.190Z,1628890005.190 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:26:45.274Z,1628890005.274 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:26:45.613Z,1628890005.613 [Micromodem](INFO): Nmea in: $SNTTA,0.223830,,,,212645.96*41

2021-08-13T21:26:45.659Z,1628890005.659 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.779997 m, bearing: 57.185301 deg, deltaT: 4.509407 s, approachRate: 0.039916 m/s, LOS rate: 0.037001 deg/s, posRepo size: 4
2021-08-13T21:26:48.045Z,1628890008.045 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:26:48.425Z,1628890008.425 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:26:48.425Z,1628890008.425 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:26:48.425Z,1628890008.425 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:26:48.426Z,1628890008.426 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:26:48.834Z,1628890008.834 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00378,189,80,80,81,FF
2021-08-13T21:26:48.834Z,1628890008.834 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:26:48.835Z,1628890008.835 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:26:48.842Z,1628890008.842 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:26:49.236Z,1628890009.236 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:26:49.625Z,1628890009.625 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00386,189,80,80,A7,FF
2021-08-13T21:26:49.625Z,1628890009.625 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:26:49.644Z,1628890009.644 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:26:50.069Z,1628890010.069 [Micromodem](INFO): Nmea in: $SNTTA,0.039860,,,,212650.41*43

2021-08-13T21:26:50.106Z,1628890010.106 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.619999 m, bearing: 57.214760 deg, deltaT: 4.370102 s, approachRate: 0.192216 m/s, LOS rate: 0.006741 deg/s, posRepo size: 4
2021-08-13T21:26:52.496Z,1628890012.496 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:26:52.897Z,1628890012.897 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:26:52.897Z,1628890012.897 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:26:52.897Z,1628890012.897 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:26:52.898Z,1628890012.898 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:26:53.281Z,1628890013.281 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00386,189,80,80,A7,FF
2021-08-13T21:26:53.281Z,1628890013.281 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:26:53.282Z,1628890013.282 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:26:53.283Z,1628890013.283 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:26:53.669Z,1628890013.669 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:26:54.077Z,1628890014.077 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0037E,189,80,80,8E,FF
2021-08-13T21:26:54.078Z,1628890014.078 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:26:54.149Z,1628890014.149 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:26:54.501Z,1628890014.501 [Micromodem](INFO): Nmea in: $SNTTA,0.042659,,,,212654.85*47

2021-08-13T21:26:54.539Z,1628890014.539 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.139999 m, bearing: 56.984046 deg, deltaT: 4.504602 s, approachRate: -0.106558 m/s, LOS rate: -0.051217 deg/s, posRepo size: 4
2021-08-13T21:26:56.993Z,1628890016.993 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:26:57.314Z,1628890017.314 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:26:57.314Z,1628890017.314 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:26:57.314Z,1628890017.314 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:26:57.314Z,1628890017.314 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:26:57.701Z,1628890017.701 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0037E,189,80,80,8E,FF
2021-08-13T21:26:57.701Z,1628890017.701 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:26:57.702Z,1628890017.702 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:26:57.703Z,1628890017.703 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:26:58.157Z,1628890018.157 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:26:58.513Z,1628890018.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00382,189,80,80,84,FF
2021-08-13T21:26:58.513Z,1628890018.513 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:26:58.558Z,1628890018.558 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:26:58.968Z,1628890018.968 [Micromodem](INFO): Nmea in: $SNTTA,,,,,212659.27*50

2021-08-13T21:26:59.053Z,1628890019.053 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.380001 m, bearing: 56.954294 deg, deltaT: 4.408692 s, approachRate: 0.054438 m/s, LOS rate: -0.006749 deg/s, posRepo size: 4
2021-08-13T21:27:01.422Z,1628890021.422 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:27:01.749Z,1628890021.749 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:27:01.749Z,1628890021.749 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:27:01.749Z,1628890021.749 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:27:01.750Z,1628890021.750 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:27:02.158Z,1628890022.158 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00382,189,80,80,84,FF
2021-08-13T21:27:02.158Z,1628890022.158 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:27:02.158Z,1628890022.158 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:27:02.160Z,1628890022.160 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:27:02.557Z,1628890022.557 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:27:02.992Z,1628890022.992 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C88,000,0038D,189,80,80,4C,FF
2021-08-13T21:27:02.993Z,1628890022.993 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:27:02.998Z,1628890022.998 [Micromodem](INFO): Nmea in: $SNTTA,0.086850,0.298583,,,212703.73*51

2021-08-13T21:27:03.107Z,1628890023.107 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:27:03.397Z,1628890023.397 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.039999 m, bearing: 165.154971 deg, deltaT: 4.549000 s, approachRate: 0.145086 m/s, LOS rate: 23.785596 deg/s, posRepo size: 4
2021-08-13T21:27:05.877Z,1628890025.877 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:27:06.185Z,1628890026.185 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:27:06.185Z,1628890026.185 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:27:06.185Z,1628890026.185 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:27:06.186Z,1628890026.186 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:27:06.594Z,1628890026.594 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C88,000,0038D,189,80,80,4C,FF
2021-08-13T21:27:06.594Z,1628890026.594 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:27:06.594Z,1628890026.594 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:27:06.595Z,1628890026.595 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:27:07.033Z,1628890027.033 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:27:07.401Z,1628890027.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00384,189,80,80,B1,FF
2021-08-13T21:27:07.401Z,1628890027.401 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:27:07.453Z,1628890027.453 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:27:07.862Z,1628890027.862 [Micromodem](INFO): Nmea in: $SNTTA,,,,,212708.17*56

2021-08-13T21:27:07.926Z,1628890027.926 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.499996 m, bearing: 56.704391 deg, deltaT: 4.346505 s, approachRate: -0.124238 m/s, LOS rate: -24.951214 deg/s, posRepo size: 4
2021-08-13T21:27:10.250Z,1628890030.250 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:27:10.633Z,1628890030.633 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:27:10.633Z,1628890030.633 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:27:10.633Z,1628890030.633 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:27:10.634Z,1628890030.634 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:27:11.041Z,1628890031.041 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00384,189,80,80,B1,FF
2021-08-13T21:27:11.041Z,1628890031.041 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:27:11.041Z,1628890031.041 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:27:11.043Z,1628890031.043 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:27:11.450Z,1628890031.450 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:27:11.885Z,1628890031.885 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,49B,000,00388,18A,80,80,99,FF
2021-08-13T21:27:11.886Z,1628890031.886 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:27:11.966Z,1628890031.966 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:27:12.286Z,1628890032.286 [Micromodem](INFO): Nmea in: $SNTTA,0.061289,,,,212712.62*45

2021-08-13T21:27:12.302Z,1628890032.302 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.740000 m, bearing: 61.991186 deg, deltaT: 4.513427 s, approachRate: 0.053175 m/s, LOS rate: 1.171348 deg/s, posRepo size: 4
2021-08-13T21:27:14.701Z,1628890034.701 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:27:15.077Z,1628890035.077 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:27:15.077Z,1628890035.077 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:27:15.078Z,1628890035.078 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:27:15.079Z,1628890035.079 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:27:15.485Z,1628890035.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
49B,000,00388,18A,80,80,99,FF
2021-08-13T21:27:15.486Z,1628890035.486 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:27:15.486Z,1628890035.486 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:27:15.487Z,1628890035.487 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:27:15.909Z,1628890035.909 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:27:16.361Z,1628890036.361 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4CC,000,0038D,188,80,80,8F,FF
2021-08-13T21:27:16.361Z,1628890036.361 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:27:16.443Z,1628890036.443 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:27:16.730Z,1628890036.730 [Micromodem](INFO): Nmea in: $SNTTA,0.056904,,,,212717.06*48

2021-08-13T21:27:16.748Z,1628890036.748 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.039999 m, bearing: 59.865365 deg, deltaT: 4.481279 s, approachRate: 0.066945 m/s, LOS rate: -0.474378 deg/s, posRepo size: 4
2021-08-13T21:27:19.174Z,1628890039.174 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:27:19.521Z,1628890039.521 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:27:19.521Z,1628890039.521 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:27:19.521Z,1628890039.521 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:27:19.522Z,1628890039.522 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:27:19.929Z,1628890039.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
4CC,000,0038D,188,80,80,8F,FF
2021-08-13T21:27:19.929Z,1628890039.929 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:27:19.929Z,1628890039.929 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:27:19.931Z,1628890039.931 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:27:20.344Z,1628890040.344 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:27:20.733Z,1628890040.733 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00393,189,80,80,96,FF
2021-08-13T21:27:20.734Z,1628890040.734 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:27:20.773Z,1628890040.773 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:27:21.165Z,1628890041.165 [Micromodem](INFO): Nmea in: $SNTTA,,,,,212721.50*5E

2021-08-13T21:27:21.221Z,1628890041.221 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.400002 m, bearing: 57.429651 deg, deltaT: 4.325343 s, approachRate: 0.083231 m/s, LOS rate: -0.563126 deg/s, posRepo size: 4
2021-08-13T21:27:23.578Z,1628890043.578 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:27:23.973Z,1628890043.973 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:27:23.973Z,1628890043.973 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:27:23.973Z,1628890043.973 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:27:23.974Z,1628890043.974 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:27:24.374Z,1628890044.374 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00393,189,80,80,96,FF
2021-08-13T21:27:24.374Z,1628890044.374 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:27:24.374Z,1628890044.374 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:27:24.376Z,1628890044.376 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:27:24.802Z,1628890044.802 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:27:25.177Z,1628890045.177 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,003A0,18A,80,80,68,FF
2021-08-13T21:27:25.177Z,1628890045.177 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:27:25.181Z,1628890045.181 [Micromodem](INFO): Nmea in: $SNTTA,0.042051,0.231488,,,212725.95*55

2021-08-13T21:27:25.279Z,1628890045.279 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:27:25.626Z,1628890045.626 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.179998 m, bearing: 57.653388 deg, deltaT: 4.510489 s, approachRate: 0.172930 m/s, LOS rate: 0.049604 deg/s, posRepo size: 4
2021-08-13T21:27:28.044Z,1628890048.044 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:27:28.409Z,1628890048.409 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:27:28.409Z,1628890048.409 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:27:28.409Z,1628890048.409 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:27:28.410Z,1628890048.410 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:27:28.830Z,1628890048.830 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,003A0,18A,80,80,68,FF
2021-08-13T21:27:28.830Z,1628890048.830 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:27:28.831Z,1628890048.831 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:27:28.836Z,1628890048.836 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:27:29.267Z,1628890049.267 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:27:29.653Z,1628890049.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0039E,189,80,80,7F,FF
2021-08-13T21:27:29.654Z,1628890049.654 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:27:29.718Z,1628890049.718 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:27:30.089Z,1628890050.089 [Micromodem](INFO): Nmea in: $SNTTA,,,,,212730.41*5E

2021-08-13T21:27:30.126Z,1628890050.126 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.059998 m, bearing: 57.805701 deg, deltaT: 4.434531 s, approachRate: -0.027061 m/s, LOS rate: 0.034347 deg/s, posRepo size: 4
2021-08-13T21:27:32.513Z,1628890052.513 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:27:32.893Z,1628890052.893 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:27:32.893Z,1628890052.893 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:27:32.893Z,1628890052.893 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:27:32.894Z,1628890052.894 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:27:33.303Z,1628890053.303 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0039E,189,80,80,7F,FF
2021-08-13T21:27:33.303Z,1628890053.303 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:27:33.304Z,1628890053.304 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:27:33.305Z,1628890053.305 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:27:33.696Z,1628890053.696 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:27:34.109Z,1628890054.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,003A2,189,80,80,B6,FF
2021-08-13T21:27:34.110Z,1628890054.110 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:27:34.159Z,1628890054.159 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:27:34.533Z,1628890054.533 [Micromodem](INFO): Nmea in: $SNTTA,0.026107,,,,212734.88*43

2021-08-13T21:27:34.571Z,1628890054.571 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.299999 m, bearing: 58.000238 deg, deltaT: 4.440854 s, approachRate: 0.054044 m/s, LOS rate: 0.043806 deg/s, posRepo size: 4
2021-08-13T21:27:37.028Z,1628890057.028 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:27:37.325Z,1628890057.325 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:27:37.325Z,1628890057.325 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:27:37.326Z,1628890057.326 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:27:37.327Z,1628890057.327 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:27:37.742Z,1628890057.742 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,003A2,189,80,80,B6,FF
2021-08-13T21:27:37.742Z,1628890057.742 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:27:37.742Z,1628890057.742 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:27:37.744Z,1628890057.744 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:27:38.145Z,1628890058.145 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:27:38.545Z,1628890058.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,003AA,189,80,80,A3,FF
2021-08-13T21:27:38.545Z,1628890058.545 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:27:38.565Z,1628890058.565 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:27:39.018Z,1628890059.018 [Micromodem](INFO): Nmea in: $SNTTA,0.055120,,,,212739.32*4E

2021-08-13T21:27:39.076Z,1628890059.076 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.779997 m, bearing: 58.196449 deg, deltaT: 4.405744 s, approachRate: 0.108948 m/s, LOS rate: 0.044535 deg/s, posRepo size: 4
2021-08-13T21:27:41.066Z,1628890061.066 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:27:41.381Z,1628890061.381 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:27:41.381Z,1628890061.381 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:27:41.381Z,1628890061.381 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:27:41.382Z,1628890061.382 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:27:41.404Z,1628890061.404 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,003AA,189,80,80,A3,FF
2021-08-13T21:27:41.405Z,1628890061.405 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:27:41.405Z,1628890061.405 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:27:41.407Z,1628890061.407 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:27:41.776Z,1628890061.776 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:27:42.185Z,1628890062.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,003AD,189,80,80,A2,FF
2021-08-13T21:27:42.185Z,1628890062.185 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:27:42.238Z,1628890062.238 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:27:42.612Z,1628890062.612 [Micromodem](INFO): Nmea in: $SNTTA,0.056343,,,,212742.98*46

2021-08-13T21:27:42.649Z,1628890062.649 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.960001 m, bearing: 58.695640 deg, deltaT: 3.673273 s, approachRate: 0.049004 m/s, LOS rate: 0.135898 deg/s, posRepo size: 4
2021-08-13T21:27:43.099Z,1628890063.099 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-08-13T21:27:43.099Z,1628890063.099 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-08-13T21:27:43.099Z,1628890063.099 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-08-13T21:27:43.099Z,1628890063.099 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-13T21:27:43.122Z,1628890063.122 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-08-13T21:27:43.545Z,1628890063.545 [Micromodem](INFO): Sent 52 bytes from file Logs/20210813T172818/Courier0042.lzma.parts
2021-08-13T21:27:43.545Z,1628890063.545 [Micromodem](INFO): Packets left to send: 0
2021-08-13T21:27:44.099Z,1628890064.099 [Micromodem](INFO): Outgoing frame #1, 64 bytes: B2AB16612D0000005D00000400320000000000000000151D80030C5669C08C79984DBEA434B4B6BDD0EB63104F37E4C37EC91F2053D41A136A442B8684588C6A
2021-08-13T21:27:44.105Z,1628890064.105 [Micromodem](INFO): Outgoing frame #2, 6 bytes: F62CE52B2000
2021-08-13T21:27:44.105Z,1628890064.105 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,2*6A

2021-08-13T21:27:44.410Z,1628890064.410 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,2*68

2021-08-13T21:27:44.821Z,1628890064.821 [Micromodem](INFO): Nmea in: $CADRQ,212745,1,10,0,64,1*71

2021-08-13T21:27:44.822Z,1628890064.822 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,B2AB16612D0000005D00000400320000000000000000151D80030C5669C08C79984DBEA434B4B6BDD0EB63104F37E4C37EC91F2053D41A136A442B8684588C6A*46

2021-08-13T21:27:45.018Z,1628890065.018 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:27:45.230Z,1628890065.230 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:27:45.230Z,1628890065.230 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:27:45.230Z,1628890065.230 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:27:45.231Z,1628890065.231 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:27:45.238Z,1628890065.238 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-08-13T21:27:45.691Z,1628890065.691 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,003AD,189,80,80,A2,FF
2021-08-13T21:27:45.691Z,1628890065.691 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:27:45.691Z,1628890065.691 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:27:45.693Z,1628890065.693 [Micromodem](INFO): Nmea in: $CADRQ,212746,1,10,0,64,2*71

2021-08-13T21:27:45.693Z,1628890065.693 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,F62CE52B2000*4A

2021-08-13T21:27:46.114Z,1628890066.114 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,6*7D

2021-08-13T21:27:46.114Z,1628890066.114 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:27:46.494Z,1628890066.494 [Micromodem](INFO): Nmea in: $CATXP,70*75

2021-08-13T21:27:46.494Z,1628890066.494 [Micromodem](ERROR): Response from modem unexpected: $CATXP,70*75

2021-08-13T21:27:47.736Z,1628890067.736 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:27:48.914Z,1628890068.914 [Micromodem](INFO): Nmea in: $CATXF,70*63

2021-08-13T21:27:48.914Z,1628890068.914 [Micromodem](ERROR): Response from modem unexpected: $CATXF,70*63

2021-08-13T21:27:49.335Z,1628890069.335 [Micromodem](INFO): Nmea in: $CAXST,7,20210813,212747.242869,3,0,200,4000,14500,1,1,10,1,2,2,3,70,14500*54

2021-08-13T21:27:49.335Z,1628890069.335 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210813,212747.242869,3,0,200,4000,14500,1,1,10,1,2,2,3,70,14500*54

2021-08-13T21:27:50.574Z,1628890070.574 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:27:51.532Z,1628890071.532 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.300644
2021-08-13T21:27:51.534Z,1628890071.534 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-08-13T21:27:51.770Z,1628890071.770 [Micromodem](INFO): Nmea in: $CAACK,10,1,2,1*78

2021-08-13T21:27:51.771Z,1628890071.771 [Micromodem](INFO): Sent 62 bytes from file Logs/20210813T172818/Courier0045.lzma.parts
2021-08-13T21:27:51.771Z,1628890071.771 [Micromodem](INFO): Packets left to send: 0
2021-08-13T21:27:52.407Z,1628890072.407 [Micromodem](INFO): Nmea in: $CACST,6,0,20210813212751.873090,06,32767,45,0113,0150,07,00,00,00,00,1,010,001,0,4,1,0,150,24.8,5.37,12,-2.37,-01,0.01,45,14500,4000*6D

2021-08-13T21:27:52.408Z,1628890072.408 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210813212751.873090,06,32767,45,0113,0150,07,00,00,00,00,1,010,001,0,4,1,0,150,24.8,5.37,12,-2.37,-01,0.01,45,14500,4000*6D

2021-08-13T21:27:52.617Z,1628890072.617 [lineCaptureDepth:MicromodemComms] Stopped
2021-08-13T21:27:52.617Z,1628890072.617 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-08-13T21:27:52.617Z,1628890072.617 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-08-13T21:27:52.617Z,1628890072.617 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-13T21:27:52.617Z,1628890072.617 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-08-13T21:27:53.269Z,1628890073.269 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:27:53.613Z,1628890073.613 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:27:53.613Z,1628890073.613 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:27:53.614Z,1628890073.614 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:27:53.614Z,1628890073.614 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:27:54.009Z,1628890074.009 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,003AD,189,80,80,A2,FF
2021-08-13T21:27:54.009Z,1628890074.009 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:27:54.009Z,1628890074.009 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:27:56.091Z,1628890076.091 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:27:57.242Z,1628890077.242 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:27:57.657Z,1628890077.657 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:27:58.053Z,1628890078.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,003C1,189,80,80,87,FF
2021-08-13T21:27:58.053Z,1628890078.053 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:27:58.129Z,1628890078.129 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:27:58.493Z,1628890078.493 [Micromodem](INFO): Nmea in: $SNTTA,,,,,212758.81*5C

2021-08-13T21:27:58.509Z,1628890078.509 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.160000 m, bearing: 59.337624 deg, deltaT: 15.891409 s, approachRate: 0.075512 m/s, LOS rate: 0.040398 deg/s, posRepo size: 4
2021-08-13T21:28:01.054Z,1628890081.054 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:28:01.293Z,1628890081.293 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:28:01.294Z,1628890081.294 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:28:01.294Z,1628890081.294 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:28:01.295Z,1628890081.295 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:28:01.693Z,1628890081.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,003C1,189,80,80,87,FF
2021-08-13T21:28:01.693Z,1628890081.693 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:28:01.693Z,1628890081.693 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:28:01.695Z,1628890081.695 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:28:02.123Z,1628890082.123 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:28:02.509Z,1628890082.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,003D1,189,80,80,5A,FF
2021-08-13T21:28:02.509Z,1628890082.509 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:28:02.554Z,1628890082.554 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:28:02.969Z,1628890082.969 [Micromodem](INFO): Nmea in: $SNTTA,0.087246,,,,212803.26*41

2021-08-13T21:28:03.030Z,1628890083.030 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.120001 m, bearing: 59.339133 deg, deltaT: 4.424813 s, approachRate: 0.216959 m/s, LOS rate: 0.000341 deg/s, posRepo size: 4
2021-08-13T21:28:05.395Z,1628890085.395 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:28:05.733Z,1628890085.733 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:28:05.733Z,1628890085.733 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:28:05.733Z,1628890085.733 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:28:05.734Z,1628890085.734 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:28:06.137Z,1628890086.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,003D1,189,80,80,5A,FF
2021-08-13T21:28:06.138Z,1628890086.138 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:28:06.138Z,1628890086.138 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:28:06.139Z,1628890086.139 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:28:06.549Z,1628890086.549 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:28:06.972Z,1628890086.972 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,003DD,189,80,80,60,FF
2021-08-13T21:28:06.973Z,1628890086.973 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:28:07.069Z,1628890087.069 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:28:07.390Z,1628890087.390 [Micromodem](INFO): Nmea in: $SNTTA,,,,,212807.72*55

2021-08-13T21:28:07.439Z,1628890087.439 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.840002 m, bearing: 59.688197 deg, deltaT: 4.514858 s, approachRate: 0.159474 m/s, LOS rate: 0.077314 deg/s, posRepo size: 4
2021-08-13T21:28:09.822Z,1628890089.822 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:28:10.177Z,1628890090.177 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:28:10.177Z,1628890090.177 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:28:10.177Z,1628890090.177 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:28:10.178Z,1628890090.178 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:28:10.589Z,1628890090.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,003DD,189,80,80,60,FF
2021-08-13T21:28:10.589Z,1628890090.589 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:28:10.589Z,1628890090.589 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:28:10.591Z,1628890090.591 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:28:11.036Z,1628890091.036 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:28:11.398Z,1628890091.398 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,003D0,189,80,80,71,FF
2021-08-13T21:28:11.399Z,1628890091.399 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:28:11.422Z,1628890091.422 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:28:11.850Z,1628890091.850 [Micromodem](INFO): Nmea in: $SNTTA,0.062400,,,,212812.16*4D

2021-08-13T21:28:11.892Z,1628890091.892 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.059998 m, bearing: 60.023784 deg, deltaT: 4.352565 s, approachRate: -0.179206 m/s, LOS rate: 0.077101 deg/s, posRepo size: 4
2021-08-13T21:28:14.241Z,1628890094.241 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:28:14.629Z,1628890094.629 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:28:14.630Z,1628890094.630 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:28:14.630Z,1628890094.630 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:28:14.631Z,1628890094.631 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:28:15.045Z,1628890095.045 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,003D0,189,80,80,71,FF
2021-08-13T21:28:15.045Z,1628890095.045 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:28:15.045Z,1628890095.045 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:28:15.047Z,1628890095.047 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:28:15.433Z,1628890095.433 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:28:15.850Z,1628890095.850 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,003D6,189,80,80,B2,FF
2021-08-13T21:28:15.851Z,1628890095.851 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:28:15.917Z,1628890095.917 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:28:16.269Z,1628890096.269 [Micromodem](INFO): Nmea in: $SNTTA,,,,,212816.62*54

2021-08-13T21:28:16.292Z,1628890096.292 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.420002 m, bearing: 60.586435 deg, deltaT: 4.495869 s, approachRate: 0.080074 m/s, LOS rate: 0.125148 deg/s, posRepo size: 4
2021-08-13T21:28:18.683Z,1628890098.683 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:28:19.065Z,1628890099.065 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:28:19.065Z,1628890099.065 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:28:19.065Z,1628890099.065 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:28:19.066Z,1628890099.066 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:28:19.474Z,1628890099.474 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,003D6,189,80,80,B2,FF
2021-08-13T21:28:19.474Z,1628890099.474 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:28:19.474Z,1628890099.474 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:28:19.476Z,1628890099.476 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:28:19.897Z,1628890099.897 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:28:20.277Z,1628890100.277 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,003D9,189,80,80,BF,FF
2021-08-13T21:28:20.278Z,1628890100.278 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:28:20.297Z,1628890100.297 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:28:20.713Z,1628890100.713 [Micromodem](INFO): Nmea in: $SNTTA,,,,,212821.05*51

2021-08-13T21:28:20.743Z,1628890100.743 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.600000 m, bearing: 61.216533 deg, deltaT: 4.379868 s, approachRate: 0.041097 m/s, LOS rate: 0.143862 deg/s, posRepo size: 4
2021-08-13T21:28:23.161Z,1628890103.161 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:28:23.505Z,1628890103.505 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:28:23.506Z,1628890103.506 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:28:23.506Z,1628890103.506 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:28:23.507Z,1628890103.507 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:28:23.512Z,1628890103.512 [NAL9602](INFO): Not Powering down - fast GPS
2021-08-13T21:28:23.913Z,1628890103.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,003D9,189,80,80,BF,FF
2021-08-13T21:28:23.913Z,1628890103.913 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:28:23.913Z,1628890103.913 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:28:23.915Z,1628890103.915 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:28:24.317Z,1628890104.317 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:28:24.725Z,1628890104.725 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,003DE,188,80,80,C1,FF
2021-08-13T21:28:24.725Z,1628890104.725 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:28:24.744Z,1628890104.744 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:28:25.146Z,1628890105.146 [Micromodem](INFO): Nmea in: $SNTTA,0.418637,0.420280,,,212825.49*5E

2021-08-13T21:28:25.221Z,1628890105.221 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.900000 m, bearing: 61.687858 deg, deltaT: 4.446951 s, approachRate: 0.067462 m/s, LOS rate: 0.105988 deg/s, posRepo size: 4
2021-08-13T21:28:27.259Z,1628890107.259 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:28:27.602Z,1628890107.602 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:28:27.602Z,1628890107.602 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:28:27.602Z,1628890107.602 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:28:27.603Z,1628890107.603 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:28:27.997Z,1628890107.997 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,003DE,188,80,80,C1,FF
2021-08-13T21:28:27.997Z,1628890107.997 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:28:27.998Z,1628890107.998 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:28:27.999Z,1628890107.999 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:28:28.408Z,1628890108.408 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:28:28.831Z,1628890108.831 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,003E2,189,80,80,94,FF
2021-08-13T21:28:28.836Z,1628890108.836 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:28:28.895Z,1628890108.895 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:28:29.261Z,1628890109.261 [Micromodem](INFO): Nmea in: $SNTTA,0.037860,,,,212829.57*4A

2021-08-13T21:28:29.325Z,1628890109.325 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.140001 m, bearing: 62.359736 deg, deltaT: 4.155223 s, approachRate: 0.057759 m/s, LOS rate: 0.161695 deg/s, posRepo size: 4
2021-08-13T21:28:31.424Z,1628890111.424 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:28:31.637Z,1628890111.637 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:28:31.637Z,1628890111.637 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:28:31.637Z,1628890111.637 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:28:31.638Z,1628890111.638 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:28:32.037Z,1628890112.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,003E2,189,80,80,94,FF
2021-08-13T21:28:32.037Z,1628890112.037 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:28:32.037Z,1628890112.037 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:28:32.039Z,1628890112.039 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:28:32.452Z,1628890112.452 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:28:32.877Z,1628890112.877 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,003E7,189,80,80,A1,FF
2021-08-13T21:28:32.877Z,1628890112.877 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:28:32.995Z,1628890112.995 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:28:33.327Z,1628890113.327 [Micromodem](INFO): Nmea in: $SNTTA,,0.358530,,,212833.61*46

2021-08-13T21:28:33.385Z,1628890113.385 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.440001 m, bearing: 59.436088 deg, deltaT: 4.100008 s, approachRate: 0.073170 m/s, LOS rate: -0.713084 deg/s, posRepo size: 4
2021-08-13T21:28:35.690Z,1628890115.690 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:28:36.085Z,1628890116.085 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:28:36.086Z,1628890116.086 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:28:36.086Z,1628890116.086 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:28:36.087Z,1628890116.087 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:28:36.481Z,1628890116.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,003E7,189,80,80,A1,FF
2021-08-13T21:28:36.481Z,1628890116.481 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:28:36.481Z,1628890116.481 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:28:36.483Z,1628890116.483 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:28:36.901Z,1628890116.901 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:28:37.293Z,1628890117.293 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,003EA,189,80,80,7A,FF
2021-08-13T21:28:37.293Z,1628890117.293 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:28:37.374Z,1628890117.374 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:28:37.735Z,1628890117.735 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.619999 m, bearing: 59.387580 deg, deltaT: 4.374353 s, approachRate: 0.041149 m/s, LOS rate: -0.011089 deg/s, posRepo size: 4
2021-08-13T21:28:40.158Z,1628890120.158 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:28:40.529Z,1628890120.529 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:28:40.529Z,1628890120.529 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:28:40.529Z,1628890120.529 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:28:40.530Z,1628890120.530 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:28:40.928Z,1628890120.928 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,003EA,189,80,80,7A,FF
2021-08-13T21:28:40.929Z,1628890120.929 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:28:40.929Z,1628890120.929 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:28:40.935Z,1628890120.935 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:28:41.358Z,1628890121.358 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:28:41.729Z,1628890121.729 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,003EF,189,80,80,9D,FF
2021-08-13T21:28:41.730Z,1628890121.730 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:28:41.759Z,1628890121.759 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:28:42.162Z,1628890122.162 [Micromodem](INFO): Nmea in: $SNTTA,,,,,212842.55*51

2021-08-13T21:28:42.211Z,1628890122.211 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.919998 m, bearing: 59.686639 deg, deltaT: 4.384652 s, approachRate: 0.068420 m/s, LOS rate: 0.068206 deg/s, posRepo size: 4
2021-08-13T21:28:44.586Z,1628890124.586 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:28:45.001Z,1628890125.001 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:28:45.001Z,1628890125.001 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:28:45.001Z,1628890125.001 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:28:45.002Z,1628890125.002 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:28:45.386Z,1628890125.386 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,003EF,189,80,80,9D,FF
2021-08-13T21:28:45.387Z,1628890125.387 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:28:45.387Z,1628890125.387 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:28:45.388Z,1628890125.388 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:28:45.786Z,1628890125.786 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:28:46.197Z,1628890126.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,003F5,189,80,80,A1,FF
2021-08-13T21:28:46.198Z,1628890126.198 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:28:46.278Z,1628890126.278 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:28:46.617Z,1628890126.617 [Micromodem](INFO): Nmea in: $SNTTA,,,,,212846.96*5A

2021-08-13T21:28:46.660Z,1628890126.660 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.280001 m, bearing: 59.959697 deg, deltaT: 4.519650 s, approachRate: 0.079653 m/s, LOS rate: 0.060416 deg/s, posRepo size: 4
2021-08-13T21:28:49.046Z,1628890129.046 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-13T21:28:49.073Z,1628890129.073 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:28:49.422Z,1628890129.422 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:28:49.422Z,1628890129.422 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:28:49.422Z,1628890129.422 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:28:49.423Z,1628890129.423 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:28:49.836Z,1628890129.836 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,003F5,189,80,80,A1,FF
2021-08-13T21:28:49.836Z,1628890129.836 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:28:49.836Z,1628890129.836 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:28:49.839Z,1628890129.839 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:28:50.238Z,1628890130.238 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:28:50.617Z,1628890130.617 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,003FA,189,80,80,BF,FF
2021-08-13T21:28:50.618Z,1628890130.618 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:28:50.674Z,1628890130.674 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:28:51.065Z,1628890131.065 [Micromodem](INFO): Nmea in: $SNTTA,,,,,212851.41*56

2021-08-13T21:28:51.137Z,1628890131.137 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.580000 m, bearing: 60.614664 deg, deltaT: 4.395774 s, approachRate: 0.068247 m/s, LOS rate: 0.148999 deg/s, posRepo size: 4
2021-08-13T21:28:53.479Z,1628890133.479 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:28:53.877Z,1628890133.877 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:28:53.877Z,1628890133.877 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:28:53.877Z,1628890133.877 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:28:53.878Z,1628890133.878 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:28:54.257Z,1628890134.257 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,003FA,189,80,80,BF,FF
2021-08-13T21:28:54.257Z,1628890134.257 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:28:54.257Z,1628890134.257 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:28:54.277Z,1628890134.277 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:28:54.665Z,1628890134.665 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:28:55.073Z,1628890135.073 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,01B,000,00409,185,80,80,33,FF
2021-08-13T21:28:55.074Z,1628890135.074 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:28:55.079Z,1628890135.079 [Micromodem](INFO): Nmea in: $SNTTA,0.238485,0.238873,,,212855.85*5F

2021-08-13T21:28:55.193Z,1628890135.193 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:28:55.507Z,1628890135.507 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.480000 m, bearing: 123.486938 deg, deltaT: 4.518929 s, approachRate: 0.199162 m/s, LOS rate: 13.913092 deg/s, posRepo size: 4
2021-08-13T21:28:57.944Z,1628890137.944 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:28:58.306Z,1628890138.306 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:28:58.306Z,1628890138.306 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:28:58.306Z,1628890138.306 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:28:58.307Z,1628890138.307 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:28:58.705Z,1628890138.705 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
01B,000,00409,185,80,80,33,FF
2021-08-13T21:28:58.705Z,1628890138.705 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:28:58.705Z,1628890138.705 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:28:58.707Z,1628890138.707 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:28:59.127Z,1628890139.127 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:28:59.505Z,1628890139.505 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00406,189,80,80,8A,FF
2021-08-13T21:28:59.506Z,1628890139.506 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:28:59.569Z,1628890139.569 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:28:59.950Z,1628890139.950 [Micromodem](INFO): Nmea in: $SNTTA,,,,,212900.28*5C

2021-08-13T21:28:59.984Z,1628890139.984 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.300001 m, bearing: 60.882981 deg, deltaT: 4.376281 s, approachRate: -0.041130 m/s, LOS rate: -14.305287 deg/s, posRepo size: 4
2021-08-13T21:29:02.382Z,1628890142.382 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:29:02.741Z,1628890142.741 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:29:02.741Z,1628890142.741 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:29:02.741Z,1628890142.741 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:29:02.742Z,1628890142.742 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:29:03.149Z,1628890143.149 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00406,189,80,80,8A,FF
2021-08-13T21:29:03.149Z,1628890143.149 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:29:03.149Z,1628890143.149 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:29:03.151Z,1628890143.151 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:29:03.552Z,1628890143.552 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:29:03.961Z,1628890143.961 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D80,000,00409,189,80,80,7D,FF
2021-08-13T21:29:03.961Z,1628890143.961 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:29:04.038Z,1628890144.038 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:29:04.397Z,1628890144.397 [Micromodem](INFO): Nmea in: $SNTTA,0.057845,,,,212904.72*42

2021-08-13T21:29:04.432Z,1628890144.432 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.480000 m, bearing: 157.116972 deg, deltaT: 4.469244 s, approachRate: 0.040275 m/s, LOS rate: 21.532499 deg/s, posRepo size: 4
2021-08-13T21:29:06.622Z,1628890146.622 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:29:06.789Z,1628890146.789 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:29:06.789Z,1628890146.789 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:29:06.789Z,1628890146.789 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:29:06.790Z,1628890146.790 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:29:07.189Z,1628890147.189 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D80,000,00409,189,80,80,7D,FF
2021-08-13T21:29:07.189Z,1628890147.189 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:29:07.189Z,1628890147.189 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:29:07.191Z,1628890147.191 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:29:07.375Z,1628890147.375 [CTD_Seabird](ERROR): Failed to parse device response: 97,4880.48
2021-08-13T21:29:07.601Z,1628890147.601 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:29:07.993Z,1628890147.993 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0040E,189,80,80,82,FF
2021-08-13T21:29:07.994Z,1628890147.994 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:29:08.001Z,1628890148.001 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T21:29:08.061Z,1628890148.061 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:29:08.449Z,1628890148.449 [Micromodem](INFO): Nmea in: $SNTTA,0.038746,,,,212908.76*4F

2021-08-13T21:29:08.464Z,1628890148.464 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.779999 m, bearing: 61.504556 deg, deltaT: 4.022871 s, approachRate: 0.074573 m/s, LOS rate: -23.767209 deg/s, posRepo size: 4
2021-08-13T21:29:10.891Z,1628890150.891 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:29:11.225Z,1628890151.225 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:29:11.225Z,1628890151.225 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:29:11.225Z,1628890151.225 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:29:11.226Z,1628890151.226 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:29:11.633Z,1628890151.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0040E,189,80,80,82,FF
2021-08-13T21:29:11.633Z,1628890151.633 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:29:11.633Z,1628890151.633 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:29:11.635Z,1628890151.635 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:29:12.036Z,1628890152.036 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:29:12.445Z,1628890152.445 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00414,189,80,80,7B,FF
2021-08-13T21:29:12.445Z,1628890152.445 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:29:12.492Z,1628890152.492 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:29:12.893Z,1628890152.893 [Micromodem](INFO): Nmea in: $SNTTA,,,,,212913.21*57

2021-08-13T21:29:12.998Z,1628890152.998 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.140001 m, bearing: 61.796867 deg, deltaT: 4.431235 s, approachRate: 0.081242 m/s, LOS rate: 0.065966 deg/s, posRepo size: 4
2021-08-13T21:29:15.330Z,1628890155.330 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:29:15.669Z,1628890155.669 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:29:15.669Z,1628890155.669 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:29:15.669Z,1628890155.669 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:29:15.670Z,1628890155.670 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:29:16.073Z,1628890156.073 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00414,189,80,80,7B,FF
2021-08-13T21:29:16.073Z,1628890156.073 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:29:16.073Z,1628890156.073 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:29:16.075Z,1628890156.075 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:29:16.480Z,1628890156.480 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:29:16.907Z,1628890156.907 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0041B,189,80,80,68,FF
2021-08-13T21:29:16.908Z,1628890156.908 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:29:17.021Z,1628890157.021 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:29:17.322Z,1628890157.322 [Micromodem](INFO): Nmea in: $SNTTA,0.068702,,,,212917.65*46

2021-08-13T21:29:17.357Z,1628890157.357 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.560001 m, bearing: 61.907523 deg, deltaT: 4.528674 s, approachRate: 0.092742 m/s, LOS rate: 0.024435 deg/s, posRepo size: 4
2021-08-13T21:29:19.742Z,1628890159.742 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:29:20.113Z,1628890160.113 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:29:20.113Z,1628890160.113 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:29:20.113Z,1628890160.113 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:29:20.114Z,1628890160.114 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:29:20.521Z,1628890160.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0041B,189,80,80,68,FF
2021-08-13T21:29:20.521Z,1628890160.521 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:29:20.521Z,1628890160.521 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:29:20.523Z,1628890160.523 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:29:20.929Z,1628890160.929 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:29:21.337Z,1628890161.337 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00420,188,80,80,9B,FF
2021-08-13T21:29:21.337Z,1628890161.337 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:29:21.420Z,1628890161.420 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:29:21.765Z,1628890161.765 [Micromodem](INFO): Nmea in: $SNTTA,0.053651,,,,212922.09*45

2021-08-13T21:29:21.811Z,1628890161.811 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.860001 m, bearing: 61.989711 deg, deltaT: 4.398752 s, approachRate: 0.068201 m/s, LOS rate: 0.018684 deg/s, posRepo size: 4
2021-08-13T21:29:24.181Z,1628890164.181 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:29:24.566Z,1628890164.566 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:29:24.566Z,1628890164.566 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:29:24.566Z,1628890164.566 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:29:24.567Z,1628890164.567 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:29:24.992Z,1628890164.992 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00420,188,80,80,9B,FF
2021-08-13T21:29:24.992Z,1628890164.992 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:29:24.992Z,1628890164.992 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:29:24.994Z,1628890164.994 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:29:25.369Z,1628890165.369 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:29:25.765Z,1628890165.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00423,189,80,80,88,FF
2021-08-13T21:29:25.766Z,1628890165.766 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:29:25.872Z,1628890165.872 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:29:26.201Z,1628890166.201 [Micromodem](INFO): Nmea in: $SNTTA,,,,,212926.57*50

2021-08-13T21:29:26.227Z,1628890166.227 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.039999 m, bearing: 62.336985 deg, deltaT: 4.452216 s, approachRate: 0.040429 m/s, LOS rate: 0.078000 deg/s, posRepo size: 4
2021-08-13T21:29:28.613Z,1628890168.613 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:29:29.029Z,1628890169.029 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:29:29.030Z,1628890169.030 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:29:29.030Z,1628890169.030 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:29:29.031Z,1628890169.031 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:29:29.405Z,1628890169.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00423,189,80,80,88,FF
2021-08-13T21:29:29.405Z,1628890169.405 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:29:29.405Z,1628890169.405 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:29:29.407Z,1628890169.407 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:29:29.827Z,1628890169.827 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:29:30.217Z,1628890170.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0042D,189,80,80,C3,FF
2021-08-13T21:29:30.217Z,1628890170.217 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:29:30.236Z,1628890170.236 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:29:30.645Z,1628890170.645 [Micromodem](INFO): Nmea in: $SNTTA,,,,,212930.98*54

2021-08-13T21:29:30.667Z,1628890170.667 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.639999 m, bearing: 62.888133 deg, deltaT: 4.364324 s, approachRate: 0.137478 m/s, LOS rate: 0.126285 deg/s, posRepo size: 4
2021-08-13T21:29:33.108Z,1628890173.108 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:29:33.449Z,1628890173.449 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:29:33.449Z,1628890173.449 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:29:33.449Z,1628890173.449 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:29:33.450Z,1628890173.450 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:29:33.881Z,1628890173.881 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0042D,189,80,80,C3,FF
2021-08-13T21:29:33.881Z,1628890173.881 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:29:33.881Z,1628890173.881 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:29:33.883Z,1628890173.883 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:29:34.257Z,1628890174.257 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:29:35.087Z,1628890175.087 [Micromodem](INFO): Nmea in: $SNTTA,0.475634,0.475497,,,212935.45*5A

2021-08-13T21:29:35.936Z,1628890175.936 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:29:37.485Z,1628890177.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,189,80,80,C3,FF
2021-08-13T21:29:37.485Z,1628890177.485 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,189,80,80,C3,FF
2021-08-13T21:29:37.485Z,1628890177.485 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T21:29:38.722Z,1628890178.722 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:29:39.101Z,1628890179.101 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:29:39.101Z,1628890179.101 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:29:39.101Z,1628890179.101 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:29:39.102Z,1628890179.102 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:29:39.513Z,1628890179.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,189,80,80,C3,FF
2021-08-13T21:29:39.513Z,1628890179.513 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:29:39.513Z,1628890179.513 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:29:39.515Z,1628890179.515 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:29:39.912Z,1628890179.912 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:29:40.309Z,1628890180.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00441,189,80,80,69,FF
2021-08-13T21:29:40.310Z,1628890180.310 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:29:40.329Z,1628890180.329 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:29:40.741Z,1628890180.741 [Micromodem](INFO): Nmea in: $SNTTA,,,,,212941.09*5A

2021-08-13T21:29:40.763Z,1628890180.763 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.839996 m, bearing: 63.765342 deg, deltaT: 10.092058 s, approachRate: 0.118905 m/s, LOS rate: 0.086921 deg/s, posRepo size: 4
2021-08-13T21:29:43.202Z,1628890183.202 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:29:43.549Z,1628890183.549 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:29:43.549Z,1628890183.549 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:29:43.549Z,1628890183.549 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:29:43.550Z,1628890183.550 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:29:43.945Z,1628890183.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00441,189,80,80,69,FF
2021-08-13T21:29:43.946Z,1628890183.946 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:29:43.946Z,1628890183.946 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:29:43.948Z,1628890183.948 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:29:44.357Z,1628890184.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:29:44.757Z,1628890184.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00446,189,80,80,4D,FF
2021-08-13T21:29:44.757Z,1628890184.757 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:29:44.776Z,1628890184.776 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:29:45.189Z,1628890185.189 [Micromodem](INFO): Nmea in: $SNTTA,0.075628,,,,212945.52*40

2021-08-13T21:29:45.256Z,1628890185.256 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.140001 m, bearing: 63.970978 deg, deltaT: 4.447741 s, approachRate: 0.067451 m/s, LOS rate: 0.046234 deg/s, posRepo size: 4
2021-08-13T21:29:47.602Z,1628890187.602 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:29:47.989Z,1628890187.989 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:29:47.989Z,1628890187.989 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:29:47.989Z,1628890187.989 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:29:47.990Z,1628890187.990 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:29:48.398Z,1628890188.398 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00446,189,80,80,4D,FF
2021-08-13T21:29:48.398Z,1628890188.398 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:29:48.399Z,1628890188.399 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:29:48.400Z,1628890188.400 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:29:48.826Z,1628890188.826 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:29:49.203Z,1628890189.203 [Micromodem](INFO): Nmea in: $SNTTA,0.177811,0.176380,,,212949.97*57

2021-08-13T21:29:50.442Z,1628890190.442 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:29:52.034Z,1628890192.034 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,189,80,80,4D,FF
2021-08-13T21:29:52.035Z,1628890192.035 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,189,80,80,4D,FF
2021-08-13T21:29:52.035Z,1628890192.035 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T21:29:53.327Z,1628890193.327 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:29:53.645Z,1628890193.645 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:29:53.645Z,1628890193.645 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:29:53.645Z,1628890193.645 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:29:53.646Z,1628890193.646 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:29:54.062Z,1628890194.062 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,189,80,80,4D,FF
2021-08-13T21:29:54.062Z,1628890194.062 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:29:54.062Z,1628890194.062 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:29:54.085Z,1628890194.085 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:29:54.465Z,1628890194.465 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:29:54.885Z,1628890194.885 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0044A,189,80,80,72,FF
2021-08-13T21:29:54.886Z,1628890194.886 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:29:54.999Z,1628890194.999 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:29:55.290Z,1628890195.290 [Micromodem](INFO): Nmea in: $SNTTA,0.048120,,,,212955.66*47

2021-08-13T21:29:55.349Z,1628890195.349 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.379997 m, bearing: 64.256337 deg, deltaT: 10.222832 s, approachRate: 0.023476 m/s, LOS rate: 0.027914 deg/s, posRepo size: 4
2021-08-13T21:29:57.706Z,1628890197.706 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:29:58.102Z,1628890198.102 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:29:58.102Z,1628890198.102 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:29:58.103Z,1628890198.103 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:29:58.103Z,1628890198.103 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:29:58.501Z,1628890198.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0044A,189,80,80,72,FF
2021-08-13T21:29:58.501Z,1628890198.501 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:29:58.502Z,1628890198.502 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:29:58.503Z,1628890198.503 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:29:58.912Z,1628890198.912 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:29:59.320Z,1628890199.320 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0044F,189,80,80,A5,FF
2021-08-13T21:29:59.321Z,1628890199.321 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:29:59.324Z,1628890199.324 [Micromodem](INFO): Nmea in: $SNTTA,0.035773,0.154149,,,213000.10*56

2021-08-13T21:29:59.362Z,1628890199.362 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:29:59.751Z,1628890199.751 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.679998 m, bearing: 64.415644 deg, deltaT: 4.362864 s, approachRate: 0.068762 m/s, LOS rate: 0.036514 deg/s, posRepo size: 4
2021-08-13T21:30:02.168Z,1628890202.168 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:30:02.533Z,1628890202.533 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:30:02.533Z,1628890202.533 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:30:02.533Z,1628890202.533 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:30:02.534Z,1628890202.534 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:30:02.949Z,1628890202.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0044F,189,80,80,A5,FF
2021-08-13T21:30:02.949Z,1628890202.949 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:30:02.950Z,1628890202.950 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:30:02.959Z,1628890202.959 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:30:03.375Z,1628890203.375 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:30:03.749Z,1628890203.749 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00451,189,80,80,C1,FF
2021-08-13T21:30:03.749Z,1628890203.749 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:30:03.859Z,1628890203.859 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:30:04.185Z,1628890204.185 [Micromodem](INFO): Nmea in: $SNTTA,0.060967,,,,213004.53*4C

2021-08-13T21:30:04.227Z,1628890204.227 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.799999 m, bearing: 64.476125 deg, deltaT: 4.501545 s, approachRate: 0.026658 m/s, LOS rate: 0.013436 deg/s, posRepo size: 4
2021-08-13T21:30:06.594Z,1628890206.594 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:30:07.013Z,1628890207.013 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:30:07.013Z,1628890207.013 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:30:07.013Z,1628890207.013 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:30:07.014Z,1628890207.014 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:30:07.394Z,1628890207.394 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00451,189,80,80,C1,FF
2021-08-13T21:30:07.394Z,1628890207.394 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:30:07.394Z,1628890207.394 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:30:07.396Z,1628890207.396 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:30:07.824Z,1628890207.824 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:30:08.194Z,1628890208.194 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0045E,189,80,80,74,FF
2021-08-13T21:30:08.195Z,1628890208.195 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:30:08.214Z,1628890208.214 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:30:08.622Z,1628890208.622 [Micromodem](INFO): Nmea in: $SNTTA,0.071560,,,,213008.97*43

2021-08-13T21:30:08.660Z,1628890208.660 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.580002 m, bearing: 64.580811 deg, deltaT: 4.350733 s, approachRate: 0.179281 m/s, LOS rate: 0.024062 deg/s, posRepo size: 4
2021-08-13T21:30:11.103Z,1628890211.103 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:30:11.433Z,1628890211.433 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:30:11.434Z,1628890211.434 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:30:11.434Z,1628890211.434 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:30:11.435Z,1628890211.435 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:30:11.840Z,1628890211.840 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0045E,189,80,80,74,FF
2021-08-13T21:30:11.840Z,1628890211.840 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:30:11.841Z,1628890211.841 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:30:11.843Z,1628890211.843 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:30:12.251Z,1628890212.251 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:30:12.630Z,1628890212.630 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0045C,189,80,80,7F,FF
2021-08-13T21:30:12.630Z,1628890212.630 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:30:12.686Z,1628890212.686 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:30:13.077Z,1628890213.077 [Micromodem](INFO): Nmea in: $SNTTA,,,,,213013.42*5A

2021-08-13T21:30:13.142Z,1628890213.142 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.460001 m, bearing: 64.927594 deg, deltaT: 4.472081 s, approachRate: -0.026833 m/s, LOS rate: 0.077544 deg/s, posRepo size: 4
2021-08-13T21:30:15.501Z,1628890215.501 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:30:15.888Z,1628890215.888 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:30:15.888Z,1628890215.888 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:30:15.889Z,1628890215.889 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:30:15.890Z,1628890215.890 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:30:16.273Z,1628890216.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0045C,189,80,80,7F,FF
2021-08-13T21:30:16.274Z,1628890216.274 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:30:16.274Z,1628890216.274 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:30:16.276Z,1628890216.276 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:30:16.686Z,1628890216.686 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:30:17.094Z,1628890217.094 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00463,189,80,80,4C,FF
2021-08-13T21:30:17.095Z,1628890217.095 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:30:17.132Z,1628890217.132 [Micromodem](INFO): Nmea in: $SNTTA,0.066730,0.277586,,,213017.85*58

2021-08-13T21:30:17.190Z,1628890217.190 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:30:17.534Z,1628890217.534 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.880001 m, bearing: 65.344802 deg, deltaT: 4.504141 s, approachRate: 0.093248 m/s, LOS rate: 0.092628 deg/s, posRepo size: 4
2021-08-13T21:30:19.946Z,1628890219.946 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:30:20.309Z,1628890220.309 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:30:20.309Z,1628890220.309 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:30:20.309Z,1628890220.309 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:30:20.310Z,1628890220.310 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:30:20.729Z,1628890220.729 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00463,189,80,80,4C,FF
2021-08-13T21:30:20.729Z,1628890220.729 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:30:20.729Z,1628890220.729 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:30:20.731Z,1628890220.731 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:30:21.140Z,1628890221.140 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:30:21.525Z,1628890221.525 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D1F,000,00469,188,80,80,99,FF
2021-08-13T21:30:21.525Z,1628890221.525 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:30:21.545Z,1628890221.545 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:30:21.989Z,1628890221.989 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.239998 m, bearing: 166.712104 deg, deltaT: 4.354344 s, approachRate: 0.082675 m/s, LOS rate: 23.279581 deg/s, posRepo size: 4
2021-08-13T21:30:24.371Z,1628890224.371 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:30:24.760Z,1628890224.760 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:30:24.761Z,1628890224.761 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:30:24.761Z,1628890224.761 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:30:24.762Z,1628890224.762 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:30:25.157Z,1628890225.157 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D1F,000,00469,188,80,80,99,FF
2021-08-13T21:30:25.157Z,1628890225.157 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:30:25.157Z,1628890225.157 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:30:25.159Z,1628890225.159 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:30:25.573Z,1628890225.573 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:30:25.965Z,1628890225.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D1F,000,00470,18A,80,80,8C,FF
2021-08-13T21:30:25.965Z,1628890225.965 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:30:26.061Z,1628890226.061 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:30:26.402Z,1628890226.402 [Micromodem](INFO): Nmea in: $SNTTA,0.052728,,,,213026.73*4A

2021-08-13T21:30:26.423Z,1628890226.423 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.659998 m, bearing: 166.770174 deg, deltaT: 4.516551 s, approachRate: 0.092991 m/s, LOS rate: 0.012857 deg/s, posRepo size: 4
2021-08-13T21:30:28.863Z,1628890228.863 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:30:29.212Z,1628890229.212 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:30:29.212Z,1628890229.212 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:30:29.213Z,1628890229.213 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:30:29.214Z,1628890229.214 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:30:29.285Z,1628890229.285 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-13T21:30:29.617Z,1628890229.617 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D1F,000,00470,18A,80,80,8C,FF
2021-08-13T21:30:29.618Z,1628890229.618 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:30:29.618Z,1628890229.618 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:30:29.620Z,1628890229.620 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:30:30.022Z,1628890230.022 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:30:30.409Z,1628890230.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00478,188,80,80,86,FF
2021-08-13T21:30:30.409Z,1628890230.409 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:30:30.465Z,1628890230.465 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:30:30.862Z,1628890230.862 [Micromodem](INFO): Nmea in: $SNTTA,0.038253,,,,213031.19*45

2021-08-13T21:30:30.948Z,1628890230.948 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.139997 m, bearing: 66.001819 deg, deltaT: 4.403662 s, approachRate: 0.109000 m/s, LOS rate: -22.882855 deg/s, posRepo size: 4
2021-08-13T21:30:33.292Z,1628890233.292 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:30:33.645Z,1628890233.645 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:30:33.645Z,1628890233.645 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:30:33.646Z,1628890233.646 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:30:33.647Z,1628890233.647 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:30:34.050Z,1628890234.050 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00478,188,80,80,86,FF
2021-08-13T21:30:34.050Z,1628890234.050 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:30:34.050Z,1628890234.050 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:30:34.052Z,1628890234.052 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:30:34.469Z,1628890234.469 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:30:35.282Z,1628890235.282 [Micromodem](INFO): Nmea in: $SNTTA,0.034921,,,,213035.62*4F

2021-08-13T21:30:36.104Z,1628890236.104 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:30:37.681Z,1628890237.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
8,188,80,80,86,FF
2021-08-13T21:30:37.681Z,1628890237.681 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
8,188,80,80,86,FF
2021-08-13T21:30:37.681Z,1628890237.681 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T21:30:38.997Z,1628890238.997 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:30:39.297Z,1628890239.297 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:30:39.297Z,1628890239.297 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:30:39.297Z,1628890239.297 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:30:39.298Z,1628890239.298 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:30:39.705Z,1628890239.705 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
8,188,80,80,86,FF
2021-08-13T21:30:39.705Z,1628890239.705 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:30:39.706Z,1628890239.706 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:30:39.707Z,1628890239.707 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:30:40.108Z,1628890240.108 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:30:40.518Z,1628890240.518 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00483,189,80,80,C4,FF
2021-08-13T21:30:40.518Z,1628890240.518 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:30:40.537Z,1628890240.537 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:30:40.965Z,1628890240.965 [Micromodem](INFO): Nmea in: $SNTTA,0.048112,,,,213041.28*41

2021-08-13T21:30:41.018Z,1628890241.018 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.799999 m, bearing: 65.903860 deg, deltaT: 10.071938 s, approachRate: 0.065529 m/s, LOS rate: -0.009726 deg/s, posRepo size: 4
2021-08-13T21:30:43.396Z,1628890243.396 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:30:43.750Z,1628890243.750 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:30:43.750Z,1628890243.750 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:30:43.750Z,1628890243.750 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:30:43.751Z,1628890243.751 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:30:44.145Z,1628890244.145 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00483,189,80,80,C4,FF
2021-08-13T21:30:44.145Z,1628890244.145 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:30:44.146Z,1628890244.146 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:30:44.147Z,1628890244.147 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:30:44.561Z,1628890244.561 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:30:44.985Z,1628890244.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CE9,000,00488,189,80,80,93,FF
2021-08-13T21:30:44.986Z,1628890244.986 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:30:44.994Z,1628890244.994 [Micromodem](INFO): Nmea in: $SNTTA,0.065705,0.304747,,,213045.72*58

2021-08-13T21:30:45.091Z,1628890245.091 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:30:45.402Z,1628890245.402 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.099998 m, bearing: 169.096086 deg, deltaT: 4.559080 s, approachRate: 0.065803 m/s, LOS rate: 22.634441 deg/s, posRepo size: 4
2021-08-13T21:30:47.857Z,1628890247.857 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:30:48.185Z,1628890248.185 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:30:48.185Z,1628890248.185 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:30:48.185Z,1628890248.185 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:30:48.186Z,1628890248.186 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:30:48.590Z,1628890248.590 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CE9,000,00488,189,80,80,93,FF
2021-08-13T21:30:48.590Z,1628890248.590 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:30:48.590Z,1628890248.590 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:30:48.591Z,1628890248.591 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:30:49.033Z,1628890249.033 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:30:49.398Z,1628890249.398 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D02,000,00493,189,80,80,85,FF
2021-08-13T21:30:49.398Z,1628890249.398 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:30:49.417Z,1628890249.417 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:30:49.851Z,1628890249.851 [Micromodem](INFO): Nmea in: $SNTTA,0.049745,,,,213050.17*48

2021-08-13T21:30:49.879Z,1628890249.879 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.760002 m, bearing: 167.800823 deg, deltaT: 4.321352 s, approachRate: 0.152731 m/s, LOS rate: -0.299736 deg/s, posRepo size: 4
2021-08-13T21:30:52.242Z,1628890252.242 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:30:52.629Z,1628890252.629 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:30:52.629Z,1628890252.629 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:30:52.629Z,1628890252.629 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:30:52.630Z,1628890252.630 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:30:53.042Z,1628890253.042 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D02,000,00493,189,80,80,85,FF
2021-08-13T21:30:53.042Z,1628890253.042 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:30:53.042Z,1628890253.042 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:30:53.044Z,1628890253.044 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:30:53.441Z,1628890253.441 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:30:53.893Z,1628890253.893 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0049A,189,80,80,56,FF
2021-08-13T21:30:53.894Z,1628890253.894 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:30:53.923Z,1628890253.923 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:30:54.281Z,1628890254.281 [Micromodem](INFO): Nmea in: $SNTTA,,,,,213054.62*5B

2021-08-13T21:30:54.313Z,1628890254.313 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 33.180000 m, bearing: 64.674822 deg, deltaT: 4.505496 s, approachRate: 0.093219 m/s, LOS rate: -22.888934 deg/s, posRepo size: 4
2021-08-13T21:30:56.708Z,1628890256.708 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:30:57.089Z,1628890257.089 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:30:57.089Z,1628890257.089 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:30:57.089Z,1628890257.089 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:30:57.090Z,1628890257.090 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:30:57.489Z,1628890257.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0049A,189,80,80,56,FF
2021-08-13T21:30:57.489Z,1628890257.489 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:30:57.490Z,1628890257.490 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:30:57.491Z,1628890257.491 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:30:57.901Z,1628890257.901 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:30:58.297Z,1628890258.297 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CF7,000,0049B,188,80,80,94,FF
2021-08-13T21:30:58.298Z,1628890258.298 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:30:58.317Z,1628890258.317 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:30:58.729Z,1628890258.729 [Micromodem](INFO): Nmea in: $SNTTA,0.038575,,,,213059.06*46

2021-08-13T21:30:58.765Z,1628890258.765 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 33.239998 m, bearing: 167.280308 deg, deltaT: 4.393671 s, approachRate: 0.013655 m/s, LOS rate: 23.353020 deg/s, posRepo size: 4
2021-08-13T21:31:01.189Z,1628890261.189 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:31:01.533Z,1628890261.533 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:31:01.533Z,1628890261.533 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:31:01.533Z,1628890261.533 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:31:01.534Z,1628890261.534 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:31:01.936Z,1628890261.936 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CF7,000,0049B,188,80,80,94,FF
2021-08-13T21:31:01.936Z,1628890261.936 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:31:01.937Z,1628890261.937 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:31:01.938Z,1628890261.938 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:31:02.343Z,1628890262.343 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:31:02.737Z,1628890262.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,004A3,189,80,80,A7,FF
2021-08-13T21:31:02.737Z,1628890262.737 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:31:02.805Z,1628890262.805 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:31:03.179Z,1628890263.179 [Micromodem](INFO): Nmea in: $SNTTA,0.061056,,,,213103.51*42

2021-08-13T21:31:03.242Z,1628890263.242 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 33.719997 m, bearing: 63.739168 deg, deltaT: 4.489184 s, approachRate: 0.106924 m/s, LOS rate: -23.064579 deg/s, posRepo size: 4
2021-08-13T21:31:05.580Z,1628890265.580 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:31:05.971Z,1628890265.971 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:31:05.971Z,1628890265.971 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:31:05.972Z,1628890265.972 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:31:05.974Z,1628890265.974 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:31:06.388Z,1628890266.388 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,004A3,189,80,80,A7,FF
2021-08-13T21:31:06.388Z,1628890266.388 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:31:06.389Z,1628890266.389 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:31:06.390Z,1628890266.390 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:31:06.789Z,1628890266.789 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:31:07.191Z,1628890267.191 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,004AB,189,80,80,54,FF
2021-08-13T21:31:07.192Z,1628890267.192 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:31:07.264Z,1628890267.264 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:31:07.617Z,1628890267.617 [Micromodem](INFO): Nmea in: $SNTTA,0.182493,,,,213107.96*4C

2021-08-13T21:31:07.640Z,1628890267.640 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.200001 m, bearing: 63.709915 deg, deltaT: 4.458703 s, approachRate: 0.107655 m/s, LOS rate: -0.006561 deg/s, posRepo size: 4
2021-08-13T21:31:10.045Z,1628890270.045 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:31:10.417Z,1628890270.417 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:31:10.417Z,1628890270.417 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:31:10.417Z,1628890270.417 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:31:10.418Z,1628890270.418 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:31:10.829Z,1628890270.829 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,004AB,189,80,80,54,FF
2021-08-13T21:31:10.829Z,1628890270.829 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:31:10.830Z,1628890270.830 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:31:10.835Z,1628890270.835 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:31:11.237Z,1628890271.237 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:31:11.634Z,1628890271.634 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,004AE,189,80,80,A8,FF
2021-08-13T21:31:11.634Z,1628890271.634 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:31:11.653Z,1628890271.653 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:31:12.065Z,1628890272.065 [Micromodem](INFO): Nmea in: $SNTTA,,,,,213112.41*59

2021-08-13T21:31:12.110Z,1628890272.110 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.379997 m, bearing: 63.700366 deg, deltaT: 4.388151 s, approachRate: 0.041019 m/s, LOS rate: -0.002176 deg/s, posRepo size: 4
2021-08-13T21:31:14.474Z,1628890274.474 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:31:14.885Z,1628890274.885 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:31:14.885Z,1628890274.885 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:31:14.885Z,1628890274.885 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:31:14.886Z,1628890274.886 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:31:15.273Z,1628890275.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,004AE,189,80,80,A8,FF
2021-08-13T21:31:15.273Z,1628890275.273 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:31:15.273Z,1628890275.273 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:31:15.275Z,1628890275.275 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:31:15.677Z,1628890275.677 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:31:16.077Z,1628890276.077 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,004B2,189,80,80,69,FF
2021-08-13T21:31:16.077Z,1628890276.077 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:31:16.127Z,1628890276.127 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:31:16.513Z,1628890276.513 [Micromodem](INFO): Nmea in: $SNTTA,,,,,213116.85*55

2021-08-13T21:31:16.543Z,1628890276.543 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.620003 m, bearing: 63.733547 deg, deltaT: 4.478966 s, approachRate: 0.053585 m/s, LOS rate: 0.007408 deg/s, posRepo size: 4
2021-08-13T21:31:19.007Z,1628890279.007 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:31:19.309Z,1628890279.309 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:31:19.309Z,1628890279.309 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:31:19.309Z,1628890279.309 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:31:19.310Z,1628890279.310 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:31:19.713Z,1628890279.713 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,004B2,189,80,80,69,FF
2021-08-13T21:31:19.713Z,1628890279.713 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:31:19.713Z,1628890279.713 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:31:19.715Z,1628890279.715 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:31:20.117Z,1628890280.117 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:31:20.529Z,1628890280.529 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,004B9,189,80,80,89,FF
2021-08-13T21:31:20.530Z,1628890280.530 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:31:20.548Z,1628890280.548 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:31:20.973Z,1628890280.973 [Micromodem](INFO): Nmea in: $SNTTA,0.049271,,,,213121.29*40

2021-08-13T21:31:21.055Z,1628890281.055 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.040001 m, bearing: 63.679056 deg, deltaT: 4.416676 s, approachRate: 0.095094 m/s, LOS rate: -0.012338 deg/s, posRepo size: 4
2021-08-13T21:31:23.398Z,1628890283.398 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:31:23.761Z,1628890283.761 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:31:23.762Z,1628890283.762 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:31:23.762Z,1628890283.762 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:31:23.763Z,1628890283.763 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:31:24.153Z,1628890284.153 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,004B9,189,80,80,89,FF
2021-08-13T21:31:24.153Z,1628890284.153 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:31:24.153Z,1628890284.153 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:31:24.155Z,1628890284.155 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:31:24.561Z,1628890284.561 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:31:24.993Z,1628890284.993 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D3B,000,004C0,188,80,80,8C,FF
2021-08-13T21:31:24.994Z,1628890284.994 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:31:25.071Z,1628890285.071 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:31:25.401Z,1628890285.401 [Micromodem](INFO): Nmea in: $SNTTA,,,,,213125.73*5C

2021-08-13T21:31:25.423Z,1628890285.423 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.460003 m, bearing: 163.651169 deg, deltaT: 4.522711 s, approachRate: 0.092865 m/s, LOS rate: 22.104466 deg/s, posRepo size: 4
2021-08-13T21:31:27.867Z,1628890287.867 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:31:28.201Z,1628890288.201 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:31:28.201Z,1628890288.201 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:31:28.201Z,1628890288.201 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:31:28.202Z,1628890288.202 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:31:28.616Z,1628890288.616 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D3B,000,004C0,188,80,80,8C,FF
2021-08-13T21:31:28.616Z,1628890288.616 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:31:28.617Z,1628890288.617 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:31:28.618Z,1628890288.618 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:31:29.041Z,1628890289.041 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:31:29.421Z,1628890289.421 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,004C3,189,80,80,8E,FF
2021-08-13T21:31:29.421Z,1628890289.421 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:31:29.441Z,1628890289.441 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:31:29.846Z,1628890289.846 [Micromodem](INFO): Nmea in: $SNTTA,0.108575,,,,213130.19*44

2021-08-13T21:31:29.884Z,1628890289.884 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.639999 m, bearing: 64.018892 deg, deltaT: 4.369899 s, approachRate: 0.041190 m/s, LOS rate: -22.799675 deg/s, posRepo size: 4
2021-08-13T21:31:32.250Z,1628890292.250 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:31:32.649Z,1628890292.649 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:31:32.650Z,1628890292.650 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:31:32.650Z,1628890292.650 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:31:32.650Z,1628890292.650 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:31:33.045Z,1628890293.045 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,004C3,189,80,80,8E,FF
2021-08-13T21:31:33.045Z,1628890293.045 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:31:33.045Z,1628890293.045 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:31:33.047Z,1628890293.047 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:31:33.476Z,1628890293.476 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:31:33.885Z,1628890293.885 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,004CE,189,80,80,6E,FF
2021-08-13T21:31:33.885Z,1628890293.885 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:31:33.946Z,1628890293.946 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:31:34.294Z,1628890294.294 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.299995 m, bearing: 63.952803 deg, deltaT: 4.505023 s, approachRate: 0.146502 m/s, LOS rate: -0.014670 deg/s, posRepo size: 4
2021-08-13T21:31:36.711Z,1628890296.711 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:31:37.093Z,1628890297.093 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:31:37.093Z,1628890297.093 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:31:37.093Z,1628890297.093 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:31:37.094Z,1628890297.094 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:31:37.489Z,1628890297.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,004CE,189,80,80,6E,FF
2021-08-13T21:31:37.489Z,1628890297.489 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:31:37.490Z,1628890297.490 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:31:37.492Z,1628890297.492 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:31:37.892Z,1628890297.892 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:31:38.302Z,1628890298.302 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,004D0,189,80,80,94,FF
2021-08-13T21:31:38.302Z,1628890298.302 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:31:38.382Z,1628890298.382 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:31:38.737Z,1628890298.737 [Micromodem](INFO): Nmea in: $SNTTA,,,,,213139.06*53

2021-08-13T21:31:38.759Z,1628890298.759 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.419998 m, bearing: 63.893824 deg, deltaT: 4.436326 s, approachRate: 0.027050 m/s, LOS rate: -0.013294 deg/s, posRepo size: 4
2021-08-13T21:31:41.207Z,1628890301.207 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:31:41.525Z,1628890301.525 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:31:41.525Z,1628890301.525 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:31:41.525Z,1628890301.525 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:31:41.526Z,1628890301.526 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:31:41.933Z,1628890301.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,004D0,189,80,80,94,FF
2021-08-13T21:31:41.933Z,1628890301.933 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:31:41.933Z,1628890301.933 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:31:41.935Z,1628890301.935 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:31:42.354Z,1628890302.354 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:31:42.737Z,1628890302.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,004D9,189,80,80,5C,FF
2021-08-13T21:31:42.738Z,1628890302.738 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:31:42.788Z,1628890302.788 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:31:43.183Z,1628890303.183 [Micromodem](INFO): Nmea in: $SNTTA,0.410461,,,,213143.50*45

2021-08-13T21:31:43.258Z,1628890303.258 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.959999 m, bearing: 63.698242 deg, deltaT: 4.405714 s, approachRate: 0.122568 m/s, LOS rate: -0.044393 deg/s, posRepo size: 4
2021-08-13T21:31:45.602Z,1628890305.602 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:31:45.973Z,1628890305.973 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:31:45.973Z,1628890305.973 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:31:45.973Z,1628890305.973 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:31:45.974Z,1628890305.974 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:31:46.385Z,1628890306.385 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,004D9,189,80,80,5C,FF
2021-08-13T21:31:46.385Z,1628890306.385 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:31:46.385Z,1628890306.385 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:31:46.387Z,1628890306.387 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:31:46.784Z,1628890306.784 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:31:47.181Z,1628890307.181 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,004DF,189,80,80,70,FF
2021-08-13T21:31:47.182Z,1628890307.182 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:31:47.185Z,1628890307.185 [Micromodem](INFO): Nmea in: $SNTTA,0.072661,0.185411,,,213147.96*5F

2021-08-13T21:31:47.291Z,1628890307.291 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:31:47.619Z,1628890307.619 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.320004 m, bearing: 63.213920 deg, deltaT: 4.502747 s, approachRate: 0.079952 m/s, LOS rate: -0.107561 deg/s, posRepo size: 4
2021-08-13T21:31:50.040Z,1628890310.040 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:31:50.413Z,1628890310.413 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:31:50.413Z,1628890310.413 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:31:50.413Z,1628890310.413 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:31:50.414Z,1628890310.414 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:31:50.825Z,1628890310.825 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,004DF,189,80,80,70,FF
2021-08-13T21:31:50.825Z,1628890310.825 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:31:50.826Z,1628890310.826 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:31:50.848Z,1628890310.848 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:31:51.233Z,1628890311.233 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:31:51.625Z,1628890311.625 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,004E2,189,80,80,92,FF
2021-08-13T21:31:51.625Z,1628890311.625 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:31:51.669Z,1628890311.669 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:31:52.051Z,1628890312.051 [Micromodem](INFO): Nmea in: $SNTTA,0.047349,,,,213152.42*4D

2021-08-13T21:31:52.122Z,1628890312.122 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.500000 m, bearing: 62.545258 deg, deltaT: 4.377859 s, approachRate: 0.041115 m/s, LOS rate: -0.152737 deg/s, posRepo size: 4
2021-08-13T21:31:54.494Z,1628890314.494 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:31:54.892Z,1628890314.892 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:31:54.893Z,1628890314.893 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:31:54.893Z,1628890314.893 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:31:54.894Z,1628890314.894 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:31:55.269Z,1628890315.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,004E2,189,80,80,92,FF
2021-08-13T21:31:55.269Z,1628890315.269 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:31:55.270Z,1628890315.270 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:31:55.271Z,1628890315.271 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:31:55.673Z,1628890315.673 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:31:56.077Z,1628890316.077 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,004EA,18A,80,80,6B,FF
2021-08-13T21:31:56.078Z,1628890316.078 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:31:56.107Z,1628890316.107 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:31:56.501Z,1628890316.501 [Micromodem](INFO): Nmea in: $SNTTA,,,,,213156.84*50

2021-08-13T21:31:56.523Z,1628890316.523 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.980000 m, bearing: 62.200388 deg, deltaT: 4.438833 s, approachRate: 0.108136 m/s, LOS rate: -0.077694 deg/s, posRepo size: 4
2021-08-13T21:31:58.991Z,1628890318.991 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:31:59.306Z,1628890319.306 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:31:59.307Z,1628890319.307 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:31:59.307Z,1628890319.307 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:31:59.310Z,1628890319.310 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:31:59.701Z,1628890319.701 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,004EA,18A,80,80,6B,FF
2021-08-13T21:31:59.701Z,1628890319.701 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:31:59.702Z,1628890319.702 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:31:59.703Z,1628890319.703 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:32:00.117Z,1628890320.117 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:32:00.522Z,1628890320.522 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,004F1,189,80,80,91,FF
2021-08-13T21:32:00.523Z,1628890320.523 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:32:00.542Z,1628890320.542 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:32:00.977Z,1628890320.977 [Micromodem](INFO): Nmea in: $SNTTA,,,,,213201.28*57

2021-08-13T21:32:01.089Z,1628890321.089 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.399998 m, bearing: 61.695118 deg, deltaT: 4.434556 s, approachRate: 0.094710 m/s, LOS rate: -0.113939 deg/s, posRepo size: 4
2021-08-13T21:32:03.424Z,1628890323.424 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:32:03.769Z,1628890323.769 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:32:03.769Z,1628890323.769 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:32:03.770Z,1628890323.770 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:32:03.770Z,1628890323.770 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:32:04.149Z,1628890324.149 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,004F1,189,80,80,91,FF
2021-08-13T21:32:04.149Z,1628890324.149 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:32:04.149Z,1628890324.149 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:32:04.151Z,1628890324.151 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:32:04.557Z,1628890324.557 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:32:04.988Z,1628890324.988 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,004F8,189,80,80,9F,FF
2021-08-13T21:32:04.990Z,1628890324.990 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:32:05.060Z,1628890325.060 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:32:05.402Z,1628890325.402 [Micromodem](INFO): Nmea in: $SNTTA,,0.342397,,,213205.72*4A

2021-08-13T21:32:05.424Z,1628890325.424 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.820000 m, bearing: 61.612432 deg, deltaT: 4.518333 s, approachRate: 0.092955 m/s, LOS rate: -0.018300 deg/s, posRepo size: 4
2021-08-13T21:32:07.866Z,1628890327.866 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:32:08.193Z,1628890328.193 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:32:08.193Z,1628890328.193 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:32:08.193Z,1628890328.193 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:32:08.194Z,1628890328.194 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:32:08.593Z,1628890328.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,004F8,189,80,80,9F,FF
2021-08-13T21:32:08.593Z,1628890328.593 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:32:08.593Z,1628890328.593 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:32:08.595Z,1628890328.595 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:32:09.057Z,1628890329.057 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:32:09.075Z,1628890329.075 [Micromodem](INFO): Nmea in: 30*78

2021-08-13T21:32:09.076Z,1628890329.076 [Micromodem](ERROR): Response from modem failed NMEA checksum: 30*78
 expected 0
2021-08-13T21:32:09.405Z,1628890329.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,004FE,189,80,80,66,FF
2021-08-13T21:32:09.406Z,1628890329.406 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:32:09.428Z,1628890329.428 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:32:09.871Z,1628890329.871 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.180000 m, bearing: 61.265793 deg, deltaT: 4.367801 s, approachRate: 0.082421 m/s, LOS rate: -0.079362 deg/s, posRepo size: 4
2021-08-13T21:32:12.262Z,1628890332.262 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:32:12.637Z,1628890332.637 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:32:12.637Z,1628890332.637 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:32:12.637Z,1628890332.637 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:32:12.638Z,1628890332.638 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:32:13.037Z,1628890333.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,004FE,189,80,80,66,FF
2021-08-13T21:32:13.037Z,1628890333.037 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:32:13.037Z,1628890333.037 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:32:13.039Z,1628890333.039 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:32:13.461Z,1628890333.461 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:32:13.873Z,1628890333.873 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00503,18A,80,80,84,FF
2021-08-13T21:32:13.873Z,1628890333.873 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:32:13.907Z,1628890333.907 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:32:14.293Z,1628890334.293 [Micromodem](INFO): Nmea in: $SNTTA,,,,,213214.61*5E

2021-08-13T21:32:14.316Z,1628890334.316 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.480003 m, bearing: 61.139318 deg, deltaT: 4.503247 s, approachRate: 0.066619 m/s, LOS rate: -0.028085 deg/s, posRepo size: 4
2021-08-13T21:32:16.703Z,1628890336.703 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:32:17.073Z,1628890337.073 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:32:17.073Z,1628890337.073 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:32:17.073Z,1628890337.073 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:32:17.074Z,1628890337.074 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:32:17.490Z,1628890337.490 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00503,18A,80,80,84,FF
2021-08-13T21:32:17.490Z,1628890337.490 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:32:17.490Z,1628890337.490 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:32:17.493Z,1628890337.493 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:32:17.910Z,1628890337.910 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:32:18.294Z,1628890338.294 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00509,189,80,80,73,FF
2021-08-13T21:32:18.294Z,1628890338.294 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:32:18.342Z,1628890338.342 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:32:18.713Z,1628890338.713 [Micromodem](INFO): Nmea in: $SNTTA,0.043031,,,,213219.06*49

2021-08-13T21:32:18.754Z,1628890338.754 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.840000 m, bearing: 61.056400 deg, deltaT: 4.410670 s, approachRate: 0.081620 m/s, LOS rate: -0.018800 deg/s, posRepo size: 4
2021-08-13T21:32:21.182Z,1628890341.182 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:32:21.525Z,1628890341.525 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:32:21.525Z,1628890341.525 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:32:21.525Z,1628890341.525 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:32:21.526Z,1628890341.526 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:32:21.929Z,1628890341.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00509,189,80,80,73,FF
2021-08-13T21:32:21.929Z,1628890341.929 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:32:21.929Z,1628890341.929 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:32:21.931Z,1628890341.931 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:32:22.337Z,1628890342.337 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:32:22.737Z,1628890342.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0050D,189,80,80,A7,FF
2021-08-13T21:32:22.737Z,1628890342.737 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:32:22.757Z,1628890342.757 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:32:23.150Z,1628890343.150 [Micromodem](INFO): Nmea in: $SNTTA,0.413367,0.413486,,,213223.50*50

2021-08-13T21:32:23.234Z,1628890343.234 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.080002 m, bearing: 60.824119 deg, deltaT: 4.415222 s, approachRate: 0.054358 m/s, LOS rate: -0.052609 deg/s, posRepo size: 4
2021-08-13T21:32:23.581Z,1628890343.581 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-13T21:32:23.581Z,1628890343.581 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T21:32:23.582Z,1628890343.582 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-13T21:32:23.586Z,1628890343.586 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-13T21:32:23.586Z,1628890343.586 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-13T21:32:23.586Z,1628890343.586 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-13T21:32:23.987Z,1628890343.987 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-13T21:32:23.987Z,1628890343.987 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T21:32:23.988Z,1628890343.988 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-13T21:32:23.988Z,1628890343.988 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T21:32:25.598Z,1628890345.598 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:32:25.965Z,1628890345.965 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:32:25.965Z,1628890345.965 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:32:25.965Z,1628890345.965 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:32:25.966Z,1628890345.966 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:32:26.369Z,1628890346.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0050D,189,80,80,A7,FF
2021-08-13T21:32:26.369Z,1628890346.369 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:32:26.369Z,1628890346.369 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:32:26.371Z,1628890346.371 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:32:26.778Z,1628890346.778 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:32:27.181Z,1628890347.181 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00514,189,80,80,53,FF
2021-08-13T21:32:27.181Z,1628890347.181 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:32:27.185Z,1628890347.185 [Micromodem](INFO): Nmea in: $SNTTA,0.036360,0.232354,,,213227.94*55

2021-08-13T21:32:27.619Z,1628890347.619 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.500000 m, bearing: 60.493613 deg, deltaT: 4.519664 s, approachRate: 0.092927 m/s, LOS rate: -0.073126 deg/s, posRepo size: 4
2021-08-13T21:32:30.055Z,1628890350.055 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:32:30.409Z,1628890350.409 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:32:30.409Z,1628890350.409 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:32:30.409Z,1628890350.409 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:32:30.410Z,1628890350.410 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:32:30.836Z,1628890350.836 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00514,189,80,80,53,FF
2021-08-13T21:32:30.836Z,1628890350.836 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:32:30.837Z,1628890350.837 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:32:30.839Z,1628890350.839 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:32:31.244Z,1628890351.244 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:32:31.625Z,1628890351.625 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0051B,189,80,80,8C,FF
2021-08-13T21:32:31.626Z,1628890351.626 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:32:32.043Z,1628890352.043 [Micromodem](INFO): Nmea in: $SNTTA,0.041982,,,,213232.41*40

2021-08-13T21:32:32.086Z,1628890352.086 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.920002 m, bearing: 59.846466 deg, deltaT: 4.407843 s, approachRate: 0.095285 m/s, LOS rate: -0.146817 deg/s, posRepo size: 4
2021-08-13T21:32:34.466Z,1628890354.466 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:32:34.877Z,1628890354.877 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:32:34.877Z,1628890354.877 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:32:34.877Z,1628890354.877 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:32:34.878Z,1628890354.878 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:32:35.261Z,1628890355.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0051B,189,80,80,8C,FF
2021-08-13T21:32:35.261Z,1628890355.261 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:32:35.261Z,1628890355.261 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:32:35.263Z,1628890355.263 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:32:35.680Z,1628890355.680 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:32:36.065Z,1628890356.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0051E,189,80,80,A3,FF
2021-08-13T21:32:36.065Z,1628890356.065 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:32:36.497Z,1628890356.497 [Micromodem](INFO): Nmea in: $SNTTA,,,,,213236.83*52

2021-08-13T21:32:36.527Z,1628890356.527 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 41.099998 m, bearing: 59.412715 deg, deltaT: 4.434111 s, approachRate: 0.040594 m/s, LOS rate: -0.097821 deg/s, posRepo size: 4
2021-08-13T21:32:39.003Z,1628890359.003 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:32:39.305Z,1628890359.305 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:32:39.305Z,1628890359.305 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:32:39.305Z,1628890359.305 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:32:39.306Z,1628890359.306 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:32:39.701Z,1628890359.701 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0051E,189,80,80,A3,FF
2021-08-13T21:32:39.701Z,1628890359.701 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:32:39.701Z,1628890359.701 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:32:39.703Z,1628890359.703 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:32:40.112Z,1628890360.112 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:32:40.509Z,1628890360.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00521,189,80,80,9B,FF
2021-08-13T21:32:40.510Z,1628890360.510 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:32:40.956Z,1628890360.956 [Micromodem](INFO): Nmea in: $SNTTA,,,,,213241.27*5C

2021-08-13T21:32:41.050Z,1628890361.050 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 41.279999 m, bearing: 58.949013 deg, deltaT: 4.409115 s, approachRate: 0.040825 m/s, LOS rate: -0.105169 deg/s, posRepo size: 4
2021-08-13T21:32:43.395Z,1628890363.395 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:32:43.745Z,1628890363.745 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:32:43.745Z,1628890363.745 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:32:43.745Z,1628890363.745 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:32:43.746Z,1628890363.746 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:32:44.153Z,1628890364.153 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00521,189,80,80,9B,FF
2021-08-13T21:32:44.153Z,1628890364.153 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:32:44.153Z,1628890364.153 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:32:44.155Z,1628890364.155 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:32:44.557Z,1628890364.557 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:32:44.997Z,1628890364.997 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00526,189,80,80,52,FF
2021-08-13T21:32:44.997Z,1628890364.997 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:32:45.401Z,1628890365.401 [Micromodem](INFO): Nmea in: $SNTTA,0.046224,,,,213245.73*41

2021-08-13T21:32:45.431Z,1628890365.431 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 41.579998 m, bearing: 58.352335 deg, deltaT: 4.547629 s, approachRate: 0.065968 m/s, LOS rate: -0.131207 deg/s, posRepo size: 4
2021-08-13T21:32:47.837Z,1628890367.837 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:32:48.201Z,1628890368.201 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:32:48.201Z,1628890368.201 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:32:48.201Z,1628890368.201 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:32:48.202Z,1628890368.202 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:32:48.589Z,1628890368.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00526,189,80,80,52,FF
2021-08-13T21:32:48.589Z,1628890368.589 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:32:48.589Z,1628890368.589 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:32:48.591Z,1628890368.591 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:32:49.043Z,1628890369.043 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:32:49.843Z,1628890369.843 [Micromodem](INFO): Nmea in: $SNTTA,,,,,213250.16*5E

2021-08-13T21:32:50.639Z,1628890370.639 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:32:52.230Z,1628890372.230 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,189,80,80,52,FF
2021-08-13T21:32:52.231Z,1628890372.231 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,189,80,80,52,FF
2021-08-13T21:32:52.231Z,1628890372.231 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T21:32:53.474Z,1628890373.474 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:32:53.884Z,1628890373.884 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:32:53.884Z,1628890373.884 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:32:53.884Z,1628890373.884 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:32:53.885Z,1628890373.885 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:32:54.253Z,1628890374.253 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,189,80,80,52,FF
2021-08-13T21:32:54.253Z,1628890374.253 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:32:54.253Z,1628890374.253 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:32:54.255Z,1628890374.255 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:32:54.659Z,1628890374.659 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:32:55.057Z,1628890375.057 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00533,189,80,80,93,FF
2021-08-13T21:32:55.057Z,1628890375.057 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:32:55.061Z,1628890375.061 [Micromodem](INFO): Nmea in: $SNTTA,0.058872,0.248379,,,213255.83*54

2021-08-13T21:32:55.514Z,1628890375.514 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.360001 m, bearing: 56.886118 deg, deltaT: 10.077401 s, approachRate: 0.077401 m/s, LOS rate: -0.145495 deg/s, posRepo size: 4
2021-08-13T21:32:57.943Z,1628890377.943 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:32:58.289Z,1628890378.289 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:32:58.289Z,1628890378.289 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:32:58.289Z,1628890378.289 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:32:58.290Z,1628890378.290 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:32:58.701Z,1628890378.701 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00533,189,80,80,93,FF
2021-08-13T21:32:58.701Z,1628890378.701 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:32:58.702Z,1628890378.702 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:32:58.704Z,1628890378.704 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:32:59.096Z,1628890379.096 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:32:59.513Z,1628890379.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0053B,189,80,80,83,FF
2021-08-13T21:32:59.514Z,1628890379.514 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:32:59.945Z,1628890379.945 [Micromodem](INFO): Nmea in: $SNTTA,,,,,213300.27*58

2021-08-13T21:32:59.992Z,1628890379.992 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.840000 m, bearing: 56.512517 deg, deltaT: 4.391150 s, approachRate: 0.109311 m/s, LOS rate: -0.085080 deg/s, posRepo size: 4
2021-08-13T21:33:02.350Z,1628890382.350 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:33:02.733Z,1628890382.733 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:33:02.733Z,1628890382.733 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:33:02.734Z,1628890382.734 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:33:02.734Z,1628890382.734 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:33:03.133Z,1628890383.133 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0053B,189,80,80,83,FF
2021-08-13T21:33:03.133Z,1628890383.133 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:33:03.133Z,1628890383.133 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:33:03.135Z,1628890383.135 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:33:03.571Z,1628890383.571 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:33:03.965Z,1628890383.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0053E,189,80,80,90,FF
2021-08-13T21:33:03.965Z,1628890383.965 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:33:04.413Z,1628890384.413 [Micromodem](INFO): Nmea in: $SNTTA,,0.046748,,,213304.70*49

2021-08-13T21:33:04.437Z,1628890384.437 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.019997 m, bearing: 56.348764 deg, deltaT: 4.473880 s, approachRate: 0.040233 m/s, LOS rate: -0.036602 deg/s, posRepo size: 4
2021-08-13T21:33:06.871Z,1628890386.871 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:33:07.197Z,1628890387.197 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:33:07.197Z,1628890387.197 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:33:07.197Z,1628890387.197 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:33:07.198Z,1628890387.198 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:33:07.605Z,1628890387.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0053E,189,80,80,90,FF
2021-08-13T21:33:07.606Z,1628890387.606 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:33:07.606Z,1628890387.606 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:33:07.607Z,1628890387.607 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:33:08.016Z,1628890388.016 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:33:08.417Z,1628890388.417 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00546,18A,80,80,A3,FF
2021-08-13T21:33:08.417Z,1628890388.417 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:33:08.865Z,1628890388.865 [Micromodem](INFO): Nmea in: $SNTTA,,,,,213309.18*5D

2021-08-13T21:33:08.890Z,1628890388.890 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.500000 m, bearing: 55.901349 deg, deltaT: 4.478891 s, approachRate: 0.107170 m/s, LOS rate: -0.099894 deg/s, posRepo size: 4
2021-08-13T21:33:11.278Z,1628890391.278 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:33:11.641Z,1628890391.641 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:33:11.641Z,1628890391.641 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:33:11.641Z,1628890391.641 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:33:11.642Z,1628890391.642 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:33:12.053Z,1628890392.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00546,18A,80,80,A3,FF
2021-08-13T21:33:12.053Z,1628890392.053 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:33:12.053Z,1628890392.053 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:33:12.055Z,1628890392.055 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:33:12.456Z,1628890392.456 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:33:12.885Z,1628890392.885 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0054C,189,80,80,90,FF
2021-08-13T21:33:12.885Z,1628890392.885 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:33:13.277Z,1628890393.277 [Micromodem](INFO): Nmea in: $SNTTA,0.124031,0.350899,,,213313.62*50

2021-08-13T21:33:13.351Z,1628890393.351 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.859997 m, bearing: 55.544861 deg, deltaT: 4.420609 s, approachRate: 0.081436 m/s, LOS rate: -0.080642 deg/s, posRepo size: 4
2021-08-13T21:33:15.698Z,1628890395.698 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:33:16.081Z,1628890396.081 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:33:16.081Z,1628890396.081 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:33:16.081Z,1628890396.081 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:33:16.082Z,1628890396.082 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:33:16.485Z,1628890396.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0054C,189,80,80,90,FF
2021-08-13T21:33:16.486Z,1628890396.486 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:33:16.486Z,1628890396.486 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:33:16.487Z,1628890396.487 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:33:16.901Z,1628890396.901 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:33:17.297Z,1628890397.297 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0054F,189,80,80,6E,FF
2021-08-13T21:33:17.297Z,1628890397.297 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:33:17.741Z,1628890397.741 [Micromodem](INFO): Nmea in: $SNTTA,0.058191,,,,213318.06*48

2021-08-13T21:33:17.763Z,1628890397.763 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 44.039997 m, bearing: 54.891819 deg, deltaT: 4.474394 s, approachRate: 0.040229 m/s, LOS rate: -0.145951 deg/s, posRepo size: 4
2021-08-13T21:33:20.170Z,1628890400.170 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:33:20.529Z,1628890400.529 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:33:20.529Z,1628890400.529 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:33:20.529Z,1628890400.529 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:33:20.530Z,1628890400.530 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:33:20.941Z,1628890400.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0054F,189,80,80,6E,FF
2021-08-13T21:33:20.941Z,1628890400.941 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:33:20.942Z,1628890400.942 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:33:20.957Z,1628890400.957 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:33:21.386Z,1628890401.386 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:33:21.769Z,1628890401.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4CD,000,0055A,189,80,80,83,FF
2021-08-13T21:33:21.769Z,1628890401.769 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:33:22.213Z,1628890402.213 [Micromodem](INFO): Nmea in: $SNTTA,0.090007,,,,213322.53*4B

2021-08-13T21:33:22.239Z,1628890402.239 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 44.700001 m, bearing: 57.168209 deg, deltaT: 4.476024 s, approachRate: 0.147453 m/s, LOS rate: 0.508574 deg/s, posRepo size: 4
2021-08-13T21:33:24.622Z,1628890404.622 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:33:25.033Z,1628890405.033 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:33:25.033Z,1628890405.033 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:33:25.033Z,1628890405.033 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:33:25.034Z,1628890405.034 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:33:25.408Z,1628890405.408 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
4CD,000,0055A,189,80,80,83,FF
2021-08-13T21:33:25.408Z,1628890405.408 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:33:25.408Z,1628890405.408 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:33:25.410Z,1628890405.410 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:33:25.819Z,1628890405.819 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:33:26.216Z,1628890406.216 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4BC,000,00560,189,80,80,99,FF
2021-08-13T21:33:26.216Z,1628890406.216 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:33:26.653Z,1628890406.653 [Micromodem](INFO): Nmea in: $SNTTA,,,,,213326.98*58

2021-08-13T21:33:26.675Z,1628890406.675 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.059998 m, bearing: 57.310546 deg, deltaT: 4.373441 s, approachRate: 0.082314 m/s, LOS rate: 0.032546 deg/s, posRepo size: 4
2021-08-13T21:33:29.111Z,1628890409.111 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:33:29.463Z,1628890409.463 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:33:29.463Z,1628890409.463 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:33:29.463Z,1628890409.463 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:33:29.465Z,1628890409.465 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:33:29.873Z,1628890409.873 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
4BC,000,00560,189,80,80,99,FF
2021-08-13T21:33:29.873Z,1628890409.873 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:33:29.873Z,1628890409.873 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:33:29.875Z,1628890409.875 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:33:30.253Z,1628890410.253 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:33:30.661Z,1628890410.661 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,49E,000,00563,189,80,80,AD,FF
2021-08-13T21:33:30.662Z,1628890410.662 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:33:31.075Z,1628890411.075 [Micromodem](INFO): Nmea in: $SNTTA,0.040060,,,,213331.45*42

2021-08-13T21:33:31.154Z,1628890411.154 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.240002 m, bearing: 58.186627 deg, deltaT: 4.439946 s, approachRate: 0.040542 m/s, LOS rate: 0.197318 deg/s, posRepo size: 4
2021-08-13T21:33:33.526Z,1628890413.526 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:33:33.893Z,1628890413.893 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:33:33.893Z,1628890413.893 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:33:33.893Z,1628890413.893 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:33:33.894Z,1628890413.894 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:33:34.289Z,1628890414.289 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
49E,000,00563,189,80,80,AD,FF
2021-08-13T21:33:34.289Z,1628890414.289 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:33:34.289Z,1628890414.289 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:33:34.291Z,1628890414.291 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:33:34.704Z,1628890414.704 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:33:35.105Z,1628890415.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,44D,000,0056F,18A,80,80,6D,FF
2021-08-13T21:33:35.105Z,1628890415.105 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:33:35.133Z,1628890415.133 [Micromodem](INFO): Nmea in: $SNTTA,0.271526,0.271657,,,213335.86*50

2021-08-13T21:33:35.540Z,1628890415.540 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.959999 m, bearing: 61.802127 deg, deltaT: 4.510507 s, approachRate: 0.159627 m/s, LOS rate: 0.801573 deg/s, posRepo size: 4
2021-08-13T21:33:37.965Z,1628890417.965 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:33:38.329Z,1628890418.329 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:33:38.329Z,1628890418.329 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:33:38.329Z,1628890418.329 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:33:38.330Z,1628890418.330 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:33:38.733Z,1628890418.733 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
44D,000,0056F,18A,80,80,6D,FF
2021-08-13T21:33:38.733Z,1628890418.733 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:33:38.733Z,1628890418.733 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:33:38.735Z,1628890418.735 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:33:39.149Z,1628890419.149 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:33:39.553Z,1628890419.553 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,432,000,00570,189,80,80,7B,FF
2021-08-13T21:33:39.554Z,1628890419.554 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:33:39.977Z,1628890419.977 [Micromodem](INFO): Nmea in: $SNTTA,0.054094,,,,213340.31*49

2021-08-13T21:33:40.019Z,1628890420.019 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.019997 m, bearing: 62.771938 deg, deltaT: 4.400238 s, approachRate: 0.013635 m/s, LOS rate: 0.220400 deg/s, posRepo size: 4
2021-08-13T21:33:42.390Z,1628890422.390 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:33:42.773Z,1628890422.773 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:33:42.773Z,1628890422.773 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:33:42.773Z,1628890422.773 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:33:42.774Z,1628890422.774 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:33:43.177Z,1628890423.177 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
432,000,00570,189,80,80,7B,FF
2021-08-13T21:33:43.177Z,1628890423.177 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:33:43.177Z,1628890423.177 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:33:43.179Z,1628890423.179 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:33:43.589Z,1628890423.589 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:33:43.990Z,1628890423.990 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,44D,000,0056F,18A,80,80,C0,FF
2021-08-13T21:33:43.990Z,1628890423.990 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:33:44.421Z,1628890424.421 [Micromodem](INFO): Nmea in: $SNTTA,,,,,213344.75*5F

2021-08-13T21:33:44.443Z,1628890424.443 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.959999 m, bearing: 61.004750 deg, deltaT: 4.427885 s, approachRate: -0.013550 m/s, LOS rate: -0.399104 deg/s, posRepo size: 4
2021-08-13T21:33:46.876Z,1628890426.876 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:33:47.213Z,1628890427.213 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:33:47.213Z,1628890427.213 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:33:47.213Z,1628890427.213 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:33:47.214Z,1628890427.214 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:33:47.621Z,1628890427.621 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
44D,000,0056F,18A,80,80,C0,FF
2021-08-13T21:33:47.621Z,1628890427.621 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:33:47.621Z,1628890427.621 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:33:47.623Z,1628890427.623 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:33:48.032Z,1628890428.032 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:33:48.429Z,1628890428.429 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,467,000,00578,189,80,80,C4,FF
2021-08-13T21:33:48.429Z,1628890428.429 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:33:48.881Z,1628890428.881 [Micromodem](INFO): Nmea in: $SNTTA,,,,,213349.19*58

2021-08-13T21:33:48.935Z,1628890428.935 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.500004 m, bearing: 59.612334 deg, deltaT: 4.487231 s, approachRate: 0.120343 m/s, LOS rate: -0.310306 deg/s, posRepo size: 4
2021-08-13T21:33:51.307Z,1628890431.307 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:33:51.661Z,1628890431.661 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:33:51.661Z,1628890431.661 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:33:51.661Z,1628890431.661 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:33:51.662Z,1628890431.662 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:33:52.065Z,1628890432.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
467,000,00578,189,80,80,C4,FF
2021-08-13T21:33:52.065Z,1628890432.065 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:33:52.065Z,1628890432.065 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:33:52.067Z,1628890432.067 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:33:52.473Z,1628890432.473 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:33:52.881Z,1628890432.881 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,45A,000,00578,189,80,80,A8,FF
2021-08-13T21:33:52.882Z,1628890432.882 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:33:53.305Z,1628890433.305 [Micromodem](INFO): Nmea in: $SNTTA,0.344209,0.344153,,,213353.64*55

2021-08-13T21:33:53.351Z,1628890433.351 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.500004 m, bearing: 60.519403 deg, deltaT: 4.500640 s, approachRate: 0.000000 m/s, LOS rate: 0.201542 deg/s, posRepo size: 4
2021-08-13T21:33:55.733Z,1628890435.733 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:33:56.109Z,1628890436.109 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:33:56.109Z,1628890436.109 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:33:56.110Z,1628890436.110 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:33:56.111Z,1628890436.111 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:33:56.517Z,1628890436.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
45A,000,00578,189,80,80,A8,FF
2021-08-13T21:33:56.518Z,1628890436.518 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:33:56.518Z,1628890436.518 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:33:56.519Z,1628890436.519 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:33:56.958Z,1628890436.958 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:33:57.325Z,1628890437.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,42C,000,0057D,18A,80,80,A9,FF
2021-08-13T21:33:57.326Z,1628890437.326 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:33:57.758Z,1628890437.758 [Micromodem](INFO): Nmea in: $SNTTA,,,,,213358.09*59

2021-08-13T21:33:57.782Z,1628890437.782 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.800003 m, bearing: 62.693842 deg, deltaT: 4.373240 s, approachRate: 0.068599 m/s, LOS rate: 0.497215 deg/s, posRepo size: 4
2021-08-13T21:34:00.190Z,1628890440.190 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:34:00.553Z,1628890440.553 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:34:00.553Z,1628890440.553 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:34:00.553Z,1628890440.553 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:34:00.554Z,1628890440.554 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:34:00.992Z,1628890440.992 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
42C,000,0057D,18A,80,80,A9,FF
2021-08-13T21:34:00.992Z,1628890440.992 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:34:00.993Z,1628890440.993 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:34:00.994Z,1628890440.994 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:34:01.464Z,1628890441.464 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:34:01.881Z,1628890441.881 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,439,000,00584,189,80,80,9A,FF
2021-08-13T21:34:01.881Z,1628890441.881 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:34:02.291Z,1628890442.291 [Micromodem](INFO): Nmea in: $SNTTA,,,,,213402.57*5A

2021-08-13T21:34:02.315Z,1628890442.315 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.219997 m, bearing: 62.112190 deg, deltaT: 4.568617 s, approachRate: 0.091930 m/s, LOS rate: -0.127315 deg/s, posRepo size: 4
2021-08-13T21:34:04.706Z,1628890444.706 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:34:05.101Z,1628890445.101 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:34:05.101Z,1628890445.101 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:34:05.101Z,1628890445.101 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:34:05.102Z,1628890445.102 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:34:05.501Z,1628890445.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
439,000,00584,189,80,80,9A,FF
2021-08-13T21:34:05.501Z,1628890445.501 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:34:05.501Z,1628890445.501 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:34:05.503Z,1628890445.503 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:34:05.909Z,1628890445.909 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:34:06.309Z,1628890446.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,42A,000,00587,18A,80,80,9E,FF
2021-08-13T21:34:06.309Z,1628890446.309 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:34:06.741Z,1628890446.741 [Micromodem](INFO): Nmea in: $SNTTA,,,,,213407.07*5A

2021-08-13T21:34:06.773Z,1628890446.773 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.399998 m, bearing: 62.761270 deg, deltaT: 4.378638 s, approachRate: 0.041109 m/s, LOS rate: 0.148238 deg/s, posRepo size: 4
2021-08-13T21:34:09.190Z,1628890449.190 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:34:09.541Z,1628890449.541 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:34:09.541Z,1628890449.541 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:34:09.541Z,1628890449.541 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:34:09.542Z,1628890449.542 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:34:09.937Z,1628890449.937 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
42A,000,00587,18A,80,80,9E,FF
2021-08-13T21:34:09.937Z,1628890449.937 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:34:09.937Z,1628890449.937 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:34:09.939Z,1628890449.939 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:34:10.349Z,1628890450.349 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:34:10.783Z,1628890450.783 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,437,000,00590,189,80,80,84,FF
2021-08-13T21:34:10.784Z,1628890450.784 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:34:11.189Z,1628890451.189 [Micromodem](INFO): Nmea in: $SNTTA,0.079174,,,,213411.51*4C

2021-08-13T21:34:11.271Z,1628890451.271 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.940006 m, bearing: 62.085696 deg, deltaT: 4.522823 s, approachRate: 0.119396 m/s, LOS rate: -0.149370 deg/s, posRepo size: 4
2021-08-13T21:34:13.596Z,1628890453.596 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:34:13.977Z,1628890453.977 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:34:13.977Z,1628890453.977 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:34:13.977Z,1628890453.977 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:34:13.978Z,1628890453.978 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:34:14.377Z,1628890454.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
437,000,00590,189,80,80,84,FF
2021-08-13T21:34:14.377Z,1628890454.377 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:34:14.378Z,1628890454.378 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:34:14.379Z,1628890454.379 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:34:14.789Z,1628890454.789 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:34:15.193Z,1628890455.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,434,000,00596,189,80,80,B9,FF
2021-08-13T21:34:15.194Z,1628890455.194 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:34:15.621Z,1628890455.621 [Micromodem](INFO): Nmea in: $SNTTA,,,,,213415.95*52

2021-08-13T21:34:15.659Z,1628890455.659 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 48.300003 m, bearing: 61.805337 deg, deltaT: 4.445037 s, approachRate: 0.080988 m/s, LOS rate: -0.063072 deg/s, posRepo size: 4
2021-08-13T21:34:18.061Z,1628890458.061 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:34:18.421Z,1628890458.421 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:34:18.421Z,1628890458.421 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:34:18.421Z,1628890458.421 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:34:18.422Z,1628890458.422 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:34:18.846Z,1628890458.846 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
434,000,00596,189,80,80,B9,FF
2021-08-13T21:34:18.846Z,1628890458.846 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:34:18.846Z,1628890458.846 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:34:18.849Z,1628890458.849 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:34:19.237Z,1628890459.237 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:34:19.633Z,1628890459.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3FC,000,005A0,18A,80,80,49,FF
2021-08-13T21:34:19.634Z,1628890459.634 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:34:20.065Z,1628890460.065 [Micromodem](INFO): Nmea in: $SNTTA,,,,,213420.42*5E

2021-08-13T21:34:20.090Z,1628890460.090 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 48.900002 m, bearing: 64.038180 deg, deltaT: 4.390907 s, approachRate: 0.136646 m/s, LOS rate: 0.508515 deg/s, posRepo size: 4
2021-08-13T21:34:22.486Z,1628890462.486 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:34:22.877Z,1628890462.877 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:34:22.877Z,1628890462.877 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:34:22.878Z,1628890462.878 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:34:22.879Z,1628890462.879 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:34:23.269Z,1628890463.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3FC,000,005A0,18A,80,80,49,FF
2021-08-13T21:34:23.269Z,1628890463.269 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:34:23.269Z,1628890463.269 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:34:23.271Z,1628890463.271 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:34:23.338Z,1628890463.338 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-13T21:34:23.688Z,1628890463.688 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:34:24.081Z,1628890464.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,40F,000,0059F,189,80,80,75,FF
2021-08-13T21:34:24.081Z,1628890464.081 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:34:24.518Z,1628890464.518 [Micromodem](INFO): Nmea in: $SNTTA,,,,,213424.84*50

2021-08-13T21:34:24.545Z,1628890464.545 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 48.839996 m, bearing: 62.410321 deg, deltaT: 4.459973 s, approachRate: -0.013454 m/s, LOS rate: -0.364993 deg/s, posRepo size: 4
2021-08-13T21:34:27.014Z,1628890467.014 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:34:27.333Z,1628890467.333 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:34:27.334Z,1628890467.334 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:34:27.334Z,1628890467.334 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:34:27.335Z,1628890467.335 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:34:27.713Z,1628890467.713 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
40F,000,0059F,189,80,80,75,FF
2021-08-13T21:34:27.713Z,1628890467.713 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:34:27.713Z,1628890467.713 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:34:27.715Z,1628890467.715 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:34:28.133Z,1628890468.133 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:34:28.524Z,1628890468.524 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3B3,000,005A5,189,80,80,AD,FF
2021-08-13T21:34:28.525Z,1628890468.525 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:34:28.990Z,1628890468.990 [Micromodem](INFO): Nmea in: $SNTTA,,,,,213429.29*5A

2021-08-13T21:34:29.067Z,1628890469.067 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.199993 m, bearing: 66.083986 deg, deltaT: 4.438611 s, approachRate: 0.081106 m/s, LOS rate: 0.827661 deg/s, posRepo size: 4
2021-08-13T21:34:31.527Z,1628890471.527 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:34:31.773Z,1628890471.773 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:34:31.773Z,1628890471.773 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:34:31.773Z,1628890471.773 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:34:31.774Z,1628890471.774 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:34:32.173Z,1628890472.173 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3B3,000,005A5,189,80,80,AD,FF
2021-08-13T21:34:32.173Z,1628890472.173 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:34:32.173Z,1628890472.173 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:34:32.175Z,1628890472.175 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:34:32.586Z,1628890472.586 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:34:33.013Z,1628890473.013 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,38B,000,005AF,188,80,80,94,FF
2021-08-13T21:34:33.013Z,1628890473.013 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:34:33.405Z,1628890473.405 [Micromodem](INFO): Nmea in: $SNTTA,,,,,213433.75*58

2021-08-13T21:34:33.436Z,1628890473.436 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.800003 m, bearing: 67.350071 deg, deltaT: 4.540441 s, approachRate: 0.132148 m/s, LOS rate: 0.278846 deg/s, posRepo size: 4
2021-08-13T21:34:35.851Z,1628890475.851 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:34:36.214Z,1628890476.214 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:34:36.214Z,1628890476.214 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:34:36.214Z,1628890476.214 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:34:36.215Z,1628890476.215 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:34:36.609Z,1628890476.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
38B,000,005AF,188,80,80,94,FF
2021-08-13T21:34:36.609Z,1628890476.609 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:34:36.610Z,1628890476.610 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:34:36.611Z,1628890476.611 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:34:37.041Z,1628890477.041 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:34:37.417Z,1628890477.417 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,385,000,005AF,189,80,80,6D,FF
2021-08-13T21:34:37.417Z,1628890477.417 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:34:37.877Z,1628890477.877 [Micromodem](INFO): Nmea in: $SNTTA,0.053423,,,,213438.18*45

2021-08-13T21:34:37.906Z,1628890477.906 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.800003 m, bearing: 67.131375 deg, deltaT: 4.310371 s, approachRate: 0.000000 m/s, LOS rate: -0.050737 deg/s, posRepo size: 4
2021-08-13T21:34:40.286Z,1628890480.286 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:34:40.653Z,1628890480.653 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:34:40.653Z,1628890480.653 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:34:40.653Z,1628890480.653 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:34:40.654Z,1628890480.654 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:34:41.050Z,1628890481.050 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
385,000,005AF,189,80,80,6D,FF
2021-08-13T21:34:41.050Z,1628890481.050 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:34:41.050Z,1628890481.050 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:34:41.053Z,1628890481.053 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:34:41.464Z,1628890481.464 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:34:41.902Z,1628890481.902 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,39F,000,005B8,189,80,80,A1,FF
2021-08-13T21:34:41.902Z,1628890481.902 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:34:42.301Z,1628890482.301 [Micromodem](INFO): Nmea in: $SNTTA,0.049541,,,,213442.62*4B

2021-08-13T21:34:42.335Z,1628890482.335 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 50.340000 m, bearing: 65.531772 deg, deltaT: 4.495727 s, approachRate: 0.120113 m/s, LOS rate: -0.355805 deg/s, posRepo size: 4
2021-08-13T21:34:44.722Z,1628890484.722 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:34:45.095Z,1628890485.095 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:34:45.095Z,1628890485.095 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:34:45.095Z,1628890485.095 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:34:45.097Z,1628890485.097 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:34:45.493Z,1628890485.493 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
39F,000,005B8,189,80,80,A1,FF
2021-08-13T21:34:45.493Z,1628890485.493 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:34:45.494Z,1628890485.494 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:34:45.495Z,1628890485.495 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:34:45.919Z,1628890485.919 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:34:46.305Z,1628890486.305 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,375,000,005BE,189,80,80,68,FF
2021-08-13T21:34:46.305Z,1628890486.305 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:34:46.758Z,1628890486.758 [Micromodem](INFO): Nmea in: $SNTTA,,,,,213447.07*5E

2021-08-13T21:34:46.847Z,1628890486.847 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 50.699997 m, bearing: 67.560318 deg, deltaT: 4.420308 s, approachRate: 0.081442 m/s, LOS rate: 0.458915 deg/s, posRepo size: 4
2021-08-13T21:34:49.241Z,1628890489.241 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:34:49.537Z,1628890489.537 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:34:49.537Z,1628890489.537 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:34:49.537Z,1628890489.537 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:34:49.538Z,1628890489.538 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:34:49.945Z,1628890489.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
375,000,005BE,189,80,80,68,FF
2021-08-13T21:34:49.945Z,1628890489.945 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:34:49.945Z,1628890489.945 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:34:49.947Z,1628890489.947 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:34:50.353Z,1628890490.353 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:34:51.182Z,1628890491.182 [Micromodem](INFO): Nmea in: $SNTTA,0.097215,,,,213451.52*4F

2021-08-13T21:34:51.988Z,1628890491.988 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:34:53.585Z,1628890493.585 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
E,189,80,80,68,FF
2021-08-13T21:34:53.585Z,1628890493.585 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
E,189,80,80,68,FF
2021-08-13T21:34:53.586Z,1628890493.586 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T21:34:54.877Z,1628890494.877 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:34:55.189Z,1628890495.189 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:34:55.189Z,1628890495.189 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:34:55.189Z,1628890495.189 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:34:55.190Z,1628890495.190 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:34:55.597Z,1628890495.597 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
E,189,80,80,68,FF
2021-08-13T21:34:55.597Z,1628890495.597 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:34:55.598Z,1628890495.598 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:34:55.599Z,1628890495.599 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:34:56.005Z,1628890496.005 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:34:56.411Z,1628890496.411 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3A6,000,005CE,189,80,80,98,FF
2021-08-13T21:34:56.412Z,1628890496.412 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:34:56.854Z,1628890496.854 [Micromodem](INFO): Nmea in: $SNTTA,,,,,213457.17*5E

2021-08-13T21:34:56.939Z,1628890496.939 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.660004 m, bearing: 64.719676 deg, deltaT: 10.077736 s, approachRate: 0.095260 m/s, LOS rate: -0.281873 deg/s, posRepo size: 4
2021-08-13T21:34:59.076Z,1628890499.076 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:34:59.285Z,1628890499.285 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:34:59.285Z,1628890499.285 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:34:59.285Z,1628890499.285 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:34:59.286Z,1628890499.286 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:34:59.677Z,1628890499.677 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3A6,000,005CE,189,80,80,98,FF
2021-08-13T21:34:59.677Z,1628890499.677 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:34:59.677Z,1628890499.677 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:34:59.679Z,1628890499.679 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:35:00.084Z,1628890500.084 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:35:00.495Z,1628890500.495 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3BD,000,005D4,189,80,80,74,FF
2021-08-13T21:35:00.495Z,1628890500.495 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:35:00.981Z,1628890500.981 [Micromodem](INFO): Nmea in: $SNTTA,0.046911,,,,213501.25*48

2021-08-13T21:35:01.061Z,1628890501.061 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.020000 m, bearing: 63.625965 deg, deltaT: 4.084260 s, approachRate: 0.088142 m/s, LOS rate: -0.267787 deg/s, posRepo size: 4
2021-08-13T21:35:03.058Z,1628890503.058 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:35:03.349Z,1628890503.349 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:35:03.349Z,1628890503.349 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:35:03.349Z,1628890503.349 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:35:03.350Z,1628890503.350 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:35:03.763Z,1628890503.763 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3BD,000,005D4,189,80,80,74,FF
2021-08-13T21:35:03.763Z,1628890503.763 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:35:03.763Z,1628890503.763 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:35:03.765Z,1628890503.765 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:35:04.169Z,1628890504.169 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:35:04.567Z,1628890504.567 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3C8,000,005DA,189,80,80,62,FF
2021-08-13T21:35:04.567Z,1628890504.567 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:35:05.049Z,1628890505.049 [Micromodem](INFO): Nmea in: $SNTTA,,,,,213505.34*59

2021-08-13T21:35:05.114Z,1628890505.114 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.380001 m, bearing: 62.924101 deg, deltaT: 4.072394 s, approachRate: 0.088400 m/s, LOS rate: -0.172347 deg/s, posRepo size: 4
2021-08-13T21:35:07.131Z,1628890507.131 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:35:07.393Z,1628890507.393 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:35:07.393Z,1628890507.393 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:35:07.393Z,1628890507.393 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:35:07.394Z,1628890507.394 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:35:07.814Z,1628890507.814 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3C8,000,005DA,189,80,80,62,FF
2021-08-13T21:35:07.814Z,1628890507.814 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:35:07.815Z,1628890507.815 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:35:07.835Z,1628890507.835 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:35:08.236Z,1628890508.236 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:35:08.618Z,1628890508.618 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,30E,000,005DF,189,80,80,7F,FF
2021-08-13T21:35:08.618Z,1628890508.618 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:35:09.077Z,1628890509.077 [Micromodem](INFO): Nmea in: $SNTTA,,,,,213509.41*57

2021-08-13T21:35:09.141Z,1628890509.141 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.680004 m, bearing: 71.701557 deg, deltaT: 4.101614 s, approachRate: 0.073143 m/s, LOS rate: 2.140001 deg/s, posRepo size: 4
2021-08-13T21:35:11.490Z,1628890511.490 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:35:11.882Z,1628890511.882 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:35:11.883Z,1628890511.883 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:35:11.883Z,1628890511.883 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:35:11.884Z,1628890511.884 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:35:12.253Z,1628890512.253 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
30E,000,005DF,189,80,80,7F,FF
2021-08-13T21:35:12.253Z,1628890512.253 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:35:12.253Z,1628890512.253 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:35:12.255Z,1628890512.255 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:35:12.661Z,1628890512.661 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:35:13.065Z,1628890513.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,386,000,005E7,189,80,80,B6,FF
2021-08-13T21:35:13.065Z,1628890513.065 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:35:13.494Z,1628890513.494 [Micromodem](INFO): Nmea in: $SNTTA,0.045800,,,,213513.83*45

2021-08-13T21:35:13.578Z,1628890513.578 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.159996 m, bearing: 65.303541 deg, deltaT: 4.474817 s, approachRate: 0.107265 m/s, LOS rate: -1.429783 deg/s, posRepo size: 4
2021-08-13T21:35:15.954Z,1628890515.954 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:35:16.297Z,1628890516.297 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:35:16.297Z,1628890516.297 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:35:16.298Z,1628890516.298 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:35:16.299Z,1628890516.299 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:35:16.697Z,1628890516.697 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
386,000,005E7,189,80,80,B6,FF
2021-08-13T21:35:16.697Z,1628890516.697 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:35:16.697Z,1628890516.697 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:35:16.699Z,1628890516.699 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:35:17.116Z,1628890517.116 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:35:17.505Z,1628890517.505 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,38A,000,005ED,189,80,80,A2,FF
2021-08-13T21:35:17.505Z,1628890517.505 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:35:17.953Z,1628890517.953 [Micromodem](INFO): Nmea in: $SNTTA,,,,,213518.27*57

2021-08-13T21:35:18.002Z,1628890518.002 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.519993 m, bearing: 64.554242 deg, deltaT: 4.385779 s, approachRate: 0.082083 m/s, LOS rate: -0.170847 deg/s, posRepo size: 4
2021-08-13T21:35:20.367Z,1628890520.367 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:35:20.737Z,1628890520.737 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:35:20.737Z,1628890520.737 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:35:20.737Z,1628890520.737 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:35:20.738Z,1628890520.738 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:35:21.141Z,1628890521.141 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
38A,000,005ED,189,80,80,A2,FF
2021-08-13T21:35:21.141Z,1628890521.141 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:35:21.141Z,1628890521.141 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:35:21.143Z,1628890521.143 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:35:21.549Z,1628890521.549 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:35:21.945Z,1628890521.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,364,000,005F2,189,80,80,8F,FF
2021-08-13T21:35:21.946Z,1628890521.946 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:35:22.394Z,1628890522.394 [Micromodem](INFO): Nmea in: $SNTTA,,,,,213522.71*5D

2021-08-13T21:35:22.414Z,1628890522.414 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.820000 m, bearing: 65.643753 deg, deltaT: 4.455515 s, approachRate: 0.067334 m/s, LOS rate: 0.244531 deg/s, posRepo size: 4
2021-08-13T21:35:24.872Z,1628890524.872 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:35:25.181Z,1628890525.181 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:35:25.181Z,1628890525.181 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:35:25.181Z,1628890525.181 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:35:25.182Z,1628890525.182 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:35:25.585Z,1628890525.585 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
364,000,005F2,189,80,80,8F,FF
2021-08-13T21:35:25.585Z,1628890525.585 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:35:25.585Z,1628890525.585 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:35:25.587Z,1628890525.587 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:35:26.010Z,1628890526.010 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:35:26.393Z,1628890526.393 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,375,000,005FE,18A,80,80,A0,FF
2021-08-13T21:35:26.393Z,1628890526.393 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:35:26.865Z,1628890526.865 [Micromodem](INFO): Nmea in: $SNTTA,,,,,213527.16*59

2021-08-13T21:35:26.910Z,1628890526.910 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 54.540005 m, bearing: 64.337063 deg, deltaT: 4.444027 s, approachRate: 0.162016 m/s, LOS rate: -0.294033 deg/s, posRepo size: 4
2021-08-13T21:35:29.279Z,1628890529.279 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:35:29.629Z,1628890529.629 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:35:29.630Z,1628890529.630 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:35:29.630Z,1628890529.630 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:35:29.631Z,1628890529.631 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:35:30.040Z,1628890530.040 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
375,000,005FE,18A,80,80,A0,FF
2021-08-13T21:35:30.040Z,1628890530.040 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:35:30.041Z,1628890530.041 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:35:30.042Z,1628890530.042 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:35:30.441Z,1628890530.441 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:35:30.873Z,1628890530.873 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3A1,000,005FD,189,80,80,C8,FF
2021-08-13T21:35:30.873Z,1628890530.873 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:35:31.277Z,1628890531.277 [Micromodem](INFO): Nmea in: $SNTTA,,,,,213531.61*5E

2021-08-13T21:35:31.326Z,1628890531.326 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 54.480000 m, bearing: 62.045828 deg, deltaT: 4.555847 s, approachRate: -0.013171 m/s, LOS rate: -0.502922 deg/s, posRepo size: 4
2021-08-13T21:35:33.682Z,1628890533.682 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:35:34.073Z,1628890534.073 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:35:34.073Z,1628890534.073 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:35:34.073Z,1628890534.073 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:35:34.074Z,1628890534.074 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:35:34.477Z,1628890534.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3A1,000,005FD,189,80,80,C8,FF
2021-08-13T21:35:34.478Z,1628890534.478 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:35:34.478Z,1628890534.478 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:35:34.480Z,1628890534.480 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:35:34.906Z,1628890534.906 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:35:35.290Z,1628890535.290 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3A6,000,00609,189,80,80,7B,FF
2021-08-13T21:35:35.290Z,1628890535.290 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:35:35.734Z,1628890535.734 [Micromodem](INFO): Nmea in: $SNTTA,0.050257,,,,213536.05*40

2021-08-13T21:35:35.755Z,1628890535.755 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 55.199997 m, bearing: 61.361033 deg, deltaT: 4.347918 s, approachRate: 0.165596 m/s, LOS rate: -0.157499 deg/s, posRepo size: 4
2021-08-13T21:35:35.756Z,1628890535.756 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 55.20 m. Resuming terminal guidance.
2021-08-13T21:35:35.756Z,1628890535.756 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-13T21:35:36.138Z,1628890536.138 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-08-13T21:35:36.138Z,1628890536.138 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-13T21:35:36.138Z,1628890536.138 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-08-13T21:35:36.138Z,1628890536.138 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-08-13T21:35:36.138Z,1628890536.138 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2021-08-13T21:35:36.138Z,1628890536.138 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-08-13T21:35:36.138Z,1628890536.138 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-08-13T21:35:38.153Z,1628890538.153 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:35:38.517Z,1628890538.517 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:35:38.517Z,1628890538.517 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:35:38.517Z,1628890538.517 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:35:38.518Z,1628890538.518 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:35:38.926Z,1628890538.926 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3A6,000,00609,189,80,80,7B,FF
2021-08-13T21:35:38.926Z,1628890538.926 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:35:38.926Z,1628890538.926 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:35:38.932Z,1628890538.932 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:35:39.324Z,1628890539.324 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:35:39.733Z,1628890539.733 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,392,000,0060E,188,80,80,AA,FF
2021-08-13T21:35:39.733Z,1628890539.733 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:35:40.169Z,1628890540.169 [Micromodem](INFO): Nmea in: $SNTTA,0.061759,,,,213540.50*48

2021-08-13T21:35:40.207Z,1628890540.207 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 55.500000 m, bearing: 61.889642 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-13T21:35:40.207Z,1628890540.207 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 61.889642deg and heading rate command to 0 deg/s.
2021-08-13T21:35:42.602Z,1628890542.602 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:35:43.033Z,1628890543.033 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:35:43.033Z,1628890543.033 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:35:43.033Z,1628890543.033 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:35:43.034Z,1628890543.034 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:35:43.393Z,1628890543.393 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
392,000,0060E,188,80,80,AA,FF
2021-08-13T21:35:43.393Z,1628890543.393 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:35:43.393Z,1628890543.393 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:35:43.395Z,1628890543.395 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:35:43.802Z,1628890543.802 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:35:44.201Z,1628890544.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,328,000,0060A,18A,80,80,7A,FF
2021-08-13T21:35:44.201Z,1628890544.201 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:35:44.637Z,1628890544.637 [Micromodem](INFO): Nmea in: $SNTTA,0.063761,,,,213544.97*4E

2021-08-13T21:35:44.673Z,1628890544.673 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 55.259998 m, bearing: 66.383975 deg, deltaT: 4.371549 s, approachRate: -0.054901 m/s, LOS rate: 1.028087 deg/s, posRepo size: 2
2021-08-13T21:35:44.675Z,1628890544.675 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 55.259998 m,
      bearing: 66.383975 deg,
      approachRate: -0.054901 m/s,
      LOS rate: 1.028087 deg/s,
      cmd update: 3.084261 deg/s,
      cmd heading: 61.889642 deg,
      new cmd heading: 61.889642 deg.

2021-08-13T21:35:47.127Z,1628890547.127 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:35:47.429Z,1628890547.429 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:35:47.429Z,1628890547.429 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:35:47.429Z,1628890547.429 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:35:47.430Z,1628890547.430 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:35:47.850Z,1628890547.850 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
328,000,0060A,18A,80,80,7A,FF
2021-08-13T21:35:47.850Z,1628890547.850 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:35:47.850Z,1628890547.850 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:35:47.853Z,1628890547.853 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:35:48.244Z,1628890548.244 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:35:48.645Z,1628890548.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2AB,000,005F3,189,80,80,82,FF
2021-08-13T21:35:48.646Z,1628890548.646 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:35:49.086Z,1628890549.086 [Micromodem](INFO): Nmea in: $SNTTA,0.048080,,,,213549.43*4B

2021-08-13T21:35:49.145Z,1628890549.145 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.880001 m, bearing: 63.766694 deg, deltaT: 4.444254 s, approachRate: -0.310513 m/s, LOS rate: -0.588913 deg/s, posRepo size: 3
2021-08-13T21:35:49.147Z,1628890549.147 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 53.880001 m,
      bearing: 63.766694 deg,
      approachRate: -0.310513 m/s,
      LOS rate: -0.588913 deg/s,
      cmd update: -1.766740 deg/s,
      cmd heading: 75.596761 deg,
      new cmd heading: 77.084390 deg.

2021-08-13T21:35:51.495Z,1628890551.495 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:35:51.897Z,1628890551.897 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:35:51.897Z,1628890551.897 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:35:51.897Z,1628890551.897 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:35:51.898Z,1628890551.898 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:35:52.281Z,1628890552.281 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2AB,000,005F3,189,80,80,82,FF
2021-08-13T21:35:52.281Z,1628890552.281 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:35:52.281Z,1628890552.281 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:35:52.283Z,1628890552.283 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:35:52.695Z,1628890552.695 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:35:53.097Z,1628890553.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,133,000,005D5,186,80,80,82,FF
2021-08-13T21:35:53.097Z,1628890553.097 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:35:53.538Z,1628890553.538 [Micromodem](INFO): Nmea in: $SNTTA,,0.276406,,,213553.85*4F

2021-08-13T21:35:53.561Z,1628890553.561 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.079994 m, bearing: 70.905314 deg, deltaT: 4.518868 s, approachRate: -0.398331 m/s, LOS rate: 1.579736 deg/s, posRepo size: 4
2021-08-13T21:35:53.563Z,1628890553.563 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 52.079994 m,
      bearing: 70.905314 deg,
      approachRate: -0.398331 m/s,
      LOS rate: 1.579736 deg/s,
      cmd update: 4.739209 deg/s,
      cmd heading: 67.613674 deg,
      new cmd heading: 66.941157 deg.

2021-08-13T21:35:55.961Z,1628890555.961 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:35:56.337Z,1628890556.337 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:35:56.337Z,1628890556.337 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:35:56.337Z,1628890556.337 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:35:56.338Z,1628890556.338 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:35:56.741Z,1628890556.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
133,000,005D5,186,80,80,82,FF
2021-08-13T21:35:56.741Z,1628890556.741 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:35:56.741Z,1628890556.741 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:35:56.743Z,1628890556.743 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:35:57.156Z,1628890557.156 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:35:57.545Z,1628890557.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,034,000,005B0,184,80,80,7A,FF
2021-08-13T21:35:57.546Z,1628890557.546 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:35:57.981Z,1628890557.981 [Micromodem](INFO): Nmea in: $SNTTA,,,,,213558.31*54

2021-08-13T21:35:58.029Z,1628890558.029 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.859997 m, bearing: 74.523757 deg, deltaT: 4.411406 s, approachRate: -0.503240 m/s, LOS rate: 0.820247 deg/s, posRepo size: 4
2021-08-13T21:35:58.031Z,1628890558.031 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 49.859997 m,
      bearing: 74.523757 deg,
      approachRate: -0.503240 m/s,
      LOS rate: 0.820247 deg/s,
      cmd update: 2.460741 deg/s,
      cmd heading: 88.483074 deg,
      new cmd heading: 90.495019 deg.

2021-08-13T21:36:00.400Z,1628890560.400 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:36:00.790Z,1628890560.790 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:36:00.790Z,1628890560.790 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:36:00.790Z,1628890560.790 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:36:00.791Z,1628890560.791 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:36:01.201Z,1628890561.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
034,000,005B0,184,80,80,7A,FF
2021-08-13T21:36:01.201Z,1628890561.201 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:36:01.201Z,1628890561.201 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:36:01.203Z,1628890561.203 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:36:01.593Z,1628890561.593 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:36:01.989Z,1628890561.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,192,000,0057E,186,80,80,97,FF
2021-08-13T21:36:01.990Z,1628890561.990 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:36:02.437Z,1628890562.437 [Micromodem](INFO): Nmea in: $SNTTA,0.059388,,,,213602.78*44

2021-08-13T21:36:02.472Z,1628890562.472 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.860001 m, bearing: 67.653140 deg, deltaT: 4.475293 s, approachRate: -0.670346 m/s, LOS rate: -1.535233 deg/s, posRepo size: 4
2021-08-13T21:36:02.474Z,1628890562.474 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 46.860001 m,
      bearing: 67.653140 deg,
      approachRate: -0.670346 m/s,
      LOS rate: -1.535233 deg/s,
      cmd update: -4.605699 deg/s,
      cmd heading: 99.495772 deg,
      new cmd heading: 100.480947 deg.

2021-08-13T21:36:04.886Z,1628890564.886 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:36:05.229Z,1628890565.229 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:36:05.229Z,1628890565.229 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:36:05.229Z,1628890565.229 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:36:05.230Z,1628890565.230 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:36:05.633Z,1628890565.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
192,000,0057E,186,80,80,97,FF
2021-08-13T21:36:05.633Z,1628890565.633 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:36:05.634Z,1628890565.634 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:36:05.635Z,1628890565.635 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:36:06.037Z,1628890566.037 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:36:06.441Z,1628890566.441 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,33D,000,00556,188,80,80,65,FF
2021-08-13T21:36:06.441Z,1628890566.441 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:36:06.898Z,1628890566.898 [Micromodem](INFO): Nmea in: $SNTTA,,,,,213607.21*5C

2021-08-13T21:36:06.990Z,1628890566.990 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 44.459999 m, bearing: 59.350854 deg, deltaT: 4.390149 s, approachRate: -0.546679 m/s, LOS rate: -1.891117 deg/s, posRepo size: 4
2021-08-13T21:36:06.996Z,1628890566.996 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 44.459999 m,
      bearing: 59.350854 deg,
      approachRate: -0.546679 m/s,
      LOS rate: -1.891117 deg/s,
      cmd update: -5.673351 deg/s,
      cmd heading: 79.238876 deg,
      new cmd heading: 76.815675 deg.

2021-08-13T21:36:09.000Z,1628890569.000 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:36:09.273Z,1628890569.273 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:36:09.273Z,1628890569.273 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:36:09.273Z,1628890569.273 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:36:09.274Z,1628890569.274 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:36:09.681Z,1628890569.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
33D,000,00556,188,80,80,65,FF
2021-08-13T21:36:09.682Z,1628890569.682 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:36:09.682Z,1628890569.682 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:36:09.684Z,1628890569.684 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:36:10.080Z,1628890570.080 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:36:10.485Z,1628890570.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2CB,000,00533,189,80,80,A2,FF
2021-08-13T21:36:10.485Z,1628890570.485 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:36:10.957Z,1628890570.957 [Micromodem](INFO): Nmea in: $SNTTA,,0.046688,,,213611.25*45

2021-08-13T21:36:11.014Z,1628890571.014 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.360001 m, bearing: 59.015874 deg, deltaT: 4.047650 s, approachRate: -0.518819 m/s, LOS rate: -0.082759 deg/s, posRepo size: 4
2021-08-13T21:36:11.017Z,1628890571.017 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 42.360001 m,
      bearing: 59.015874 deg,
      approachRate: -0.518819 m/s,
      LOS rate: -0.082759 deg/s,
      cmd update: -0.248277 deg/s,
      cmd heading: 56.274857 deg,
      new cmd heading: 53.388709 deg.

2021-08-13T21:36:13.014Z,1628890573.014 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:36:13.305Z,1628890573.305 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:36:13.305Z,1628890573.305 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:36:13.305Z,1628890573.305 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:36:13.306Z,1628890573.306 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:36:13.713Z,1628890573.713 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2CB,000,00533,189,80,80,A2,FF
2021-08-13T21:36:13.713Z,1628890573.713 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:36:13.714Z,1628890573.714 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:36:13.715Z,1628890573.715 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:36:14.116Z,1628890574.116 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:36:14.525Z,1628890574.525 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,117,000,00510,186,80,80,79,FF
2021-08-13T21:36:14.525Z,1628890574.525 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:36:14.988Z,1628890574.988 [Micromodem](INFO): Nmea in: $SNTTA,,,,,213615.29*57

2021-08-13T21:36:15.044Z,1628890575.044 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.259998 m, bearing: 67.054474 deg, deltaT: 4.036902 s, approachRate: -0.520201 m/s, LOS rate: 1.991279 deg/s, posRepo size: 4
2021-08-13T21:36:15.047Z,1628890575.047 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 40.259998 m,
      bearing: 67.054474 deg,
      approachRate: -0.520201 m/s,
      LOS rate: 1.991279 deg/s,
      cmd update: 5.973838 deg/s,
      cmd heading: 55.272587 deg,
      new cmd heading: 55.148039 deg.

2021-08-13T21:36:17.064Z,1628890577.064 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:36:17.345Z,1628890577.345 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:36:17.345Z,1628890577.345 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:36:17.345Z,1628890577.345 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:36:17.346Z,1628890577.346 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:36:17.758Z,1628890577.758 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
117,000,00510,186,80,80,79,FF
2021-08-13T21:36:17.758Z,1628890577.758 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:36:17.759Z,1628890577.759 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:36:17.761Z,1628890577.761 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:36:18.156Z,1628890578.156 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:36:18.577Z,1628890578.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FEF,000,004E9,183,80,80,95,FF
2021-08-13T21:36:18.578Z,1628890578.578 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:36:19.017Z,1628890579.017 [Micromodem](INFO): Nmea in: $SNTTA,,,,,213619.33*50

2021-08-13T21:36:19.084Z,1628890579.084 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.920002 m, bearing: 70.794651 deg, deltaT: 4.112844 s, approachRate: -0.568949 m/s, LOS rate: 0.909390 deg/s, posRepo size: 4
2021-08-13T21:36:19.085Z,1628890579.085 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 37.92 m.
2021-08-13T21:36:19.087Z,1628890579.087 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 37.920002 m,
      bearing: 70.794651 deg,
      approachRate: -0.568949 m/s,
      LOS rate: 0.909390 deg/s,
      cmd update: 2.728169 deg/s,
      cmd heading: 79.818227 deg,
      new cmd heading: 82.379146 deg.

2021-08-13T21:36:19.414Z,1628890579.414 [PowerOnly](INFO): Powering up loadControl
2021-08-13T21:36:19.465Z,1628890579.465 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-13T21:36:19.465Z,1628890579.465 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T21:36:19.466Z,1628890579.466 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-13T21:36:19.475Z,1628890579.475 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-13T21:36:19.475Z,1628890579.475 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-13T21:36:19.475Z,1628890579.475 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-13T21:36:19.878Z,1628890579.878 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-13T21:36:19.878Z,1628890579.878 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T21:36:19.878Z,1628890579.878 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-13T21:36:19.878Z,1628890579.878 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T21:36:21.410Z,1628890581.410 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:36:21.794Z,1628890581.794 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:36:21.794Z,1628890581.794 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:36:21.794Z,1628890581.794 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:36:21.795Z,1628890581.795 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:36:22.197Z,1628890582.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FEF,000,004E9,183,80,80,95,FF
2021-08-13T21:36:22.197Z,1628890582.197 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:36:22.198Z,1628890582.198 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:36:22.199Z,1628890582.199 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:36:22.619Z,1628890582.619 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:36:23.125Z,1628890583.125 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0E8,000,004B9,186,80,80,76,FF
2021-08-13T21:36:23.125Z,1628890583.125 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:36:23.198Z,1628890583.198 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:36:23.446Z,1628890583.446 [Micromodem](INFO): Nmea in: $SNTTA,,,,,213623.77*59

2021-08-13T21:36:23.465Z,1628890583.465 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.040001 m, bearing: 64.518752 deg, deltaT: 4.539513 s, approachRate: -0.634430 m/s, LOS rate: -1.382505 deg/s, posRepo size: 4
2021-08-13T21:36:23.465Z,1628890583.465 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 35.04 m.
2021-08-13T21:36:23.467Z,1628890583.467 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 35.040001 m,
      bearing: 64.518752 deg,
      approachRate: -0.634430 m/s,
      LOS rate: -1.382505 deg/s,
      cmd update: -4.147515 deg/s,
      cmd heading: 92.151044 deg,
      new cmd heading: 92.946892 deg.

2021-08-13T21:36:25.896Z,1628890585.896 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:36:26.245Z,1628890586.245 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:36:26.245Z,1628890586.245 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:36:26.245Z,1628890586.245 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:36:26.246Z,1628890586.246 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:36:26.638Z,1628890586.638 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0E8,000,004B9,186,80,80,76,FF
2021-08-13T21:36:26.638Z,1628890586.638 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:36:26.639Z,1628890586.639 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:36:26.642Z,1628890586.642 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:36:27.044Z,1628890587.044 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:36:27.454Z,1628890587.454 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,263,000,004A5,188,80,80,77,FF
2021-08-13T21:36:27.455Z,1628890587.455 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:36:27.520Z,1628890587.520 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:36:27.898Z,1628890587.898 [Micromodem](INFO): Nmea in: $SNTTA,,,,,213628.22*52

2021-08-13T21:36:27.927Z,1628890587.927 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 33.839996 m, bearing: 63.109145 deg, deltaT: 4.322098 s, approachRate: -0.277644 m/s, LOS rate: -0.326140 deg/s, posRepo size: 4
2021-08-13T21:36:27.927Z,1628890587.927 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 33.84 m.
2021-08-13T21:36:27.930Z,1628890587.930 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 33.839996 m,
      bearing: 63.109145 deg,
      approachRate: -0.277644 m/s,
      LOS rate: -0.326140 deg/s,
      cmd update: -0.978419 deg/s,
      cmd heading: 74.150757 deg,
      new cmd heading: 72.429791 deg.

2021-08-13T21:36:30.285Z,1628890590.285 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:36:30.685Z,1628890590.685 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:36:30.685Z,1628890590.685 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:36:30.685Z,1628890590.685 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:36:30.686Z,1628890590.686 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:36:31.086Z,1628890591.086 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
263,000,004A5,188,80,80,77,FF
2021-08-13T21:36:31.086Z,1628890591.086 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:36:31.086Z,1628890591.086 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:36:31.088Z,1628890591.088 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:36:31.489Z,1628890591.489 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:36:32.320Z,1628890592.320 [Micromodem](INFO): Nmea in: $SNTTA,,,,,213632.66*59

2021-08-13T21:36:33.238Z,1628890593.238 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:36:34.717Z,1628890594.717 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
5,188,80,80,77,FF
2021-08-13T21:36:34.717Z,1628890594.717 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
5,188,80,80,77,FF
2021-08-13T21:36:34.717Z,1628890594.717 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T21:36:35.970Z,1628890595.970 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:36:36.410Z,1628890596.410 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:36:36.410Z,1628890596.410 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:36:36.410Z,1628890596.410 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:36:36.411Z,1628890596.411 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:36:36.741Z,1628890596.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
5,188,80,80,77,FF
2021-08-13T21:36:36.741Z,1628890596.741 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:36:36.742Z,1628890596.742 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:36:36.743Z,1628890596.743 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:36:37.149Z,1628890597.149 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:36:37.546Z,1628890597.546 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,15E,000,00440,186,80,80,89,FF
2021-08-13T21:36:37.546Z,1628890597.546 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:36:37.567Z,1628890597.567 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:36:37.993Z,1628890597.993 [Micromodem](INFO): Nmea in: $SNTTA,,,,,213638.31*51

2021-08-13T21:36:38.071Z,1628890598.071 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.779999 m, bearing: 60.013348 deg, deltaT: 10.046868 s, approachRate: -0.603173 m/s, LOS rate: -0.308136 deg/s, posRepo size: 4
2021-08-13T21:36:38.076Z,1628890598.076 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 27.78 m.
2021-08-13T21:36:38.077Z,1628890598.077 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 27.78 m.
2021-08-13T21:36:38.077Z,1628890598.077 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-13T21:36:38.079Z,1628890598.079 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 27.779999 m,
      bearing: 60.013348 deg,
      approachRate: -0.603173 m/s,
      LOS rate: -0.308136 deg/s,
      cmd update: -0.924407 deg/s,
      cmd heading: 64.316086 deg,
      new cmd heading: 63.819239 deg.

2021-08-13T21:36:40.393Z,1628890600.393 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:36:40.793Z,1628890600.793 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:36:40.793Z,1628890600.793 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:36:40.793Z,1628890600.793 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:36:40.794Z,1628890600.794 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:36:41.181Z,1628890601.181 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
15E,000,00440,186,80,80,89,FF
2021-08-13T21:36:41.181Z,1628890601.181 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:36:41.182Z,1628890601.182 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:36:41.183Z,1628890601.183 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:36:41.596Z,1628890601.596 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:36:42.079Z,1628890602.079 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0B0,000,00419,186,80,80,82,FF
2021-08-13T21:36:42.079Z,1628890602.079 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:36:42.167Z,1628890602.167 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:36:42.429Z,1628890602.429 [Micromodem](INFO): Nmea in: $SNTTA,,,,,213642.75*5C

2021-08-13T21:36:42.476Z,1628890602.476 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.440001 m, bearing: 60.648494 deg, deltaT: 4.600190 s, approachRate: -0.508674 m/s, LOS rate: 0.138070 deg/s, posRepo size: 4
2021-08-13T21:36:42.478Z,1628890602.478 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 25.440001 m,
      bearing: 60.648494 deg,
      approachRate: -0.508674 m/s,
      LOS rate: 0.138070 deg/s,
      cmd update: 0.414209 deg/s,
      cmd heading: 60.064531 deg,
      new cmd heading: 59.778877 deg.

2021-08-13T21:36:44.884Z,1628890604.884 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:36:45.221Z,1628890605.221 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:36:45.221Z,1628890605.221 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:36:45.221Z,1628890605.221 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:36:45.222Z,1628890605.222 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:36:45.631Z,1628890605.631 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0B0,000,00419,186,80,80,82,FF
2021-08-13T21:36:45.631Z,1628890605.631 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:36:45.631Z,1628890605.631 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:36:45.633Z,1628890605.633 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:36:46.028Z,1628890606.028 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:36:46.437Z,1628890606.437 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,051,000,003EE,184,80,80,A0,FF
2021-08-13T21:36:46.437Z,1628890606.437 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:36:46.517Z,1628890606.517 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:36:46.899Z,1628890606.899 [Micromodem](INFO): Nmea in: $SNTTA,,,,,213647.21*58

2021-08-13T21:36:47.005Z,1628890607.005 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.860001 m, bearing: 61.320564 deg, deltaT: 4.350581 s, approachRate: -0.593024 m/s, LOS rate: 0.154478 deg/s, posRepo size: 4
2021-08-13T21:36:47.007Z,1628890607.007 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 22.860001 m,
      bearing: 61.320564 deg,
      approachRate: -0.593024 m/s,
      LOS rate: 0.154478 deg/s,
      cmd update: 0.463435 deg/s,
      cmd heading: 61.865335 deg,
      new cmd heading: 62.068570 deg.

2021-08-13T21:36:49.318Z,1628890609.318 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:36:49.665Z,1628890609.665 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:36:49.665Z,1628890609.665 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:36:49.665Z,1628890609.665 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:36:49.666Z,1628890609.666 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:36:50.069Z,1628890610.069 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
051,000,003EE,184,80,80,A0,FF
2021-08-13T21:36:50.069Z,1628890610.069 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:36:50.069Z,1628890610.069 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:36:50.071Z,1628890610.071 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:36:50.481Z,1628890610.481 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:36:50.893Z,1628890610.893 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,084,000,003C2,186,80,80,9E,FF
2021-08-13T21:36:50.893Z,1628890610.893 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:36:51.045Z,1628890611.045 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:36:51.329Z,1628890611.329 [Micromodem](INFO): Nmea in: $SNTTA,,,,,213651.64*5E

2021-08-13T21:36:51.366Z,1628890611.366 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.219997 m, bearing: 60.633024 deg, deltaT: 4.527225 s, approachRate: -0.583139 m/s, LOS rate: -0.151868 deg/s, posRepo size: 4
2021-08-13T21:36:51.389Z,1628890611.389 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 20.219997 m,
      bearing: 60.633024 deg,
      approachRate: -0.583139 m/s,
      LOS rate: -0.151868 deg/s,
      cmd update: -0.455604 deg/s,
      cmd heading: 63.959675 deg,
      new cmd heading: 64.115833 deg.

2021-08-13T21:36:53.731Z,1628890613.731 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:36:54.113Z,1628890614.113 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:36:54.113Z,1628890614.113 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:36:54.113Z,1628890614.113 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:36:54.114Z,1628890614.114 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:36:54.513Z,1628890614.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
084,000,003C2,186,80,80,9E,FF
2021-08-13T21:36:54.514Z,1628890614.514 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:36:54.514Z,1628890614.514 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:36:54.516Z,1628890614.516 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:36:54.939Z,1628890614.939 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:36:55.321Z,1628890615.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0BA,000,00398,186,80,80,57,FF
2021-08-13T21:36:55.321Z,1628890615.321 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:36:55.412Z,1628890615.412 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:36:55.753Z,1628890615.753 [Micromodem](INFO): Nmea in: $SNTTA,,,,,213656.09*52

2021-08-13T21:36:55.799Z,1628890615.799 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.700001 m, bearing: 59.605387 deg, deltaT: 4.367654 s, approachRate: -0.576968 m/s, LOS rate: -0.235283 deg/s, posRepo size: 4
2021-08-13T21:36:55.807Z,1628890615.807 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.700001 m,
      bearing: 59.605387 deg,
      approachRate: -0.576968 m/s,
      LOS rate: -0.235283 deg/s,
      cmd update: -0.705850 deg/s,
      cmd heading: 61.966063 deg,
      new cmd heading: 61.788343 deg.

2021-08-13T21:36:58.198Z,1628890618.198 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:36:58.553Z,1628890618.553 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:36:58.553Z,1628890618.553 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:36:58.553Z,1628890618.553 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:36:58.554Z,1628890618.554 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:36:58.992Z,1628890618.992 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0BA,000,00398,186,80,80,57,FF
2021-08-13T21:36:58.992Z,1628890618.992 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:36:58.992Z,1628890618.992 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:36:58.994Z,1628890618.994 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:36:59.384Z,1628890619.384 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:36:59.784Z,1628890619.784 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,068,000,001C0,186,80,80,9A,FF
2021-08-13T21:36:59.784Z,1628890619.784 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2021-08-13T21:37:00.217Z,1628890620.217 [Micromodem](INFO): Nmea in: $SNTTA,0.022550,,,,213700.57*45

2021-08-13T21:37:01.104Z,1628890621.104 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:37:03.897Z,1628890623.897 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:37:04.225Z,1628890624.225 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:37:04.225Z,1628890624.225 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:37:04.225Z,1628890624.225 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:37:04.226Z,1628890624.226 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:37:04.637Z,1628890624.637 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
068,000,001C0,186,80,80,9A,FF
2021-08-13T21:37:04.637Z,1628890624.637 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:37:04.637Z,1628890624.637 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:37:04.639Z,1628890624.639 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:37:05.041Z,1628890625.041 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:37:05.441Z,1628890625.441 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,011,000,00337,183,80,80,8E,FF
2021-08-13T21:37:05.441Z,1628890625.441 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:37:05.462Z,1628890625.462 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:37:05.890Z,1628890625.890 [Micromodem](INFO): Nmea in: $SNTTA,,,,,213706.21*5C

2021-08-13T21:37:05.918Z,1628890625.918 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.879998 m, bearing: 60.918594 deg, deltaT: 10.049404 s, approachRate: -0.579139 m/s, LOS rate: 0.130675 deg/s, posRepo size: 4
2021-08-13T21:37:05.920Z,1628890625.920 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.879998 m,
      bearing: 60.918594 deg,
      approachRate: -0.579139 m/s,
      LOS rate: 0.130675 deg/s,
      cmd update: 0.392025 deg/s,
      cmd heading: 54.869911 deg,
      new cmd heading: 54.545941 deg.

2021-08-13T21:37:08.287Z,1628890628.287 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:37:08.697Z,1628890628.697 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:37:08.697Z,1628890628.697 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:37:08.697Z,1628890628.697 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:37:08.698Z,1628890628.698 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:37:09.081Z,1628890629.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
011,000,00337,183,80,80,8E,FF
2021-08-13T21:37:09.082Z,1628890629.082 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:37:09.082Z,1628890629.082 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:37:09.083Z,1628890629.083 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:37:09.481Z,1628890629.481 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:37:09.893Z,1628890629.893 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC9,000,0030C,184,80,80,B6,FF
2021-08-13T21:37:09.893Z,1628890629.893 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:37:09.923Z,1628890629.923 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:37:10.321Z,1628890630.321 [Micromodem](INFO): Nmea in: $SNTTA,,,,,213710.65*5B

2021-08-13T21:37:10.373Z,1628890630.373 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.299998 m, bearing: 63.269606 deg, deltaT: 4.461815 s, approachRate: -0.578240 m/s, LOS rate: 0.526918 deg/s, posRepo size: 4
2021-08-13T21:37:10.375Z,1628890630.375 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.299998 m,
      bearing: 63.269606 deg,
      approachRate: -0.578240 m/s,
      LOS rate: 0.526918 deg/s,
      cmd update: 1.580755 deg/s,
      cmd heading: 56.618967 deg,
      new cmd heading: 56.794623 deg.

2021-08-13T21:37:12.728Z,1628890632.728 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:37:13.113Z,1628890633.113 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:37:13.113Z,1628890633.113 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:37:13.113Z,1628890633.113 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:37:13.114Z,1628890633.114 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:37:13.526Z,1628890633.526 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC9,000,0030C,184,80,80,B6,FF
2021-08-13T21:37:13.526Z,1628890633.526 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:37:13.526Z,1628890633.526 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:37:13.528Z,1628890633.528 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:37:13.924Z,1628890633.924 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:37:14.339Z,1628890634.339 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,01B,000,002E6,185,80,80,7D,FF
2021-08-13T21:37:14.339Z,1628890634.339 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:37:14.361Z,1628890634.361 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:37:14.779Z,1628890634.779 [Micromodem](INFO): Nmea in: $SNTTA,0.034058,,,,213715.10*48

2021-08-13T21:37:14.868Z,1628890634.868 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.020000 m, bearing: 60.698566 deg, deltaT: 4.436935 s, approachRate: -0.513868 m/s, LOS rate: -0.579463 deg/s, posRepo size: 4
2021-08-13T21:37:14.870Z,1628890634.870 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.020000 m,
      bearing: 60.698566 deg,
      approachRate: -0.513868 m/s,
      LOS rate: -0.579463 deg/s,
      cmd update: -1.738389 deg/s,
      cmd heading: 63.632417 deg,
      new cmd heading: 64.433830 deg.

2021-08-13T21:37:17.222Z,1628890637.222 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:37:17.565Z,1628890637.565 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:37:17.565Z,1628890637.565 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:37:17.565Z,1628890637.565 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:37:17.566Z,1628890637.566 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:37:17.969Z,1628890637.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
01B,000,002E6,185,80,80,7D,FF
2021-08-13T21:37:17.969Z,1628890637.969 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:37:17.969Z,1628890637.969 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:37:17.971Z,1628890637.971 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:37:18.377Z,1628890638.377 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:37:18.773Z,1628890638.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,068,000,002C7,187,80,80,9A,FF
2021-08-13T21:37:18.773Z,1628890638.773 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:37:18.841Z,1628890638.841 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:37:19.213Z,1628890639.213 [Micromodem](INFO): Nmea in: $SNTTA,,,,,213719.54*50

2021-08-13T21:37:19.279Z,1628890639.279 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.160000 m, bearing: 62.685181 deg, deltaT: 4.480675 s, approachRate: -0.415116 m/s, LOS rate: 0.443374 deg/s, posRepo size: 4
2021-08-13T21:37:19.281Z,1628890639.281 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.160000 m,
      bearing: 62.685181 deg,
      approachRate: -0.415116 m/s,
      LOS rate: 0.443374 deg/s,
      cmd update: 1.330122 deg/s,
      cmd heading: 55.908446 deg,
      new cmd heading: 55.076305 deg.

2021-08-13T21:37:21.627Z,1628890641.627 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:37:22.001Z,1628890642.001 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:37:22.001Z,1628890642.001 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:37:22.001Z,1628890642.001 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:37:22.002Z,1628890642.002 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:37:22.409Z,1628890642.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
068,000,002C7,187,80,80,9A,FF
2021-08-13T21:37:22.409Z,1628890642.409 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:37:22.409Z,1628890642.409 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:37:22.411Z,1628890642.411 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:37:22.839Z,1628890642.839 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:37:23.213Z,1628890643.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DB5,000,002B7,188,80,80,8B,FF
2021-08-13T21:37:23.213Z,1628890643.213 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:37:23.275Z,1628890643.275 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:37:23.658Z,1628890643.658 [Micromodem](INFO): Nmea in: $SNTTA,0.044128,,,,213723.98*4C

2021-08-13T21:37:23.735Z,1628890643.735 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-08-13T21:37:23.735Z,1628890643.735 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-08-13T21:37:23.802Z,1628890643.802 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-08-13T21:37:23.802Z,1628890643.802 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-13T21:37:23.803Z,1628890643.803 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-08-13T21:37:23.818Z,1628890643.818 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.199998 m 
2021-08-13T21:37:23.819Z,1628890643.819 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-08-13T21:37:23.819Z,1628890643.819 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-08-13T21:37:23.819Z,1628890643.819 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-08-13T21:37:23.835Z,1628890643.835 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.199998 m, bearing: 90.045751 deg, deltaT: 4.434512 s, approachRate: -0.216484 m/s, LOS rate: 6.169917 deg/s, posRepo size: 4
2021-08-13T21:37:23.847Z,1628890643.847 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.199998 m,
      bearing: 90.045751 deg,
      approachRate: -0.216484 m/s,
      LOS rate: 6.169917 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 61.856999 deg,
      new cmd heading: 62.590966 deg.

2021-08-13T21:37:24.065Z,1628890644.065 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210813T213724: (41.552319, -70.708603)
2021-08-13T21:37:24.065Z,1628890644.065 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-08-13T21:37:24.065Z,1628890644.065 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-08-13T21:37:24.066Z,1628890644.066 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-13T21:37:24.066Z,1628890644.066 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-08-13T21:37:24.066Z,1628890644.066 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-13T21:37:24.066Z,1628890644.066 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-08-13T21:37:24.066Z,1628890644.066 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-08-13T21:37:24.066Z,1628890644.066 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-08-13T21:37:26.079Z,1628890646.079 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:37:26.453Z,1628890646.453 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:37:26.453Z,1628890646.453 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:37:26.453Z,1628890646.453 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:37:26.454Z,1628890646.454 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:37:26.885Z,1628890646.885 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DB5,000,002B7,188,80,80,8B,FF
2021-08-13T21:37:26.885Z,1628890646.885 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:37:26.885Z,1628890646.885 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:37:26.887Z,1628890646.887 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:37:27.265Z,1628890647.265 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:37:27.661Z,1628890647.661 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EDC,000,002C8,187,80,80,89,FF
2021-08-13T21:37:27.661Z,1628890647.661 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:37:27.681Z,1628890647.681 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:37:28.084Z,1628890648.084 [Micromodem](INFO): Nmea in: $SNTTA,0.016707,,,,213728.46*48

2021-08-13T21:37:28.134Z,1628890648.134 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.220001 m, bearing: 85.291871 deg, deltaT: 4.405627 s, approachRate: 0.231523 m/s, LOS rate: -1.079047 deg/s, posRepo size: 4
2021-08-13T21:37:28.140Z,1628890648.140 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.220001 m,
      bearing: 85.291871 deg,
      approachRate: 0.231523 m/s,
      LOS rate: -1.079047 deg/s,
      cmd update: -3.237142 deg/s,
      cmd heading: 114.727165 deg,
      new cmd heading: 120.197425 deg.

2021-08-13T21:37:30.530Z,1628890650.530 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:37:30.909Z,1628890650.909 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:37:30.909Z,1628890650.909 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:37:30.909Z,1628890650.909 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:37:30.910Z,1628890650.910 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:37:31.289Z,1628890651.289 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EDC,000,002C8,187,80,80,89,FF
2021-08-13T21:37:31.290Z,1628890651.290 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:37:31.290Z,1628890651.290 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:37:31.291Z,1628890651.291 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:37:31.705Z,1628890651.705 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:37:32.101Z,1628890652.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F15,000,002F9,186,80,80,89,FF
2021-08-13T21:37:32.101Z,1628890652.101 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:37:32.157Z,1628890652.157 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:37:32.549Z,1628890652.549 [Micromodem](INFO): Nmea in: $SNTTA,,,,,213732.87*57

2021-08-13T21:37:32.571Z,1628890652.571 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.160001 m, bearing: 99.622578 deg, deltaT: 4.475542 s, approachRate: 0.656904 m/s, LOS rate: 3.202005 deg/s, posRepo size: 4
2021-08-13T21:37:32.574Z,1628890652.574 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.160001 m,
      bearing: 99.622578 deg,
      approachRate: 0.656904 m/s,
      LOS rate: 3.202005 deg/s,
      cmd update: 9.606015 deg/s,
      cmd heading: 100.239127 deg,
      new cmd heading: 98.887756 deg.

2021-08-13T21:37:35.039Z,1628890655.039 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:37:35.341Z,1628890655.341 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:37:35.341Z,1628890655.341 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:37:35.341Z,1628890655.341 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:37:35.342Z,1628890655.342 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:37:35.753Z,1628890655.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F15,000,002F9,186,80,80,89,FF
2021-08-13T21:37:35.753Z,1628890655.753 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:37:35.753Z,1628890655.753 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:37:35.755Z,1628890655.755 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:37:36.153Z,1628890656.153 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:37:36.561Z,1628890656.561 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE0,000,00308,186,80,80,9E,FF
2021-08-13T21:37:36.561Z,1628890656.561 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:37:36.582Z,1628890656.582 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:37:37.010Z,1628890657.010 [Micromodem](INFO): Nmea in: $SNTTA,0.035036,,,,213737.33*40

2021-08-13T21:37:37.071Z,1628890657.071 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.059999 m, bearing: 121.446583 deg, deltaT: 4.425221 s, approachRate: 0.203379 m/s, LOS rate: 4.931732 deg/s, posRepo size: 4
2021-08-13T21:37:37.078Z,1628890657.078 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.059999 m,
      bearing: 121.446583 deg,
      approachRate: 0.203379 m/s,
      LOS rate: 4.931732 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 142.747616 deg,
      new cmd heading: 147.471441 deg.

2021-08-13T21:37:39.092Z,1628890659.092 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:37:39.385Z,1628890659.385 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:37:39.385Z,1628890659.385 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:37:39.385Z,1628890659.385 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:37:39.386Z,1628890659.386 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:37:39.803Z,1628890659.803 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE0,000,00308,186,80,80,9E,FF
2021-08-13T21:37:39.803Z,1628890659.803 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:37:39.804Z,1628890659.804 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:37:39.810Z,1628890659.810 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:37:40.204Z,1628890660.204 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:37:41.027Z,1628890661.027 [Micromodem](INFO): Nmea in: $SNTTA,0.007062,0.472367,,,213741.38*57

2021-08-13T21:37:41.874Z,1628890661.874 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:37:43.421Z,1628890663.421 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
8,186,80,80,9E,FF
2021-08-13T21:37:43.421Z,1628890663.421 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
8,186,80,80,9E,FF
2021-08-13T21:37:43.421Z,1628890663.421 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T21:37:44.669Z,1628890664.669 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:37:45.041Z,1628890665.041 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:37:45.041Z,1628890665.041 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:37:45.041Z,1628890665.041 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:37:45.042Z,1628890665.042 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:37:45.457Z,1628890665.457 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
8,186,80,80,9E,FF
2021-08-13T21:37:45.457Z,1628890665.457 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:37:45.458Z,1628890665.458 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:37:45.460Z,1628890665.460 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:37:45.884Z,1628890665.884 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:37:46.265Z,1628890666.265 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E28,000,0033A,187,80,80,83,FF
2021-08-13T21:37:46.265Z,1628890666.265 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:37:46.286Z,1628890666.286 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:37:46.685Z,1628890666.685 [Micromodem](INFO): Nmea in: $SNTTA,,,,,213747.03*59

2021-08-13T21:37:46.725Z,1628890666.725 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.059997 m, bearing: 172.420681 deg, deltaT: 9.703740 s, approachRate: 0.309159 m/s, LOS rate: 5.253036 deg/s, posRepo size: 4
2021-08-13T21:37:46.725Z,1628890666.725 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 12.06 m. Rolling out.
2021-08-13T21:37:46.725Z,1628890666.725 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-08-13T21:37:47.148Z,1628890667.148 [ElevatorOffsetCalculator](INFO): Removing expired estimator for commanded vars: speed 1.00 m/s, pitch 30.00 deg, mass-position 2.95 mm.
2021-08-13T21:37:47.160Z,1628890667.160 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2021-08-13T21:37:47.161Z,1628890667.161 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-13T21:37:47.161Z,1628890667.161 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2021-08-13T21:37:47.161Z,1628890667.161 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2021-08-13T21:37:47.161Z,1628890667.161 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2021-08-13T21:37:47.161Z,1628890667.161 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2021-08-13T21:37:47.161Z,1628890667.161 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-08-13T21:37:49.154Z,1628890669.154 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:37:49.498Z,1628890669.498 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:37:49.498Z,1628890669.498 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:37:49.498Z,1628890669.498 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:37:49.499Z,1628890669.499 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:37:49.891Z,1628890669.891 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E28,000,0033A,187,80,80,83,FF
2021-08-13T21:37:49.891Z,1628890669.891 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:37:49.892Z,1628890669.892 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:37:49.893Z,1628890669.894 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:37:50.299Z,1628890670.299 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:37:50.697Z,1628890670.697 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E94,000,0034B,186,80,80,94,FF
2021-08-13T21:37:50.697Z,1628890670.697 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:37:50.717Z,1628890670.717 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:37:51.141Z,1628890671.141 [Micromodem](INFO): Nmea in: $SNTTA,0.176530,0.470141,,,213751.47*5F

2021-08-13T21:37:51.202Z,1628890671.202 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.080002 m, bearing: 183.396890 deg, deltaT: 4.430937 s, approachRate: 0.230201 m/s, LOS rate: 2.477176 deg/s, posRepo size: 4
2021-08-13T21:37:53.578Z,1628890673.578 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:37:53.923Z,1628890673.923 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:37:53.923Z,1628890673.923 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:37:53.923Z,1628890673.923 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:37:53.924Z,1628890673.924 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:37:53.933Z,1628890673.933 [PowerOnly](INFO): Powering down loadControl
2021-08-13T21:37:54.343Z,1628890674.343 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E94,000,0034B,186,80,80,94,FF
2021-08-13T21:37:54.343Z,1628890674.343 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:37:54.343Z,1628890674.343 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:37:54.346Z,1628890674.346 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:37:54.736Z,1628890674.736 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:37:55.138Z,1628890675.138 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DD8,000,00353,189,80,80,A1,FF
2021-08-13T21:37:55.138Z,1628890675.138 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:37:55.234Z,1628890675.234 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:37:55.577Z,1628890675.577 [Micromodem](INFO): Nmea in: $SNTTA,0.033777,,,,213755.92*4B

2021-08-13T21:37:55.612Z,1628890675.612 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.559999 m, bearing: 205.095363 deg, deltaT: 4.517602 s, approachRate: 0.106251 m/s, LOS rate: 4.803095 deg/s, posRepo size: 4
2021-08-13T21:37:57.000Z,1628890678.000 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:37:58.385Z,1628890678.385 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:37:58.385Z,1628890678.385 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:37:58.385Z,1628890678.385 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:37:58.386Z,1628890678.386 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:37:58.788Z,1628890678.788 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DD8,000,00353,189,80,80,A1,FF
2021-08-13T21:37:58.788Z,1628890678.788 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:37:58.789Z,1628890678.789 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:37:58.790Z,1628890678.790 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:37:59.193Z,1628890679.193 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:37:59.589Z,1628890679.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E1D,000,00357,186,80,80,63,FF
2021-08-13T21:37:59.589Z,1628890679.589 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:37:59.609Z,1628890679.609 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:38:00.022Z,1628890680.022 [Micromodem](INFO): Nmea in: $SNTTA,0.044268,,,,213800.36*41

2021-08-13T21:38:00.071Z,1628890680.071 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.800002 m, bearing: 208.901705 deg, deltaT: 4.374167 s, approachRate: 0.054868 m/s, LOS rate: 0.870187 deg/s, posRepo size: 4
2021-08-13T21:38:02.462Z,1628890682.462 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:38:02.829Z,1628890682.829 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:38:02.830Z,1628890682.830 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:38:02.830Z,1628890682.830 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:38:02.836Z,1628890682.836 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:38:03.217Z,1628890683.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E1D,000,00357,186,80,80,63,FF
2021-08-13T21:38:03.217Z,1628890683.217 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:38:03.217Z,1628890683.217 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:38:03.219Z,1628890683.219 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:38:03.629Z,1628890683.629 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:38:04.025Z,1628890684.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2E5,000,00358,189,80,80,69,FF
2021-08-13T21:38:04.025Z,1628890684.025 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:38:04.056Z,1628890684.056 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:38:04.465Z,1628890684.465 [Micromodem](INFO): Nmea in: $SNTTA,,,,,213804.79*5C

2021-08-13T21:38:04.501Z,1628890684.501 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.860000 m, bearing: 154.387178 deg, deltaT: 4.448363 s, approachRate: 0.013488 m/s, LOS rate: -12.254964 deg/s, posRepo size: 4
2021-08-13T21:38:06.918Z,1628890686.918 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:38:07.257Z,1628890687.257 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:38:07.257Z,1628890687.257 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:38:07.257Z,1628890687.257 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:38:07.258Z,1628890687.258 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:38:07.666Z,1628890687.666 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2E5,000,00358,189,80,80,69,FF
2021-08-13T21:38:07.666Z,1628890687.666 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:38:07.666Z,1628890687.666 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:38:07.668Z,1628890687.668 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:38:08.069Z,1628890688.069 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:38:08.469Z,1628890688.469 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2D6,000,00359,189,80,80,5C,FF
2021-08-13T21:38:08.469Z,1628890688.469 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:38:08.489Z,1628890688.489 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:38:08.918Z,1628890688.918 [Micromodem](INFO): Nmea in: $SNTTA,,,,,213809.24*59

2021-08-13T21:38:09.029Z,1628890689.029 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.919997 m, bearing: 160.101943 deg, deltaT: 4.431978 s, approachRate: 0.013537 m/s, LOS rate: 1.289439 deg/s, posRepo size: 4
2021-08-13T21:38:11.010Z,1628890691.010 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:38:11.326Z,1628890691.326 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:38:11.327Z,1628890691.327 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:38:11.327Z,1628890691.327 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:38:11.350Z,1628890691.350 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:38:11.701Z,1628890691.701 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2D6,000,00359,189,80,80,5C,FF
2021-08-13T21:38:11.702Z,1628890691.702 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:38:11.702Z,1628890691.702 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:38:11.704Z,1628890691.704 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:38:12.148Z,1628890692.148 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:38:12.549Z,1628890692.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,35F,000,00359,189,80,80,36,FF
2021-08-13T21:38:12.550Z,1628890692.550 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:38:12.569Z,1628890692.569 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:38:12.989Z,1628890692.989 [Micromodem](INFO): Nmea in: $SNTTA,,0.098102,,,213813.28*42

2021-08-13T21:38:13.086Z,1628890693.086 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.919997 m, bearing: 157.181832 deg, deltaT: 4.079735 s, approachRate: 0.000000 m/s, LOS rate: -0.715760 deg/s, posRepo size: 4
2021-08-13T21:38:15.087Z,1628890695.087 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:38:15.377Z,1628890695.377 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:38:15.377Z,1628890695.377 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:38:15.377Z,1628890695.377 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:38:15.378Z,1628890695.378 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:38:15.784Z,1628890695.784 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
35F,000,00359,189,80,80,36,FF
2021-08-13T21:38:15.785Z,1628890695.785 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:38:15.785Z,1628890695.785 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:38:15.786Z,1628890695.786 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:38:16.189Z,1628890696.189 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:38:16.597Z,1628890696.597 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,00357,189,80,80,4A,FF
2021-08-13T21:38:16.597Z,1628890696.597 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:38:16.617Z,1628890696.617 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:38:17.013Z,1628890697.013 [Micromodem](INFO): Nmea in: $SNTTA,0.120282,0.465082,,,213817.36*53

2021-08-13T21:38:17.128Z,1628890697.128 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.800002 m, bearing: 268.266635 deg, deltaT: 4.048157 s, approachRate: -0.029642 m/s, LOS rate: 27.440833 deg/s, posRepo size: 4
2021-08-13T21:38:19.434Z,1628890699.434 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:38:19.842Z,1628890699.842 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:38:19.842Z,1628890699.842 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:38:19.842Z,1628890699.842 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:38:19.843Z,1628890699.843 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:38:20.233Z,1628890700.233 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,00357,189,80,80,4A,FF
2021-08-13T21:38:20.234Z,1628890700.234 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:38:20.234Z,1628890700.234 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:38:20.235Z,1628890700.235 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:38:20.637Z,1628890700.637 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:38:21.033Z,1628890701.033 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,302,000,00356,189,80,80,66,FF
2021-08-13T21:38:21.033Z,1628890701.033 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:38:21.067Z,1628890701.067 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:38:21.469Z,1628890701.469 [Micromodem](INFO): Nmea in: $SNTTA,,,,,213821.81*5C

2021-08-13T21:38:21.491Z,1628890701.491 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.739999 m, bearing: 168.937899 deg, deltaT: 4.450682 s, approachRate: -0.013482 m/s, LOS rate: -22.317645 deg/s, posRepo size: 4
2021-08-13T21:38:23.923Z,1628890703.923 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:38:24.274Z,1628890704.274 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:38:24.274Z,1628890704.274 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:38:24.274Z,1628890704.274 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:38:24.275Z,1628890704.275 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:38:24.669Z,1628890704.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
302,000,00356,189,80,80,66,FF
2021-08-13T21:38:24.669Z,1628890704.669 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:38:24.669Z,1628890704.669 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:38:24.671Z,1628890704.671 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:38:25.087Z,1628890705.087 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:38:25.485Z,1628890705.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E9A,000,00356,186,80,80,6A,FF
2021-08-13T21:38:25.485Z,1628890705.485 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:38:25.530Z,1628890705.530 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:38:25.929Z,1628890705.929 [Micromodem](INFO): Nmea in: $SNTTA,0.048018,,,,213826.24*4F

2021-08-13T21:38:26.035Z,1628890706.035 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.739999 m, bearing: 228.581173 deg, deltaT: 4.462343 s, approachRate: 0.000000 m/s, LOS rate: 13.365910 deg/s, posRepo size: 4
2021-08-13T21:38:28.352Z,1628890708.352 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:38:28.725Z,1628890708.725 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:38:28.725Z,1628890708.725 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:38:28.725Z,1628890708.725 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:38:28.726Z,1628890708.726 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:38:29.117Z,1628890709.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E9A,000,00356,186,80,80,6A,FF
2021-08-13T21:38:29.118Z,1628890709.118 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:38:29.118Z,1628890709.118 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:38:29.120Z,1628890709.120 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:38:29.525Z,1628890709.525 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:38:29.921Z,1628890709.921 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,00362,189,80,80,67,FF
2021-08-13T21:38:29.922Z,1628890709.922 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:38:30.026Z,1628890710.026 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:38:30.337Z,1628890710.337 [Micromodem](INFO): Nmea in: $SNTTA,0.371430,0.371486,,,213830.69*57

2021-08-13T21:38:30.398Z,1628890710.398 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.459998 m, bearing: 277.597002 deg, deltaT: 4.496389 s, approachRate: 0.160128 m/s, LOS rate: 10.901154 deg/s, posRepo size: 4
2021-08-13T21:38:32.811Z,1628890712.811 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:38:33.161Z,1628890713.161 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:38:33.161Z,1628890713.161 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:38:33.161Z,1628890713.161 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:38:33.162Z,1628890713.162 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:38:33.563Z,1628890713.563 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,00362,189,80,80,67,FF
2021-08-13T21:38:33.563Z,1628890713.563 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:38:33.563Z,1628890713.563 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:38:33.565Z,1628890713.565 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:38:33.989Z,1628890713.989 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:38:34.377Z,1628890714.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,286,000,00353,188,80,80,6B,FF
2021-08-13T21:38:34.377Z,1628890714.377 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:38:34.447Z,1628890714.447 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:38:34.821Z,1628890714.821 [Micromodem](INFO): Nmea in: $SNTTA,0.031998,,,,213835.14*41

2021-08-13T21:38:34.898Z,1628890714.898 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.559999 m, bearing: 183.300366 deg, deltaT: 4.420591 s, approachRate: -0.203592 m/s, LOS rate: -21.331229 deg/s, posRepo size: 4
2021-08-13T21:38:37.240Z,1628890717.240 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:38:37.597Z,1628890717.597 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:38:37.597Z,1628890717.597 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:38:37.597Z,1628890717.597 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:38:37.598Z,1628890717.598 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:38:38.042Z,1628890718.042 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
286,000,00353,188,80,80,6B,FF
2021-08-13T21:38:38.042Z,1628890718.042 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:38:38.042Z,1628890718.042 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:38:38.044Z,1628890718.044 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:38:38.465Z,1628890718.465 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:38:38.893Z,1628890718.893 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2A2,000,00354,189,80,80,6E,FF
2021-08-13T21:38:38.893Z,1628890718.893 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:38:38.943Z,1628890718.943 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:38:39.301Z,1628890719.301 [Micromodem](INFO): Nmea in: $SNTTA,0.025435,,,,213839.62*43

2021-08-13T21:38:39.345Z,1628890719.345 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.619998 m, bearing: 184.424929 deg, deltaT: 4.495779 s, approachRate: 0.013346 m/s, LOS rate: 0.250138 deg/s, posRepo size: 4
2021-08-13T21:38:41.706Z,1628890721.706 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:38:42.101Z,1628890722.101 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:38:42.101Z,1628890722.101 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:38:42.101Z,1628890722.101 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:38:42.102Z,1628890722.102 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:38:42.501Z,1628890722.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2A2,000,00354,189,80,80,6E,FF
2021-08-13T21:38:42.501Z,1628890722.501 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:38:42.501Z,1628890722.501 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:38:42.503Z,1628890722.503 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:38:42.908Z,1628890722.908 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:38:43.309Z,1628890723.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2B3,000,00352,188,80,80,6B,FF
2021-08-13T21:38:43.309Z,1628890723.309 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:38:43.328Z,1628890723.328 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:38:43.761Z,1628890723.761 [Micromodem](INFO): Nmea in: $SNTTA,0.048382,,,,213844.07*4A

2021-08-13T21:38:43.777Z,1628890723.777 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.500002 m, bearing: 185.453119 deg, deltaT: 4.385769 s, approachRate: -0.027360 m/s, LOS rate: 0.234438 deg/s, posRepo size: 4
2021-08-13T21:38:44.181Z,1628890724.181 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-13T21:38:46.197Z,1628890726.197 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:38:46.541Z,1628890726.541 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:38:46.541Z,1628890726.541 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:38:46.541Z,1628890726.541 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:38:46.542Z,1628890726.542 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:38:46.946Z,1628890726.946 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2B3,000,00352,188,80,80,6B,FF
2021-08-13T21:38:46.946Z,1628890726.946 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:38:46.946Z,1628890726.946 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:38:46.948Z,1628890726.948 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:38:47.349Z,1628890727.349 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:38:47.749Z,1628890727.749 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2C1,000,00352,18A,80,80,60,FF
2021-08-13T21:38:47.749Z,1628890727.749 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:38:47.858Z,1628890727.858 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:38:48.173Z,1628890728.173 [Micromodem](INFO): Nmea in: $SNTTA,0.055127,0.458357,,,213848.52*51

2021-08-13T21:38:48.227Z,1628890728.227 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.500002 m, bearing: 186.468058 deg, deltaT: 4.529366 s, approachRate: 0.000000 m/s, LOS rate: 0.224080 deg/s, posRepo size: 4
2021-08-13T21:38:50.610Z,1628890730.610 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:38:50.981Z,1628890730.981 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:38:50.981Z,1628890730.981 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:38:50.981Z,1628890730.981 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:38:50.982Z,1628890730.982 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:38:51.393Z,1628890731.393 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2C1,000,00352,18A,80,80,60,FF
2021-08-13T21:38:51.393Z,1628890731.393 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:38:51.393Z,1628890731.393 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:38:51.395Z,1628890731.395 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:38:51.799Z,1628890731.799 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:38:52.217Z,1628890732.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DF2,000,0035E,187,80,80,4D,FF
2021-08-13T21:38:52.217Z,1628890732.217 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:38:52.297Z,1628890732.297 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:38:52.637Z,1628890732.637 [Micromodem](INFO): Nmea in: $SNTTA,0.036139,,,,213852.97*4F

2021-08-13T21:38:52.669Z,1628890732.669 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.220002 m, bearing: 249.692318 deg, deltaT: 4.438848 s, approachRate: 0.162204 m/s, LOS rate: 14.243394 deg/s, posRepo size: 4
2021-08-13T21:38:55.053Z,1628890735.053 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:38:55.437Z,1628890735.437 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:38:55.437Z,1628890735.437 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:38:55.437Z,1628890735.437 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:38:55.438Z,1628890735.438 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:38:55.877Z,1628890735.877 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DF2,000,0035E,187,80,80,4D,FF
2021-08-13T21:38:55.877Z,1628890735.877 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:38:55.877Z,1628890735.877 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:38:55.879Z,1628890735.879 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:38:56.248Z,1628890736.248 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:38:56.645Z,1628890736.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DEF,000,00350,188,80,80,34,FF
2021-08-13T21:38:56.646Z,1628890736.645 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:38:56.701Z,1628890736.701 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:38:57.067Z,1628890737.067 [Micromodem](INFO): Nmea in: $SNTTA,,0.032310,,,213857.45*48

2021-08-13T21:38:57.113Z,1628890737.113 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.380001 m, bearing: 251.359431 deg, deltaT: 4.405638 s, approachRate: -0.190665 m/s, LOS rate: 0.378404 deg/s, posRepo size: 4
2021-08-13T21:38:59.498Z,1628890739.498 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:38:59.889Z,1628890739.889 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:38:59.889Z,1628890739.889 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:38:59.889Z,1628890739.889 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:38:59.890Z,1628890739.890 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:39:00.285Z,1628890740.285 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DEF,000,00350,188,80,80,34,FF
2021-08-13T21:39:00.285Z,1628890740.285 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:39:00.285Z,1628890740.285 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:39:00.287Z,1628890740.287 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:39:00.749Z,1628890740.749 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:39:01.145Z,1628890741.145 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DEF,000,0035D,187,80,80,76,FF
2021-08-13T21:39:01.145Z,1628890741.145 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:39:01.203Z,1628890741.203 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:39:01.561Z,1628890741.561 [Micromodem](INFO): Nmea in: $SNTTA,0.046370,,,,213901.86*40

2021-08-13T21:39:01.604Z,1628890741.604 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.159999 m, bearing: 253.181616 deg, deltaT: 4.500613 s, approachRate: 0.173309 m/s, LOS rate: 0.404875 deg/s, posRepo size: 4
2021-08-13T21:39:04.072Z,1628890744.072 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:39:04.377Z,1628890744.377 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:39:04.377Z,1628890744.377 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:39:04.377Z,1628890744.377 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:39:04.378Z,1628890744.378 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:39:04.784Z,1628890744.784 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DEF,000,0035D,187,80,80,76,FF
2021-08-13T21:39:04.784Z,1628890744.784 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:39:04.784Z,1628890744.784 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:39:04.786Z,1628890744.786 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:39:05.217Z,1628890745.217 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:39:05.597Z,1628890745.597 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DFB,000,00350,187,80,80,6B,FF
2021-08-13T21:39:05.597Z,1628890745.597 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:39:05.617Z,1628890745.617 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:39:06.083Z,1628890746.083 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.380001 m, bearing: 253.237542 deg, deltaT: 4.413965 s, approachRate: -0.176711 m/s, LOS rate: 0.012670 deg/s, posRepo size: 4
2021-08-13T21:39:08.133Z,1628890748.133 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:39:08.417Z,1628890748.417 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:39:08.417Z,1628890748.417 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:39:08.417Z,1628890748.417 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:39:08.418Z,1628890748.418 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:39:08.829Z,1628890748.829 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DFB,000,00350,187,80,80,6B,FF
2021-08-13T21:39:08.829Z,1628890748.829 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:39:08.830Z,1628890748.830 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:39:08.838Z,1628890748.838 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:39:09.228Z,1628890749.228 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:39:09.633Z,1628890749.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DE2,000,0034F,188,80,80,5B,FF
2021-08-13T21:39:09.634Z,1628890749.634 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:39:09.652Z,1628890749.652 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:39:10.086Z,1628890750.086 [Micromodem](INFO): Nmea in: $SNTTA,,,,,213910.41*53

2021-08-13T21:39:10.164Z,1628890750.164 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.319998 m, bearing: 255.764466 deg, deltaT: 4.035584 s, approachRate: -0.014869 m/s, LOS rate: 0.626161 deg/s, posRepo size: 4
2021-08-13T21:39:12.495Z,1628890752.495 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:39:12.881Z,1628890752.881 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:39:12.881Z,1628890752.881 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:39:12.881Z,1628890752.881 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:39:12.882Z,1628890752.882 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:39:13.265Z,1628890753.265 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DE2,000,0034F,188,80,80,5B,FF
2021-08-13T21:39:13.265Z,1628890753.265 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:39:13.266Z,1628890753.266 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:39:13.267Z,1628890753.267 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:39:13.677Z,1628890753.677 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:39:14.087Z,1628890754.087 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DE6,000,0034F,189,80,80,94,FF
2021-08-13T21:39:14.102Z,1628890754.102 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:39:14.105Z,1628890754.105 [Micromodem](INFO): Nmea in: $SNTTA,0.297754,0.297791,,,213914.84*57

2021-08-13T21:39:14.201Z,1628890754.201 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:39:14.519Z,1628890754.519 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.319998 m, bearing: 255.920986 deg, deltaT: 4.548650 s, approachRate: 0.000000 m/s, LOS rate: 0.034410 deg/s, posRepo size: 4
2021-08-13T21:39:16.941Z,1628890756.941 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:39:17.305Z,1628890757.305 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:39:17.305Z,1628890757.305 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:39:17.305Z,1628890757.305 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:39:17.306Z,1628890757.306 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:39:17.709Z,1628890757.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DE6,000,0034F,189,80,80,94,FF
2021-08-13T21:39:17.709Z,1628890757.709 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:39:17.709Z,1628890757.709 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:39:17.711Z,1628890757.711 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:39:18.125Z,1628890758.125 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:39:18.517Z,1628890758.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E03,000,0034E,186,80,80,79,FF
2021-08-13T21:39:18.517Z,1628890758.517 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:39:18.536Z,1628890758.536 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:39:18.974Z,1628890758.974 [Micromodem](INFO): Nmea in: $SNTTA,0.025375,,,,213919.28*4D

2021-08-13T21:39:19.010Z,1628890759.010 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.260000 m, bearing: 255.223979 deg, deltaT: 4.335529 s, approachRate: -0.013839 m/s, LOS rate: -0.160766 deg/s, posRepo size: 4
2021-08-13T21:39:21.454Z,1628890761.454 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:39:21.749Z,1628890761.749 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:39:21.749Z,1628890761.749 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:39:21.749Z,1628890761.749 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:39:21.750Z,1628890761.750 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:39:22.165Z,1628890762.165 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E03,000,0034E,186,80,80,79,FF
2021-08-13T21:39:22.165Z,1628890762.165 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:39:22.166Z,1628890762.166 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:39:22.167Z,1628890762.167 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:39:22.561Z,1628890762.561 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:39:22.965Z,1628890762.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E09,000,00351,187,80,80,A8,FF
2021-08-13T21:39:22.966Z,1628890762.966 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:39:23.036Z,1628890763.036 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:39:23.401Z,1628890763.401 [Micromodem](INFO): Nmea in: $SNTTA,,,,,213923.74*55

2021-08-13T21:39:23.432Z,1628890763.432 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.439999 m, bearing: 255.461998 deg, deltaT: 4.499390 s, approachRate: 0.040005 m/s, LOS rate: 0.052900 deg/s, posRepo size: 4
2021-08-13T21:39:25.852Z,1628890765.852 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:39:26.201Z,1628890766.201 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:39:26.201Z,1628890766.201 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:39:26.201Z,1628890766.201 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:39:26.202Z,1628890766.202 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:39:26.597Z,1628890766.597 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E09,000,00351,187,80,80,A8,FF
2021-08-13T21:39:26.597Z,1628890766.597 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:39:26.597Z,1628890766.597 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:39:26.599Z,1628890766.599 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:39:27.028Z,1628890767.028 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:39:27.413Z,1628890767.413 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E84,000,00352,185,80,80,9B,FF
2021-08-13T21:39:27.413Z,1628890767.413 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:39:27.432Z,1628890767.432 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:39:27.864Z,1628890767.864 [Micromodem](INFO): Nmea in: $SNTTA,0.036668,,,,213928.17*48

2021-08-13T21:39:27.890Z,1628890767.890 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.500002 m, bearing: 250.110408 deg, deltaT: 4.396411 s, approachRate: 0.013648 m/s, LOS rate: -1.217263 deg/s, posRepo size: 4
2021-08-13T21:39:30.302Z,1628890770.302 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:39:30.633Z,1628890770.633 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:39:30.633Z,1628890770.633 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:39:30.633Z,1628890770.633 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:39:30.634Z,1628890770.634 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:39:31.049Z,1628890771.049 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E84,000,00352,185,80,80,9B,FF
2021-08-13T21:39:31.049Z,1628890771.049 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:39:31.049Z,1628890771.049 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:39:31.051Z,1628890771.051 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:39:31.449Z,1628890771.449 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:39:31.881Z,1628890771.881 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E2B,000,0035F,186,80,80,5E,FF
2021-08-13T21:39:31.881Z,1628890771.881 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:39:31.990Z,1628890771.990 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:39:32.268Z,1628890772.268 [Micromodem](INFO): Nmea in: $SNTTA,0.225119,0.407028,,,213932.62*57

2021-08-13T21:39:32.303Z,1628890772.303 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.280000 m, bearing: 255.234416 deg, deltaT: 4.558648 s, approachRate: 0.171103 m/s, LOS rate: 1.124019 deg/s, posRepo size: 4
2021-08-13T21:39:34.694Z,1628890774.694 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:39:35.093Z,1628890775.093 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:39:35.093Z,1628890775.093 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:39:35.094Z,1628890775.094 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:39:35.095Z,1628890775.095 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:39:35.485Z,1628890775.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E2B,000,0035F,186,80,80,5E,FF
2021-08-13T21:39:35.485Z,1628890775.485 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:39:35.486Z,1628890775.486 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:39:35.487Z,1628890775.487 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:39:35.908Z,1628890775.908 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:39:36.293Z,1628890776.293 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F26,000,00361,187,80,80,39,FF
2021-08-13T21:39:36.293Z,1628890776.293 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:39:36.297Z,1628890776.297 [Micromodem](INFO): Nmea in: $SNTTA,0.187662,0.187537,,,213937.06*56

2021-08-13T21:39:36.374Z,1628890776.374 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:39:36.744Z,1628890776.744 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.400001 m, bearing: 243.324506 deg, deltaT: 4.383176 s, approachRate: 0.027378 m/s, LOS rate: -2.717187 deg/s, posRepo size: 4
2021-08-13T21:39:39.181Z,1628890779.181 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:39:39.525Z,1628890779.525 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:39:39.525Z,1628890779.525 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:39:39.525Z,1628890779.525 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:39:39.526Z,1628890779.526 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:39:39.939Z,1628890779.939 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F26,000,00361,187,80,80,39,FF
2021-08-13T21:39:39.939Z,1628890779.939 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:39:39.939Z,1628890779.939 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:39:39.942Z,1628890779.942 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:39:40.337Z,1628890780.337 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:39:40.750Z,1628890780.750 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E81,000,00358,186,80,80,9E,FF
2021-08-13T21:39:40.750Z,1628890780.750 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:39:40.843Z,1628890780.843 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:39:41.181Z,1628890781.181 [Micromodem](INFO): Nmea in: $SNTTA,,,,,213941.51*56

2021-08-13T21:39:41.211Z,1628890781.211 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.860000 m, bearing: 251.831096 deg, deltaT: 4.477397 s, approachRate: -0.120606 m/s, LOS rate: 1.899897 deg/s, posRepo size: 4
2021-08-13T21:39:43.593Z,1628890783.593 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:39:44.020Z,1628890784.020 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:39:44.020Z,1628890784.020 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:39:44.021Z,1628890784.021 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:39:44.021Z,1628890784.021 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:39:44.377Z,1628890784.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E81,000,00358,186,80,80,9E,FF
2021-08-13T21:39:44.377Z,1628890784.377 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:39:44.377Z,1628890784.377 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:39:44.379Z,1628890784.379 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:39:44.784Z,1628890784.784 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:39:45.605Z,1628890785.605 [Micromodem](INFO): Nmea in: $SNTTA,,,,,213945.95*5A

2021-08-13T21:39:46.411Z,1628890786.411 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:39:48.070Z,1628890788.070 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
8,186,80,80,9E,FF
2021-08-13T21:39:48.071Z,1628890788.071 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
8,186,80,80,9E,FF
2021-08-13T21:39:48.071Z,1628890788.071 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T21:39:48.928Z,1628890788.928 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:39:49.225Z,1628890789.225 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:39:49.225Z,1628890789.225 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:39:49.225Z,1628890789.225 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:39:49.226Z,1628890789.226 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:39:49.625Z,1628890789.625 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
8,186,80,80,9E,FF
2021-08-13T21:39:49.625Z,1628890789.625 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:39:49.625Z,1628890789.625 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:39:49.627Z,1628890789.627 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:39:50.069Z,1628890790.069 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:39:50.441Z,1628890790.441 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,24D,000,0035C,189,80,80,65,FF
2021-08-13T21:39:50.441Z,1628890790.441 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:39:50.461Z,1628890790.461 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:39:50.890Z,1628890790.890 [Micromodem](INFO): Nmea in: $SNTTA,0.119258,,,,213951.20*49

2021-08-13T21:39:50.916Z,1628890790.916 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.100001 m, bearing: 203.819374 deg, deltaT: 9.609319 s, approachRate: 0.024976 m/s, LOS rate: -4.996371 deg/s, posRepo size: 4
2021-08-13T21:39:53.293Z,1628890793.293 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:39:53.669Z,1628890793.669 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:39:53.669Z,1628890793.669 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:39:53.669Z,1628890793.669 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:39:53.670Z,1628890793.670 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:39:54.077Z,1628890794.077 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
24D,000,0035C,189,80,80,65,FF
2021-08-13T21:39:54.077Z,1628890794.077 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:39:54.077Z,1628890794.077 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:39:54.079Z,1628890794.079 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:39:54.484Z,1628890794.484 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:39:54.897Z,1628890794.897 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E5B,000,0035C,186,80,80,99,FF
2021-08-13T21:39:54.897Z,1628890794.897 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:39:54.951Z,1628890794.951 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:39:55.309Z,1628890795.309 [Micromodem](INFO): Nmea in: $SNTTA,,,,,213955.65*54

2021-08-13T21:39:55.327Z,1628890795.327 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.100001 m, bearing: 254.734610 deg, deltaT: 4.494705 s, approachRate: 0.000000 m/s, LOS rate: 11.327826 deg/s, posRepo size: 4
2021-08-13T21:39:57.722Z,1628890797.722 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:39:58.117Z,1628890798.117 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:39:58.117Z,1628890798.117 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:39:58.117Z,1628890798.117 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:39:58.118Z,1628890798.118 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:39:58.523Z,1628890798.523 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E5B,000,0035C,186,80,80,99,FF
2021-08-13T21:39:58.523Z,1628890798.523 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:39:58.523Z,1628890798.523 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:39:58.525Z,1628890798.525 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:39:58.929Z,1628890798.929 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:39:59.325Z,1628890799.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E39,000,00360,187,80,80,5E,FF
2021-08-13T21:39:59.325Z,1628890799.325 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:39:59.349Z,1628890799.349 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:39:59.753Z,1628890799.753 [Micromodem](INFO): Nmea in: $SNTTA,0.032916,,,,214000.10*49

2021-08-13T21:39:59.808Z,1628890799.808 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.339997 m, bearing: 256.587066 deg, deltaT: 4.393555 s, approachRate: 0.054625 m/s, LOS rate: 0.421630 deg/s, posRepo size: 4
2021-08-13T21:40:02.219Z,1628890802.219 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:40:02.558Z,1628890802.558 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:40:02.559Z,1628890802.559 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:40:02.559Z,1628890802.559 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:40:02.560Z,1628890802.560 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:40:02.957Z,1628890802.957 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E39,000,00360,187,80,80,5E,FF
2021-08-13T21:40:02.957Z,1628890802.957 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:40:02.957Z,1628890802.957 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:40:02.959Z,1628890802.959 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:40:03.369Z,1628890803.369 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:40:03.777Z,1628890803.777 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E2C,000,00365,186,80,80,5A,FF
2021-08-13T21:40:03.786Z,1628890803.786 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:40:03.903Z,1628890803.903 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:40:04.193Z,1628890804.193 [Micromodem](INFO): Nmea in: $SNTTA,0.451404,0.451154,,,214004.53*5B

2021-08-13T21:40:04.256Z,1628890804.256 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.639997 m, bearing: 257.174709 deg, deltaT: 4.553446 s, approachRate: 0.065884 m/s, LOS rate: 0.129054 deg/s, posRepo size: 4
2021-08-13T21:40:06.618Z,1628890806.618 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:40:06.997Z,1628890806.997 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:40:06.997Z,1628890806.997 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:40:06.998Z,1628890806.998 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:40:06.999Z,1628890806.999 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:40:07.410Z,1628890807.410 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E2C,000,00365,186,80,80,5A,FF
2021-08-13T21:40:07.410Z,1628890807.410 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:40:07.411Z,1628890807.411 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:40:07.413Z,1628890807.413 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:40:07.842Z,1628890807.842 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:40:08.219Z,1628890808.219 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E82,000,0036A,186,80,80,7E,FF
2021-08-13T21:40:08.219Z,1628890808.219 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:40:08.222Z,1628890808.222 [Micromodem](INFO): Nmea in: $SNTTA,0.184960,0.185085,,,214008.99*52

2021-08-13T21:40:08.285Z,1628890808.285 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:40:08.656Z,1628890808.656 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.940002 m, bearing: 252.841418 deg, deltaT: 4.382066 s, approachRate: 0.068462 m/s, LOS rate: -0.988869 deg/s, posRepo size: 4
2021-08-13T21:40:11.075Z,1628890811.075 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:40:11.437Z,1628890811.437 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:40:11.437Z,1628890811.437 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:40:11.437Z,1628890811.437 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:40:11.438Z,1628890811.438 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:40:11.877Z,1628890811.877 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E82,000,0036A,186,80,80,7E,FF
2021-08-13T21:40:11.877Z,1628890811.877 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:40:11.877Z,1628890811.877 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:40:11.879Z,1628890811.879 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:40:12.263Z,1628890812.263 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:40:12.653Z,1628890812.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F83,000,0037E,187,80,80,54,FF
2021-08-13T21:40:12.653Z,1628890812.653 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:40:12.694Z,1628890812.694 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:40:13.078Z,1628890813.078 [Micromodem](INFO): Nmea in: $SNTTA,,,,,214013.45*5A

2021-08-13T21:40:13.125Z,1628890813.125 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.139999 m, bearing: 240.151446 deg, deltaT: 4.409279 s, approachRate: 0.272153 m/s, LOS rate: -2.878015 deg/s, posRepo size: 4
2021-08-13T21:40:15.510Z,1628890815.510 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:40:15.897Z,1628890815.897 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:40:15.897Z,1628890815.897 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:40:15.897Z,1628890815.897 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:40:15.898Z,1628890815.898 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:40:16.285Z,1628890816.285 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F83,000,0037E,187,80,80,54,FF
2021-08-13T21:40:16.285Z,1628890816.285 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:40:16.286Z,1628890816.286 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:40:16.287Z,1628890816.287 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:40:16.693Z,1628890816.693 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:40:17.530Z,1628890817.530 [Micromodem](INFO): Nmea in: $SNTTA,,,,,214017.86*51

2021-08-13T21:40:18.360Z,1628890818.360 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:40:19.937Z,1628890819.937 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
E,187,80,80,54,FF
2021-08-13T21:40:19.938Z,1628890819.938 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
E,187,80,80,54,FF
2021-08-13T21:40:19.938Z,1628890819.938 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T21:40:21.172Z,1628890821.172 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:40:21.537Z,1628890821.537 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:40:21.537Z,1628890821.537 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:40:21.537Z,1628890821.537 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:40:21.538Z,1628890821.538 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:40:21.945Z,1628890821.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
E,187,80,80,54,FF
2021-08-13T21:40:21.945Z,1628890821.945 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:40:21.945Z,1628890821.945 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:40:21.947Z,1628890821.947 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:40:22.357Z,1628890822.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:40:22.766Z,1628890822.766 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,06B,000,00382,186,80,80,57,FF
2021-08-13T21:40:22.766Z,1628890822.766 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:40:22.789Z,1628890822.789 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:40:23.201Z,1628890823.201 [Micromodem](INFO): Nmea in: $SNTTA,0.034684,,,,214023.52*4C

2021-08-13T21:40:23.238Z,1628890823.238 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.380001 m, bearing: 228.838672 deg, deltaT: 10.095421 s, approachRate: 0.023773 m/s, LOS rate: -1.120585 deg/s, posRepo size: 4
2021-08-13T21:40:24.021Z,1628890824.021 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T21:40:25.598Z,1628890825.598 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:40:26.001Z,1628890826.001 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:40:26.002Z,1628890826.002 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:40:26.002Z,1628890826.002 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:40:26.004Z,1628890826.004 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:40:26.395Z,1628890826.395 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
06B,000,00382,186,80,80,57,FF
2021-08-13T21:40:26.395Z,1628890826.395 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:40:26.395Z,1628890826.395 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:40:26.397Z,1628890826.397 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:40:26.827Z,1628890826.827 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:40:27.622Z,1628890827.622 [Micromodem](INFO): Nmea in: $SNTTA,,,,,214027.97*52

2021-08-13T21:40:28.090Z,1628890828.090 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T21:40:28.110Z,1628890828.110 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:40:28.848Z,1628890828.848 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T21:40:30.065Z,1628890830.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
2,186,80,80,57,FF
2021-08-13T21:40:30.065Z,1628890830.065 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
2,186,80,80,57,FF
2021-08-13T21:40:30.065Z,1628890830.065 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T21:40:30.885Z,1628890830.885 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:40:31.245Z,1628890831.245 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:40:31.245Z,1628890831.245 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:40:31.245Z,1628890831.245 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:40:31.246Z,1628890831.246 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:40:31.649Z,1628890831.649 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
2,186,80,80,57,FF
2021-08-13T21:40:31.649Z,1628890831.649 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:40:31.649Z,1628890831.649 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:40:31.651Z,1628890831.651 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:40:32.097Z,1628890832.097 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:40:32.461Z,1628890832.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E63,000,0037B,186,80,80,9F,FF
2021-08-13T21:40:32.462Z,1628890832.462 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:40:32.481Z,1628890832.481 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:40:32.932Z,1628890832.932 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.960001 m, bearing: 254.769744 deg, deltaT: 9.691205 s, approachRate: -0.043338 m/s, LOS rate: 2.675733 deg/s, posRepo size: 4
2021-08-13T21:40:34.122Z,1628890834.122 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T21:40:35.321Z,1628890835.321 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:40:35.693Z,1628890835.693 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:40:35.694Z,1628890835.694 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:40:35.694Z,1628890835.694 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:40:35.695Z,1628890835.695 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:40:36.105Z,1628890836.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E63,000,0037B,186,80,80,9F,FF
2021-08-13T21:40:36.105Z,1628890836.105 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:40:36.106Z,1628890836.106 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:40:36.107Z,1628890836.107 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:40:36.520Z,1628890836.520 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:40:36.925Z,1628890836.925 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E59,000,0037E,186,80,80,85,FF
2021-08-13T21:40:36.925Z,1628890836.925 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:40:36.955Z,1628890836.955 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:40:37.357Z,1628890837.357 [Micromodem](INFO): Nmea in: $SNTTA,,,,,214037.68*53

2021-08-13T21:40:37.376Z,1628890837.376 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.139999 m, bearing: 255.099888 deg, deltaT: 4.473993 s, approachRate: 0.040232 m/s, LOS rate: 0.073792 deg/s, posRepo size: 4
2021-08-13T21:40:39.766Z,1628890839.766 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:40:40.153Z,1628890840.153 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:40:40.153Z,1628890840.153 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:40:40.153Z,1628890840.153 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:40:40.154Z,1628890840.154 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:40:40.554Z,1628890840.554 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E59,000,0037E,186,80,80,85,FF
2021-08-13T21:40:40.554Z,1628890840.554 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:40:40.554Z,1628890840.554 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:40:40.556Z,1628890840.556 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:40:40.969Z,1628890840.969 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:40:41.799Z,1628890841.799 [Micromodem](INFO): Nmea in: $SNTTA,,,,,214042.13*5D

2021-08-13T21:40:42.597Z,1628890842.597 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:40:44.201Z,1628890844.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
E,186,80,80,85,FF
2021-08-13T21:40:44.201Z,1628890844.201 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
E,186,80,80,85,FF
2021-08-13T21:40:44.201Z,1628890844.201 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T21:40:45.421Z,1628890845.421 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:40:45.824Z,1628890845.824 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:40:45.825Z,1628890845.825 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:40:45.825Z,1628890845.825 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:40:45.827Z,1628890845.827 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:40:46.217Z,1628890846.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
E,186,80,80,85,FF
2021-08-13T21:40:46.218Z,1628890846.218 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:40:46.218Z,1628890846.218 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:40:46.220Z,1628890846.220 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:40:46.637Z,1628890846.637 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:40:47.025Z,1628890847.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E7A,000,00389,186,80,80,C0,FF
2021-08-13T21:40:47.025Z,1628890847.025 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:40:47.075Z,1628890847.075 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:40:47.457Z,1628890847.457 [Micromodem](INFO): Nmea in: $SNTTA,,,,,214047.79*54

2021-08-13T21:40:47.488Z,1628890847.488 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.800003 m, bearing: 254.178796 deg, deltaT: 10.120557 s, approachRate: 0.065214 m/s, LOS rate: -0.091012 deg/s, posRepo size: 4
2021-08-13T21:40:49.908Z,1628890849.908 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:40:50.253Z,1628890850.253 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:40:50.253Z,1628890850.253 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:40:50.253Z,1628890850.253 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:40:50.254Z,1628890850.254 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:40:50.665Z,1628890850.665 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E7A,000,00389,186,80,80,C0,FF
2021-08-13T21:40:50.665Z,1628890850.665 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:40:50.665Z,1628890850.665 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:40:50.667Z,1628890850.667 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:40:51.064Z,1628890851.064 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:40:51.473Z,1628890851.473 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E41,000,00399,186,80,80,82,FF
2021-08-13T21:40:51.474Z,1628890851.474 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:40:51.498Z,1628890851.498 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:40:51.921Z,1628890851.921 [Micromodem](INFO): Nmea in: $SNTTA,,,,,214052.24*58

2021-08-13T21:40:51.965Z,1628890851.965 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.759998 m, bearing: 257.149601 deg, deltaT: 4.422665 s, approachRate: 0.217063 m/s, LOS rate: 0.671723 deg/s, posRepo size: 4
2021-08-13T21:40:53.938Z,1628890853.938 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T21:40:54.028Z,1628890854.028 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:40:54.302Z,1628890854.302 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:40:54.302Z,1628890854.302 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:40:54.303Z,1628890854.303 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:40:54.304Z,1628890854.304 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:40:54.707Z,1628890854.707 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E41,000,00399,186,80,80,82,FF
2021-08-13T21:40:54.707Z,1628890854.707 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:40:54.707Z,1628890854.707 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:40:54.709Z,1628890854.709 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:40:55.112Z,1628890855.112 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:40:55.513Z,1628890855.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DED,000,003A7,187,80,80,94,FF
2021-08-13T21:40:55.514Z,1628890855.514 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:40:55.557Z,1628890855.557 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:40:55.946Z,1628890855.946 [Micromodem](INFO): Nmea in: $SNTTA,,0.069197,,,214056.28*4E

2021-08-13T21:40:56.045Z,1628890856.045 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.599998 m, bearing: 261.873551 deg, deltaT: 4.059011 s, approachRate: 0.206947 m/s, LOS rate: 1.163818 deg/s, posRepo size: 4
2021-08-13T21:40:58.404Z,1628890858.404 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:40:58.745Z,1628890858.745 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:40:58.745Z,1628890858.745 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:40:58.745Z,1628890858.745 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:40:58.746Z,1628890858.746 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:40:59.144Z,1628890859.144 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DED,000,003A7,187,80,80,94,FF
2021-08-13T21:40:59.144Z,1628890859.144 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:40:59.145Z,1628890859.145 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:40:59.146Z,1628890859.146 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:40:59.551Z,1628890859.551 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:40:59.949Z,1628890859.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DBA,000,003A9,18A,80,80,75,FF
2021-08-13T21:40:59.950Z,1628890859.950 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:41:00.102Z,1628890860.102 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:41:00.378Z,1628890860.378 [Micromodem](INFO): Nmea in: $SNTTA,0.061464,0.358550,,,214100.72*52

2021-08-13T21:41:00.425Z,1628890860.425 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.719999 m, bearing: 264.760262 deg, deltaT: 4.545791 s, approachRate: 0.026398 m/s, LOS rate: 0.635029 deg/s, posRepo size: 4
2021-08-13T21:41:02.853Z,1628890862.853 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:41:03.177Z,1628890863.177 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:41:03.177Z,1628890863.177 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:41:03.177Z,1628890863.177 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:41:03.178Z,1628890863.178 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:41:03.582Z,1628890863.582 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DBA,000,003A9,18A,80,80,75,FF
2021-08-13T21:41:03.582Z,1628890863.582 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:41:03.583Z,1628890863.583 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:41:03.585Z,1628890863.585 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:41:04.021Z,1628890864.021 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:41:04.394Z,1628890864.394 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,16F,000,003B0,185,80,80,31,FF
2021-08-13T21:41:04.395Z,1628890864.395 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:41:04.462Z,1628890864.462 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:41:04.845Z,1628890864.845 [Micromodem](INFO): Nmea in: $SNTTA,,,,,214105.16*5A

2021-08-13T21:41:04.879Z,1628890864.879 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.140001 m, bearing: 217.736349 deg, deltaT: 4.359807 s, approachRate: 0.096335 m/s, LOS rate: -10.785779 deg/s, posRepo size: 4
2021-08-13T21:41:07.260Z,1628890867.260 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:41:07.621Z,1628890867.621 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:41:07.621Z,1628890867.621 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:41:07.621Z,1628890867.621 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:41:07.622Z,1628890867.622 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:41:08.061Z,1628890868.061 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
16F,000,003B0,185,80,80,31,FF
2021-08-13T21:41:08.061Z,1628890868.061 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:41:08.061Z,1628890868.061 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:41:08.063Z,1628890868.063 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:41:08.583Z,1628890868.583 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:41:09.381Z,1628890869.381 [Micromodem](INFO): Nmea in: $SNTTA,,,,,214109.63*54

2021-08-13T21:41:09.814Z,1628890869.814 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:41:11.401Z,1628890871.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
0,185,80,80,31,FF
2021-08-13T21:41:11.401Z,1628890871.401 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
0,185,80,80,31,FF
2021-08-13T21:41:11.401Z,1628890871.401 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T21:41:12.629Z,1628890872.629 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:41:12.997Z,1628890872.997 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:41:12.998Z,1628890872.998 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:41:12.998Z,1628890872.998 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:41:12.999Z,1628890872.999 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:41:13.421Z,1628890873.421 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
0,185,80,80,31,FF
2021-08-13T21:41:13.421Z,1628890873.421 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:41:13.421Z,1628890873.421 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:41:13.423Z,1628890873.423 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:41:13.916Z,1628890873.916 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:41:14.227Z,1628890874.227 [Micromodem](INFO): Nmea in: $SNTTA,0.221095,0.220058,,,214114.99*5D

2021-08-13T21:41:15.041Z,1628890875.041 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-13T21:41:15.453Z,1628890875.453 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:41:17.038Z,1628890877.038 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
0,185,80,80,31,FF
2021-08-13T21:41:17.038Z,1628890877.038 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
0,185,80,80,31,FF
2021-08-13T21:41:17.038Z,1628890877.038 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T21:41:18.311Z,1628890878.311 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:41:18.649Z,1628890878.649 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:41:18.650Z,1628890878.650 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:41:18.650Z,1628890878.650 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:41:18.651Z,1628890878.651 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:41:19.081Z,1628890879.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
0,185,80,80,31,FF
2021-08-13T21:41:19.081Z,1628890879.081 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:41:19.081Z,1628890879.081 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:41:19.083Z,1628890879.083 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:41:19.473Z,1628890879.473 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:41:19.893Z,1628890879.893 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E80,000,003AA,186,80,80,50,FF
2021-08-13T21:41:19.893Z,1628890879.893 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:41:20.020Z,1628890880.020 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:41:20.289Z,1628890880.289 [Micromodem](INFO): Nmea in: $SNTTA,0.349772,0.390252,,,214120.65*5A

2021-08-13T21:41:20.345Z,1628890880.345 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.779997 m, bearing: 255.745041 deg, deltaT: 15.557843 s, approachRate: -0.023140 m/s, LOS rate: 2.443057 deg/s, posRepo size: 4
2021-08-13T21:41:22.711Z,1628890882.711 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:41:23.111Z,1628890883.111 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:41:23.111Z,1628890883.111 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:41:23.111Z,1628890883.111 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:41:23.114Z,1628890883.114 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:41:23.514Z,1628890883.514 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E80,000,003AA,186,80,80,50,FF
2021-08-13T21:41:23.514Z,1628890883.514 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:41:23.514Z,1628890883.514 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:41:23.516Z,1628890883.516 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:41:23.946Z,1628890883.946 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:41:24.365Z,1628890884.365 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ECC,000,003B2,186,80,80,7D,FF
2021-08-13T21:41:24.365Z,1628890884.365 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:41:24.369Z,1628890884.369 [Micromodem](INFO): Nmea in: $SNTTA,0.051272,0.172886,,,214125.09*57

2021-08-13T21:41:24.456Z,1628890884.456 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:41:24.878Z,1628890884.878 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.260002 m, bearing: 252.141132 deg, deltaT: 4.436245 s, approachRate: 0.108201 m/s, LOS rate: -0.812378 deg/s, posRepo size: 4
2021-08-13T21:41:27.239Z,1628890887.239 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:41:27.597Z,1628890887.597 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:41:27.597Z,1628890887.597 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:41:27.597Z,1628890887.597 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:41:27.598Z,1628890887.598 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:41:28.061Z,1628890888.061 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ECC,000,003B2,186,80,80,7D,FF
2021-08-13T21:41:28.061Z,1628890888.061 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:41:28.062Z,1628890888.062 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:41:28.063Z,1628890888.063 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:41:28.408Z,1628890888.408 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:41:28.833Z,1628890888.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA3,000,003B3,185,80,80,67,FF
2021-08-13T21:41:28.834Z,1628890888.834 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:41:28.937Z,1628890888.937 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:41:29.289Z,1628890889.289 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.320000 m, bearing: 254.710540 deg, deltaT: 4.480348 s, approachRate: 0.013391 m/s, LOS rate: 0.573484 deg/s, posRepo size: 4
2021-08-13T21:41:29.645Z,1628890889.645 [Micromodem](INFO): Nmea in: $SNTTA,0.029625,,,,214129.64*45

2021-08-13T21:41:31.685Z,1628890891.685 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:41:32.080Z,1628890892.080 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:41:32.081Z,1628890892.081 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:41:32.081Z,1628890892.081 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:41:32.082Z,1628890892.082 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:41:32.461Z,1628890892.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EA3,000,003B3,185,80,80,67,FF
2021-08-13T21:41:32.461Z,1628890892.461 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:41:32.461Z,1628890892.461 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:41:32.463Z,1628890892.463 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:41:32.892Z,1628890892.892 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:41:33.261Z,1628890893.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EC7,000,003B8,186,80,80,6E,FF
2021-08-13T21:41:33.261Z,1628890893.261 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:41:33.308Z,1628890893.308 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:41:33.682Z,1628890893.682 [Micromodem](INFO): Nmea in: $SNTTA,0.025210,,,,214134.03*46

2021-08-13T21:41:33.715Z,1628890893.715 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.619999 m, bearing: 253.377260 deg, deltaT: 4.371710 s, approachRate: 0.068623 m/s, LOS rate: -0.304979 deg/s, posRepo size: 4
2021-08-13T21:41:36.167Z,1628890896.167 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:41:36.493Z,1628890896.493 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:41:36.493Z,1628890896.493 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:41:36.493Z,1628890896.493 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:41:36.494Z,1628890896.494 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:41:36.898Z,1628890896.898 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EC7,000,003B8,186,80,80,6E,FF
2021-08-13T21:41:36.899Z,1628890896.899 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:41:36.899Z,1628890896.899 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:41:36.902Z,1628890896.902 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:41:37.311Z,1628890897.311 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:41:38.131Z,1628890898.131 [Micromodem](INFO): Nmea in: $SNTTA,,,,,214138.47*50

2021-08-13T21:41:38.985Z,1628890898.985 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:41:40.541Z,1628890900.541 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
8,186,80,80,6E,FF
2021-08-13T21:41:40.541Z,1628890900.541 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
8,186,80,80,6E,FF
2021-08-13T21:41:40.541Z,1628890900.541 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T21:41:41.575Z,1628890901.575 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:41:41.737Z,1628890901.737 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:41:41.737Z,1628890901.737 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:41:41.737Z,1628890901.737 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:41:41.738Z,1628890901.738 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:41:42.145Z,1628890902.145 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
8,186,80,80,6E,FF
2021-08-13T21:41:42.145Z,1628890902.145 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:41:42.146Z,1628890902.146 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:41:42.147Z,1628890902.147 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:41:42.560Z,1628890902.560 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:41:42.964Z,1628890902.964 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EDE,000,003BD,186,80,80,54,FF
2021-08-13T21:41:42.965Z,1628890902.965 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:41:42.994Z,1628890902.994 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:41:43.405Z,1628890903.405 [Micromodem](INFO): Nmea in: $SNTTA,,,,,214143.72*5A

2021-08-13T21:41:43.456Z,1628890903.456 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.919998 m, bearing: 252.948188 deg, deltaT: 9.685077 s, approachRate: 0.030975 m/s, LOS rate: -0.044302 deg/s, posRepo size: 4
2021-08-13T21:41:45.864Z,1628890905.864 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:41:46.192Z,1628890906.192 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:41:46.193Z,1628890906.193 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:41:46.193Z,1628890906.193 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:41:46.194Z,1628890906.194 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:41:46.597Z,1628890906.597 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EDE,000,003BD,186,80,80,54,FF
2021-08-13T21:41:46.597Z,1628890906.597 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:41:46.597Z,1628890906.597 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:41:46.599Z,1628890906.599 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:41:47.001Z,1628890907.001 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:41:47.406Z,1628890907.406 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F8E,000,003BE,187,80,80,72,FF
2021-08-13T21:41:47.406Z,1628890907.406 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:41:47.426Z,1628890907.426 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:41:47.861Z,1628890907.861 [Micromodem](INFO): Nmea in: $SNTTA,,,,,214148.17*52

2021-08-13T21:41:47.899Z,1628890907.899 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.980001 m, bearing: 244.617679 deg, deltaT: 4.431992 s, approachRate: 0.013539 m/s, LOS rate: -1.879631 deg/s, posRepo size: 4
2021-08-13T21:41:50.265Z,1628890910.265 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:41:50.629Z,1628890910.629 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:41:50.629Z,1628890910.629 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:41:50.629Z,1628890910.629 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:41:50.630Z,1628890910.630 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:41:51.033Z,1628890911.033 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F8E,000,003BE,187,80,80,72,FF
2021-08-13T21:41:51.033Z,1628890911.033 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:41:51.033Z,1628890911.033 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:41:51.035Z,1628890911.035 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:41:51.449Z,1628890911.449 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:41:51.885Z,1628890911.885 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3B1,000,003C7,189,80,80,47,FF
2021-08-13T21:41:51.885Z,1628890911.885 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:41:51.947Z,1628890911.947 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:41:52.297Z,1628890912.297 [Micromodem](INFO): Nmea in: $SNTTA,,,,,214152.61*58

2021-08-13T21:41:52.380Z,1628890912.380 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.519997 m, bearing: 191.982561 deg, deltaT: 4.526464 s, approachRate: 0.119297 m/s, LOS rate: -11.628308 deg/s, posRepo size: 4
2021-08-13T21:41:54.696Z,1628890914.696 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:41:55.069Z,1628890915.069 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:41:55.069Z,1628890915.069 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:41:55.070Z,1628890915.070 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:41:55.071Z,1628890915.071 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:41:55.477Z,1628890915.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3B1,000,003C7,189,80,80,47,FF
2021-08-13T21:41:55.478Z,1628890915.478 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:41:55.478Z,1628890915.478 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:41:55.479Z,1628890915.479 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:41:55.904Z,1628890915.904 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:41:56.295Z,1628890916.295 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E8E,000,003CA,187,80,80,4A,FF
2021-08-13T21:41:56.295Z,1628890916.295 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:41:56.374Z,1628890916.374 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:41:56.737Z,1628890916.737 [Micromodem](INFO): Nmea in: $SNTTA,,0.059057,,,214157.05*4F

2021-08-13T21:41:56.760Z,1628890916.760 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.700001 m, bearing: 258.076977 deg, deltaT: 4.422838 s, approachRate: 0.040699 m/s, LOS rate: 14.943892 deg/s, posRepo size: 4
2021-08-13T21:41:59.152Z,1628890919.152 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:41:59.517Z,1628890919.517 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:41:59.517Z,1628890919.517 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:41:59.517Z,1628890919.517 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:41:59.518Z,1628890919.518 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:41:59.925Z,1628890919.925 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E8E,000,003CA,187,80,80,4A,FF
2021-08-13T21:41:59.925Z,1628890919.925 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:41:59.925Z,1628890919.925 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:41:59.927Z,1628890919.927 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:42:00.337Z,1628890920.337 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:42:00.737Z,1628890920.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F6C,000,003CE,186,80,80,86,FF
2021-08-13T21:42:00.737Z,1628890920.737 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:42:00.802Z,1628890920.802 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:42:01.165Z,1628890921.165 [Micromodem](INFO): Nmea in: $SNTTA,,,,,214201.50*5F

2021-08-13T21:42:01.207Z,1628890921.207 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.939997 m, bearing: 247.604384 deg, deltaT: 4.428267 s, approachRate: 0.054196 m/s, LOS rate: -2.364941 deg/s, posRepo size: 4
2021-08-13T21:42:03.574Z,1628890923.574 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:42:03.976Z,1628890923.976 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:42:03.977Z,1628890923.977 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:42:03.977Z,1628890923.977 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:42:03.978Z,1628890923.978 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:42:04.373Z,1628890924.373 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F6C,000,003CE,186,80,80,86,FF
2021-08-13T21:42:04.373Z,1628890924.373 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:42:04.373Z,1628890924.373 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:42:04.375Z,1628890924.375 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:42:04.790Z,1628890924.790 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:42:05.177Z,1628890925.177 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,018,000,003CD,183,80,80,A5,FF
2021-08-13T21:42:05.177Z,1628890925.177 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:42:05.236Z,1628890925.236 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:42:05.621Z,1628890925.621 [Micromodem](INFO): Nmea in: $SNTTA,0.041745,,,,214205.95*4F

2021-08-13T21:42:05.659Z,1628890925.659 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.879999 m, bearing: 239.945693 deg, deltaT: 4.432778 s, approachRate: -0.013535 m/s, LOS rate: -1.727741 deg/s, posRepo size: 4
2021-08-13T21:42:08.118Z,1628890928.118 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:42:08.421Z,1628890928.421 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:42:08.421Z,1628890928.421 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:42:08.421Z,1628890928.421 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:42:08.422Z,1628890928.422 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:42:08.833Z,1628890928.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
018,000,003CD,183,80,80,A5,FF
2021-08-13T21:42:08.833Z,1628890928.833 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:42:08.834Z,1628890928.834 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:42:08.846Z,1628890928.846 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:42:09.240Z,1628890929.240 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:42:09.641Z,1628890929.641 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F55,000,003DB,187,80,80,86,FF
2021-08-13T21:42:09.641Z,1628890929.641 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:42:09.680Z,1628890929.680 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:42:10.086Z,1628890930.086 [Micromodem](INFO): Nmea in: $SNTTA,,,,,214210.42*5C

2021-08-13T21:42:10.143Z,1628890930.143 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.720001 m, bearing: 250.649474 deg, deltaT: 4.444570 s, approachRate: 0.188995 m/s, LOS rate: 2.408283 deg/s, posRepo size: 4
2021-08-13T21:42:12.497Z,1628890932.497 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:42:12.889Z,1628890932.889 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:42:12.889Z,1628890932.889 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:42:12.889Z,1628890932.889 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:42:12.890Z,1628890932.890 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:42:13.273Z,1628890933.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F55,000,003DB,187,80,80,86,FF
2021-08-13T21:42:13.273Z,1628890933.273 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:42:13.273Z,1628890933.273 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:42:13.275Z,1628890933.275 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:42:13.700Z,1628890933.700 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:42:14.121Z,1628890934.121 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA9,000,003E3,184,80,80,9C,FF
2021-08-13T21:42:14.121Z,1628890934.121 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:42:14.125Z,1628890934.125 [Micromodem](INFO): Nmea in: $SNTTA,0.294071,0.253948,,,214214.85*5B

2021-08-13T21:42:14.198Z,1628890934.198 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:42:14.519Z,1628890934.519 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.199999 m, bearing: 246.924589 deg, deltaT: 4.517859 s, approachRate: 0.106244 m/s, LOS rate: -0.824480 deg/s, posRepo size: 4
2021-08-13T21:42:16.952Z,1628890936.952 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:42:17.321Z,1628890937.321 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:42:17.321Z,1628890937.321 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:42:17.321Z,1628890937.321 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:42:17.322Z,1628890937.322 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:42:17.793Z,1628890937.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA9,000,003E3,184,80,80,9C,FF
2021-08-13T21:42:17.793Z,1628890937.793 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:42:17.793Z,1628890937.793 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:42:17.795Z,1628890937.795 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:42:18.200Z,1628890938.200 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:42:18.585Z,1628890938.585 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC5,000,003E9,184,80,80,71,FF
2021-08-13T21:42:18.585Z,1628890938.585 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:42:18.604Z,1628890938.604 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:42:19.021Z,1628890939.021 [Micromodem](INFO): Nmea in: $SNTTA,,,,,214219.37*57

2021-08-13T21:42:19.058Z,1628890939.058 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.560001 m, bearing: 245.751490 deg, deltaT: 4.405954 s, approachRate: 0.081708 m/s, LOS rate: -0.266253 deg/s, posRepo size: 4
2021-08-13T21:42:21.442Z,1628890941.442 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:42:21.838Z,1628890941.838 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:42:21.838Z,1628890941.838 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:42:21.839Z,1628890941.839 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:42:21.842Z,1628890941.842 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:42:22.225Z,1628890942.225 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC5,000,003E9,184,80,80,71,FF
2021-08-13T21:42:22.225Z,1628890942.225 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:42:22.225Z,1628890942.225 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:42:22.227Z,1628890942.227 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:42:22.637Z,1628890942.637 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:42:23.041Z,1628890943.041 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB1,000,003E9,185,80,80,51,FF
2021-08-13T21:42:23.041Z,1628890943.041 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:42:23.090Z,1628890943.090 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:42:23.470Z,1628890943.470 [Micromodem](INFO): Nmea in: $SNTTA,,,,,214223.80*52

2021-08-13T21:42:23.492Z,1628890943.492 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.560001 m, bearing: 246.718235 deg, deltaT: 4.485573 s, approachRate: 0.000000 m/s, LOS rate: 0.215523 deg/s, posRepo size: 4
2021-08-13T21:42:25.909Z,1628890945.909 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:42:26.269Z,1628890946.269 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:42:26.269Z,1628890946.269 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:42:26.269Z,1628890946.269 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:42:26.270Z,1628890946.270 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:42:26.665Z,1628890946.665 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB1,000,003E9,185,80,80,51,FF
2021-08-13T21:42:26.665Z,1628890946.665 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:42:26.665Z,1628890946.665 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:42:26.667Z,1628890946.667 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:42:27.073Z,1628890947.073 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:42:27.477Z,1628890947.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA9,000,003EF,185,80,80,5D,FF
2021-08-13T21:42:27.477Z,1628890947.477 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:42:27.497Z,1628890947.497 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:42:27.917Z,1628890947.917 [Micromodem](INFO): Nmea in: $SNTTA,,,,,214228.24*57

2021-08-13T21:42:28.013Z,1628890948.013 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.919998 m, bearing: 247.016469 deg, deltaT: 4.406847 s, approachRate: 0.081690 m/s, LOS rate: 0.067675 deg/s, posRepo size: 4
2021-08-13T21:42:30.003Z,1628890950.003 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:42:30.313Z,1628890950.313 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:42:30.313Z,1628890950.313 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:42:30.313Z,1628890950.313 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:42:30.314Z,1628890950.314 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:42:30.337Z,1628890950.337 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA9,000,003EF,185,80,80,5D,FF
2021-08-13T21:42:30.337Z,1628890950.337 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:42:30.337Z,1628890950.337 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:42:30.339Z,1628890950.339 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:42:30.740Z,1628890950.740 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:42:31.559Z,1628890951.559 [Micromodem](INFO): Nmea in: $SNTTA,0.046291,,,,214231.91*47

2021-08-13T21:42:32.774Z,1628890952.774 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:42:33.985Z,1628890953.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
F,185,80,80,5D,FF
2021-08-13T21:42:33.986Z,1628890953.986 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
F,185,80,80,5D,FF
2021-08-13T21:42:33.986Z,1628890953.986 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T21:42:35.598Z,1628890955.598 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:42:36.030Z,1628890956.030 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:42:36.030Z,1628890956.030 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:42:36.031Z,1628890956.031 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:42:36.031Z,1628890956.031 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:42:36.401Z,1628890956.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
F,185,80,80,5D,FF
2021-08-13T21:42:36.401Z,1628890956.401 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:42:36.401Z,1628890956.401 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:42:36.403Z,1628890956.403 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:42:36.807Z,1628890956.807 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:42:37.193Z,1628890957.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,099,000,003F6,186,80,80,3F,FF
2021-08-13T21:42:37.194Z,1628890957.194 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:42:37.218Z,1628890957.218 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:42:37.629Z,1628890957.629 [Micromodem](INFO): Nmea in: $SNTTA,0.034339,,,,214237.98*4E

2021-08-13T21:42:37.668Z,1628890957.668 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.339998 m, bearing: 234.821084 deg, deltaT: 9.720992 s, approachRate: 0.043205 m/s, LOS rate: -1.254541 deg/s, posRepo size: 4
2021-08-13T21:42:40.126Z,1628890960.126 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:42:40.425Z,1628890960.425 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:42:40.425Z,1628890960.425 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:42:40.425Z,1628890960.425 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:42:40.426Z,1628890960.426 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:42:40.846Z,1628890960.846 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
099,000,003F6,186,80,80,3F,FF
2021-08-13T21:42:40.846Z,1628890960.846 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:42:40.846Z,1628890960.846 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:42:40.849Z,1628890960.849 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:42:41.233Z,1628890961.233 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:42:41.638Z,1628890961.638 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DB2,000,003FE,189,80,80,24,FF
2021-08-13T21:42:41.638Z,1628890961.638 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:42:41.657Z,1628890961.657 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:42:42.069Z,1628890962.069 [Micromodem](INFO): Nmea in: $SNTTA,0.464630,0.466130,,,214242.42*5E

2021-08-13T21:42:42.127Z,1628890962.127 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.819998 m, bearing: 271.953763 deg, deltaT: 4.439100 s, approachRate: 0.108130 m/s, LOS rate: 8.364911 deg/s, posRepo size: 4
2021-08-13T21:42:44.506Z,1628890964.506 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:42:44.889Z,1628890964.889 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:42:44.889Z,1628890964.889 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:42:44.889Z,1628890964.889 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:42:44.890Z,1628890964.890 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:42:45.273Z,1628890965.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DB2,000,003FE,189,80,80,24,FF
2021-08-13T21:42:45.273Z,1628890965.273 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:42:45.273Z,1628890965.273 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:42:45.275Z,1628890965.275 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:42:45.689Z,1628890965.689 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:42:46.085Z,1628890966.085 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,01F,000,003FE,185,80,80,5B,FF
2021-08-13T21:42:46.085Z,1628890966.085 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:42:46.155Z,1628890966.155 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:42:46.513Z,1628890966.513 [Micromodem](INFO): Nmea in: $SNTTA,,,,,214246.85*54

2021-08-13T21:42:46.547Z,1628890966.547 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.819998 m, bearing: 240.896811 deg, deltaT: 4.498538 s, approachRate: 0.000000 m/s, LOS rate: -6.903788 deg/s, posRepo size: 4
2021-08-13T21:42:48.998Z,1628890968.998 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:42:49.313Z,1628890969.313 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:42:49.313Z,1628890969.313 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:42:49.313Z,1628890969.313 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:42:49.314Z,1628890969.314 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:42:49.717Z,1628890969.717 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
01F,000,003FE,185,80,80,5B,FF
2021-08-13T21:42:49.717Z,1628890969.717 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:42:49.717Z,1628890969.717 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:42:49.719Z,1628890969.719 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:42:50.129Z,1628890970.129 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:42:50.525Z,1628890970.525 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,135,000,003FB,186,80,80,7E,FF
2021-08-13T21:42:50.526Z,1628890970.526 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:42:50.545Z,1628890970.545 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:42:50.957Z,1628890970.957 [Micromodem](INFO): Nmea in: $SNTTA,,,,,214251.29*54

2021-08-13T21:42:51.003Z,1628890971.003 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.639997 m, bearing: 227.309119 deg, deltaT: 4.389466 s, approachRate: -0.041007 m/s, LOS rate: -3.095523 deg/s, posRepo size: 4
2021-08-13T21:42:53.378Z,1628890973.378 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:42:53.761Z,1628890973.761 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:42:53.761Z,1628890973.761 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:42:53.762Z,1628890973.762 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:42:53.763Z,1628890973.763 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:42:54.161Z,1628890974.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
135,000,003FB,186,80,80,7E,FF
2021-08-13T21:42:54.161Z,1628890974.161 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:42:54.161Z,1628890974.161 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:42:54.163Z,1628890974.163 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:42:54.569Z,1628890974.569 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:42:54.973Z,1628890974.973 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C96,000,00406,189,80,80,32,FF
2021-08-13T21:42:54.973Z,1628890974.973 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:42:55.022Z,1628890975.022 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:42:55.409Z,1628890975.409 [Micromodem](INFO): Nmea in: $SNTTA,0.060292,,,,214255.74*49

2021-08-13T21:42:55.440Z,1628890975.440 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.300001 m, bearing: 286.804889 deg, deltaT: 4.477692 s, approachRate: 0.147398 m/s, LOS rate: 13.287151 deg/s, posRepo size: 4
2021-08-13T21:42:57.891Z,1628890977.891 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:42:58.201Z,1628890978.201 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:42:58.201Z,1628890978.201 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:42:58.201Z,1628890978.201 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:42:58.202Z,1628890978.202 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:42:58.605Z,1628890978.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C96,000,00406,189,80,80,32,FF
2021-08-13T21:42:58.605Z,1628890978.605 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:42:58.605Z,1628890978.605 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:42:58.607Z,1628890978.607 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:42:59.029Z,1628890979.029 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:42:59.409Z,1628890979.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0C4,000,0040C,186,80,80,6E,FF
2021-08-13T21:42:59.410Z,1628890979.410 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:42:59.456Z,1628890979.456 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:42:59.885Z,1628890979.885 [Micromodem](INFO): Nmea in: $SNTTA,,,,,214300.18*53

2021-08-13T21:42:59.911Z,1628890979.911 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.659998 m, bearing: 233.614545 deg, deltaT: 4.433376 s, approachRate: 0.081202 m/s, LOS rate: -11.997706 deg/s, posRepo size: 4
2021-08-13T21:43:02.298Z,1628890982.298 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:43:02.645Z,1628890982.645 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:43:02.645Z,1628890982.645 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:43:02.645Z,1628890982.645 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:43:02.646Z,1628890982.646 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:43:03.061Z,1628890983.061 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0C4,000,0040C,186,80,80,6E,FF
2021-08-13T21:43:03.061Z,1628890983.061 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:43:03.061Z,1628890983.061 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:43:03.063Z,1628890983.063 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:43:03.457Z,1628890983.457 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:43:03.885Z,1628890983.885 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,133,000,00416,186,80,80,34,FF
2021-08-13T21:43:03.885Z,1628890983.885 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:43:04.031Z,1628890984.031 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:43:04.326Z,1628890984.326 [Micromodem](INFO): Nmea in: $SNTTA,,,,,214304.63*5B

2021-08-13T21:43:04.362Z,1628890984.362 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.259996 m, bearing: 228.521505 deg, deltaT: 4.574680 s, approachRate: 0.131156 m/s, LOS rate: -1.113311 deg/s, posRepo size: 4
2021-08-13T21:43:04.745Z,1628890984.745 [lineCaptureDepth](INFO): Timed out from 2021-08-13T19:43:04.4Z
2021-08-13T21:43:04.745Z,1628890984.745 [MissionManager](INFO): lineCaptureDepth is completed.
2021-08-13T21:43:04.745Z,1628890984.745 [MissionManager](INFO): Uninitializing Mission lineCaptureDepth
2021-08-13T21:43:04.745Z,1628890984.745 [lineCaptureDepth] Stopped
2021-08-13T21:43:04.745Z,1628890984.745 [lineCaptureDepth](DEBUG): Aggregate::uninitialize lineCaptureDepth
2021-08-13T21:43:04.745Z,1628890984.745 [lineCaptureDepth:Science] Stopped
2021-08-13T21:43:04.745Z,1628890984.745 [lineCaptureDepth:Science](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science
2021-08-13T21:43:04.745Z,1628890984.745 [lineCaptureDepth:Science:B] Stopped
2021-08-13T21:43:04.746Z,1628890984.746 [lineCaptureDepth:Science:C] Stopped
2021-08-13T21:43:04.746Z,1628890984.746 [lineCaptureDepth:Science:Read_Oil] Stopped
2021-08-13T21:43:04.746Z,1628890984.746 [lineCaptureDepth:Science:OceanCurrent] Stopped
2021-08-13T21:43:04.746Z,1628890984.746 [lineCaptureDepth:Science:OceanCurrent](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:OceanCurrent
2021-08-13T21:43:04.746Z,1628890984.746 [lineCaptureDepth:Science:OceanCurrent:A.] Stopped
2021-08-13T21:43:04.746Z,1628890984.746 [lineCaptureDepth:StandardEnvelopes] Stopped
2021-08-13T21:43:04.746Z,1628890984.746 [lineCaptureDepth:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureDepth:StandardEnvelopes
2021-08-13T21:43:04.746Z,1628890984.746 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2021-08-13T21:43:04.746Z,1628890984.746 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2021-08-13T21:43:04.746Z,1628890984.746 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope] Stopped
2021-08-13T21:43:04.746Z,1628890984.746 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2021-08-13T21:43:04.747Z,1628890984.747 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2021-08-13T21:43:04.747Z,1628890984.747 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2021-08-13T21:43:04.747Z,1628890984.747 [lineCaptureDepth:TrackAC.] Stopped
2021-08-13T21:43:04.747Z,1628890984.747 [lineCaptureDepth:LineCapture] Stopped
2021-08-13T21:43:04.747Z,1628890984.747 [lineCaptureDepth:LineCapture](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture
2021-08-13T21:43:04.747Z,1628890984.747 [lineCaptureDepth:LineCapture:StandardEnvelopes] Stopped
2021-08-13T21:43:04.747Z,1628890984.747 [lineCaptureDepth:LineCapture:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:StandardEnvelopes
2021-08-13T21:43:04.747Z,1628890984.747 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2021-08-13T21:43:04.747Z,1628890984.747 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2021-08-13T21:43:04.747Z,1628890984.747 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Stopped
2021-08-13T21:43:04.747Z,1628890984.747 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2021-08-13T21:43:04.748Z,1628890984.748 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2021-08-13T21:43:04.748Z,1628890984.748 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2021-08-13T21:43:04.748Z,1628890984.748 [lineCaptureDepth:LineCapture:G] Stopped
2021-08-13T21:43:04.748Z,1628890984.748 [lineCaptureDepth:LineCapture:H] Stopped
2021-08-13T21:43:04.748Z,1628890984.748 [lineCaptureDepth:LineCapture:HomingSequence] Stopped
2021-08-13T21:43:04.748Z,1628890984.748 [lineCaptureDepth:LineCapture:HomingSequence](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence
2021-08-13T21:43:04.748Z,1628890984.748 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Stopped
2021-08-13T21:43:04.748Z,1628890984.748 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-08-13T21:43:04.749Z,1628890984.749 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Stopped
2021-08-13T21:43:04.749Z,1628890984.749 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-13T21:43:04.749Z,1628890984.749 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2021-08-13T21:43:04.749Z,1628890984.749 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-13T21:43:04.749Z,1628890984.749 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Stopped
2021-08-13T21:43:04.749Z,1628890984.749 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Stopped
2021-08-13T21:43:04.749Z,1628890984.749 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2021-08-13T21:43:04.749Z,1628890984.749 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture] Stopped
2021-08-13T21:43:04.749Z,1628890984.749 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2021-08-13T21:43:04.750Z,1628890984.750 [lineCaptureDepth:UpdateNumPings_NotTerminal] Stopped
2021-08-13T21:43:04.750Z,1628890984.750 [lineCaptureDepth:UpdateNumPings_NotTerminal](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_NotTerminal
2021-08-13T21:43:04.750Z,1628890984.750 [lineCaptureDepth:UpdateNumPings_Terminal] Stopped
2021-08-13T21:43:04.750Z,1628890984.750 [lineCaptureDepth:UpdateNumPings_Terminal](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal
2021-08-13T21:43:04.750Z,1628890984.750 [lineCaptureDepth:Lap] Stopped
2021-08-13T21:43:04.750Z,1628890984.750 [lineCaptureDepth:Lap](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap
2021-08-13T21:43:04.750Z,1628890984.750 [lineCaptureDepth:Lap:B] Stopped
2021-08-13T21:43:04.750Z,1628890984.750 [lineCaptureDepth:Lap:B](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap:B
2021-08-13T21:43:05.010Z,1628890985.010 [WetLabsSeaOWL_UV_A](INFO): Powering down
2021-08-13T21:43:05.118Z,1628890985.118 [MissionManager](IMPORTANT): Started mission DefaultWithUndock
2021-08-13T21:43:05.118Z,1628890985.118 [DefaultWithUndock] Running Loop=1
2021-08-13T21:43:05.118Z,1628890985.118 [DefaultWithUndock](DEBUG): Aggregate::initialize DefaultWithUndock
2021-08-13T21:43:05.119Z,1628890985.119 [DefaultWithUndock:A.Wait] Running Loop=1
2021-08-13T21:43:05.119Z,1628890985.119 [DefaultWithUndock:A.Wait](DEBUG): Initialize Wait Component.
2021-08-13T21:43:35.396Z,1628891015.396 [DefaultWithUndock:A.Wait](INFO): Done Waiting.
2021-08-13T21:43:35.396Z,1628891015.396 [DefaultWithUndock:A.Wait] Stopped
2021-08-13T21:43:35.396Z,1628891015.396 [DefaultWithUndock:A.Wait](DEBUG): Uninitialize Wait Component.
2021-08-13T21:43:35.397Z,1628891015.397 [DefaultWithUndock:LeaveDock] Running Loop=1
2021-08-13T21:43:35.397Z,1628891015.397 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::initialize DefaultWithUndock:LeaveDock
2021-08-13T21:43:35.397Z,1628891015.397 [DefaultWithUndock:LeaveDock:A.] Running Loop=1
2021-08-13T21:43:35.397Z,1628891015.397 [DefaultWithUndock:LeaveDock:A.](INFO): Initializing TrackAcousticContact.
2021-08-13T21:43:35.397Z,1628891015.397 [DefaultWithUndock:LeaveDock:B.Undock] Running Loop=1
2021-08-13T21:43:35.397Z,1628891015.397 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initialize.
2021-08-13T21:43:35.398Z,1628891015.398 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2021-08-13T21:43:36.187Z,1628891016.187 [PowerOnly](INFO): Powering up loadControl
2021-08-13T21:43:37.898Z,1628891017.898 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-13T21:43:38.237Z,1628891018.237 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:43:38.237Z,1628891018.237 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:43:38.237Z,1628891018.237 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:43:38.238Z,1628891018.238 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:43:38.712Z,1628891018.712 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
133,000,00416,186,80,80,34,FF
2021-08-13T21:43:38.712Z,1628891018.712 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:43:38.712Z,1628891018.712 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:43:38.714Z,1628891018.714 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:43:38.875Z,1628891018.875 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detaching from dock.
2021-08-13T21:43:39.073Z,1628891019.073 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:43:39.111Z,1628891019.111 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Engaging thruster for 10.0 seconds (max) to disengage.
2021-08-13T21:43:39.454Z,1628891019.454 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,272,000,0042E,189,80,80,34,FF
2021-08-13T21:43:39.454Z,1628891019.454 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:43:39.496Z,1628891019.496 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Thruster off.
2021-08-13T21:43:39.911Z,1628891019.911 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detected possible detachment. Starting timer.
2021-08-13T21:43:40.277Z,1628891020.277 [Micromodem](INFO): Nmea in: $SNTTA,0.032255,,,,214340.39*49

2021-08-13T21:43:42.318Z,1628891022.318 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-13T21:43:42.681Z,1628891022.681 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:43:42.681Z,1628891022.681 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:43:42.682Z,1628891022.682 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:43:42.682Z,1628891022.682 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:43:43.089Z,1628891023.089 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
272,000,0042E,189,80,80,34,FF
2021-08-13T21:43:43.089Z,1628891023.089 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:43:43.090Z,1628891023.090 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:43:43.091Z,1628891023.091 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:43:43.492Z,1628891023.492 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:43:43.897Z,1628891023.897 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,14F,000,0043A,186,80,80,61,FF
2021-08-13T21:43:43.897Z,1628891023.897 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:43:44.325Z,1628891024.325 [Micromodem](INFO): Nmea in: $SNTTA,,,,,214344.66*5A

2021-08-13T21:43:44.354Z,1628891024.354 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-13T21:43:46.749Z,1628891026.749 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-13T21:43:47.125Z,1628891027.125 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:43:47.125Z,1628891027.125 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:43:47.125Z,1628891027.125 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:43:47.126Z,1628891027.126 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:43:47.537Z,1628891027.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
14F,000,0043A,186,80,80,61,FF
2021-08-13T21:43:47.537Z,1628891027.537 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:43:47.537Z,1628891027.537 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:43:47.539Z,1628891027.539 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:43:47.949Z,1628891027.949 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:43:48.337Z,1628891028.337 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CD9,000,00442,189,80,80,89,FF
2021-08-13T21:43:48.337Z,1628891028.337 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:43:48.778Z,1628891028.778 [Micromodem](INFO): Nmea in: $SNTTA,0.178745,,,,214349.11*41

2021-08-13T21:43:51.196Z,1628891031.196 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-13T21:43:51.569Z,1628891031.569 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:43:51.569Z,1628891031.569 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:43:51.569Z,1628891031.569 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:43:51.570Z,1628891031.570 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:43:51.981Z,1628891031.981 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CD9,000,00442,189,80,80,89,FF
2021-08-13T21:43:51.981Z,1628891031.981 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:43:51.982Z,1628891031.982 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:43:51.987Z,1628891031.987 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:43:52.385Z,1628891032.385 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:43:52.781Z,1628891032.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0BA,000,0043F,186,80,80,57,FF
2021-08-13T21:43:52.781Z,1628891032.781 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:43:53.205Z,1628891033.205 [Micromodem](INFO): Nmea in: $SNTTA,,,,,214353.56*5F

2021-08-13T21:43:54.067Z,1628891034.067 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-13T21:43:55.630Z,1628891035.630 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-13T21:43:56.050Z,1628891036.050 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:43:56.050Z,1628891036.050 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:43:56.051Z,1628891036.051 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:43:56.051Z,1628891036.051 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:43:56.417Z,1628891036.417 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0BA,000,0043F,186,80,80,57,FF
2021-08-13T21:43:56.417Z,1628891036.417 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:43:56.417Z,1628891036.417 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:43:56.419Z,1628891036.419 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:43:56.841Z,1628891036.841 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:43:57.219Z,1628891037.219 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DB6,000,00443,18A,80,80,4F,FF
2021-08-13T21:43:57.219Z,1628891037.219 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:43:57.662Z,1628891037.662 [Micromodem](INFO): Nmea in: $SNTTA,,,,,214357.99*58

2021-08-13T21:44:00.123Z,1628891040.123 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detached at range: 27.96 m. Transitioning DDM to standby.
2021-08-13T21:44:00.128Z,1628891040.128 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-13T21:44:00.457Z,1628891040.457 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:44:00.457Z,1628891040.457 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:44:00.457Z,1628891040.457 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:44:00.458Z,1628891040.458 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:44:00.877Z,1628891040.877 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DB6,000,00443,18A,80,80,4F,FF
2021-08-13T21:44:00.877Z,1628891040.877 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:44:00.877Z,1628891040.877 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:44:00.879Z,1628891040.879 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:44:01.279Z,1628891041.279 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:44:01.673Z,1628891041.673 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,100,000,0044D,186,80,80,81,FF
2021-08-13T21:44:01.673Z,1628891041.673 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:44:02.093Z,1628891042.093 [Micromodem](INFO): Nmea in: $SNTTA,,,,,214402.45*5E

2021-08-13T21:44:02.536Z,1628891042.536 [DefaultWithUndock:LeaveDock:B.Undock](INFO): DDM at standby.
2021-08-13T21:44:02.922Z,1628891042.922 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete.
2021-08-13T21:44:02.922Z,1628891042.922 [DefaultWithUndock:LeaveDock:B.Undock] Stopped
2021-08-13T21:44:02.923Z,1628891042.923 [DefaultWithUndock:LeaveDock](INFO): Completed DefaultWithUndock:LeaveDock
2021-08-13T21:44:02.923Z,1628891042.923 [DefaultWithUndock:LeaveDock] Stopped
2021-08-13T21:44:02.923Z,1628891042.923 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::uninitialize DefaultWithUndock:LeaveDock
2021-08-13T21:44:02.923Z,1628891042.923 [DefaultWithUndock:LeaveDock:A.] Stopped
2021-08-13T21:44:02.923Z,1628891042.923 [DefaultWithUndock:SurfaceDefault] Running Loop=1
2021-08-13T21:44:02.923Z,1628891042.923 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault
2021-08-13T21:44:02.923Z,1628891042.923 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen] Running Loop=1
2021-08-13T21:44:02.923Z,1628891042.923 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:HoldLatchOpen
2021-08-13T21:44:02.924Z,1628891042.924 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:A] Running Loop=1
2021-08-13T21:44:02.924Z,1628891042.924 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:B] Running Loop=1
2021-08-13T21:44:02.924Z,1628891042.924 [DefaultWithUndock:SurfaceDefault:B.GoToSurface] Running Loop=1
2021-08-13T21:44:02.924Z,1628891042.924 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2021-08-13T21:44:02.924Z,1628891042.924 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2021-08-13T21:44:02.925Z,1628891042.925 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2021-08-13T21:44:02.925Z,1628891042.925 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2021-08-13T21:44:02.925Z,1628891042.925 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2021-08-13T21:44:02.926Z,1628891042.926 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2021-08-13T21:44:03.920Z,1628891043.920 [Radio_Surface](INFO): Powering up
2021-08-13T21:44:04.096Z,1628891044.096 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2021-08-13T21:44:04.096Z,1628891044.096 [RDI_Pathfinder] Communications Fault, FailCount= 1
2021-08-13T21:44:04.096Z,1628891044.096 [RDI_Pathfinder](ERROR): Communications Fault
2021-08-13T21:44:04.164Z,1628891044.164 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2021-08-13T21:44:04.536Z,1628891044.536 [RDI_Pathfinder](INFO): Powering down
2021-08-13T21:44:05.445Z,1628891045.445 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2021-08-13T21:44:05.445Z,1628891045.445 [RDI_Pathfinder] No Fault, FailCount= 1
2021-08-13T21:44:09.442Z,1628891049.442 [DataOverHttps](INFO): Radio surface powered ON.
2021-08-13T21:44:30.769Z,1628891070.769 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=1
2021-08-13T21:44:30.769Z,1628891070.769 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-08-13T21:44:30.769Z,1628891070.769 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2021-08-13T21:44:30.769Z,1628891070.769 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen] Stopped
2021-08-13T21:44:30.769Z,1628891070.769 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:HoldLatchOpen
2021-08-13T21:44:30.769Z,1628891070.769 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:A] Stopped
2021-08-13T21:44:30.769Z,1628891070.769 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:B] Stopped
2021-08-13T21:44:45.683Z,1628891085.683 [NAL9602](INFO): SBD MO Status=0, MOMSN=23710, MT Status=0, MTMSN=0
2021-08-13T21:44:45.683Z,1628891085.683 [NAL9602](INFO): No messages in MT queue
2021-08-13T21:44:46.904Z,1628891086.904 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,214446.00,A,4133.17285,N,07042.46159,W,0.233,46.12,130821,,,A*45
2021-08-13T21:44:46.906Z,1628891086.906 [NAL9602](INFO): GPS fix at 20210813T214446: (41.552881, -70.707693)
2021-08-13T21:44:46.928Z,1628891086.928 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2021-08-13T21:44:46.928Z,1628891086.928 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2021-08-13T21:45:02.411Z,1628891102.411 [NAL9602](INFO): SBD MO Status=1, MOMSN=23711, MT Status=0, MTMSN=0
2021-08-13T21:45:02.472Z,1628891102.472 [NAL9602](INFO): Sent 79 bytes from file Logs/20210813T172818/Courier0048.lzma
2021-08-13T21:45:02.472Z,1628891102.472 [NAL9602](INFO): Packets left to send: 0
2021-08-13T21:45:07.567Z,1628891107.567 [PowerOnly](INFO): Powering down loadControl
2021-08-13T21:45:12.797Z,1628891112.797 [NAL9602](INFO): SBD MO Status=1, MOMSN=23712, MT Status=0, MTMSN=0
2021-08-13T21:45:12.844Z,1628891112.844 [NAL9602](INFO): Sent 184 bytes from file Logs/20210813T172818/Express0031.lzma
2021-08-13T21:45:12.844Z,1628891112.844 [NAL9602](INFO): Packets left to send: 3
2021-08-13T21:45:19.909Z,1628891119.909 [Micromodem](INFO): Nmea in: $CAMSG,BAD_CRC, Data Header,2*00

2021-08-13T21:45:20.294Z,1628891120.294 [Micromodem](INFO): Nmea in: $CACST,6,1,20210813214519.271978,06,1293,25,0142,0150,74,00,00,01,01,1,-01,-01,2,3,1,0,150,-6.2,-347.97,-100,-304.39,-01,0.00,51,14500,4000*7B

2021-08-13T21:45:20.699Z,1628891120.699 [NAL9602](INFO): SBD MO Status=1, MOMSN=23713, MT Status=0, MTMSN=0
2021-08-13T21:45:20.752Z,1628891120.752 [NAL9602](INFO): Sent 184 bytes from file Logs/20210813T172818/Express0031.lzma
2021-08-13T21:45:20.752Z,1628891120.752 [NAL9602](INFO): Packets left to send: 2
2021-08-13T21:45:29.074Z,1628891129.074 [NAL9602](INFO): SBD MO Status=1, MOMSN=23714, MT Status=0, MTMSN=0
2021-08-13T21:45:29.140Z,1628891129.140 [NAL9602](INFO): Sent 184 bytes from file Logs/20210813T172818/Express0031.lzma
2021-08-13T21:45:29.140Z,1628891129.140 [NAL9602](INFO): Packets left to send: 1
2021-08-13T21:45:38.180Z,1628891138.180 [NAL9602](INFO): SBD MO Status=1, MOMSN=23715, MT Status=0, MTMSN=0
2021-08-13T21:45:38.232Z,1628891138.232 [NAL9602](INFO): Sent 32 bytes from file Logs/20210813T172818/Express0031.lzma
2021-08-13T21:45:38.232Z,1628891138.232 [NAL9602](INFO): Packets left to send: 0
2021-08-13T21:45:47.638Z,1628891147.638 [NAL9602](INFO): SBD MO Status=1, MOMSN=23716, MT Status=0, MTMSN=0
2021-08-13T21:45:47.688Z,1628891147.688 [NAL9602](INFO): Sent 184 bytes from file Logs/20210813T172818/Express0034.lzma
2021-08-13T21:45:47.688Z,1628891147.688 [NAL9602](INFO): Packets left to send: 1
2021-08-13T21:45:53.938Z,1628891153.938 [NAL9602](INFO): SBD MO Status=1, MOMSN=23717, MT Status=0, MTMSN=0
2021-08-13T21:45:53.991Z,1628891153.991 [NAL9602](INFO): Sent 13 bytes from file Logs/20210813T172818/Express0034.lzma
2021-08-13T21:45:53.991Z,1628891153.991 [NAL9602](INFO): Packets left to send: 0
2021-08-13T21:46:05.852Z,1628891165.852 [NAL9602](INFO): SBD MO Status=1, MOMSN=23718, MT Status=0, MTMSN=0
2021-08-13T21:46:05.908Z,1628891165.908 [NAL9602](INFO): Sent 184 bytes from file Logs/20210813T172818/Express0037.lzma
2021-08-13T21:46:05.908Z,1628891165.908 [NAL9602](INFO): Packets left to send: 3
2021-08-13T21:46:12.124Z,1628891172.124 [NAL9602](INFO): SBD MO Status=1, MOMSN=23719, MT Status=0, MTMSN=0
2021-08-13T21:46:12.172Z,1628891172.172 [NAL9602](INFO): Sent 184 bytes from file Logs/20210813T172818/Express0037.lzma
2021-08-13T21:46:12.172Z,1628891172.172 [NAL9602](INFO): Packets left to send: 2
2021-08-13T21:46:16.769Z,1628891176.769 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2021-08-13T21:46:17.170Z,1628891177.170 [Micromodem](INFO): Nmea in: $CACST,6,1,20210813214617.275705,06,1440,25,0095,0150,82,03,03,01,03,-1,-01,-01,1,3,4,0,150,8.7,-0.52,-100,3.52,-01,-2.59,58,14500,4000*74

2021-08-13T21:46:21.612Z,1628891181.612 [NAL9602](INFO): SBD MO Status=1, MOMSN=23720, MT Status=0, MTMSN=0
2021-08-13T21:46:21.660Z,1628891181.660 [NAL9602](INFO): Sent 184 bytes from file Logs/20210813T172818/Express0037.lzma
2021-08-13T21:46:21.660Z,1628891181.660 [NAL9602](INFO): Packets left to send: 1
2021-08-13T21:46:30.712Z,1628891190.712 [NAL9602](INFO): SBD MO Status=1, MOMSN=23721, MT Status=0, MTMSN=0
2021-08-13T21:46:30.765Z,1628891190.765 [NAL9602](INFO): Sent 62 bytes from file Logs/20210813T172818/Express0037.lzma
2021-08-13T21:46:30.765Z,1628891190.765 [NAL9602](INFO): Packets left to send: 0
2021-08-13T21:46:42.668Z,1628891202.668 [NAL9602](INFO): SBD MO Status=1, MOMSN=23722, MT Status=0, MTMSN=0
2021-08-13T21:46:42.716Z,1628891202.716 [NAL9602](INFO): Sent 177 bytes from file Logs/20210813T172818/Express0040.lzma
2021-08-13T21:46:42.716Z,1628891202.716 [NAL9602](INFO): Packets left to send: 0
2021-08-13T21:46:53.847Z,1628891213.847 [NAL9602](INFO): SBD MO Status=1, MOMSN=23723, MT Status=0, MTMSN=0
2021-08-13T21:46:53.904Z,1628891213.904 [NAL9602](INFO): Sent 140 bytes from file Logs/20210813T172818/Express0043.lzma
2021-08-13T21:46:53.904Z,1628891213.904 [NAL9602](INFO): Packets left to send: 0
2021-08-13T21:47:01.160Z,1628891221.160 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-13T21:47:05.344Z,1628891225.344 [NAL9602](INFO): SBD MO Status=1, MOMSN=23724, MT Status=0, MTMSN=0
2021-08-13T21:47:05.396Z,1628891225.396 [NAL9602](INFO): Sent 184 bytes from file Logs/20210813T172818/Express0046.lzma
2021-08-13T21:47:05.396Z,1628891225.396 [NAL9602](INFO): Packets left to send: 1
2021-08-13T21:47:09.229Z,1628891229.229 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-13T21:47:14.066Z,1628891234.066 [NAL9602](INFO): SBD MO Status=1, MOMSN=23725, MT Status=0, MTMSN=0
2021-08-13T21:47:14.116Z,1628891234.116 [NAL9602](INFO): Sent 73 bytes from file Logs/20210813T172818/Express0046.lzma
2021-08-13T21:47:14.116Z,1628891234.116 [NAL9602](INFO): Packets left to send: 0
2021-08-13T21:47:22.728Z,1628891242.728 [NAL9602](INFO): SBD MO Status=1, MOMSN=23726, MT Status=0, MTMSN=0
2021-08-13T21:47:22.772Z,1628891242.772 [NAL9602](INFO): Sent 184 bytes from file Logs/20210813T172818/Express0049.lzma
2021-08-13T21:47:22.773Z,1628891242.773 [NAL9602](INFO): Packets left to send: 1
2021-08-13T21:47:30.952Z,1628891250.952 [NAL9602](INFO): SBD MO Status=1, MOMSN=23727, MT Status=0, MTMSN=0
2021-08-13T21:47:31.004Z,1628891251.004 [NAL9602](INFO): Sent 10 bytes from file Logs/20210813T172818/Express0049.lzma
2021-08-13T21:47:31.004Z,1628891251.004 [NAL9602](INFO): Packets left to send: 0
2021-08-13T21:47:32.305Z,1628891252.305 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003271
2021-08-13T21:47:38.329Z,1628891258.329 [NAL9602](INFO): SBD MO Status=0, MOMSN=23728, MT Status=0, MTMSN=0
2021-08-13T21:47:39.331Z,1628891259.331 [DataOverHttps](INFO): Sending 52 bytes from file Logs/20210813T172818/Courier0051.lzma
2021-08-13T21:47:41.910Z,1628891261.910 [DataOverHttps](INFO): Moved sent file to Logs/20210813T172818/Courier0051.lzma.bak
2021-08-13T21:47:41.910Z,1628891261.910 [DataOverHttps](INFO): SBD MOMSN=433888
2021-08-13T21:47:50.376Z,1628891270.376 [DataOverHttps](INFO): Sending 61 bytes from file Logs/20210813T172818/Express0052.lzma
2021-08-13T21:47:51.378Z,1628891271.378 [DataOverHttps](INFO): Moved sent file to Logs/20210813T172818/Express0052.lzma.bak
2021-08-13T21:47:51.378Z,1628891271.378 [DataOverHttps](INFO): SBD MOMSN=433893
2021-08-13T21:47:52.898Z,1628891272.898 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2021-08-13T21:47:52.899Z,1628891272.899 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2021-08-13T21:47:52.899Z,1628891272.899 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2021-08-13T21:48:09.030Z,1628891289.030 [NAL9602](INFO): Not Powering down - fast GPS
2021-08-13T21:49:04.400Z,1628891344.400 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T21:51:19.737Z,1628891479.737 [Micromodem](INFO): Nmea in: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error

2021-08-13T21:51:19.738Z,1628891479.738 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error
 expected 41
2021-08-13T21:51:20.138Z,1628891480.138 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2021-08-13T21:51:20.143Z,1628891480.143 [Micromodem](INFO): Nmea in: $CACST,6,1,20210813215119.279412,06,214,23,0097,0150,208,02,02,00,02,-1,-01,-01,1,3,3,0,150,80.6,7.16,-100,-4.16,-01,-2.46,-12,14500,4000*6C

2021-08-13T21:52:38.582Z,1628891558.582 [DataOverHttps](IMPORTANT): SBD MTMSN=20210813T215237
2021-08-13T21:52:42.600Z,1628891562.600 [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" 2pzfb 1 2
2021-08-13T21:52:42.626Z,1628891562.626 [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" 2pzfb 1 2.000000
2021-08-13T21:52:42.627Z,1628891562.627 [CommandLine](IMPORTANT): Scheduling command #1 of 2 with id=2pzfb
2021-08-13T21:52:42.628Z,1628891562.628 [CommandLine](IMPORTANT): Scheduled #18 (#1 of 2 with id='2pzfb'): "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
2021-08-13T21:52:43.602Z,1628891563.602 [DataOverHttps](IMPORTANT): SBD MTMSN=20210813T215242
2021-08-13T21:52:48.624Z,1628891568.624 [DataOverHttps](INFO): Received command:sched asap "set lineCaptureDepth.MaxDepth 9 m;set lineCaptureDepth.MinOffshore .5 km;run" 2pzfb 2 2
2021-08-13T21:52:48.634Z,1628891568.634 [CommandLine](IMPORTANT): got command schedule asap "set lineCaptureDepth.MaxDepth 9 m;set lineCaptureDepth.MinOffshore .5 km;run" 2pzfb 2 2.000000
2021-08-13T21:52:48.634Z,1628891568.634 [CommandLine](IMPORTANT): Scheduling command #2 of 2 with id=2pzfb
2021-08-13T21:52:48.635Z,1628891568.635 [CommandLine](IMPORTANT): Scheduled #19 (#2 of 2 with id='2pzfb'): "set lineCaptureDepth.MaxDepth 9 m;set lineCaptureDepth.MinOffshore .5 km;run" ASAP
2021-08-13T21:52:48.772Z,1628891568.772 [CommandLine](IMPORTANT): got command load ./Missions/Engineering/lineCaptureDepth.xml
2021-08-13T21:52:48.773Z,1628891568.773 [MissionManager](INFO): Loading Mission: ./Missions/Engineering/lineCaptureDepth.xml
2021-08-13T21:52:48.885Z,1628891568.885 [MissionManager](INFO): DefineArg lineCaptureDepth.MissionTimeout = 4.000000 h
2021-08-13T21:52:48.887Z,1628891568.887 [MissionManager](INFO): DefineArg lineCaptureDepth.NeedCommsTime = 240.000000 min
2021-08-13T21:52:48.889Z,1628891568.889 [MissionManager](INFO): DefineArg lineCaptureDepth.MicromodemCommsInterval = 5.000000 min
2021-08-13T21:52:48.892Z,1628891568.892 [MissionManager](INFO): DefineArg lineCaptureDepth.Repeat = 1.000000 count
2021-08-13T21:52:48.894Z,1628891568.894 [MissionManager](INFO): DefineArg lineCaptureDepth.WaitOnDockTimeout = 5.000000 min
2021-08-13T21:52:48.897Z,1628891568.897 [MissionManager](INFO): DefineArg lineCaptureDepth.TransponderCode = 2.000000 count
2021-08-13T21:52:48.899Z,1628891568.899 [MissionManager](INFO): DefineArg lineCaptureDepth.TrackingUpdatePeriod = 2.500000 s
2021-08-13T21:52:48.901Z,1628891568.901 [MissionManager](INFO): DefineArg lineCaptureDepth.NumberOfPings = 1.000000 count
2021-08-13T21:52:48.904Z,1628891568.904 [MissionManager](INFO): DefineArg lineCaptureDepth.NumPingsUSBL = 5.000000 count
2021-08-13T21:52:48.906Z,1628891568.906 [MissionManager](INFO): DefineArg lineCaptureDepth.RangeUSBL = 40.000000 m
2021-08-13T21:52:48.909Z,1628891568.909 [MissionManager](INFO): DefineArg lineCaptureDepth.MinAltitude = 5.000000 m
2021-08-13T21:52:48.911Z,1628891568.911 [MissionManager](INFO): DefineArg lineCaptureDepth.MaxDepth = 205.000000 m
2021-08-13T21:52:48.938Z,1628891568.938 [MissionManager](INFO): DefineArg lineCaptureDepth.MinOffshore = 2.000000 km
2021-08-13T21:52:48.944Z,1628891568.944 [MissionManager](INFO): DefineOutput lineCaptureDepth.Mode = -1.000000 count
2021-08-13T21:52:48.947Z,1628891568.947 [MissionManager](INFO): DefineOutput lineCaptureDepth.NumPings = 1.000000 count
2021-08-13T21:52:48.947Z,1628891568.947 [MissionManager](INFO): Inserting Stack: Missions/Insert/Science.xml
2021-08-13T21:52:49.292Z,1628891569.292 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectChlActive = 0 bool
2021-08-13T21:52:49.295Z,1628891569.295 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.TimeWindowPeakReport = nan min
2021-08-13T21:52:49.297Z,1628891569.297 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.HighestChlPeakReportActive = 0 bool
2021-08-13T21:52:49.299Z,1628891569.299 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.HighestSaltPeakReportActive = 0 bool
2021-08-13T21:52:49.301Z,1628891569.301 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.HighestOilPeakReportActive = 0 bool
2021-08-13T21:52:49.303Z,1628891569.303 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PatchTracking = 0 bool
2021-08-13T21:52:49.305Z,1628891569.305 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.FilterWidthHorizontal = 3.000000 count
2021-08-13T21:52:49.307Z,1628891569.307 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.NumProfilesSlidingwindow = 100.000000 count
2021-08-13T21:52:49.310Z,1628891569.310 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.OffPeakFractionHorizontal = 80.000000 %
2021-08-13T21:52:49.312Z,1628891569.312 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectNO3Active = 0 bool
2021-08-13T21:52:49.314Z,1628891569.314 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectOilActive = 0 bool
2021-08-13T21:52:49.316Z,1628891569.316 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectFDOMActive = 0 bool
2021-08-13T21:52:49.318Z,1628891569.318 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectSalinityActive = 0 bool
2021-08-13T21:52:49.320Z,1628891569.320 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2021-08-13T21:52:49.323Z,1628891569.323 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledAanderaaO2 = 0.000000 bool
2021-08-13T21:52:49.326Z,1628891569.326 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledNeilBrown = 0.000000 bool
2021-08-13T21:52:49.328Z,1628891569.328 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledSeabird = 1.000000 bool
2021-08-13T21:52:49.331Z,1628891569.331 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledWetLabsBB2FL = 0.000000 bool
2021-08-13T21:52:49.334Z,1628891569.334 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledWetLabsSeaOWL_UV_A = 1.000000 bool
2021-08-13T21:52:49.361Z,1628891569.361 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledWetLabsUBAT = 0.000000 bool
2021-08-13T21:52:49.364Z,1628891569.364 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.LowPassWindowLength = 20.000000 count
2021-08-13T21:52:49.366Z,1628891569.366 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.MedianFilterLen = 5.000000 count
2021-08-13T21:52:49.368Z,1628891569.368 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakShallowBound = nan m
2021-08-13T21:52:49.370Z,1628891569.370 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDeepBound = nan m
2021-08-13T21:52:49.388Z,1628891569.388 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2021-08-13T21:52:49.390Z,1628891569.390 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChl = 0.000000 ug/l
2021-08-13T21:52:49.437Z,1628891569.437 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChlDepth = 0.000000 m
2021-08-13T21:52:49.439Z,1628891569.439 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChlTemperature = 0.000000 degC
2021-08-13T21:52:49.484Z,1628891569.484 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChlLatitude = nan arcdeg
2021-08-13T21:52:49.486Z,1628891569.486 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChlLongitude = nan arcdeg
2021-08-13T21:52:49.493Z,1628891569.493 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakNO3 = 0.000000 umol/l
2021-08-13T21:52:49.495Z,1628891569.495 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakNO3Depth = 0.000000 m
2021-08-13T21:52:49.506Z,1628891569.506 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakNO3Latitude = nan arcdeg
2021-08-13T21:52:49.511Z,1628891569.511 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakNO3Longitude = nan arcdeg
2021-08-13T21:52:49.525Z,1628891569.525 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakOil = 0.000000 kg/m3
2021-08-13T21:52:49.532Z,1628891569.532 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakOilDepth = 0.000000 m
2021-08-13T21:52:49.534Z,1628891569.534 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakOilLatitude = nan arcdeg
2021-08-13T21:52:49.537Z,1628891569.537 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakOilLongitude = nan arcdeg
2021-08-13T21:52:49.548Z,1628891569.548 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOM = 0.000000 ppb
2021-08-13T21:52:49.550Z,1628891569.550 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOMDepth = 0.000000 m
2021-08-13T21:52:49.557Z,1628891569.557 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOMTemperature = nan degC
2021-08-13T21:52:49.559Z,1628891569.559 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOMLatitude = nan arcdeg
2021-08-13T21:52:49.570Z,1628891569.570 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOMLongitude = nan arcdeg
2021-08-13T21:52:49.575Z,1628891569.575 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchFDOMDistance = nan m
2021-08-13T21:52:49.590Z,1628891569.590 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakSalt = 0.000000 psu
2021-08-13T21:52:49.600Z,1628891569.600 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakSaltDepth = 0.000000 m
2021-08-13T21:52:49.603Z,1628891569.603 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakSaltTemperature = 0.000000 degC
2021-08-13T21:52:49.620Z,1628891569.620 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakSaltLatitude = nan arcdeg
2021-08-13T21:52:49.623Z,1628891569.623 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakSaltLongitude = nan arcdeg
2021-08-13T21:52:49.644Z,1628891569.644 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChl = 0.000000 ug/l
2021-08-13T21:52:49.647Z,1628891569.647 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChlDepth = 0.000000 m
2021-08-13T21:52:49.662Z,1628891569.662 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChlLatitude = nan arcdeg
2021-08-13T21:52:49.677Z,1628891569.677 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChlLongitude = nan arcdeg
2021-08-13T21:52:49.692Z,1628891569.692 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChlDistance = nan m
2021-08-13T21:52:49.695Z,1628891569.695 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchSalt = 0.000000 psu
2021-08-13T21:52:49.701Z,1628891569.701 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchSaltDepth = 0.000000 m
2021-08-13T21:52:49.708Z,1628891569.708 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchSaltLatitude = nan arcdeg
2021-08-13T21:52:49.710Z,1628891569.710 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchSaltLongitude = nan arcdeg
2021-08-13T21:52:49.714Z,1628891569.714 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchSaltDistance = nan m
2021-08-13T21:52:49.725Z,1628891569.725 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchOil = 0.000000 psu
2021-08-13T21:52:49.727Z,1628891569.727 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchOilDepth = 0.000000 m
2021-08-13T21:52:49.734Z,1628891569.734 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchOilLatitude = nan arcdeg
2021-08-13T21:52:49.737Z,1628891569.737 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchOilLongitude = nan arcdeg
2021-08-13T21:52:49.748Z,1628891569.748 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchOilDistance = nan m
2021-08-13T21:52:49.862Z,1628891569.862 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-08-13T21:52:49.918Z,1628891569.918 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2021-08-13T21:52:49.959Z,1628891569.959 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-08-13T21:52:49.998Z,1628891569.998 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-08-13T21:52:50.047Z,1628891570.047 [lineCaptureDepth:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2021-08-13T21:52:50.082Z,1628891570.082 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-08-13T21:52:50.114Z,1628891570.114 [lineCaptureDepth:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-08-13T21:52:50.139Z,1628891570.139 [lineCaptureDepth:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2021-08-13T21:52:50.166Z,1628891570.166 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2021-08-13T21:52:50.256Z,1628891570.256 [MissionManager](INFO): DefineArg lineCaptureDepth:StandardEnvelopes.MinAltitude = 5.000000 m
2021-08-13T21:52:50.258Z,1628891570.258 [MissionManager](INFO): DefineArg lineCaptureDepth:StandardEnvelopes.MaxDepth = 200.000000 m
2021-08-13T21:52:50.262Z,1628891570.262 [MissionManager](INFO): DefineArg lineCaptureDepth:StandardEnvelopes.MinOffshore = 2000.000000 m
2021-08-13T21:52:50.263Z,1628891570.263 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2021-08-13T21:52:50.281Z,1628891570.281 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2021-08-13T21:52:50.296Z,1628891570.296 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2021-08-13T21:52:50.311Z,1628891570.311 [MissionManager](INFO): Inserting Stack: Missions/Insert/NeedComms.xml
2021-08-13T21:52:50.388Z,1628891570.388 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.DiveInterval = 3.000000 h
2021-08-13T21:52:50.390Z,1628891570.390 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.WaitForPitchUp = 10.000000 min
2021-08-13T21:52:50.397Z,1628891570.397 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.SurfacePitch = 20.000000 arcdeg
2021-08-13T21:52:50.399Z,1628891570.399 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.SurfaceDepthRate = nan m/s
2021-08-13T21:52:50.401Z,1628891570.401 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.SurfaceSpeed = 1.000000 m/s
2021-08-13T21:52:50.412Z,1628891570.412 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.GPSTimeout = 7.000000 min
2021-08-13T21:52:50.414Z,1628891570.414 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.CommsTimeout = 30.000000 min
2021-08-13T21:52:50.430Z,1628891570.430 [lineCaptureDepth:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2021-08-13T21:52:50.474Z,1628891570.474 [MissionManager](INFO): Inserting Stack: Missions/Insert/MicromodemComms.xml
2021-08-13T21:52:50.504Z,1628891570.504 [MissionManager](INFO): DefineArg lineCaptureDepth:MicromodemComms.Timeout = 10.000000 min
2021-08-13T21:52:50.507Z,1628891570.507 [MissionManager](INFO): DefineArg lineCaptureDepth:MicromodemComms.CommsInterval = 5.000000 min
2021-08-13T21:52:50.515Z,1628891570.515 [MissionManager](INFO): RedefineArg lineCaptureDepth:MicromodemComms.CommsInterval = reader:lineCaptureDepth.MicromodemCommsInterval
2021-08-13T21:52:50.554Z,1628891570.554 [MissionManager](INFO): Inserting Stack: Missions/Insert/LineCapture.xml
2021-08-13T21:52:50.792Z,1628891570.792 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.DockLat = 41.552317 arcdeg
2021-08-13T21:52:50.795Z,1628891570.795 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.DockLon = -70.708600 arcdeg
2021-08-13T21:52:50.798Z,1628891570.798 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.DetachTimeout = 30.000000 min
2021-08-13T21:52:50.801Z,1628891570.801 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MidcourseDepth = 6.000000 m
2021-08-13T21:52:50.804Z,1628891570.804 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MidcourseSpeed = 1.000000 m/s
2021-08-13T21:52:50.806Z,1628891570.806 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MidcourseTimeout = 6.000000 h
2021-08-13T21:52:50.809Z,1628891570.809 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.TerminalRange = 650.000000 m
2021-08-13T21:52:50.812Z,1628891570.812 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.AcousticTimeout = 5.000000 min
2021-08-13T21:52:50.815Z,1628891570.815 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.SearchTimeout = 1.000000 h
2021-08-13T21:52:50.817Z,1628891570.817 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.CircleRadius = 25.000000 m
2021-08-13T21:52:50.820Z,1628891570.820 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.CircleMaxError = 1.000000 m
2021-08-13T21:52:50.825Z,1628891570.825 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.CircleTurnToPort = 0 bool
2021-08-13T21:52:50.853Z,1628891570.853 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.DepthDeadband = 0.010000 m
2021-08-13T21:52:50.860Z,1628891570.860 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.RudderDeadband = 0.001000 arcdeg
2021-08-13T21:52:50.862Z,1628891570.862 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MinAltitude = 2.000000 m
2021-08-13T21:52:50.865Z,1628891570.865 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MaxDepth = 8.000000 m
2021-08-13T21:52:50.867Z,1628891570.867 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MinOffshore = 1.000000 m
2021-08-13T21:52:50.878Z,1628891570.878 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.DoneTimeout = -1.000000 count
2021-08-13T21:52:50.885Z,1628891570.885 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.Done = 0.000000 count
2021-08-13T21:52:50.887Z,1628891570.887 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.DetachFromDock = 1.000000 count
2021-08-13T21:52:50.894Z,1628891570.894 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.Midcourse = 2.000000 count
2021-08-13T21:52:50.897Z,1628891570.897 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.Terminal = 3.000000 count
2021-08-13T21:52:50.899Z,1628891570.899 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.GuidanceMode = 1.000000 n/a
2021-08-13T21:52:50.914Z,1628891570.914 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.DockingDepth = 1.000000 m
2021-08-13T21:52:50.920Z,1628891570.920 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.ElapsedRange = 0.000000 min
2021-08-13T21:52:50.925Z,1628891570.925 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.Range = nan m
2021-08-13T21:52:50.930Z,1628891570.930 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2021-08-13T21:52:50.958Z,1628891570.958 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture:StandardEnvelopes.MinAltitude = 5.000000 m
2021-08-13T21:52:50.975Z,1628891570.975 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture:StandardEnvelopes.MaxDepth = 200.000000 m
2021-08-13T21:52:50.977Z,1628891570.977 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture:StandardEnvelopes.MinOffshore = 2000.000000 m
2021-08-13T21:52:50.979Z,1628891570.979 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2021-08-13T21:52:50.999Z,1628891570.999 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2021-08-13T21:52:51.006Z,1628891571.006 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2021-08-13T21:52:51.106Z,1628891571.106 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Construct.
2021-08-13T21:52:51.110Z,1628891571.110 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Construct Buoyancy.
2021-08-13T21:52:51.130Z,1628891571.130 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Construct.
2021-08-13T21:52:51.130Z,1628891571.130 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2021-08-13T21:52:51.168Z,1628891571.168 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Construct.
2021-08-13T21:52:51.171Z,1628891571.171 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Construct.
2021-08-13T21:52:51.175Z,1628891571.175 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Construct Waypoint.
2021-08-13T21:52:51.203Z,1628891571.203 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A.Circle](DEBUG): Construct.
2021-08-13T21:52:51.217Z,1628891571.217 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:B.Wait](DEBUG): Construct Wait.
2021-08-13T21:52:51.242Z,1628891571.242 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Construct.
2021-08-13T21:52:51.258Z,1628891571.258 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Construct.
2021-08-13T21:52:51.274Z,1628891571.274 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initializing internal variables to default values.
2021-08-13T21:52:51.274Z,1628891571.274 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2021-08-13T21:52:51.278Z,1628891571.278 [lineCaptureDepth:LineCapture:K.Wait](DEBUG): Construct Wait.
2021-08-13T21:52:51.285Z,1628891571.285 [MissionManager](INFO): Inserting Stack: Missions/Insert/SetNavAcoustic.xml
2021-08-13T21:52:51.308Z,1628891571.308 [MissionManager](INFO): DefineArg lineCaptureDepth:SetNavAcoustic.DockLat = 41.552317 arcdeg
2021-08-13T21:52:51.310Z,1628891571.310 [MissionManager](INFO): DefineArg lineCaptureDepth:SetNavAcoustic.DockLon = -70.708600 arcdeg
2021-08-13T21:52:51.313Z,1628891571.313 [MissionManager](INFO): DefineArg lineCaptureDepth:SetNavAcoustic.DockRange = 5.000000 m
2021-08-13T21:52:51.316Z,1628891571.316 [MissionManager](INFO): DefineArg lineCaptureDepth:SetNavAcoustic.RangeTimeout = 5.000000 min
2021-08-13T21:52:51.346Z,1628891571.346 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Construct SetNav.
2021-08-13T21:52:51.389Z,1628891571.389 [lineCaptureDepth:Lap:Docked:Docked.Docked](DEBUG): Construct.
2021-08-13T21:52:51.389Z,1628891571.389 [lineCaptureDepth:Lap:Docked:Docked.Docked](DEBUG): Initializing internal variables to default values.
2021-08-13T21:52:51.397Z,1628891571.397 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](DEBUG): Construct.
2021-08-13T21:52:51.397Z,1628891571.397 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](DEBUG): Initializing internal variables to default values.
2021-08-13T21:52:51.525Z,1628891571.525 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
    xmlns:Estimation="Tethys/Estimation"
    xmlns:Guidance="Tethys/Guidance"
    xmlns:Units="Tethys/Units"
    xmlns:Dock="Tethys/Dock"
    xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
    xsi:schemaLocation="Tethys http://okeanids.mbari.org/tethys/Xml/Tethys.xsd
                        Tethys/Dock http://okeanids.mbari.org/tethys/Xml/Dock.xsd
                        Tethys/Estimation http://okeanids.mbari.org/tethys/Xml/Estimation.xsd
                        Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd
                        Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd"
    Id="lineCaptureDepth">

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

<!-- Define mission arguments -->

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

<!-- Mission timeout -->

    <Timeout Duration="MissionTimeout"/>

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

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

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

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

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

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

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

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

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

<!-- Micromodem comms -->

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

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

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

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

<!-- Add LineCapture directives. -->

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

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

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

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

<!-- Add SetNav directives. -->

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

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

    <Aggregate Id="UpdateNumPings_NotTerminal">

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

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

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

    </Aggregate>


    <Aggregate Id="UpdateNumPings_Terminal">

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

        <Aggregate Id="UpdateNumPingsUSBL">

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

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

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

        </Aggregate>

        <Aggregate Id="UpdateNumPingsATR">

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

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

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

        </Aggregate>
    </Aggregate>


<!-- Start mission sequence. -->

    <Aggregate Id="Lap">

        <Sequence Repeat="Repeat"/>

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

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

        <Call RefId="LineCapture"/>

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

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

        <Aggregate Id="Docked">

            <Sequence/>

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

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

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

            <Aggregate Id="Detach">

                <Sequence/>

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

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

            </Aggregate>

        </Aggregate>

    </Aggregate>

</Mission>


2021-08-13T21:52:51.526Z,1628891571.526 [CommandLine](IMPORTANT): Loaded ./Missions/Engineering/lineCaptureDepth.xml
2021-08-13T21:52:53.498Z,1628891573.498 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](INFO): Done Waiting.
2021-08-13T21:52:53.498Z,1628891573.498 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2021-08-13T21:52:53.498Z,1628891573.498 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2021-08-13T21:52:53.499Z,1628891573.499 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Running Loop=1
2021-08-13T21:52:53.947Z,1628891573.947 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Stopped
2021-08-13T21:52:53.947Z,1628891573.947 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Running Loop=1
2021-08-13T21:52:54.322Z,1628891574.322 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for 9.813807 min 
2021-08-13T21:52:54.322Z,1628891574.322 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Stopped
2021-08-13T21:52:54.323Z,1628891574.323 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Completed DefaultWithUndock:SurfaceDefault:CheckIn
2021-08-13T21:52:54.323Z,1628891574.323 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2021-08-13T21:52:54.323Z,1628891574.323 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-08-13T21:52:54.323Z,1628891574.323 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Running loop #2
2021-08-13T21:52:54.323Z,1628891574.323 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=2
2021-08-13T21:52:54.323Z,1628891574.323 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-08-13T21:52:54.323Z,1628891574.323 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2021-08-13T21:52:56.281Z,1628891576.281 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,215255.00,A,4133.18651,N,07042.43291,W,0.641,42.93,130821,,,A*4C
2021-08-13T21:52:56.283Z,1628891576.283 [NAL9602](INFO): GPS fix at 20210813T215255: (41.553109, -70.707215)
2021-08-13T21:52:56.328Z,1628891576.328 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2021-08-13T21:52:56.328Z,1628891576.328 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2021-08-13T21:53:01.711Z,1628891581.711 [DataOverHttps](INFO): Sending 72 bytes from file Logs/20210813T172818/Courier0054.lzma
2021-08-13T21:53:02.706Z,1628891582.706 [DataOverHttps](INFO): Moved sent file to Logs/20210813T172818/Courier0054.lzma.bak
2021-08-13T21:53:02.706Z,1628891582.706 [DataOverHttps](INFO): SBD MOMSN=433904
2021-08-13T21:53:07.081Z,1628891587.081 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MissionTimeout 120.000000 minute
2021-08-13T21:53:07.082Z,1628891587.082 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MicromodemCommsInterval 30.000000 minute
2021-08-13T21:53:07.083Z,1628891587.083 [CommandLine](IMPORTANT): got command set lineCaptureDepth.Repeat 20.000000 count
2021-08-13T21:53:07.084Z,1628891587.084 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MinAltitude 3.000000 meter
2021-08-13T21:53:11.751Z,1628891591.751 [DataOverHttps](INFO): Sending 51 bytes from file Logs/20210813T172818/Courier0057.lzma
2021-08-13T21:53:12.754Z,1628891592.754 [DataOverHttps](INFO): Moved sent file to Logs/20210813T172818/Courier0057.lzma.bak
2021-08-13T21:53:12.754Z,1628891592.754 [DataOverHttps](INFO): SBD MOMSN=433907
2021-08-13T21:53:13.634Z,1628891593.634 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MaxDepth 9.000000 meter
2021-08-13T21:53:13.635Z,1628891593.635 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MinOffshore 0.500000 kilometer
2021-08-13T21:53:13.635Z,1628891593.635 [CommandLine](IMPORTANT): got command run
2021-08-13T21:53:13.638Z,1628891593.638 [CommandLine](IMPORTANT): Running 
2021-08-13T21:53:13.878Z,1628891593.878 [DefaultWithUndock] Stopped
2021-08-13T21:53:13.878Z,1628891593.878 [DefaultWithUndock](DEBUG): Aggregate::uninitialize DefaultWithUndock
2021-08-13T21:53:13.878Z,1628891593.878 [DefaultWithUndock:SurfaceDefault] Stopped
2021-08-13T21:53:13.878Z,1628891593.878 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault
2021-08-13T21:53:13.878Z,1628891593.878 [DefaultWithUndock:SurfaceDefault:B.GoToSurface] Stopped
2021-08-13T21:53:13.878Z,1628891593.878 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2021-08-13T21:53:13.878Z,1628891593.878 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2021-08-13T21:53:13.878Z,1628891593.878 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-08-13T21:53:13.878Z,1628891593.878 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2021-08-13T21:53:13.879Z,1628891593.879 [MissionManager](IMPORTANT): Started mission lineCaptureDepth
2021-08-13T21:53:13.879Z,1628891593.879 [lineCaptureDepth] Running Loop=1
2021-08-13T21:53:13.879Z,1628891593.879 [lineCaptureDepth](DEBUG): Aggregate::initialize lineCaptureDepth
2021-08-13T21:53:13.879Z,1628891593.879 [lineCaptureDepth:Science] Running Loop=1
2021-08-13T21:53:13.879Z,1628891593.879 [lineCaptureDepth:Science](DEBUG): Aggregate::initialize lineCaptureDepth:Science
2021-08-13T21:53:13.879Z,1628891593.879 [lineCaptureDepth:Science:A] Running Loop=1
2021-08-13T21:53:13.879Z,1628891593.879 [lineCaptureDepth:Science:B] Running Loop=1
2021-08-13T21:53:13.884Z,1628891593.884 [lineCaptureDepth:Science:C] Running Loop=1
2021-08-13T21:53:13.884Z,1628891593.884 [lineCaptureDepth:Science:D] Running Loop=1
2021-08-13T21:53:13.884Z,1628891593.884 [lineCaptureDepth:Science:E] Running Loop=1
2021-08-13T21:53:13.884Z,1628891593.884 [lineCaptureDepth:Science:F] Running Loop=1
2021-08-13T21:53:13.884Z,1628891593.884 [lineCaptureDepth:Science:Read_Oil] Running Loop=1
2021-08-13T21:53:13.884Z,1628891593.884 [lineCaptureDepth:Science:PeakDetectChl] Running Loop=1
2021-08-13T21:53:13.884Z,1628891593.884 [lineCaptureDepth:Science:PeakDetectChl](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectChl
2021-08-13T21:53:13.885Z,1628891593.885 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth] Running Loop=1
2021-08-13T21:53:13.885Z,1628891593.885 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-08-13T21:53:13.886Z,1628891593.886 [lineCaptureDepth:Science:HighestChlPeakReport] Running Loop=1
2021-08-13T21:53:13.886Z,1628891593.886 [lineCaptureDepth:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize lineCaptureDepth:Science:HighestChlPeakReport
2021-08-13T21:53:13.886Z,1628891593.886 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2021-08-13T21:53:13.886Z,1628891593.886 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2021-08-13T21:53:13.887Z,1628891593.887 [lineCaptureDepth:Science:PeakDetectNO3] Running Loop=1
2021-08-13T21:53:13.887Z,1628891593.887 [lineCaptureDepth:Science:PeakDetectNO3](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectNO3
2021-08-13T21:53:13.887Z,1628891593.887 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth] Running Loop=1
2021-08-13T21:53:13.887Z,1628891593.887 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-08-13T21:53:13.905Z,1628891593.905 [lineCaptureDepth:Science:PeakDetectOil] Running Loop=1
2021-08-13T21:53:13.905Z,1628891593.905 [lineCaptureDepth:Science:PeakDetectOil](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectOil
2021-08-13T21:53:13.905Z,1628891593.905 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth] Running Loop=1
2021-08-13T21:53:13.905Z,1628891593.905 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-08-13T21:53:13.906Z,1628891593.906 [lineCaptureDepth:Science:HighestOilPeakReport] Running Loop=1
2021-08-13T21:53:13.906Z,1628891593.906 [lineCaptureDepth:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize lineCaptureDepth:Science:HighestOilPeakReport
2021-08-13T21:53:13.906Z,1628891593.906 [lineCaptureDepth:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2021-08-13T21:53:13.907Z,1628891593.907 [lineCaptureDepth:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2021-08-13T21:53:13.907Z,1628891593.907 [lineCaptureDepth:Science:PeakDetectFDOM] Running Loop=1
2021-08-13T21:53:13.907Z,1628891593.907 [lineCaptureDepth:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectFDOM
2021-08-13T21:53:13.907Z,1628891593.907 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Running Loop=1
2021-08-13T21:53:13.907Z,1628891593.907 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-08-13T21:53:13.917Z,1628891593.917 [lineCaptureDepth:Science:PeakDetectSalinity] Running Loop=1
2021-08-13T21:53:13.917Z,1628891593.917 [lineCaptureDepth:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectSalinity
2021-08-13T21:53:13.917Z,1628891593.917 [lineCaptureDepth:Science:PeakDetectSalinity:A.PeakDetectVsDepth] Running Loop=1
2021-08-13T21:53:13.918Z,1628891593.918 [lineCaptureDepth:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-08-13T21:53:13.919Z,1628891593.919 [lineCaptureDepth:Science:HighestSaltPeakReport] Running Loop=1
2021-08-13T21:53:13.919Z,1628891593.919 [lineCaptureDepth:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize lineCaptureDepth:Science:HighestSaltPeakReport
2021-08-13T21:53:13.919Z,1628891593.919 [lineCaptureDepth:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2021-08-13T21:53:13.919Z,1628891593.919 [lineCaptureDepth:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2021-08-13T21:53:13.928Z,1628891593.928 [lineCaptureDepth:Science:OceanCurrent] Running Loop=1
2021-08-13T21:53:13.928Z,1628891593.928 [lineCaptureDepth:Science:OceanCurrent](DEBUG): Aggregate::initialize lineCaptureDepth:Science:OceanCurrent
2021-08-13T21:53:13.928Z,1628891593.928 [lineCaptureDepth:Science:OceanCurrent:A.] Running Loop=1
2021-08-13T21:53:13.928Z,1628891593.928 [lineCaptureDepth:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2021-08-13T21:53:13.929Z,1628891593.929 [lineCaptureDepth:StandardEnvelopes] Running Loop=1
2021-08-13T21:53:13.929Z,1628891593.929 [lineCaptureDepth:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureDepth:StandardEnvelopes
2021-08-13T21:53:13.929Z,1628891593.929 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-08-13T21:53:13.929Z,1628891593.929 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2021-08-13T21:53:13.929Z,1628891593.929 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-08-13T21:53:13.929Z,1628891593.929 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2021-08-13T21:53:13.929Z,1628891593.929 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-08-13T21:53:13.929Z,1628891593.929 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2021-08-13T21:53:13.930Z,1628891593.930 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-08-13T21:53:13.930Z,1628891593.930 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-08-13T21:53:13.930Z,1628891593.930 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-08-13T21:53:13.930Z,1628891593.930 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-13T21:53:13.930Z,1628891593.930 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-08-13T21:53:13.930Z,1628891593.930 [lineCaptureDepth:TrackAC.] Running Loop=1
2021-08-13T21:53:13.930Z,1628891593.930 [lineCaptureDepth:TrackAC.](INFO): Initializing TrackAcousticContact.
2021-08-13T21:53:13.931Z,1628891593.931 [lineCaptureDepth:UpdateNumPings_NotTerminal] Running Loop=1
2021-08-13T21:53:13.931Z,1628891593.931 [lineCaptureDepth:UpdateNumPings_NotTerminal](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_NotTerminal
2021-08-13T21:53:13.931Z,1628891593.931 [lineCaptureDepth:UpdateNumPings_NotTerminal:A] Running Loop=1
2021-08-13T21:53:13.931Z,1628891593.931 [lineCaptureDepth:UpdateNumPings_Terminal] Running Loop=1
2021-08-13T21:53:13.931Z,1628891593.931 [lineCaptureDepth:UpdateNumPings_Terminal](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal
2021-08-13T21:53:13.931Z,1628891593.931 [lineCaptureDepth:C] Running Loop=1
2021-08-13T21:53:13.941Z,1628891593.941 [lineCaptureDepth:UpdateNumPings_Terminal] Stopped
2021-08-13T21:53:13.941Z,1628891593.941 [lineCaptureDepth:UpdateNumPings_Terminal](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal
2021-08-13T21:53:13.941Z,1628891593.941 [lineCaptureDepth:UpdateNumPings_NotTerminal] Stopped
2021-08-13T21:53:13.941Z,1628891593.941 [lineCaptureDepth:UpdateNumPings_NotTerminal](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_NotTerminal
2021-08-13T21:53:13.942Z,1628891593.942 [lineCaptureDepth:UpdateNumPings_NotTerminal:A] Stopped
2021-08-13T21:53:13.942Z,1628891593.942 [lineCaptureDepth:TrackAC.] Running Loop=1
2021-08-13T21:53:13.942Z,1628891593.942 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-08-13T21:53:13.943Z,1628891593.943 [lineCaptureDepth:MicromodemComms:CheckIn:A](DEBUG): Initialize ReadDataComponent to sense platform_communications
2021-08-13T21:53:13.943Z,1628891593.943 [lineCaptureDepth:C] Stopped
2021-08-13T21:53:13.952Z,1628891593.952 [lineCaptureDepth:D] Running Loop=1
2021-08-13T21:53:13.952Z,1628891593.952 [lineCaptureDepth:StandardEnvelopes] Running Loop=1
2021-08-13T21:53:13.952Z,1628891593.952 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-08-13T21:53:13.952Z,1628891593.952 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-08-13T21:53:13.953Z,1628891593.953 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-08-13T21:53:13.953Z,1628891593.953 [lineCaptureDepth:Science] Running Loop=1
2021-08-13T21:53:13.954Z,1628891593.954 [lineCaptureDepth:Science:HighestSaltPeakReport] Stopped
2021-08-13T21:53:13.954Z,1628891593.954 [lineCaptureDepth:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:HighestSaltPeakReport
2021-08-13T21:53:13.954Z,1628891593.954 [lineCaptureDepth:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2021-08-13T21:53:13.954Z,1628891593.954 [lineCaptureDepth:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2021-08-13T21:53:13.955Z,1628891593.955 [lineCaptureDepth:Science:PeakDetectSalinity] Stopped
2021-08-13T21:53:13.955Z,1628891593.955 [lineCaptureDepth:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectSalinity
2021-08-13T21:53:13.955Z,1628891593.955 [lineCaptureDepth:Science:PeakDetectSalinity:A.PeakDetectVsDepth] Stopped
2021-08-13T21:53:13.955Z,1628891593.955 [lineCaptureDepth:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-08-13T21:53:13.955Z,1628891593.955 [lineCaptureDepth:Science:PeakDetectFDOM] Stopped
2021-08-13T21:53:13.955Z,1628891593.955 [lineCaptureDepth:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectFDOM
2021-08-13T21:53:13.955Z,1628891593.955 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Stopped
2021-08-13T21:53:13.955Z,1628891593.955 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-08-13T21:53:13.955Z,1628891593.955 [lineCaptureDepth:Science:HighestOilPeakReport] Stopped
2021-08-13T21:53:13.964Z,1628891593.964 [lineCaptureDepth:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:HighestOilPeakReport
2021-08-13T21:53:13.964Z,1628891593.964 [lineCaptureDepth:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2021-08-13T21:53:13.964Z,1628891593.964 [lineCaptureDepth:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2021-08-13T21:53:13.964Z,1628891593.964 [lineCaptureDepth:Science:PeakDetectOil] Stopped
2021-08-13T21:53:13.964Z,1628891593.964 [lineCaptureDepth:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectOil
2021-08-13T21:53:13.964Z,1628891593.964 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth] Stopped
2021-08-13T21:53:13.964Z,1628891593.964 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-08-13T21:53:13.965Z,1628891593.965 [lineCaptureDepth:Science:PeakDetectNO3] Stopped
2021-08-13T21:53:13.965Z,1628891593.965 [lineCaptureDepth:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectNO3
2021-08-13T21:53:13.965Z,1628891593.965 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth] Stopped
2021-08-13T21:53:13.965Z,1628891593.965 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-08-13T21:53:13.965Z,1628891593.965 [lineCaptureDepth:Science:HighestChlPeakReport] Stopped
2021-08-13T21:53:13.965Z,1628891593.965 [lineCaptureDepth:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:HighestChlPeakReport
2021-08-13T21:53:13.965Z,1628891593.965 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2021-08-13T21:53:13.965Z,1628891593.965 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2021-08-13T21:53:13.965Z,1628891593.965 [lineCaptureDepth:Science:PeakDetectChl] Stopped
2021-08-13T21:53:13.965Z,1628891593.965 [lineCaptureDepth:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectChl
2021-08-13T21:53:13.965Z,1628891593.965 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth] Stopped
2021-08-13T21:53:13.966Z,1628891593.966 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-08-13T21:53:13.966Z,1628891593.966 [lineCaptureDepth:Science:OceanCurrent:A.] Running Loop=1
2021-08-13T21:53:13.967Z,1628891593.967 [lineCaptureDepth:Science:Read_Oil] Running Loop=1
2021-08-13T21:53:13.967Z,1628891593.967 [lineCaptureDepth:Science:Read_Oil](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_petroleum_hydrocarbons_in_sea_water
2021-08-13T21:53:13.973Z,1628891593.973 [lineCaptureDepth:Science:F] Stopped
2021-08-13T21:53:13.973Z,1628891593.973 [lineCaptureDepth:Science:E] Stopped
2021-08-13T21:53:13.974Z,1628891593.974 [lineCaptureDepth:Science:D] Stopped
2021-08-13T21:53:13.974Z,1628891593.974 [lineCaptureDepth:Science:C] Running Loop=1
2021-08-13T21:53:13.974Z,1628891593.974 [lineCaptureDepth:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature
2021-08-13T21:53:13.975Z,1628891593.975 [lineCaptureDepth:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity
2021-08-13T21:53:13.975Z,1628891593.975 [lineCaptureDepth:Science:B] Running Loop=1
2021-08-13T21:53:13.975Z,1628891593.975 [lineCaptureDepth:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature
2021-08-13T21:53:13.988Z,1628891593.988 [lineCaptureDepth:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity
2021-08-13T21:53:13.988Z,1628891593.988 [lineCaptureDepth:Science:A] Stopped
2021-08-13T21:53:14.240Z,1628891594.240 [lineCaptureDepth:MicromodemComms] Stopped
2021-08-13T21:53:14.241Z,1628891594.241 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-08-13T21:53:14.241Z,1628891594.241 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-08-13T21:53:14.241Z,1628891594.241 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-13T21:53:14.241Z,1628891594.241 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-08-13T21:53:14.241Z,1628891594.241 [lineCaptureDepth:D] Stopped
2021-08-13T21:53:14.241Z,1628891594.241 [lineCaptureDepth:E] Running Loop=1
2021-08-13T21:53:14.308Z,1628891594.308 [WetLabsSeaOWL_UV_A](INFO): Powering up
2021-08-13T21:53:14.609Z,1628891594.609 [lineCaptureDepth:E] Stopped
2021-08-13T21:53:14.609Z,1628891594.609 [lineCaptureDepth:G] Running Loop=1
2021-08-13T21:53:15.004Z,1628891595.004 [lineCaptureDepth:G] Stopped
2021-08-13T21:53:15.005Z,1628891595.005 [lineCaptureDepth:H] Running Loop=1
2021-08-13T21:53:15.403Z,1628891595.403 [lineCaptureDepth:H] Stopped
2021-08-13T21:53:15.403Z,1628891595.403 [lineCaptureDepth:J] Running Loop=1
2021-08-13T21:53:15.869Z,1628891595.869 [NAL9602](INFO): SBD MO Status=0, MOMSN=23729, MT Status=0, MTMSN=0
2021-08-13T21:53:15.869Z,1628891595.869 [NAL9602](INFO): No messages in MT queue
2021-08-13T21:53:15.956Z,1628891595.956 [lineCaptureDepth:J] Stopped
2021-08-13T21:53:15.956Z,1628891595.956 [lineCaptureDepth:M] Running Loop=1
2021-08-13T21:53:16.195Z,1628891596.195 [lineCaptureDepth:M] Stopped
2021-08-13T21:53:16.195Z,1628891596.195 [lineCaptureDepth:N] Running Loop=1
2021-08-13T21:53:16.609Z,1628891596.609 [lineCaptureDepth:N] Stopped
2021-08-13T21:53:16.609Z,1628891596.609 [lineCaptureDepth:O] Running Loop=1
2021-08-13T21:53:16.609Z,1628891596.609 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:53:16.989Z,1628891596.989 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:53:16.989Z,1628891596.989 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:53:16.989Z,1628891596.989 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:53:16.990Z,1628891596.990 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:53:17.041Z,1628891597.041 [lineCaptureDepth:O] Stopped
2021-08-13T21:53:17.042Z,1628891597.042 [lineCaptureDepth:Lap] Running Loop=1
2021-08-13T21:53:17.042Z,1628891597.042 [lineCaptureDepth:Lap](DEBUG): Aggregate::initialize lineCaptureDepth:Lap
2021-08-13T21:53:17.042Z,1628891597.042 [lineCaptureDepth:Lap:A] Running Loop=1
2021-08-13T21:53:17.381Z,1628891597.381 [CTD_Seabird](ERROR): Failed to parse device response: <!--startlogging-->
2021-08-13T21:53:17.395Z,1628891597.395 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
100,000,0044D,186,80,80,81,FF
2021-08-13T21:53:17.395Z,1628891597.395 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:53:17.395Z,1628891597.395 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:53:17.397Z,1628891597.397 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:53:17.474Z,1628891597.474 [lineCaptureDepth:Lap:A] Stopped
2021-08-13T21:53:17.475Z,1628891597.475 [lineCaptureDepth:Lap:B] Running Loop=1
2021-08-13T21:53:17.475Z,1628891597.475 [lineCaptureDepth:Lap:B](DEBUG): Aggregate::initialize lineCaptureDepth:Lap:B
2021-08-13T21:53:17.855Z,1628891597.855 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:53:17.947Z,1628891597.947 [lineCaptureDepth:LineCapture] Running Loop=1
2021-08-13T21:53:17.947Z,1628891597.947 [lineCaptureDepth:LineCapture](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture
2021-08-13T21:53:17.947Z,1628891597.947 [lineCaptureDepth:LineCapture:StandardEnvelopes] Running Loop=1
2021-08-13T21:53:17.960Z,1628891597.960 [lineCaptureDepth:LineCapture:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:StandardEnvelopes
2021-08-13T21:53:17.960Z,1628891597.960 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-08-13T21:53:17.960Z,1628891597.960 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2021-08-13T21:53:17.960Z,1628891597.960 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-08-13T21:53:17.960Z,1628891597.960 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2021-08-13T21:53:17.960Z,1628891597.960 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-08-13T21:53:17.960Z,1628891597.960 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2021-08-13T21:53:17.961Z,1628891597.961 [lineCaptureDepth:LineCapture:G] Running Loop=1
2021-08-13T21:53:17.961Z,1628891597.961 [lineCaptureDepth:LineCapture:H] Running Loop=1
2021-08-13T21:53:17.961Z,1628891597.961 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-08-13T21:53:17.961Z,1628891597.961 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-13T21:53:17.961Z,1628891597.961 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-08-13T21:53:17.961Z,1628891597.961 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-08-13T21:53:17.961Z,1628891597.961 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2021-08-13T21:53:17.961Z,1628891597.961 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-08-13T21:53:17.961Z,1628891597.961 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-08-13T21:53:17.962Z,1628891597.962 [lineCaptureDepth:LineCapture:A] Running Loop=1
2021-08-13T21:53:17.962Z,1628891597.962 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2021-08-13T21:53:17.962Z,1628891597.962 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-13T21:53:17.962Z,1628891597.962 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2021-08-13T21:53:17.962Z,1628891597.962 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2021-08-13T21:53:17.962Z,1628891597.962 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2021-08-13T21:53:17.962Z,1628891597.962 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2021-08-13T21:53:17.962Z,1628891597.962 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-08-13T21:53:17.963Z,1628891597.963 [lineCaptureDepth:LineCapture:H] Running Loop=1
2021-08-13T21:53:17.963Z,1628891597.963 [lineCaptureDepth:LineCapture:G] Running Loop=1
2021-08-13T21:53:17.963Z,1628891597.963 [lineCaptureDepth:LineCapture:StandardEnvelopes] Running Loop=1
2021-08-13T21:53:17.963Z,1628891597.963 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-08-13T21:53:17.968Z,1628891597.968 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-08-13T21:53:17.968Z,1628891597.968 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-08-13T21:53:17.969Z,1628891597.969 [lineCaptureDepth:LineCapture:A] Stopped
2021-08-13T21:53:17.969Z,1628891597.969 [lineCaptureDepth:LineCapture:B] Running Loop=1
2021-08-13T21:53:18.201Z,1628891598.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,002EB,189,80,80,BC,FF
2021-08-13T21:53:18.202Z,1628891598.202 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:53:18.205Z,1628891598.205 [Micromodem](INFO): Nmea in: $SNTTA,0.045259,0.148110,,,215318.95*5C

2021-08-13T21:53:18.249Z,1628891598.249 [lineCaptureDepth:LineCapture:B] Stopped
2021-08-13T21:53:18.249Z,1628891598.249 [lineCaptureDepth:LineCapture:D] Running Loop=1
2021-08-13T21:53:18.651Z,1628891598.651 [lineCaptureDepth:LineCapture:D] Stopped
2021-08-13T21:53:18.652Z,1628891598.652 [lineCaptureDepth:LineCapture:E] Running Loop=1
2021-08-13T21:53:19.047Z,1628891599.047 [lineCaptureDepth:LineCapture:E] Stopped
2021-08-13T21:53:19.050Z,1628891599.050 [lineCaptureDepth:LineCapture:F] Running Loop=1
2021-08-13T21:53:19.463Z,1628891599.463 [lineCaptureDepth:LineCapture:F] Stopped
2021-08-13T21:53:19.463Z,1628891599.463 [lineCaptureDepth:LineCapture:HomingSequence] Running Loop=1
2021-08-13T21:53:19.463Z,1628891599.463 [lineCaptureDepth:LineCapture:HomingSequence](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence
2021-08-13T21:53:19.463Z,1628891599.463 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2021-08-13T21:53:19.463Z,1628891599.463 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-08-13T21:53:19.464Z,1628891599.464 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide] Running Loop=1
2021-08-13T21:53:19.464Z,1628891599.464 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-08-13T21:53:19.465Z,1628891599.465 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Running Loop=1
2021-08-13T21:53:19.466Z,1628891599.466 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize.
2021-08-13T21:53:19.476Z,1628891599.476 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2021-08-13T21:53:19.483Z,1628891599.483 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2021-08-13T21:53:19.496Z,1628891599.496 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-08-13T21:53:19.496Z,1628891599.496 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2021-08-13T21:53:19.496Z,1628891599.496 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-08-13T21:53:19.496Z,1628891599.496 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2021-08-13T21:53:19.496Z,1628891599.496 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2021-08-13T21:53:19.496Z,1628891599.496 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2021-08-13T21:53:19.497Z,1628891599.497 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2021-08-13T21:53:19.497Z,1628891599.497 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2021-08-13T21:53:19.497Z,1628891599.497 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2021-08-13T21:53:19.497Z,1628891599.497 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-13T21:53:19.497Z,1628891599.497 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2021-08-13T21:53:19.497Z,1628891599.497 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-13T21:53:19.497Z,1628891599.497 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1
2021-08-13T21:53:19.498Z,1628891599.498 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Initialize.
2021-08-13T21:53:19.498Z,1628891599.498 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2021-08-13T21:53:19.498Z,1628891599.498 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2021-08-13T21:53:19.498Z,1628891599.498 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2021-08-13T21:53:19.907Z,1628891599.907 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Stopped
2021-08-13T21:53:19.907Z,1628891599.907 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-13T21:53:19.907Z,1628891599.907 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2021-08-13T21:53:19.907Z,1628891599.907 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-13T21:53:19.907Z,1628891599.907 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2021-08-13T21:53:19.907Z,1628891599.907 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Stopped
2021-08-13T21:53:19.907Z,1628891599.907 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Stopped
2021-08-13T21:53:19.908Z,1628891599.908 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2021-08-13T21:53:19.908Z,1628891599.908 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2021-08-13T21:53:19.908Z,1628891599.908 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-08-13T21:53:19.908Z,1628891599.908 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2021-08-13T21:53:19.908Z,1628891599.908 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-08-13T21:53:19.908Z,1628891599.908 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2021-08-13T21:53:19.908Z,1628891599.908 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2021-08-13T21:53:19.908Z,1628891599.908 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2021-08-13T21:53:19.909Z,1628891599.909 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2021-08-13T21:53:19.909Z,1628891599.909 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2021-08-13T21:53:20.233Z,1628891600.233 [PowerOnly](INFO): Powering up loadControl
2021-08-13T21:53:21.079Z,1628891601.079 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:53:21.461Z,1628891601.461 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:53:21.461Z,1628891601.461 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:53:21.461Z,1628891601.461 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:53:21.462Z,1628891601.462 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:53:21.901Z,1628891601.901 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,002EB,189,80,80,BC,FF
2021-08-13T21:53:21.901Z,1628891601.901 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:53:21.901Z,1628891601.901 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:53:21.903Z,1628891601.903 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:53:22.287Z,1628891602.287 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:53:22.705Z,1628891602.705 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,002EF,18A,80,80,B3,FF
2021-08-13T21:53:22.705Z,1628891602.705 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:53:22.742Z,1628891602.742 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detaching from dock.
2021-08-13T21:53:23.105Z,1628891603.105 [Micromodem](INFO): Nmea in: $SNTTA,0.298229,,,,215323.46*4C

2021-08-13T21:53:25.539Z,1628891605.539 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:53:25.919Z,1628891605.919 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:53:25.919Z,1628891605.919 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:53:25.919Z,1628891605.919 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:53:25.920Z,1628891605.920 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:53:26.341Z,1628891606.341 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,002EF,18A,80,80,B3,FF
2021-08-13T21:53:26.341Z,1628891606.341 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:53:26.341Z,1628891606.341 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:53:26.343Z,1628891606.343 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:53:26.730Z,1628891606.730 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:53:27.126Z,1628891607.126 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,002F1,189,80,80,83,FF
2021-08-13T21:53:27.126Z,1628891607.126 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:53:27.561Z,1628891607.561 [Micromodem](INFO): Nmea in: $SNTTA,0.007227,,,,215327.90*49

2021-08-13T21:53:30.030Z,1628891610.030 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:53:30.353Z,1628891610.353 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:53:30.354Z,1628891610.354 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:53:30.354Z,1628891610.354 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:53:30.355Z,1628891610.355 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:53:30.769Z,1628891610.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,002F1,189,80,80,83,FF
2021-08-13T21:53:30.769Z,1628891610.769 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:53:30.769Z,1628891610.769 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:53:30.771Z,1628891610.771 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:53:31.165Z,1628891611.165 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:53:31.577Z,1628891611.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,218,000,002EC,187,80,80,6C,FF
2021-08-13T21:53:31.579Z,1628891611.579 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:53:32.005Z,1628891612.005 [Micromodem](INFO): Nmea in: $SNTTA,0.029231,,,,215332.33*4F

2021-08-13T21:53:34.427Z,1628891614.427 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:53:34.813Z,1628891614.813 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:53:34.813Z,1628891614.813 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:53:34.813Z,1628891614.813 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:53:34.814Z,1628891614.814 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:53:35.205Z,1628891615.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
218,000,002EC,187,80,80,6C,FF
2021-08-13T21:53:35.205Z,1628891615.205 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:53:35.206Z,1628891615.206 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:53:35.207Z,1628891615.207 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:53:35.630Z,1628891615.630 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:53:36.021Z,1628891616.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,14F,000,002F5,186,80,80,BC,FF
2021-08-13T21:53:36.022Z,1628891616.022 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:53:36.461Z,1628891616.461 [Micromodem](INFO): Nmea in: $SNTTA,,,,,215336.76*5F

2021-08-13T21:53:38.882Z,1628891618.882 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:53:39.241Z,1628891619.241 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:53:39.241Z,1628891619.241 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:53:39.241Z,1628891619.241 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:53:39.242Z,1628891619.242 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:53:39.650Z,1628891619.650 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
14F,000,002F5,186,80,80,BC,FF
2021-08-13T21:53:39.650Z,1628891619.650 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:53:39.650Z,1628891619.650 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:53:39.657Z,1628891619.657 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:53:40.056Z,1628891620.056 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:53:40.462Z,1628891620.462 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,108,000,002F5,185,80,80,B0,FF
2021-08-13T21:53:40.462Z,1628891620.462 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:53:40.885Z,1628891620.885 [Micromodem](INFO): Nmea in: $SNTTA,,,,,215341.21*5D

2021-08-13T21:53:43.319Z,1628891623.319 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:53:43.686Z,1628891623.686 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:53:43.686Z,1628891623.686 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:53:43.686Z,1628891623.686 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:53:43.687Z,1628891623.687 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:53:44.089Z,1628891624.089 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
108,000,002F5,185,80,80,B0,FF
2021-08-13T21:53:44.089Z,1628891624.089 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:53:44.089Z,1628891624.089 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:53:44.091Z,1628891624.091 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:53:44.541Z,1628891624.541 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:53:44.905Z,1628891624.905 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,00B,000,002FB,183,80,80,D4,FF
2021-08-13T21:53:44.905Z,1628891624.905 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:53:45.341Z,1628891625.341 [Micromodem](INFO): Nmea in: $SNTTA,,,,,215345.65*59

2021-08-13T21:53:46.529Z,1628891626.529 [NAL9602](INFO): Not Powering down - fast GPS
2021-08-13T21:53:47.805Z,1628891627.805 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:53:48.133Z,1628891628.133 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:53:48.133Z,1628891628.133 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:53:48.133Z,1628891628.133 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:53:48.134Z,1628891628.134 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:53:48.550Z,1628891628.550 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
00B,000,002FB,183,80,80,D4,FF
2021-08-13T21:53:48.550Z,1628891628.550 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:53:48.550Z,1628891628.550 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:53:48.553Z,1628891628.553 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:53:48.941Z,1628891628.941 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:53:49.342Z,1628891629.342 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FEA,000,002FE,183,80,80,BE,FF
2021-08-13T21:53:49.342Z,1628891629.342 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:53:49.773Z,1628891629.773 [Micromodem](INFO): Nmea in: $SNTTA,,,,,215350.11*5E

2021-08-13T21:53:51.990Z,1628891631.990 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:53:52.189Z,1628891632.189 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:53:52.189Z,1628891632.189 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:53:52.189Z,1628891632.189 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:53:52.190Z,1628891632.190 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:53:52.570Z,1628891632.570 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FEA,000,002FE,183,80,80,BE,FF
2021-08-13T21:53:52.571Z,1628891632.571 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:53:52.571Z,1628891632.571 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:53:52.573Z,1628891632.573 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:53:52.933Z,1628891632.933 [DataOverHttps](INFO): Sending 450 bytes from file Logs/20210813T172818/Express0055.lzma
2021-08-13T21:53:52.992Z,1628891632.992 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:53:53.382Z,1628891633.382 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ECF,000,00306,187,80,80,AB,FF
2021-08-13T21:53:53.382Z,1628891633.382 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:53:53.862Z,1628891633.862 [Micromodem](INFO): Nmea in: $SNTTA,,,,,215354.13*58

2021-08-13T21:53:53.934Z,1628891633.934 [DataOverHttps](INFO): Moved sent file to Logs/20210813T172818/Express0055.lzma.bak
2021-08-13T21:53:53.934Z,1628891633.934 [DataOverHttps](INFO): SBD MOMSN=433910
2021-08-13T21:53:56.247Z,1628891636.247 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:53:56.621Z,1628891636.621 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:53:56.621Z,1628891636.621 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:53:56.621Z,1628891636.621 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:53:56.622Z,1628891636.622 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:53:57.025Z,1628891637.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ECF,000,00306,187,80,80,AB,FF
2021-08-13T21:53:57.025Z,1628891637.025 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:53:57.025Z,1628891637.025 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:53:57.027Z,1628891637.027 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:53:57.438Z,1628891637.438 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:53:57.885Z,1628891637.885 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB0,000,0030C,184,80,80,C3,FF
2021-08-13T21:53:57.885Z,1628891637.885 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:53:58.283Z,1628891638.283 [Micromodem](INFO): Nmea in: $SNTTA,0.108238,,,,215358.58*45

2021-08-13T21:54:00.695Z,1628891640.695 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:54:01.061Z,1628891641.061 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:54:01.061Z,1628891641.061 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:54:01.061Z,1628891641.061 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:54:01.062Z,1628891641.062 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:54:01.473Z,1628891641.473 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB0,000,0030C,184,80,80,C3,FF
2021-08-13T21:54:01.473Z,1628891641.473 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:54:01.473Z,1628891641.473 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:54:01.475Z,1628891641.475 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:54:01.896Z,1628891641.896 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:54:02.279Z,1628891642.279 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F9C,000,00314,186,80,80,B2,FF
2021-08-13T21:54:02.279Z,1628891642.279 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:54:02.744Z,1628891642.744 [Micromodem](INFO): Nmea in: $SNTTA,0.035903,,,,215403.03*4E

2021-08-13T21:54:05.159Z,1628891645.159 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:54:05.513Z,1628891645.513 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:54:05.513Z,1628891645.513 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:54:05.514Z,1628891645.514 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:54:05.515Z,1628891645.515 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:54:05.925Z,1628891645.925 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F9C,000,00314,186,80,80,B2,FF
2021-08-13T21:54:05.925Z,1628891645.925 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:54:05.925Z,1628891645.925 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:54:05.927Z,1628891645.927 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:54:06.329Z,1628891646.329 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:54:06.721Z,1628891646.721 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA1,000,0031A,187,80,80,B9,FF
2021-08-13T21:54:06.721Z,1628891646.721 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:54:07.173Z,1628891647.173 [Micromodem](INFO): Nmea in: $SNTTA,0.039025,,,,215407.48*44

2021-08-13T21:54:07.199Z,1628891647.199 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detected possible detachment. Starting timer.
2021-08-13T21:54:09.631Z,1628891649.631 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:54:09.968Z,1628891649.968 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:54:09.968Z,1628891649.968 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:54:09.968Z,1628891649.968 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:54:09.969Z,1628891649.969 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:54:10.377Z,1628891650.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA1,000,0031A,187,80,80,B9,FF
2021-08-13T21:54:10.377Z,1628891650.377 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:54:10.377Z,1628891650.377 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:54:10.379Z,1628891650.379 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:54:10.781Z,1628891650.781 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:54:11.177Z,1628891651.177 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,025,000,0031F,184,80,80,BC,FF
2021-08-13T21:54:11.177Z,1628891651.177 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:54:11.617Z,1628891651.617 [Micromodem](INFO): Nmea in: $SNTTA,,,,,215411.93*56

2021-08-13T21:54:14.075Z,1628891654.075 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:54:14.405Z,1628891654.405 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:54:14.405Z,1628891654.405 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:54:14.406Z,1628891654.406 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:54:14.407Z,1628891654.407 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:54:14.809Z,1628891654.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
025,000,0031F,184,80,80,BC,FF
2021-08-13T21:54:14.809Z,1628891654.809 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:54:14.809Z,1628891654.809 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:54:14.811Z,1628891654.811 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:54:15.217Z,1628891655.217 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:54:15.617Z,1628891655.617 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F64,000,00326,186,80,80,C4,FF
2021-08-13T21:54:15.617Z,1628891655.617 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:54:16.057Z,1628891656.057 [Micromodem](INFO): Nmea in: $SNTTA,,,,,215416.37*5F

2021-08-13T21:54:18.461Z,1628891658.461 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:54:18.850Z,1628891658.850 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:54:18.850Z,1628891658.850 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:54:18.850Z,1628891658.850 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:54:18.851Z,1628891658.851 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:54:19.259Z,1628891659.259 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F64,000,00326,186,80,80,C4,FF
2021-08-13T21:54:19.259Z,1628891659.259 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:54:19.259Z,1628891659.259 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:54:19.261Z,1628891659.261 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:54:19.664Z,1628891659.664 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:54:20.065Z,1628891660.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE1,000,0032B,187,80,80,7D,FF
2021-08-13T21:54:20.065Z,1628891660.065 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:54:20.493Z,1628891660.493 [Micromodem](INFO): Nmea in: $SNTTA,0.031981,,,,215420.82*48

2021-08-13T21:54:22.929Z,1628891662.929 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:54:23.297Z,1628891663.297 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:54:23.297Z,1628891663.297 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:54:23.297Z,1628891663.297 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:54:23.298Z,1628891663.298 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:54:23.693Z,1628891663.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE1,000,0032B,187,80,80,7D,FF
2021-08-13T21:54:23.693Z,1628891663.693 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:54:23.693Z,1628891663.693 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:54:23.695Z,1628891663.695 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:54:24.110Z,1628891664.110 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:54:24.505Z,1628891664.505 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E66,000,00335,185,80,80,B8,FF
2021-08-13T21:54:24.505Z,1628891664.505 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:54:24.941Z,1628891664.941 [Micromodem](INFO): Nmea in: $SNTTA,0.020911,,,,215425.25*49

2021-08-13T21:54:27.343Z,1628891667.343 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached at range: 11.76 m. Transitioning DDM to standby.
2021-08-13T21:54:27.346Z,1628891667.346 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:54:27.741Z,1628891667.741 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:54:27.741Z,1628891667.741 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:54:27.741Z,1628891667.741 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:54:27.741Z,1628891667.741 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:54:28.145Z,1628891668.145 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E66,000,00335,185,80,80,B8,FF
2021-08-13T21:54:28.145Z,1628891668.145 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:54:28.145Z,1628891668.145 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:54:28.147Z,1628891668.147 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:54:28.564Z,1628891668.564 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:54:28.977Z,1628891668.977 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E78,000,0033B,186,80,80,A0,FF
2021-08-13T21:54:28.977Z,1628891668.977 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:54:29.393Z,1628891669.393 [Micromodem](INFO): Nmea in: $SNTTA,0.010242,,,,215429.70*4B

2021-08-13T21:54:29.877Z,1628891669.877 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): DDM at standby.
2021-08-13T21:54:30.251Z,1628891670.251 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](IMPORTANT): Undocking sequence complete.
2021-08-13T21:54:30.251Z,1628891670.251 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Stopped
2021-08-13T21:54:30.251Z,1628891670.251 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B] Running Loop=1
2021-08-13T21:54:30.598Z,1628891670.598 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B](INFO): Transitioning to midcourse guidance.
2021-08-13T21:54:30.598Z,1628891670.598 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B] Stopped
2021-08-13T21:54:30.598Z,1628891670.598 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:C] Running Loop=1
2021-08-13T21:54:31.011Z,1628891671.011 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:C] Stopped
2021-08-13T21:54:31.012Z,1628891671.012 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-08-13T21:54:31.012Z,1628891671.012 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide] Stopped
2021-08-13T21:54:31.012Z,1628891671.012 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-08-13T21:54:31.012Z,1628891671.012 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-08-13T21:54:31.487Z,1628891671.487 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2021-08-13T21:54:31.487Z,1628891671.487 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-08-13T21:54:31.487Z,1628891671.487 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2021-08-13T21:54:31.487Z,1628891671.487 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-08-13T21:54:31.487Z,1628891671.487 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2021-08-13T21:54:31.487Z,1628891671.487 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2021-08-13T21:54:31.487Z,1628891671.487 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2021-08-13T21:54:31.487Z,1628891671.487 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2021-08-13T21:54:31.488Z,1628891671.488 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2021-08-13T21:54:31.489Z,1628891671.489 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2021-08-13T21:54:31.489Z,1628891671.489 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2021-08-13T21:54:31.489Z,1628891671.489 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2021-08-13T21:54:31.490Z,1628891671.490 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Running Loop=1
2021-08-13T21:54:31.490Z,1628891671.490 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-08-13T21:54:31.490Z,1628891671.490 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Running Loop=1
2021-08-13T21:54:31.491Z,1628891671.491 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A](INFO): Transitioning to terminal guidance at range 12.120000 m 
2021-08-13T21:54:31.491Z,1628891671.491 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Stopped
2021-08-13T21:54:31.491Z,1628891671.491 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Running Loop=1
2021-08-13T21:54:31.492Z,1628891671.492 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A](INFO): Navigating to dock waypoint ( 41.552317 arcdeg , -70.708600 arcdeg )
2021-08-13T21:54:31.492Z,1628891671.492 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2021-08-13T21:54:31.492Z,1628891671.492 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Running Loop=1
2021-08-13T21:54:31.492Z,1628891671.492 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Initialize WaypointComponent.
2021-08-13T21:54:31.793Z,1628891671.793 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Stopped
2021-08-13T21:54:31.794Z,1628891671.794 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-08-13T21:54:31.794Z,1628891671.794 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Stopped
2021-08-13T21:54:31.794Z,1628891671.794 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-08-13T21:54:31.795Z,1628891671.795 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-08-13T21:54:31.795Z,1628891671.795 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-13T21:54:31.795Z,1628891671.795 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-08-13T21:54:31.800Z,1628891671.800 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-08-13T21:54:31.801Z,1628891671.801 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2021-08-13T21:54:31.801Z,1628891671.801 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-08-13T21:54:31.801Z,1628891671.801 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-08-13T21:54:31.802Z,1628891671.802 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-08-13T21:54:31.802Z,1628891671.802 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-08-13T21:54:31.803Z,1628891671.803 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-08-13T21:54:31.809Z,1628891671.809 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-08-13T21:54:31.824Z,1628891671.824 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:54:32.165Z,1628891672.165 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:54:32.165Z,1628891672.165 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:54:32.165Z,1628891672.165 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:54:32.166Z,1628891672.166 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:54:32.233Z,1628891672.233 [lineCaptureDepth:UpdateNumPings_Terminal] Running Loop=1
2021-08-13T21:54:32.233Z,1628891672.233 [lineCaptureDepth:UpdateNumPings_Terminal](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal
2021-08-13T21:54:32.233Z,1628891672.233 [lineCaptureDepth:UpdateNumPings_Terminal] Running Loop=1
2021-08-13T21:54:32.234Z,1628891672.234 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-13T21:54:32.234Z,1628891672.234 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T21:54:32.234Z,1628891672.234 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-13T21:54:32.235Z,1628891672.235 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-13T21:54:32.235Z,1628891672.235 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-13T21:54:32.235Z,1628891672.235 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-13T21:54:32.236Z,1628891672.236 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2021-08-13T21:54:32.236Z,1628891672.236 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-13T21:54:32.236Z,1628891672.236 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2021-08-13T21:54:32.236Z,1628891672.236 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-13T21:54:32.236Z,1628891672.236 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1
2021-08-13T21:54:32.236Z,1628891672.236 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Initialize.
2021-08-13T21:54:32.237Z,1628891672.237 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2021-08-13T21:54:32.237Z,1628891672.237 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2021-08-13T21:54:32.237Z,1628891672.237 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2021-08-13T21:54:32.237Z,1628891672.237 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2021-08-13T21:54:32.237Z,1628891672.237 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2021-08-13T21:54:32.237Z,1628891672.237 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2021-08-13T21:54:32.238Z,1628891672.238 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1
2021-08-13T21:54:32.238Z,1628891672.238 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A](INFO): Terminal guidance.
2021-08-13T21:54:32.238Z,1628891672.238 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2021-08-13T21:54:32.238Z,1628891672.238 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture] Running Loop=1
2021-08-13T21:54:32.239Z,1628891672.239 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initialize.
2021-08-13T21:54:32.239Z,1628891672.239 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initializing internal variables to default values.
2021-08-13T21:54:32.239Z,1628891672.239 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2021-08-13T21:54:32.239Z,1628891672.239 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Rollout timeout set to 900.00 sec.
2021-08-13T21:54:32.240Z,1628891672.240 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-13T21:54:32.240Z,1628891672.240 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2021-08-13T21:54:32.241Z,1628891672.241 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-08-13T21:54:32.241Z,1628891672.241 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2021-08-13T21:54:32.241Z,1628891672.241 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-08-13T21:54:32.241Z,1628891672.241 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2021-08-13T21:54:32.241Z,1628891672.241 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2021-08-13T21:54:32.241Z,1628891672.241 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2021-08-13T21:54:32.241Z,1628891672.241 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Stopped
2021-08-13T21:54:32.241Z,1628891672.241 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Uninitialize WaypointComponent.
2021-08-13T21:54:32.557Z,1628891672.557 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E78,000,0033B,186,80,80,A0,FF
2021-08-13T21:54:32.557Z,1628891672.557 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:54:32.557Z,1628891672.557 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:54:32.559Z,1628891672.559 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:54:32.692Z,1628891672.692 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-13T21:54:32.692Z,1628891672.692 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T21:54:32.692Z,1628891672.692 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-13T21:54:32.692Z,1628891672.692 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T21:54:32.695Z,1628891672.695 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.120000 m, bearing: 218.306561 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-13T21:54:32.695Z,1628891672.695 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 12.12 m.
2021-08-13T21:54:32.701Z,1628891672.701 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 218.306561deg and heading rate command to 0 deg/s.
2021-08-13T21:54:32.976Z,1628891672.976 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:54:33.493Z,1628891673.493 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E82,000,00341,186,80,80,CC,FF
2021-08-13T21:54:33.494Z,1628891673.494 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:54:33.543Z,1628891673.543 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:54:33.889Z,1628891673.889 [Micromodem](INFO): Nmea in: $SNTTA,0.010542,,,,215434.12*44

2021-08-13T21:54:33.961Z,1628891673.961 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.479998 m, bearing: 215.051525 deg, deltaT: 4.538113 s, approachRate: 0.079328 m/s, LOS rate: -0.717266 deg/s, posRepo size: 2
2021-08-13T21:54:33.962Z,1628891673.962 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 12.48 m.
2021-08-13T21:54:33.962Z,1628891673.962 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -0.717266 deg/s. Setting heading cmd to target bearing of 215.051525deg and heading rate command to 0 deg/s.
2021-08-13T21:54:36.142Z,1628891676.142 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:54:36.473Z,1628891676.473 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:54:36.474Z,1628891676.474 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:54:36.474Z,1628891676.474 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:54:36.475Z,1628891676.475 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:54:36.878Z,1628891676.878 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E82,000,00341,186,80,80,CC,FF
2021-08-13T21:54:36.878Z,1628891676.878 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:54:36.878Z,1628891676.878 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:54:36.880Z,1628891676.880 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:54:37.283Z,1628891677.283 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:54:37.681Z,1628891677.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF6,000,00348,187,80,80,B2,FF
2021-08-13T21:54:37.681Z,1628891677.681 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:54:37.702Z,1628891677.702 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:54:38.137Z,1628891678.137 [Micromodem](INFO): Nmea in: $SNTTA,0.008355,,,,215438.44*42

2021-08-13T21:54:38.210Z,1628891678.210 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.899998 m, bearing: 217.092263 deg, deltaT: 4.159021 s, approachRate: 0.100985 m/s, LOS rate: 0.490677 deg/s, posRepo size: 3
2021-08-13T21:54:38.210Z,1628891678.210 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 12.90 m.
2021-08-13T21:54:38.217Z,1628891678.217 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.899998 m,
      bearing: 217.092263 deg,
      approachRate: 0.100985 m/s,
      LOS rate: 0.490677 deg/s,
      cmd update: 1.472032 deg/s,
      cmd heading: 215.051525 deg,
      new cmd heading: 215.051525 deg.

2021-08-13T21:54:40.568Z,1628891680.568 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:54:40.925Z,1628891680.925 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:54:40.925Z,1628891680.925 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:54:40.925Z,1628891680.925 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:54:40.926Z,1628891680.926 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:54:41.354Z,1628891681.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF6,000,00348,187,80,80,B2,FF
2021-08-13T21:54:41.354Z,1628891681.354 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:54:41.355Z,1628891681.355 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:54:41.358Z,1628891681.358 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:54:41.724Z,1628891681.724 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:54:42.134Z,1628891682.134 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,08E,000,00337,186,80,80,71,FF
2021-08-13T21:54:42.134Z,1628891682.134 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:54:42.230Z,1628891682.230 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:54:42.556Z,1628891682.556 [Micromodem](INFO): Nmea in: $SNTTA,,,,,215442.91*52

2021-08-13T21:54:42.608Z,1628891682.608 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.879998 m, bearing: 207.710438 deg, deltaT: 4.527675 s, approachRate: -0.225281 m/s, LOS rate: -2.072107 deg/s, posRepo size: 4
2021-08-13T21:54:42.608Z,1628891682.608 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 11.88 m.
2021-08-13T21:54:42.610Z,1628891682.610 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.879998 m,
      bearing: 207.710438 deg,
      approachRate: -0.225281 m/s,
      LOS rate: -2.072107 deg/s,
      cmd update: -6.216320 deg/s,
      cmd heading: 221.710535 deg,
      new cmd heading: 222.271660 deg.

2021-08-13T21:54:44.997Z,1628891684.997 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:54:45.357Z,1628891685.357 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:54:45.357Z,1628891685.357 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:54:45.357Z,1628891685.357 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:54:45.358Z,1628891685.358 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:54:45.788Z,1628891685.788 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
08E,000,00337,186,80,80,71,FF
2021-08-13T21:54:45.789Z,1628891685.789 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:54:45.790Z,1628891685.790 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:54:45.796Z,1628891685.796 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:54:46.178Z,1628891686.178 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:54:46.593Z,1628891686.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,07F,000,0031D,186,80,80,C6,FF
2021-08-13T21:54:46.594Z,1628891686.594 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:54:46.634Z,1628891686.634 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:54:47.002Z,1628891687.002 [Micromodem](INFO): Nmea in: $SNTTA,,,,,215447.35*59

2021-08-13T21:54:47.065Z,1628891687.065 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.319998 m, bearing: 215.780866 deg, deltaT: 4.404254 s, approachRate: -0.354203 m/s, LOS rate: 1.832417 deg/s, posRepo size: 4
2021-08-13T21:54:47.066Z,1628891687.066 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 10.32 m.
2021-08-13T21:54:47.066Z,1628891687.066 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 10.32 m.
2021-08-13T21:54:47.066Z,1628891687.066 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-13T21:54:47.069Z,1628891687.069 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.319998 m,
      bearing: 215.780866 deg,
      approachRate: -0.354203 m/s,
      LOS rate: 1.832417 deg/s,
      cmd update: 5.497250 deg/s,
      cmd heading: 194.432262 deg,
      new cmd heading: 191.607025 deg.

2021-08-13T21:54:49.415Z,1628891689.415 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:54:49.820Z,1628891689.820 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:54:49.821Z,1628891689.821 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:54:49.822Z,1628891689.822 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:54:49.823Z,1628891689.823 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:54:50.209Z,1628891690.209 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
07F,000,0031D,186,80,80,C6,FF
2021-08-13T21:54:50.209Z,1628891690.209 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:54:50.209Z,1628891690.209 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:54:50.211Z,1628891690.211 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:54:50.616Z,1628891690.616 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:54:51.442Z,1628891691.442 [Micromodem](INFO): Nmea in: $SNTTA,,,,,215451.77*58

2021-08-13T21:54:51.885Z,1628891691.885 [PowerOnly](INFO): Powering down loadControl
2021-08-13T21:54:51.984Z,1628891691.984 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:54:53.891Z,1628891693.891 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,186,80,80,C6,FF
2021-08-13T21:54:53.896Z,1628891693.896 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,186,80,80,C6,FF
2021-08-13T21:54:53.896Z,1628891693.896 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T21:54:54.711Z,1628891694.711 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:54:55.083Z,1628891695.083 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:54:55.083Z,1628891695.083 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:54:55.083Z,1628891695.083 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:54:55.084Z,1628891695.084 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:54:55.493Z,1628891695.493 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,186,80,80,C6,FF
2021-08-13T21:54:55.493Z,1628891695.493 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:54:55.493Z,1628891695.493 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:54:55.495Z,1628891695.495 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:54:55.944Z,1628891695.944 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:54:56.299Z,1628891696.299 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EBD,000,002D3,186,80,80,A3,FF
2021-08-13T21:54:56.300Z,1628891696.300 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:54:56.321Z,1628891696.321 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:54:56.742Z,1628891696.742 [Micromodem](INFO): Nmea in: $SNTTA,0.019725,,,,215457.05*4D

2021-08-13T21:54:56.792Z,1628891696.792 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.880000 m, bearing: 225.213754 deg, deltaT: 9.687331 s, approachRate: -0.458330 m/s, LOS rate: 0.973734 deg/s, posRepo size: 4
2021-08-13T21:54:56.795Z,1628891696.795 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.880000 m,
      bearing: 225.213754 deg,
      approachRate: -0.458330 m/s,
      LOS rate: 0.973734 deg/s,
      cmd update: 2.921203 deg/s,
      cmd heading: 247.797450 deg,
      new cmd heading: 250.398545 deg.

2021-08-13T21:54:59.181Z,1628891699.181 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:54:59.580Z,1628891699.580 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:54:59.580Z,1628891699.580 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:54:59.580Z,1628891699.580 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:54:59.581Z,1628891699.581 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:54:59.949Z,1628891699.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EBD,000,002D3,186,80,80,A3,FF
2021-08-13T21:54:59.949Z,1628891699.949 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:54:59.949Z,1628891699.949 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:54:59.951Z,1628891699.951 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:55:00.481Z,1628891700.481 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:55:00.885Z,1628891700.885 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F0A,000,002B7,186,80,80,9E,FF
2021-08-13T21:55:00.885Z,1628891700.885 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:55:00.927Z,1628891700.927 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:55:01.281Z,1628891701.281 [Micromodem](INFO): Nmea in: $SNTTA,,,,,215501.51*58

2021-08-13T21:55:01.341Z,1628891701.341 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-08-13T21:55:01.341Z,1628891701.341 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-08-13T21:55:01.341Z,1628891701.341 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-08-13T21:55:01.341Z,1628891701.341 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-13T21:55:01.341Z,1628891701.341 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-08-13T21:55:01.342Z,1628891701.342 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.199998 m 
2021-08-13T21:55:01.342Z,1628891701.342 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-08-13T21:55:01.342Z,1628891701.342 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-08-13T21:55:01.342Z,1628891701.342 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-08-13T21:55:01.349Z,1628891701.349 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.199998 m, bearing: 223.446715 deg, deltaT: 4.605319 s, approachRate: -0.364796 m/s, LOS rate: -0.383695 deg/s, posRepo size: 4
2021-08-13T21:55:01.351Z,1628891701.351 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.199998 m,
      bearing: 223.446715 deg,
      approachRate: -0.364796 m/s,
      LOS rate: -0.383695 deg/s,
      cmd update: -1.151085 deg/s,
      cmd heading: 261.250315 deg,
      new cmd heading: 262.481097 deg.

2021-08-13T21:55:01.721Z,1628891701.721 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210813T215501: (41.552319, -70.708603)
2021-08-13T21:55:01.721Z,1628891701.721 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-08-13T21:55:01.721Z,1628891701.721 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-08-13T21:55:01.721Z,1628891701.721 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-13T21:55:01.721Z,1628891701.721 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-08-13T21:55:01.722Z,1628891701.722 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-13T21:55:01.722Z,1628891701.722 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-08-13T21:55:01.722Z,1628891701.722 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-08-13T21:55:01.722Z,1628891701.722 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-08-13T21:55:03.738Z,1628891703.738 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:55:04.113Z,1628891704.113 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:55:04.113Z,1628891704.113 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:55:04.113Z,1628891704.113 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:55:04.114Z,1628891704.114 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:55:04.508Z,1628891704.508 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F0A,000,002B7,186,80,80,9E,FF
2021-08-13T21:55:04.509Z,1628891704.509 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:55:04.509Z,1628891704.509 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:55:04.515Z,1628891704.515 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:55:04.928Z,1628891704.928 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:55:05.321Z,1628891705.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ECB,000,002B0,187,80,80,62,FF
2021-08-13T21:55:05.321Z,1628891705.321 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:55:05.395Z,1628891705.395 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:55:05.770Z,1628891705.770 [Micromodem](INFO): Nmea in: $SNTTA,,,,,215506.08*53

2021-08-13T21:55:05.874Z,1628891705.874 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 3.779998 m, bearing: 236.344735 deg, deltaT: 4.467943 s, approachRate: -0.094003 m/s, LOS rate: 2.886792 deg/s, posRepo size: 4
2021-08-13T21:55:05.881Z,1628891705.881 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.779998 m,
      bearing: 236.344735 deg,
      approachRate: -0.094003 m/s,
      LOS rate: 2.886792 deg/s,
      cmd update: 8.660375 deg/s,
      cmd heading: 256.107267 deg,
      new cmd heading: 255.558633 deg.

2021-08-13T21:55:08.198Z,1628891708.198 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:55:08.538Z,1628891708.538 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:55:08.538Z,1628891708.538 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:55:08.539Z,1628891708.539 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:55:08.540Z,1628891708.540 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:55:08.963Z,1628891708.963 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ECB,000,002B0,187,80,80,62,FF
2021-08-13T21:55:08.963Z,1628891708.963 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:55:08.963Z,1628891708.963 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:55:08.970Z,1628891708.970 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:55:09.373Z,1628891709.373 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:55:09.770Z,1628891709.770 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DF0,000,0029F,187,80,80,6C,FF
2021-08-13T21:55:09.771Z,1628891709.771 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:55:09.882Z,1628891709.882 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:55:10.185Z,1628891710.185 [Micromodem](INFO): Nmea in: $SNTTA,0.001557,,,,215510.52*43

2021-08-13T21:55:10.232Z,1628891710.232 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 2.759999 m, bearing: 247.914584 deg, deltaT: 4.487390 s, approachRate: -0.227304 m/s, LOS rate: 2.578302 deg/s, posRepo size: 4
2021-08-13T21:55:10.234Z,1628891710.234 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.759999 m,
      bearing: 247.914584 deg,
      approachRate: -0.227304 m/s,
      LOS rate: 2.578302 deg/s,
      cmd update: 7.734907 deg/s,
      cmd heading: 294.879151 deg,
      new cmd heading: 298.024097 deg.

2021-08-13T21:55:10.681Z,1628891710.681 [ThrusterServo](FAULT): Invalid EZ Servo response:"/0@5242"
2021-08-13T21:55:10.681Z,1628891710.681 [ThrusterServo] Communications Fault, FailCount= 1
2021-08-13T21:55:10.681Z,1628891710.681 [ThrusterServo](ERROR): Communications Fault
2021-08-13T21:55:10.685Z,1628891710.685 [CBIT](ERROR): Communications Fault in component: ThrusterServo
2021-08-13T21:55:11.023Z,1628891711.023 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2021-08-13T21:55:11.023Z,1628891711.023 [ThrusterServo](INFO): Powering down
2021-08-13T21:55:12.025Z,1628891712.025 [ThrusterServo](DEBUG): Initializing EZServoServo.
2021-08-13T21:55:12.145Z,1628891712.145 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2021-08-13T21:55:12.149Z,1628891712.149 [CBIT](INFO): Clearing failed state for component ThrusterServo
2021-08-13T21:55:12.149Z,1628891712.149 [ThrusterServo] No Fault, FailCount= 1
2021-08-13T21:55:12.640Z,1628891712.640 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:55:12.976Z,1628891712.976 [ThrusterServo](ERROR): Thruster halt for initialization uart error serial timeout
2021-08-13T21:55:13.044Z,1628891713.044 [ThrusterServo](FAULT): Thruster failed to initialize
2021-08-13T21:55:13.044Z,1628891713.044 [ThrusterServo] Communications Fault, FailCount= 2
2021-08-13T21:55:13.044Z,1628891713.044 [ThrusterServo](ERROR): Communications Fault
2021-08-13T21:55:13.048Z,1628891713.048 [CBIT](ERROR): Communications Fault in component: ThrusterServo
2021-08-13T21:55:13.110Z,1628891713.110 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:55:13.110Z,1628891713.110 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:55:13.111Z,1628891713.111 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:55:13.112Z,1628891713.112 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:55:13.181Z,1628891713.181 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2021-08-13T21:55:13.181Z,1628891713.181 [ThrusterServo](INFO): Powering down
2021-08-13T21:55:13.516Z,1628891713.516 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DF0,000,0029F,187,80,80,6C,FF
2021-08-13T21:55:13.517Z,1628891713.517 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:55:13.517Z,1628891713.517 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:55:13.523Z,1628891713.523 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:55:13.925Z,1628891713.925 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:55:14.090Z,1628891714.090 [ThrusterServo](DEBUG): Initializing EZServoServo.
2021-08-13T21:55:14.205Z,1628891714.205 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2021-08-13T21:55:14.209Z,1628891714.209 [CBIT](INFO): Clearing failed state for component ThrusterServo
2021-08-13T21:55:14.209Z,1628891714.209 [ThrusterServo] No Fault, FailCount= 2
2021-08-13T21:55:14.311Z,1628891714.311 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C54,000,0028E,189,80,80,B2,FF
2021-08-13T21:55:14.311Z,1628891714.311 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:55:14.332Z,1628891714.332 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:55:14.749Z,1628891714.749 [Micromodem](INFO): Nmea in: $SNTTA,,,,,215515.08*51

2021-08-13T21:55:14.789Z,1628891714.789 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1.739999 m, bearing: 274.431892 deg, deltaT: 4.449916 s, approachRate: -0.229218 m/s, LOS rate: 5.959058 deg/s, posRepo size: 4
2021-08-13T21:55:14.789Z,1628891714.789 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Intercept lockout. Range: 1.74 m.
2021-08-13T21:55:14.789Z,1628891714.789 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: INTERCEPT_LOCKOUT
2021-08-13T21:55:14.793Z,1628891714.793 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 1.739999 m,
      bearing: 274.431892 deg,
      approachRate: -0.229218 m/s,
      LOS rate: 5.959058 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 329.377720 deg,
      new cmd heading: 329.377720 deg.

2021-08-13T21:55:17.177Z,1628891717.177 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:55:17.554Z,1628891717.554 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:55:17.554Z,1628891717.554 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:55:17.554Z,1628891717.554 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:55:17.555Z,1628891717.555 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:55:17.951Z,1628891717.951 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C54,000,0028E,189,80,80,B2,FF
2021-08-13T21:55:17.951Z,1628891717.951 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:55:17.951Z,1628891717.951 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:55:17.953Z,1628891717.953 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:55:18.384Z,1628891718.384 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:55:18.817Z,1628891718.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CA3,000,0028E,189,80,80,91,FF
2021-08-13T21:55:18.817Z,1628891718.817 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:55:18.837Z,1628891718.837 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:55:19.185Z,1628891719.185 [Micromodem](INFO): Nmea in: $SNTTA,0.040785,,,,215519.51*41

2021-08-13T21:55:19.207Z,1628891719.207 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1.739999 m, bearing: 283.187184 deg, deltaT: 4.505119 s, approachRate: 0.000000 m/s, LOS rate: 1.943410 deg/s, posRepo size: 4
2021-08-13T21:55:21.635Z,1628891721.635 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:55:22.001Z,1628891722.001 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:55:22.001Z,1628891722.001 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:55:22.001Z,1628891722.001 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:55:22.002Z,1628891722.002 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:55:22.405Z,1628891722.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CA3,000,0028E,189,80,80,91,FF
2021-08-13T21:55:22.405Z,1628891722.405 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:55:22.406Z,1628891722.406 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:55:22.407Z,1628891722.407 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:55:22.805Z,1628891722.805 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:55:23.205Z,1628891723.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F75,000,0029B,186,80,80,8B,FF
2021-08-13T21:55:23.206Z,1628891723.206 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:55:23.226Z,1628891723.226 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:55:23.641Z,1628891723.641 [Micromodem](INFO): Nmea in: $SNTTA,,,,,215523.96*53

2021-08-13T21:55:23.672Z,1628891723.672 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 2.520000 m, bearing: 256.467292 deg, deltaT: 4.389018 s, approachRate: 0.177716 m/s, LOS rate: -6.087897 deg/s, posRepo size: 4
2021-08-13T21:55:26.086Z,1628891726.086 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:55:26.457Z,1628891726.457 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:55:26.457Z,1628891726.457 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:55:26.457Z,1628891726.457 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:55:26.458Z,1628891726.458 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:55:26.849Z,1628891726.849 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F75,000,0029B,186,80,80,8B,FF
2021-08-13T21:55:26.849Z,1628891726.849 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:55:26.849Z,1628891726.849 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:55:26.852Z,1628891726.852 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:55:27.246Z,1628891727.246 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:55:27.657Z,1628891727.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EFE,000,002AF,186,80,80,8C,FF
2021-08-13T21:55:27.657Z,1628891727.657 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:55:27.732Z,1628891727.732 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:55:28.065Z,1628891728.065 [Micromodem](INFO): Nmea in: $SNTTA,0.028833,0.379475,,,215528.41*5B

2021-08-13T21:55:28.113Z,1628891728.113 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 3.720000 m, bearing: 269.016563 deg, deltaT: 4.506195 s, approachRate: 0.266300 m/s, LOS rate: 2.784893 deg/s, posRepo size: 4
2021-08-13T21:55:30.522Z,1628891730.522 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:55:30.894Z,1628891730.894 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:55:30.894Z,1628891730.894 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:55:30.894Z,1628891730.894 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:55:30.895Z,1628891730.895 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:55:31.287Z,1628891731.287 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EFE,000,002AF,186,80,80,8C,FF
2021-08-13T21:55:31.287Z,1628891731.287 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:55:31.287Z,1628891731.287 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:55:31.289Z,1628891731.289 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:55:31.712Z,1628891731.712 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:55:31.742Z,1628891731.742 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.00 m/s, pitch 30.00 deg, mass-position 2.95 mm (3 active estimators).
2021-08-13T21:55:32.101Z,1628891732.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E41,000,002DA,186,80,80,6A,FF
2021-08-13T21:55:32.101Z,1628891732.101 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:55:32.162Z,1628891732.162 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:55:32.541Z,1628891732.541 [Micromodem](INFO): Nmea in: $SNTTA,,,,,215532.84*50

2021-08-13T21:55:32.564Z,1628891732.564 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 6.300001 m, bearing: 270.536744 deg, deltaT: 4.429797 s, approachRate: 0.582420 m/s, LOS rate: 0.343172 deg/s, posRepo size: 4
2021-08-13T21:55:34.966Z,1628891734.966 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:55:35.334Z,1628891735.334 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:55:35.334Z,1628891735.334 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:55:35.335Z,1628891735.335 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:55:35.337Z,1628891735.337 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:55:35.735Z,1628891735.735 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E41,000,002DA,186,80,80,6A,FF
2021-08-13T21:55:35.735Z,1628891735.735 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:55:35.735Z,1628891735.735 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:55:35.738Z,1628891735.738 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:55:36.138Z,1628891736.138 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:55:36.534Z,1628891736.534 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,046,000,00302,184,80,80,58,FF
2021-08-13T21:55:36.534Z,1628891736.534 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:55:36.617Z,1628891736.617 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:55:36.965Z,1628891736.965 [Micromodem](INFO): Nmea in: $SNTTA,0.007613,,,,215537.29*4F

2021-08-13T21:55:36.988Z,1628891736.988 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.699999 m, bearing: 226.217026 deg, deltaT: 4.455360 s, approachRate: 0.538677 m/s, LOS rate: -9.947505 deg/s, posRepo size: 4
2021-08-13T21:55:39.433Z,1628891739.433 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:55:39.769Z,1628891739.769 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:55:39.769Z,1628891739.769 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:55:39.769Z,1628891739.769 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:55:39.770Z,1628891739.770 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:55:40.177Z,1628891740.177 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
046,000,00302,184,80,80,58,FF
2021-08-13T21:55:40.177Z,1628891740.177 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:55:40.177Z,1628891740.177 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:55:40.179Z,1628891740.179 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:55:40.669Z,1628891740.669 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:55:41.066Z,1628891741.066 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E8E,000,00331,186,80,80,71,FF
2021-08-13T21:55:41.066Z,1628891741.066 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:55:41.086Z,1628891741.086 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:55:41.508Z,1628891741.508 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.520001 m, bearing: 239.855234 deg, deltaT: 4.468399 s, approachRate: 0.631099 m/s, LOS rate: 3.052146 deg/s, posRepo size: 4
2021-08-13T21:55:41.508Z,1628891741.508 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 11.52 m. Rolling out.
2021-08-13T21:55:41.509Z,1628891741.509 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-08-13T21:55:41.981Z,1628891741.981 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2021-08-13T21:55:41.981Z,1628891741.981 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-13T21:55:41.981Z,1628891741.981 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2021-08-13T21:55:41.981Z,1628891741.981 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2021-08-13T21:55:41.981Z,1628891741.981 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2021-08-13T21:55:41.981Z,1628891741.981 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2021-08-13T21:55:41.981Z,1628891741.981 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-08-13T21:55:43.955Z,1628891743.955 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:55:44.293Z,1628891744.293 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:55:44.293Z,1628891744.293 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:55:44.293Z,1628891744.293 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:55:44.294Z,1628891744.294 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:55:44.706Z,1628891744.706 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E8E,000,00331,186,80,80,71,FF
2021-08-13T21:55:44.706Z,1628891744.706 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:55:44.706Z,1628891744.706 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:55:44.732Z,1628891744.732 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:55:45.104Z,1628891745.104 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:55:45.509Z,1628891745.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A5,000,0035D,186,80,80,77,FF
2021-08-13T21:55:45.509Z,1628891745.509 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:55:45.579Z,1628891745.579 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:55:45.936Z,1628891745.936 [Micromodem](INFO): Nmea in: $SNTTA,,,,,215546.29*54

2021-08-13T21:55:45.971Z,1628891745.971 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.159999 m, bearing: 223.066492 deg, deltaT: 4.493333 s, approachRate: 0.587537 m/s, LOS rate: -3.736367 deg/s, posRepo size: 4
2021-08-13T21:55:48.354Z,1628891748.354 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:55:48.738Z,1628891748.738 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:55:48.738Z,1628891748.738 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:55:48.738Z,1628891748.738 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:55:48.739Z,1628891748.739 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:55:49.141Z,1628891749.141 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0A5,000,0035D,186,80,80,77,FF
2021-08-13T21:55:49.141Z,1628891749.141 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:55:49.141Z,1628891749.141 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:55:49.143Z,1628891749.143 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:55:49.572Z,1628891749.572 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:55:50.371Z,1628891750.371 [Micromodem](INFO): Nmea in: $SNTTA,,,,,215550.70*5F

2021-08-13T21:55:51.202Z,1628891751.202 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:55:52.786Z,1628891752.786 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,186,80,80,77,FF
2021-08-13T21:55:52.786Z,1628891752.786 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,186,80,80,77,FF
2021-08-13T21:55:52.786Z,1628891752.786 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T21:55:54.027Z,1628891754.027 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:55:54.389Z,1628891754.389 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:55:54.390Z,1628891754.390 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:55:54.390Z,1628891754.390 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:55:54.391Z,1628891754.391 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:55:54.805Z,1628891754.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,186,80,80,77,FF
2021-08-13T21:55:54.805Z,1628891754.805 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:55:54.805Z,1628891754.805 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:55:54.807Z,1628891754.807 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:55:55.202Z,1628891755.202 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:55:55.605Z,1628891755.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C5F,000,0039C,189,80,80,6C,FF
2021-08-13T21:55:55.606Z,1628891755.606 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:55:55.659Z,1628891755.659 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:55:56.037Z,1628891756.037 [Micromodem](INFO): Nmea in: $SNTTA,,,,,215556.36*5B

2021-08-13T21:55:56.121Z,1628891756.121 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.939997 m, bearing: 296.660360 deg, deltaT: 10.079913 s, approachRate: 0.375003 m/s, LOS rate: 7.301042 deg/s, posRepo size: 4
2021-08-13T21:55:58.477Z,1628891758.477 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:55:58.837Z,1628891758.837 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:55:58.837Z,1628891758.837 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:55:58.837Z,1628891758.837 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:55:58.838Z,1628891758.838 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:55:59.237Z,1628891759.237 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C5F,000,0039C,189,80,80,6C,FF
2021-08-13T21:55:59.238Z,1628891759.238 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:55:59.238Z,1628891759.238 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:55:59.239Z,1628891759.239 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:55:59.676Z,1628891759.676 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:56:00.049Z,1628891760.049 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F07,000,003A7,186,80,80,6B,FF
2021-08-13T21:56:00.050Z,1628891760.050 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:56:00.157Z,1628891760.157 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:56:00.473Z,1628891760.473 [Micromodem](INFO): Nmea in: $SNTTA,,,,,215600.80*56

2021-08-13T21:56:00.495Z,1628891760.495 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.599998 m, bearing: 269.970330 deg, deltaT: 4.497686 s, approachRate: 0.146743 m/s, LOS rate: -5.934169 deg/s, posRepo size: 4
2021-08-13T21:56:02.895Z,1628891762.895 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:56:03.279Z,1628891763.279 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:56:03.279Z,1628891763.279 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:56:03.279Z,1628891763.279 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:56:03.280Z,1628891763.280 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:56:03.681Z,1628891763.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F07,000,003A7,186,80,80,6B,FF
2021-08-13T21:56:03.681Z,1628891763.681 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:56:03.681Z,1628891763.681 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:56:03.683Z,1628891763.683 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:56:04.118Z,1628891764.118 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:56:04.477Z,1628891764.477 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.251507
2021-08-13T21:56:04.493Z,1628891764.493 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E89,000,003B5,186,80,80,8E,FF
2021-08-13T21:56:04.493Z,1628891764.493 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:56:04.543Z,1628891764.543 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:56:04.958Z,1628891764.958 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.440001 m, bearing: 283.979923 deg, deltaT: 4.386174 s, approachRate: 0.191511 m/s, LOS rate: 3.194035 deg/s, posRepo size: 4
2021-08-13T21:56:07.338Z,1628891767.338 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:56:07.729Z,1628891767.729 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:56:07.729Z,1628891767.729 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:56:07.729Z,1628891767.729 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:56:07.730Z,1628891767.730 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:56:08.133Z,1628891768.133 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E89,000,003B5,186,80,80,8E,FF
2021-08-13T21:56:08.133Z,1628891768.133 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:56:08.133Z,1628891768.133 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:56:08.135Z,1628891768.135 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:56:08.542Z,1628891768.542 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:56:08.933Z,1628891768.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB0,000,003C1,187,80,80,9F,FF
2021-08-13T21:56:08.933Z,1628891768.933 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:56:09.056Z,1628891769.056 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:56:09.374Z,1628891769.374 [Micromodem](INFO): Nmea in: $SNTTA,0.057705,,,,215609.69*46

2021-08-13T21:56:09.401Z,1628891769.401 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.160000 m, bearing: 288.095849 deg, deltaT: 4.513143 s, approachRate: 0.159534 m/s, LOS rate: 0.911987 deg/s, posRepo size: 4
2021-08-13T21:56:11.834Z,1628891771.834 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:56:12.166Z,1628891772.166 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:56:12.166Z,1628891772.166 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:56:12.167Z,1628891772.167 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:56:12.168Z,1628891772.168 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:56:12.577Z,1628891772.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EB0,000,003C1,187,80,80,9F,FF
2021-08-13T21:56:12.577Z,1628891772.577 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:56:12.577Z,1628891772.577 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:56:12.579Z,1628891772.579 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:56:12.973Z,1628891772.973 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:56:13.385Z,1628891773.385 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F92,000,003CE,186,80,80,A4,FF
2021-08-13T21:56:13.387Z,1628891773.387 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:56:13.448Z,1628891773.448 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:56:13.836Z,1628891773.836 [Micromodem](INFO): Nmea in: $SNTTA,,,,,215614.14*5E

2021-08-13T21:56:13.911Z,1628891773.911 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.939997 m, bearing: 280.789241 deg, deltaT: 4.392542 s, approachRate: 0.177573 m/s, LOS rate: -1.663412 deg/s, posRepo size: 4
2021-08-13T21:56:16.266Z,1628891776.266 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:56:16.601Z,1628891776.601 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:56:16.601Z,1628891776.601 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:56:16.601Z,1628891776.601 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:56:16.602Z,1628891776.602 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:56:17.013Z,1628891777.013 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F92,000,003CE,186,80,80,A4,FF
2021-08-13T21:56:17.013Z,1628891777.013 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:56:17.013Z,1628891777.013 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:56:17.015Z,1628891777.015 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:56:17.425Z,1628891777.425 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:56:17.878Z,1628891777.878 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E1B,000,003D5,186,80,80,88,FF
2021-08-13T21:56:17.878Z,1628891777.878 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:56:17.986Z,1628891777.986 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:56:18.278Z,1628891778.278 [Micromodem](INFO): Nmea in: $SNTTA,0.016296,,,,215618.57*41

2021-08-13T21:56:18.299Z,1628891778.299 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.359999 m, bearing: 302.246116 deg, deltaT: 4.537676 s, approachRate: 0.092559 m/s, LOS rate: 4.728604 deg/s, posRepo size: 4
2021-08-13T21:56:20.756Z,1628891780.756 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:56:21.053Z,1628891781.053 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:56:21.053Z,1628891781.053 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:56:21.053Z,1628891781.053 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:56:21.054Z,1628891781.054 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:56:21.465Z,1628891781.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E1B,000,003D5,186,80,80,88,FF
2021-08-13T21:56:21.465Z,1628891781.465 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:56:21.465Z,1628891781.465 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:56:21.467Z,1628891781.467 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:56:21.906Z,1628891781.906 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:56:22.269Z,1628891782.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DD0,000,003DA,189,80,80,AC,FF
2021-08-13T21:56:22.269Z,1628891782.269 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:56:22.302Z,1628891782.302 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:56:22.701Z,1628891782.701 [Micromodem](INFO): Nmea in: $SNTTA,0.050320,,,,215623.02*47

2021-08-13T21:56:22.727Z,1628891782.727 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.659998 m, bearing: 308.723376 deg, deltaT: 4.316620 s, approachRate: 0.069499 m/s, LOS rate: 1.500540 deg/s, posRepo size: 4
2021-08-13T21:56:25.120Z,1628891785.120 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:56:25.497Z,1628891785.497 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:56:25.497Z,1628891785.497 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:56:25.497Z,1628891785.497 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:56:25.498Z,1628891785.498 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:56:25.913Z,1628891785.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DD0,000,003DA,189,80,80,AC,FF
2021-08-13T21:56:25.913Z,1628891785.913 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:56:25.913Z,1628891785.913 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:56:25.915Z,1628891785.915 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:56:26.309Z,1628891786.309 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:56:26.709Z,1628891786.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E03,000,003DE,188,80,80,99,FF
2021-08-13T21:56:26.710Z,1628891786.710 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:56:26.752Z,1628891786.752 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:56:27.149Z,1628891787.149 [Micromodem](INFO): Nmea in: $SNTTA,,,,,215627.47*58

2021-08-13T21:56:27.179Z,1628891787.179 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.900000 m, bearing: 307.919435 deg, deltaT: 4.449707 s, approachRate: 0.053937 m/s, LOS rate: -0.180673 deg/s, posRepo size: 4
2021-08-13T21:56:29.576Z,1628891789.576 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:56:29.949Z,1628891789.949 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:56:29.949Z,1628891789.949 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:56:29.949Z,1628891789.949 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:56:29.950Z,1628891789.950 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:56:30.385Z,1628891790.385 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E03,000,003DE,188,80,80,99,FF
2021-08-13T21:56:30.385Z,1628891790.385 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:56:30.385Z,1628891790.385 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:56:30.387Z,1628891790.387 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:56:30.752Z,1628891790.752 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:56:31.153Z,1628891791.153 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D9F,000,003E5,189,80,80,A1,FF
2021-08-13T21:56:31.153Z,1628891791.153 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:56:31.196Z,1628891791.196 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:56:31.583Z,1628891791.583 [Micromodem](INFO): Nmea in: $SNTTA,,,,,215631.94*51

2021-08-13T21:56:31.627Z,1628891791.627 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.320000 m, bearing: 314.896555 deg, deltaT: 4.443938 s, approachRate: 0.094511 m/s, LOS rate: 1.570031 deg/s, posRepo size: 4
2021-08-13T21:56:31.916Z,1628891791.916 [Radio_Surface](INFO): Powering down
2021-08-13T21:56:34.023Z,1628891794.023 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:56:34.377Z,1628891794.377 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:56:34.377Z,1628891794.377 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:56:34.377Z,1628891794.377 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:56:34.378Z,1628891794.378 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:56:34.781Z,1628891794.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D9F,000,003E5,189,80,80,A1,FF
2021-08-13T21:56:34.781Z,1628891794.781 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:56:34.781Z,1628891794.781 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:56:34.783Z,1628891794.783 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:56:35.207Z,1628891795.207 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:56:35.597Z,1628891795.597 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D39,000,003E9,189,80,80,BA,FF
2021-08-13T21:56:35.597Z,1628891795.597 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:56:35.679Z,1628891795.679 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:56:36.033Z,1628891796.033 [Micromodem](INFO): Nmea in: $SNTTA,0.118615,,,,215636.34*48

2021-08-13T21:56:36.105Z,1628891796.105 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.560001 m, bearing: 320.300218 deg, deltaT: 4.483267 s, approachRate: 0.053533 m/s, LOS rate: 1.205296 deg/s, posRepo size: 4
2021-08-13T21:56:38.481Z,1628891798.481 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:56:38.833Z,1628891798.833 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:56:38.833Z,1628891798.833 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:56:38.833Z,1628891798.833 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:56:38.834Z,1628891798.834 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:56:39.233Z,1628891799.233 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D39,000,003E9,189,80,80,BA,FF
2021-08-13T21:56:39.233Z,1628891799.233 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:56:39.233Z,1628891799.233 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:56:39.235Z,1628891799.235 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:56:39.667Z,1628891799.667 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:56:40.045Z,1628891800.045 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D55,000,003EB,18A,80,80,91,FF
2021-08-13T21:56:40.045Z,1628891800.045 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:56:40.120Z,1628891800.120 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:56:40.485Z,1628891800.485 [Micromodem](INFO): Nmea in: $SNTTA,,,,,215640.79*54

2021-08-13T21:56:40.511Z,1628891800.511 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.679996 m, bearing: 316.759640 deg, deltaT: 4.440619 s, approachRate: 0.027022 m/s, LOS rate: -0.797317 deg/s, posRepo size: 4
2021-08-13T21:56:40.620Z,1628891800.620 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-13T21:56:41.624Z,1628891801.624 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2021-08-13T21:56:42.906Z,1628891802.906 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:56:43.285Z,1628891803.285 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:56:43.285Z,1628891803.285 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:56:43.285Z,1628891803.285 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:56:43.286Z,1628891803.286 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:56:43.685Z,1628891803.685 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D55,000,003EB,18A,80,80,91,FF
2021-08-13T21:56:43.685Z,1628891803.685 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:56:43.685Z,1628891803.685 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:56:43.687Z,1628891803.687 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:56:44.084Z,1628891804.084 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:56:44.485Z,1628891804.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E1B,000,003F2,187,80,80,B8,FF
2021-08-13T21:56:44.485Z,1628891804.485 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:56:44.504Z,1628891804.504 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:56:44.933Z,1628891804.933 [Micromodem](INFO): Nmea in: $SNTTA,0.101713,,,,215645.24*42

2021-08-13T21:56:44.964Z,1628891804.964 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.099997 m, bearing: 305.007316 deg, deltaT: 4.384027 s, approachRate: 0.095802 m/s, LOS rate: -2.680714 deg/s, posRepo size: 4
2021-08-13T21:56:47.378Z,1628891807.378 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:56:47.725Z,1628891807.725 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:56:47.725Z,1628891807.725 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:56:47.725Z,1628891807.725 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:56:47.726Z,1628891807.726 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:56:48.125Z,1628891808.125 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E1B,000,003F2,187,80,80,B8,FF
2021-08-13T21:56:48.125Z,1628891808.125 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:56:48.125Z,1628891808.125 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:56:48.127Z,1628891808.127 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:56:48.537Z,1628891808.537 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:56:48.929Z,1628891808.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E61,000,003F8,186,80,80,9C,FF
2021-08-13T21:56:48.929Z,1628891808.929 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:56:49.010Z,1628891809.010 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:56:49.397Z,1628891809.397 [Micromodem](INFO): Nmea in: $SNTTA,0.041828,,,,215649.68*44

2021-08-13T21:56:49.422Z,1628891809.422 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.459999 m, bearing: 299.452268 deg, deltaT: 4.505292 s, approachRate: 0.079907 m/s, LOS rate: -1.233005 deg/s, posRepo size: 4
2021-08-13T21:56:51.805Z,1628891811.805 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:56:52.167Z,1628891812.167 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:56:52.167Z,1628891812.167 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:56:52.167Z,1628891812.167 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:56:52.169Z,1628891812.169 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:56:52.589Z,1628891812.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E61,000,003F8,186,80,80,9C,FF
2021-08-13T21:56:52.589Z,1628891812.589 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:56:52.589Z,1628891812.589 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:56:52.591Z,1628891812.591 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:56:52.980Z,1628891812.980 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:56:53.377Z,1628891813.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E22,000,003FD,186,80,80,99,FF
2021-08-13T21:56:53.377Z,1628891813.377 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:56:53.421Z,1628891813.421 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:56:53.819Z,1628891813.819 [Micromodem](INFO): Nmea in: $SNTTA,0.042916,,,,215654.14*4C

2021-08-13T21:56:53.907Z,1628891813.907 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.760000 m, bearing: 301.920617 deg, deltaT: 4.411575 s, approachRate: 0.068003 m/s, LOS rate: 0.559516 deg/s, posRepo size: 4
2021-08-13T21:56:56.248Z,1628891816.248 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:56:56.609Z,1628891816.609 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:56:56.609Z,1628891816.609 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:56:56.609Z,1628891816.609 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:56:56.610Z,1628891816.610 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:56:57.014Z,1628891817.014 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E22,000,003FD,186,80,80,99,FF
2021-08-13T21:56:57.015Z,1628891817.015 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:56:57.015Z,1628891817.015 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:56:57.017Z,1628891817.017 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:56:57.430Z,1628891817.430 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:56:57.833Z,1628891817.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E65,000,00402,187,80,80,A4,FF
2021-08-13T21:56:57.834Z,1628891817.834 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:56:57.919Z,1628891817.919 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:56:58.261Z,1628891818.261 [Micromodem](INFO): Nmea in: $SNTTA,0.040206,,,,215658.57*4F

2021-08-13T21:56:58.281Z,1628891818.281 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.059999 m, bearing: 297.994269 deg, deltaT: 4.498230 s, approachRate: 0.066693 m/s, LOS rate: -0.872865 deg/s, posRepo size: 4
2021-08-13T21:57:00.693Z,1628891820.693 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:57:01.053Z,1628891821.053 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:57:01.053Z,1628891821.053 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:57:01.053Z,1628891821.053 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:57:01.054Z,1628891821.054 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:57:01.453Z,1628891821.453 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E65,000,00402,187,80,80,A4,FF
2021-08-13T21:57:01.453Z,1628891821.453 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:57:01.453Z,1628891821.453 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:57:01.455Z,1628891821.455 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:57:01.896Z,1628891821.896 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:57:02.261Z,1628891822.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DCA,000,00406,189,80,80,6E,FF
2021-08-13T21:57:02.261Z,1628891822.261 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:57:02.305Z,1628891822.305 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:57:02.706Z,1628891822.706 [Micromodem](INFO): Nmea in: $SNTTA,0.015679,,,,215703.01*4F

2021-08-13T21:57:02.724Z,1628891822.724 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.300001 m, bearing: 306.824337 deg, deltaT: 4.385395 s, approachRate: 0.054727 m/s, LOS rate: 2.013517 deg/s, posRepo size: 4
2021-08-13T21:57:05.134Z,1628891825.134 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:57:05.497Z,1628891825.497 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:57:05.497Z,1628891825.497 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:57:05.497Z,1628891825.497 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:57:05.498Z,1628891825.498 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:57:05.909Z,1628891825.909 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DCA,000,00406,189,80,80,6E,FF
2021-08-13T21:57:05.909Z,1628891825.909 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:57:05.909Z,1628891825.909 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:57:05.911Z,1628891825.911 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:57:06.337Z,1628891826.337 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:57:06.717Z,1628891826.717 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E5D,000,00406,186,80,80,A9,FF
2021-08-13T21:57:06.717Z,1628891826.717 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:57:06.761Z,1628891826.761 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:57:07.133Z,1628891827.133 [Micromodem](INFO): Nmea in: $SNTTA,,,,,215707.46*5A

2021-08-13T21:57:07.168Z,1628891827.168 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.300001 m, bearing: 301.297430 deg, deltaT: 4.456391 s, approachRate: 0.000000 m/s, LOS rate: -1.240220 deg/s, posRepo size: 4
2021-08-13T21:57:09.581Z,1628891829.581 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:57:09.949Z,1628891829.949 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:57:09.949Z,1628891829.949 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:57:09.949Z,1628891829.949 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:57:09.950Z,1628891829.950 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:57:10.346Z,1628891830.346 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E5D,000,00406,186,80,80,A9,FF
2021-08-13T21:57:10.346Z,1628891830.346 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:57:10.346Z,1628891830.346 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:57:10.347Z,1628891830.347 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:57:10.760Z,1628891830.760 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:57:11.571Z,1628891831.571 [Micromodem](INFO): Nmea in: $SNTTA,,,,,215711.90*56

2021-08-13T21:57:12.408Z,1628891832.408 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:57:13.986Z,1628891833.986 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,186,80,80,A9,FF
2021-08-13T21:57:13.986Z,1628891833.986 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,186,80,80,A9,FF
2021-08-13T21:57:13.986Z,1628891833.986 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T21:57:15.221Z,1628891835.221 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:57:15.601Z,1628891835.601 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:57:15.601Z,1628891835.601 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:57:15.601Z,1628891835.601 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:57:15.602Z,1628891835.602 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:57:16.001Z,1628891836.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,186,80,80,A9,FF
2021-08-13T21:57:16.002Z,1628891836.002 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:57:16.002Z,1628891836.002 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:57:16.003Z,1628891836.003 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:57:16.400Z,1628891836.400 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:57:16.806Z,1628891836.806 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D67,000,0040B,189,80,80,8D,FF
2021-08-13T21:57:16.806Z,1628891836.806 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:57:16.825Z,1628891836.825 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:57:17.253Z,1628891837.253 [Micromodem](INFO): Nmea in: $SNTTA,0.029651,,,,215717.56*4D

2021-08-13T21:57:17.287Z,1628891837.287 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.600000 m, bearing: 316.253249 deg, deltaT: 10.063789 s, approachRate: 0.029810 m/s, LOS rate: 1.486102 deg/s, posRepo size: 4
2021-08-13T21:57:19.718Z,1628891839.718 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:57:20.037Z,1628891840.037 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:57:20.037Z,1628891840.037 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:57:20.037Z,1628891840.037 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:57:20.038Z,1628891840.038 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:57:20.454Z,1628891840.454 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D67,000,0040B,189,80,80,8D,FF
2021-08-13T21:57:20.455Z,1628891840.455 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:57:20.455Z,1628891840.455 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:57:20.457Z,1628891840.457 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:57:20.884Z,1628891840.884 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:57:21.250Z,1628891841.250 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D57,000,0040B,189,80,80,94,FF
2021-08-13T21:57:21.251Z,1628891841.251 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:57:21.280Z,1628891841.280 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:57:21.681Z,1628891841.681 [Micromodem](INFO): Nmea in: $SNTTA,,,,,215722.01*5E

2021-08-13T21:57:21.720Z,1628891841.720 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.600000 m, bearing: 318.650318 deg, deltaT: 4.455744 s, approachRate: 0.000000 m/s, LOS rate: 0.537973 deg/s, posRepo size: 4
2021-08-13T21:57:24.131Z,1628891844.131 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:57:24.485Z,1628891844.485 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:57:24.485Z,1628891844.485 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:57:24.485Z,1628891844.485 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:57:24.486Z,1628891844.486 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:57:24.897Z,1628891844.897 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D57,000,0040B,189,80,80,94,FF
2021-08-13T21:57:24.897Z,1628891844.897 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:57:24.897Z,1628891844.897 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:57:24.899Z,1628891844.899 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:57:25.288Z,1628891845.288 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:57:25.697Z,1628891845.697 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D59,000,0040E,18A,80,80,A2,FF
2021-08-13T21:57:25.697Z,1628891845.697 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:57:25.731Z,1628891845.731 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:57:26.138Z,1628891846.138 [Micromodem](INFO): Nmea in: $SNTTA,,,,,215726.45*5A

2021-08-13T21:57:26.198Z,1628891846.198 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.779999 m, bearing: 319.579278 deg, deltaT: 4.450047 s, approachRate: 0.040449 m/s, LOS rate: 0.208753 deg/s, posRepo size: 4
2021-08-13T21:57:28.595Z,1628891848.595 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:57:28.925Z,1628891848.925 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:57:28.925Z,1628891848.925 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:57:28.925Z,1628891848.925 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:57:28.926Z,1628891848.926 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:57:29.325Z,1628891849.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D59,000,0040E,18A,80,80,A2,FF
2021-08-13T21:57:29.325Z,1628891849.325 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:57:29.325Z,1628891849.325 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:57:29.327Z,1628891849.327 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:57:29.757Z,1628891849.757 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:57:30.141Z,1628891850.141 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D9F,000,0040F,189,80,80,8C,FF
2021-08-13T21:57:30.141Z,1628891850.141 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:57:30.242Z,1628891850.242 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:57:30.581Z,1628891850.581 [Micromodem](INFO): Nmea in: $SNTTA,,,,,215730.88*5C

2021-08-13T21:57:30.623Z,1628891850.623 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.840002 m, bearing: 318.428364 deg, deltaT: 4.510892 s, approachRate: 0.013302 m/s, LOS rate: -0.255141 deg/s, posRepo size: 4
2021-08-13T21:57:32.986Z,1628891852.986 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:57:33.381Z,1628891853.381 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:57:33.381Z,1628891853.381 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:57:33.381Z,1628891853.381 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:57:33.382Z,1628891853.382 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:57:33.772Z,1628891853.772 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D9F,000,0040F,189,80,80,8C,FF
2021-08-13T21:57:33.772Z,1628891853.772 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:57:33.772Z,1628891853.772 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:57:33.774Z,1628891853.774 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:57:34.177Z,1628891854.177 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:57:34.586Z,1628891854.586 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E82,000,00412,186,80,80,BA,FF
2021-08-13T21:57:34.586Z,1628891854.586 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:57:34.615Z,1628891854.615 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:57:35.017Z,1628891855.017 [Micromodem](INFO): Nmea in: $SNTTA,,,,,215735.33*59

2021-08-13T21:57:35.039Z,1628891855.039 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.020000 m, bearing: 309.462757 deg, deltaT: 4.373940 s, approachRate: 0.041152 m/s, LOS rate: -2.049778 deg/s, posRepo size: 4
2021-08-13T21:57:37.422Z,1628891857.422 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:57:37.831Z,1628891857.831 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:57:37.831Z,1628891857.831 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:57:37.832Z,1628891857.832 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:57:37.833Z,1628891857.833 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:57:38.217Z,1628891858.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E82,000,00412,186,80,80,BA,FF
2021-08-13T21:57:38.217Z,1628891858.217 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:57:38.218Z,1628891858.218 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:57:38.219Z,1628891858.219 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:57:38.621Z,1628891858.621 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:57:39.026Z,1628891859.026 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,178,000,00416,186,80,80,7B,FF
2021-08-13T21:57:39.026Z,1628891859.026 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:57:39.055Z,1628891859.055 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:57:39.453Z,1628891859.453 [Micromodem](INFO): Nmea in: $SNTTA,,,,,215739.79*5B

2021-08-13T21:57:39.468Z,1628891859.468 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.259996 m, bearing: 272.102715 deg, deltaT: 4.439351 s, approachRate: 0.054061 m/s, LOS rate: -8.415654 deg/s, posRepo size: 4
2021-08-13T21:57:41.615Z,1628891861.615 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:57:41.896Z,1628891861.896 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:57:41.896Z,1628891861.896 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:57:41.897Z,1628891861.897 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:57:41.898Z,1628891861.898 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:57:42.261Z,1628891862.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
178,000,00416,186,80,80,7B,FF
2021-08-13T21:57:42.262Z,1628891862.262 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:57:42.262Z,1628891862.262 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:57:42.263Z,1628891862.263 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:57:42.668Z,1628891862.668 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:57:43.061Z,1628891863.061 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E63,000,00414,186,80,80,B0,FF
2021-08-13T21:57:43.061Z,1628891863.061 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:57:43.081Z,1628891863.081 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:57:43.497Z,1628891863.497 [Micromodem](INFO): Nmea in: $SNTTA,,,,,215743.82*52

2021-08-13T21:57:43.541Z,1628891863.541 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.140001 m, bearing: 312.001102 deg, deltaT: 4.025788 s, approachRate: -0.029807 m/s, LOS rate: 9.910702 deg/s, posRepo size: 4
2021-08-13T21:57:45.954Z,1628891865.954 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:57:46.296Z,1628891866.296 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:57:46.296Z,1628891866.296 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:57:46.297Z,1628891866.297 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:57:46.298Z,1628891866.298 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:57:46.697Z,1628891866.697 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E63,000,00414,186,80,80,B0,FF
2021-08-13T21:57:46.697Z,1628891866.697 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:57:46.697Z,1628891866.697 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:57:46.699Z,1628891866.699 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:57:47.104Z,1628891867.104 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:57:47.513Z,1628891867.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DEA,000,00416,189,80,80,89,FF
2021-08-13T21:57:47.514Z,1628891867.514 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:57:47.547Z,1628891867.547 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:57:47.949Z,1628891867.949 [Micromodem](INFO): Nmea in: $SNTTA,0.016426,,,,215748.25*4D

2021-08-13T21:57:48.004Z,1628891868.004 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.259996 m, bearing: 318.442626 deg, deltaT: 4.466236 s, approachRate: 0.026867 m/s, LOS rate: 1.442271 deg/s, posRepo size: 4
2021-08-13T21:57:50.350Z,1628891870.350 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:57:50.745Z,1628891870.745 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:57:50.745Z,1628891870.745 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:57:50.746Z,1628891870.746 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:57:50.746Z,1628891870.746 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:57:51.156Z,1628891871.156 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DEA,000,00416,189,80,80,89,FF
2021-08-13T21:57:51.157Z,1628891871.157 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:57:51.157Z,1628891871.157 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:57:51.158Z,1628891871.158 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:57:51.548Z,1628891871.548 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:57:51.949Z,1628891871.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E3E,000,00417,186,80,80,AC,FF
2021-08-13T21:57:51.950Z,1628891871.950 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:57:52.038Z,1628891872.038 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:57:52.385Z,1628891872.385 [Micromodem](INFO): Nmea in: $SNTTA,0.037736,,,,215752.71*46

2021-08-13T21:57:52.427Z,1628891872.427 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.320000 m, bearing: 313.949481 deg, deltaT: 4.490481 s, approachRate: 0.013362 m/s, LOS rate: -1.000593 deg/s, posRepo size: 4
2021-08-13T21:57:52.801Z,1628891872.801 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-08-13T21:57:52.801Z,1628891872.801 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-08-13T21:57:52.801Z,1628891872.801 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-08-13T21:57:52.802Z,1628891872.802 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-13T21:57:52.802Z,1628891872.802 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-08-13T21:57:53.365Z,1628891873.365 [Micromodem](INFO): Outgoing frame #1, 60 bytes: B2AB16613C0000005D00000400260000000000000000151D80030C5669C08C799837B478C3F9249E9594C0C935CEA211DAA1D45027C1007B736B1400
2021-08-13T21:57:53.365Z,1628891873.365 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-08-13T21:57:53.613Z,1628891873.613 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-08-13T21:57:54.001Z,1628891874.001 [Micromodem](INFO): Nmea in: $CADRQ,215754,1,10,0,64,1*76

2021-08-13T21:57:54.001Z,1628891874.001 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,B2AB16613C0000005D00000400260000000000000000151D80030C5669C08C799837B478C3F9249E9594C0C935CEA211DAA1D45027C1007B736B1400*3D

2021-08-13T21:57:54.409Z,1628891874.409 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,60*4D

2021-08-13T21:57:54.794Z,1628891874.794 [Micromodem](INFO): Nmea in: $CATXP,60*74

2021-08-13T21:57:55.009Z,1628891875.009 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:57:55.197Z,1628891875.197 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:57:55.197Z,1628891875.197 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:57:55.197Z,1628891875.197 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:57:55.198Z,1628891875.198 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:57:55.610Z,1628891875.610 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E3E,000,00417,186,80,80,AC,FF
2021-08-13T21:57:55.610Z,1628891875.610 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:57:55.610Z,1628891875.610 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:57:55.612Z,1628891875.612 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:57:56.021Z,1628891876.021 [Micromodem](INFO): Nmea in: $CATXF,60*62

2021-08-13T21:57:56.022Z,1628891876.022 [Micromodem](ERROR): Response from modem unexpected: $CATXF,60*62

2021-08-13T21:57:56.411Z,1628891876.411 [Micromodem](INFO): Nmea in: $CAXST,7,20210813,215755.576375,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*57

2021-08-13T21:57:56.411Z,1628891876.411 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210813,215755.576375,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*57

2021-08-13T21:57:57.671Z,1628891877.671 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:57:58.026Z,1628891878.026 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-08-13T21:57:58.027Z,1628891878.027 [Micromodem](INFO): Sent 52 bytes from file Logs/20210813T172818/Courier0060.lzma.parts
2021-08-13T21:57:58.027Z,1628891878.027 [Micromodem](INFO): Packets left to send: 0
2021-08-13T21:57:58.462Z,1628891878.462 [Micromodem](INFO): Nmea in: $CACST,6,0,20210813215758.362791,06,32767,45,0120,0150,07,01,01,00,01,1,010,001,0,4,1,0,150,18.9,4.54,11,-1.54,-01,-0.05,45,14500,4000*49

2021-08-13T21:57:58.462Z,1628891878.462 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210813215758.362791,06,32767,45,0120,0150,07,01,01,00,01,1,010,001,0,4,1,0,150,18.9,4.54,11,-1.54,-01,-0.05,45,14500,4000*49

2021-08-13T21:57:58.710Z,1628891878.710 [lineCaptureDepth:MicromodemComms] Stopped
2021-08-13T21:57:58.710Z,1628891878.710 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-08-13T21:57:58.710Z,1628891878.710 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-08-13T21:57:58.711Z,1628891878.711 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-13T21:57:58.711Z,1628891878.711 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-08-13T21:58:00.186Z,1628891880.186 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:58:01.372Z,1628891881.372 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.173997
2021-08-13T21:58:03.010Z,1628891883.010 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:58:03.385Z,1628891883.385 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:58:03.385Z,1628891883.385 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:58:03.385Z,1628891883.385 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:58:03.386Z,1628891883.386 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:58:03.790Z,1628891883.790 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E3E,000,00417,186,80,80,AC,FF
2021-08-13T21:58:03.790Z,1628891883.790 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:58:03.791Z,1628891883.791 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:58:05.875Z,1628891885.875 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:58:06.625Z,1628891886.625 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:58:07.021Z,1628891887.021 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:58:07.417Z,1628891887.417 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E1D,000,00428,187,80,80,A8,FF
2021-08-13T21:58:07.417Z,1628891887.418 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:58:07.481Z,1628891887.481 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:58:07.870Z,1628891887.870 [Micromodem](INFO): Nmea in: $SNTTA,0.017158,,,,215808.18*45

2021-08-13T21:58:07.929Z,1628891887.929 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.340000 m, bearing: 314.746018 deg, deltaT: 15.443610 s, approachRate: 0.066047 m/s, LOS rate: 0.051577 deg/s, posRepo size: 4
2021-08-13T21:58:10.277Z,1628891890.277 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:58:10.649Z,1628891890.649 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:58:10.649Z,1628891890.649 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:58:10.649Z,1628891890.649 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:58:10.650Z,1628891890.650 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:58:11.061Z,1628891891.061 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E1D,000,00428,187,80,80,A8,FF
2021-08-13T21:58:11.061Z,1628891891.061 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:58:11.061Z,1628891891.061 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:58:11.063Z,1628891891.063 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:58:11.465Z,1628891891.465 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:58:11.897Z,1628891891.897 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DDB,000,0042D,189,80,80,85,FF
2021-08-13T21:58:11.898Z,1628891891.898 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:58:11.901Z,1628891891.901 [Micromodem](INFO): Nmea in: $SNTTA,0.276258,0.274558,,,215812.62*52

2021-08-13T21:58:11.958Z,1628891891.958 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:58:12.296Z,1628891892.296 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.639999 m, bearing: 318.829242 deg, deltaT: 4.477014 s, approachRate: 0.067009 m/s, LOS rate: 0.912042 deg/s, posRepo size: 4
2021-08-13T21:58:14.745Z,1628891894.745 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:58:15.093Z,1628891895.093 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:58:15.093Z,1628891895.093 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:58:15.093Z,1628891895.093 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:58:15.094Z,1628891895.094 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:58:15.493Z,1628891895.493 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DDB,000,0042D,189,80,80,85,FF
2021-08-13T21:58:15.493Z,1628891895.493 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:58:15.494Z,1628891895.494 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:58:15.495Z,1628891895.495 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:58:15.922Z,1628891895.922 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:58:16.324Z,1628891896.324 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E1B,000,00430,187,80,80,A0,FF
2021-08-13T21:58:16.325Z,1628891896.325 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:58:16.412Z,1628891896.412 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:58:16.754Z,1628891896.754 [Micromodem](INFO): Nmea in: $SNTTA,0.017425,,,,215817.05*48

2021-08-13T21:58:16.775Z,1628891896.775 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.819998 m, bearing: 316.305241 deg, deltaT: 4.454133 s, approachRate: 0.040412 m/s, LOS rate: -0.566665 deg/s, posRepo size: 4
2021-08-13T21:58:19.167Z,1628891899.167 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:58:19.537Z,1628891899.537 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:58:19.537Z,1628891899.537 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:58:19.537Z,1628891899.537 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:58:19.538Z,1628891899.538 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:58:19.941Z,1628891899.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E1B,000,00430,187,80,80,A0,FF
2021-08-13T21:58:19.941Z,1628891899.941 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:58:19.941Z,1628891899.941 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:58:19.943Z,1628891899.943 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:58:20.376Z,1628891900.376 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:58:20.761Z,1628891900.761 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DC6,000,00432,189,80,80,9C,FF
2021-08-13T21:58:20.761Z,1628891900.761 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:58:20.803Z,1628891900.803 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:58:21.193Z,1628891901.193 [Micromodem](INFO): Nmea in: $SNTTA,,,,,215821.49*5E

2021-08-13T21:58:21.215Z,1628891901.215 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.939999 m, bearing: 320.785053 deg, deltaT: 4.391285 s, approachRate: 0.027327 m/s, LOS rate: 1.020160 deg/s, posRepo size: 4
2021-08-13T21:58:23.407Z,1628891903.407 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:58:23.757Z,1628891903.757 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:58:23.757Z,1628891903.757 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:58:23.757Z,1628891903.757 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:58:23.757Z,1628891903.757 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:58:24.165Z,1628891904.165 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DC6,000,00432,189,80,80,9C,FF
2021-08-13T21:58:24.165Z,1628891904.165 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:58:24.165Z,1628891904.165 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:58:24.167Z,1628891904.167 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:58:24.581Z,1628891904.581 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:58:24.973Z,1628891904.973 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DE7,000,00438,188,80,80,87,FF
2021-08-13T21:58:24.973Z,1628891904.973 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:58:25.019Z,1628891905.019 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:58:25.411Z,1628891905.411 [Micromodem](INFO): Nmea in: $SNTTA,0.036767,,,,215825.72*4F

2021-08-13T21:58:25.435Z,1628891905.435 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.300001 m, bearing: 318.839542 deg, deltaT: 4.216148 s, approachRate: 0.085387 m/s, LOS rate: -0.461443 deg/s, posRepo size: 4
2021-08-13T21:58:27.894Z,1628891907.894 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:58:28.197Z,1628891908.197 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:58:28.197Z,1628891908.197 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:58:28.197Z,1628891908.197 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:58:28.198Z,1628891908.198 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:58:28.605Z,1628891908.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DE7,000,00438,188,80,80,87,FF
2021-08-13T21:58:28.605Z,1628891908.605 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:58:28.605Z,1628891908.605 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:58:28.607Z,1628891908.607 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:58:29.016Z,1628891909.016 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:58:29.413Z,1628891909.413 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E25,000,00439,187,80,80,8E,FF
2021-08-13T21:58:29.413Z,1628891909.413 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:58:29.416Z,1628891909.416 [NAL9602](INFO): Not Powering down - fast GPS
2021-08-13T21:58:29.515Z,1628891909.515 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:58:29.874Z,1628891909.874 [Micromodem](INFO): Nmea in: $SNTTA,0.068646,,,,215830.16*40

2021-08-13T21:58:29.927Z,1628891909.927 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.359999 m, bearing: 315.308771 deg, deltaT: 4.495009 s, approachRate: 0.013348 m/s, LOS rate: -0.785487 deg/s, posRepo size: 4
2021-08-13T21:58:32.273Z,1628891912.273 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:58:32.641Z,1628891912.641 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:58:32.641Z,1628891912.641 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:58:32.641Z,1628891912.641 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:58:32.642Z,1628891912.642 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:58:33.051Z,1628891913.051 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E25,000,00439,187,80,80,8E,FF
2021-08-13T21:58:33.051Z,1628891913.051 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:58:33.051Z,1628891913.051 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:58:33.053Z,1628891913.053 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:58:33.448Z,1628891913.448 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:58:33.897Z,1628891913.897 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E13,000,0043E,186,80,80,94,FF
2021-08-13T21:58:33.897Z,1628891913.897 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:58:33.965Z,1628891913.965 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:58:34.285Z,1628891914.285 [Micromodem](INFO): Nmea in: $SNTTA,,,,,215834.60*51

2021-08-13T21:58:34.368Z,1628891914.368 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.659998 m, bearing: 315.195117 deg, deltaT: 4.449850 s, approachRate: 0.067418 m/s, LOS rate: -0.025541 deg/s, posRepo size: 4
2021-08-13T21:58:36.721Z,1628891916.721 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:58:37.082Z,1628891917.082 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:58:37.082Z,1628891917.082 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:58:37.083Z,1628891917.083 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:58:37.084Z,1628891917.084 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:58:37.497Z,1628891917.497 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E13,000,0043E,186,80,80,94,FF
2021-08-13T21:58:37.497Z,1628891917.497 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:58:37.497Z,1628891917.497 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:58:37.499Z,1628891917.499 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:58:37.921Z,1628891917.921 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:58:38.297Z,1628891918.297 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DF5,000,00449,188,80,80,8F,FF
2021-08-13T21:58:38.297Z,1628891918.297 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:58:38.317Z,1628891918.317 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:58:38.750Z,1628891918.750 [Micromodem](INFO): Nmea in: $SNTTA,,,,,215839.05*5F

2021-08-13T21:58:38.776Z,1628891918.776 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.320000 m, bearing: 315.484607 deg, deltaT: 4.352227 s, approachRate: 0.151647 m/s, LOS rate: 0.066516 deg/s, posRepo size: 4
2021-08-13T21:58:41.167Z,1628891921.167 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:58:41.529Z,1628891921.529 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:58:41.529Z,1628891921.529 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:58:41.529Z,1628891921.529 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:58:41.530Z,1628891921.530 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:58:41.941Z,1628891921.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DF5,000,00449,188,80,80,8F,FF
2021-08-13T21:58:41.941Z,1628891921.941 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:58:41.941Z,1628891921.941 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:58:41.943Z,1628891921.943 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:58:42.357Z,1628891922.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:58:42.757Z,1628891922.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E1E,000,00446,187,80,80,81,FF
2021-08-13T21:58:42.757Z,1628891922.757 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:58:42.780Z,1628891922.780 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:58:43.178Z,1628891923.178 [Micromodem](INFO): Nmea in: $SNTTA,0.070618,,,,215843.49*4C

2021-08-13T21:58:43.193Z,1628891923.193 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.140001 m, bearing: 312.909708 deg, deltaT: 4.463532 s, approachRate: -0.040326 m/s, LOS rate: -0.576875 deg/s, posRepo size: 4
2021-08-13T21:58:45.605Z,1628891925.605 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:58:45.977Z,1628891925.977 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:58:45.977Z,1628891925.977 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:58:45.977Z,1628891925.977 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:58:45.978Z,1628891925.978 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:58:46.385Z,1628891926.385 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E1E,000,00446,187,80,80,81,FF
2021-08-13T21:58:46.385Z,1628891926.385 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:58:46.385Z,1628891926.385 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:58:46.387Z,1628891926.387 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:58:46.804Z,1628891926.804 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:58:47.186Z,1628891927.186 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DD2,000,0044C,189,80,80,AB,FF
2021-08-13T21:58:47.186Z,1628891927.186 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:58:47.237Z,1628891927.237 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:58:47.633Z,1628891927.633 [Micromodem](INFO): Nmea in: $SNTTA,,,,,215847.94*5E

2021-08-13T21:58:47.658Z,1628891927.658 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.500000 m, bearing: 316.031050 deg, deltaT: 4.457205 s, approachRate: 0.080768 m/s, LOS rate: 0.700291 deg/s, posRepo size: 4
2021-08-13T21:58:50.061Z,1628891930.061 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:58:50.445Z,1628891930.445 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:58:50.445Z,1628891930.445 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:58:50.445Z,1628891930.445 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:58:50.446Z,1628891930.446 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:58:50.829Z,1628891930.829 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DD2,000,0044C,189,80,80,AB,FF
2021-08-13T21:58:50.829Z,1628891930.829 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:58:50.829Z,1628891930.829 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:58:50.831Z,1628891930.831 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:58:51.233Z,1628891931.233 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:58:51.623Z,1628891931.623 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E16,000,00450,188,80,80,83,FF
2021-08-13T21:58:51.623Z,1628891931.623 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:58:51.673Z,1628891931.673 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:58:52.045Z,1628891932.045 [Micromodem](INFO): Nmea in: $SNTTA,0.039009,0.394071,,,215852.38*57

2021-08-13T21:58:52.101Z,1628891932.101 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.740002 m, bearing: 311.470478 deg, deltaT: 4.435303 s, approachRate: 0.054112 m/s, LOS rate: -1.028244 deg/s, posRepo size: 4
2021-08-13T21:58:54.504Z,1628891934.504 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:58:54.870Z,1628891934.870 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:58:54.870Z,1628891934.870 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:58:54.870Z,1628891934.870 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:58:54.871Z,1628891934.871 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:58:55.277Z,1628891935.277 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E16,000,00450,188,80,80,83,FF
2021-08-13T21:58:55.277Z,1628891935.277 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:58:55.278Z,1628891935.278 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:58:55.279Z,1628891935.279 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:58:55.677Z,1628891935.677 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:58:56.081Z,1628891936.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DDF,000,00455,189,80,80,5E,FF
2021-08-13T21:58:56.081Z,1628891936.081 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:58:56.085Z,1628891936.085 [Micromodem](INFO): Nmea in: $SNTTA,0.067087,0.208442,,,215856.83*5E

2021-08-13T21:58:56.150Z,1628891936.150 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:58:56.542Z,1628891936.542 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.040001 m, bearing: 312.920035 deg, deltaT: 4.477508 s, approachRate: 0.067001 m/s, LOS rate: 0.323742 deg/s, posRepo size: 4
2021-08-13T21:58:58.938Z,1628891938.938 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:58:59.336Z,1628891939.336 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:58:59.336Z,1628891939.336 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:58:59.337Z,1628891939.337 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:58:59.338Z,1628891939.338 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:58:59.721Z,1628891939.721 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DDF,000,00455,189,80,80,5E,FF
2021-08-13T21:58:59.721Z,1628891939.721 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:58:59.721Z,1628891939.721 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:58:59.723Z,1628891939.723 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:59:00.124Z,1628891940.124 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:59:00.155Z,1628891940.155 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T21:59:00.529Z,1628891940.529 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DA9,000,0045E,18A,80,80,80,FF
2021-08-13T21:59:00.530Z,1628891940.530 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:59:00.587Z,1628891940.587 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:59:00.965Z,1628891940.965 [Micromodem](INFO): Nmea in: $SNTTA,0.056902,,,,215901.28*4C

2021-08-13T21:59:00.995Z,1628891940.995 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.580002 m, bearing: 314.969447 deg, deltaT: 4.436270 s, approachRate: 0.121724 m/s, LOS rate: 0.461967 deg/s, posRepo size: 4
2021-08-13T21:59:03.403Z,1628891943.403 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:59:03.761Z,1628891943.761 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:59:03.761Z,1628891943.761 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:59:03.762Z,1628891943.762 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:59:03.762Z,1628891943.762 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:59:04.161Z,1628891944.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DA9,000,0045E,18A,80,80,80,FF
2021-08-13T21:59:04.161Z,1628891944.161 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:59:04.162Z,1628891944.162 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:59:04.163Z,1628891944.163 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:59:04.577Z,1628891944.577 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:59:04.981Z,1628891944.981 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DE3,000,00465,188,80,80,AC,FF
2021-08-13T21:59:04.981Z,1628891944.981 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:59:05.001Z,1628891945.001 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:59:05.417Z,1628891945.417 [Micromodem](INFO): Nmea in: $SNTTA,0.065711,,,,215905.71*48

2021-08-13T21:59:05.439Z,1628891945.439 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.000002 m, bearing: 311.193035 deg, deltaT: 4.414100 s, approachRate: 0.095150 m/s, LOS rate: -0.855534 deg/s, posRepo size: 4
2021-08-13T21:59:07.888Z,1628891947.888 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:59:08.205Z,1628891948.205 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:59:08.205Z,1628891948.205 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:59:08.205Z,1628891948.205 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:59:08.206Z,1628891948.206 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:59:08.609Z,1628891948.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DE3,000,00465,188,80,80,AC,FF
2021-08-13T21:59:08.609Z,1628891948.609 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:59:08.609Z,1628891948.609 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:59:08.611Z,1628891948.611 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:59:09.028Z,1628891949.028 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:59:09.413Z,1628891949.413 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DB7,000,0046A,18A,80,80,73,FF
2021-08-13T21:59:09.413Z,1628891949.413 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:59:09.477Z,1628891949.477 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:59:09.897Z,1628891949.897 [Micromodem](INFO): Nmea in: $SNTTA,,,,,215910.16*57

2021-08-13T21:59:09.989Z,1628891949.989 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.300001 m, bearing: 313.646057 deg, deltaT: 4.476020 s, approachRate: 0.067024 m/s, LOS rate: 0.548036 deg/s, posRepo size: 4
2021-08-13T21:59:12.278Z,1628891952.278 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:59:12.645Z,1628891952.645 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:59:12.645Z,1628891952.645 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:59:12.645Z,1628891952.645 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:59:12.646Z,1628891952.646 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:59:13.049Z,1628891953.049 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DB7,000,0046A,18A,80,80,73,FF
2021-08-13T21:59:13.049Z,1628891953.049 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:59:13.049Z,1628891953.049 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:59:13.051Z,1628891953.051 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:59:13.481Z,1628891953.481 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:59:13.894Z,1628891953.894 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DD1,000,00471,189,80,80,B2,FF
2021-08-13T21:59:13.894Z,1628891953.894 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:59:13.897Z,1628891953.897 [Micromodem](INFO): Nmea in: $SNTTA,0.020070,0.283476,,,215914.60*5B

2021-08-13T21:59:13.959Z,1628891953.959 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:59:14.313Z,1628891954.313 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.720001 m, bearing: 313.169037 deg, deltaT: 4.482201 s, approachRate: 0.093704 m/s, LOS rate: -0.106425 deg/s, posRepo size: 4
2021-08-13T21:59:16.736Z,1628891956.736 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:59:17.089Z,1628891957.089 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:59:17.089Z,1628891957.089 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:59:17.089Z,1628891957.089 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:59:17.090Z,1628891957.090 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:59:17.501Z,1628891957.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DD1,000,00471,189,80,80,B2,FF
2021-08-13T21:59:17.501Z,1628891957.501 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:59:17.501Z,1628891957.501 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:59:17.502Z,1628891957.502 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:59:17.921Z,1628891957.921 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:59:18.312Z,1628891958.312 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DF4,000,00476,188,80,80,7A,FF
2021-08-13T21:59:18.314Z,1628891958.314 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:59:18.383Z,1628891958.383 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:59:18.741Z,1628891958.741 [Micromodem](INFO): Nmea in: $SNTTA,,,,,215919.06*5F

2021-08-13T21:59:18.766Z,1628891958.766 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.020002 m, bearing: 312.958339 deg, deltaT: 4.428721 s, approachRate: 0.067740 m/s, LOS rate: -0.047575 deg/s, posRepo size: 4
2021-08-13T21:59:21.150Z,1628891961.150 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:59:21.549Z,1628891961.549 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:59:21.549Z,1628891961.549 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:59:21.549Z,1628891961.549 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:59:21.550Z,1628891961.550 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:59:21.937Z,1628891961.937 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DF4,000,00476,188,80,80,7A,FF
2021-08-13T21:59:21.937Z,1628891961.937 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:59:21.937Z,1628891961.937 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:59:21.939Z,1628891961.939 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:59:22.361Z,1628891962.361 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:59:22.754Z,1628891962.754 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E0B,000,0047A,187,80,80,AF,FF
2021-08-13T21:59:22.755Z,1628891962.755 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:59:22.778Z,1628891962.778 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:59:23.193Z,1628891963.193 [Micromodem](INFO): Nmea in: $SNTTA,0.063775,,,,215923.49*43

2021-08-13T21:59:23.212Z,1628891963.212 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.259998 m, bearing: 314.324595 deg, deltaT: 4.390667 s, approachRate: 0.054660 m/s, LOS rate: 0.311173 deg/s, posRepo size: 4
2021-08-13T21:59:25.613Z,1628891965.613 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:59:25.989Z,1628891965.989 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:59:25.989Z,1628891965.989 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:59:25.989Z,1628891965.989 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:59:25.990Z,1628891965.990 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:59:26.437Z,1628891966.437 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E0B,000,0047A,187,80,80,AF,FF
2021-08-13T21:59:26.437Z,1628891966.437 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:59:26.437Z,1628891966.437 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:59:26.439Z,1628891966.439 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:59:26.797Z,1628891966.797 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:59:27.202Z,1628891967.202 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DF9,000,0047E,188,80,80,61,FF
2021-08-13T21:59:27.202Z,1628891967.202 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:59:27.221Z,1628891967.221 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:59:27.611Z,1628891967.611 [Micromodem](INFO): Nmea in: $SNTTA,,,,,215927.99*54

2021-08-13T21:59:27.673Z,1628891967.673 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.500000 m, bearing: 317.603332 deg, deltaT: 4.442517 s, approachRate: 0.054024 m/s, LOS rate: 0.738036 deg/s, posRepo size: 4
2021-08-13T21:59:30.047Z,1628891970.047 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:59:30.429Z,1628891970.429 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:59:30.429Z,1628891970.429 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:59:30.429Z,1628891970.429 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:59:30.430Z,1628891970.430 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:59:30.829Z,1628891970.829 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DF9,000,0047E,188,80,80,61,FF
2021-08-13T21:59:30.829Z,1628891970.829 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:59:30.829Z,1628891970.829 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:59:30.831Z,1628891970.831 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:59:31.249Z,1628891971.249 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:59:31.644Z,1628891971.644 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA3,000,00486,185,80,80,78,FF
2021-08-13T21:59:31.645Z,1628891971.645 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:59:31.674Z,1628891971.674 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:59:32.077Z,1628891972.077 [Micromodem](INFO): Nmea in: $SNTTA,0.067792,0.394778,,,215932.38*50

2021-08-13T21:59:32.138Z,1628891972.138 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.979998 m, bearing: 311.152683 deg, deltaT: 4.453094 s, approachRate: 0.107790 m/s, LOS rate: -1.448577 deg/s, posRepo size: 4
2021-08-13T21:59:34.520Z,1628891974.520 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:59:34.874Z,1628891974.874 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:59:34.874Z,1628891974.874 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:59:34.875Z,1628891974.875 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:59:34.875Z,1628891974.875 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:59:35.278Z,1628891975.278 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EA3,000,00486,185,80,80,78,FF
2021-08-13T21:59:35.278Z,1628891975.278 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:59:35.278Z,1628891975.278 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:59:35.317Z,1628891975.317 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:59:35.681Z,1628891975.681 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:59:36.085Z,1628891976.085 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DBC,000,00483,189,80,80,9C,FF
2021-08-13T21:59:36.086Z,1628891976.086 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:59:36.091Z,1628891976.091 [Micromodem](INFO): Nmea in: $SNTTA,0.049413,0.137157,,,215936.89*58

2021-08-13T21:59:36.164Z,1628891976.164 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:59:36.534Z,1628891976.534 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.799999 m, bearing: 324.753912 deg, deltaT: 4.490118 s, approachRate: -0.040088 m/s, LOS rate: 3.029147 deg/s, posRepo size: 4
2021-08-13T21:59:38.943Z,1628891978.943 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:59:39.320Z,1628891979.320 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:59:39.321Z,1628891979.321 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:59:39.322Z,1628891979.322 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:59:39.323Z,1628891979.323 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:59:39.721Z,1628891979.721 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DBC,000,00483,189,80,80,9C,FF
2021-08-13T21:59:39.721Z,1628891979.721 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:59:39.721Z,1628891979.721 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:59:39.723Z,1628891979.723 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:59:40.122Z,1628891980.122 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:59:40.529Z,1628891980.529 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CFD,000,00488,189,80,80,58,FF
2021-08-13T21:59:40.529Z,1628891980.529 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:59:40.579Z,1628891980.579 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:59:40.966Z,1628891980.966 [Micromodem](INFO): Nmea in: $SNTTA,,,,,215941.27*51

2021-08-13T21:59:41.003Z,1628891981.003 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.099998 m, bearing: 336.581013 deg, deltaT: 4.414928 s, approachRate: 0.067951 m/s, LOS rate: 2.678889 deg/s, posRepo size: 4
2021-08-13T21:59:43.427Z,1628891983.427 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:59:43.761Z,1628891983.761 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:59:43.761Z,1628891983.761 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:59:43.761Z,1628891983.761 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:59:43.762Z,1628891983.762 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:59:44.157Z,1628891984.157 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CFD,000,00488,189,80,80,58,FF
2021-08-13T21:59:44.157Z,1628891984.157 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:59:44.157Z,1628891984.157 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:59:44.159Z,1628891984.159 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:59:44.580Z,1628891984.580 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:59:44.965Z,1628891984.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D36,000,00488,189,80,80,7C,FF
2021-08-13T21:59:44.965Z,1628891984.965 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:59:45.061Z,1628891985.061 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:59:45.414Z,1628891985.414 [Micromodem](INFO): Nmea in: $SNTTA,0.058055,,,,215945.71*45

2021-08-13T21:59:45.440Z,1628891985.440 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.099998 m, bearing: 335.804584 deg, deltaT: 4.482337 s, approachRate: 0.000000 m/s, LOS rate: -0.173220 deg/s, posRepo size: 4
2021-08-13T21:59:47.889Z,1628891987.889 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:59:48.201Z,1628891988.201 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:59:48.201Z,1628891988.201 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:59:48.201Z,1628891988.201 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:59:48.202Z,1628891988.202 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:59:48.609Z,1628891988.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D36,000,00488,189,80,80,7C,FF
2021-08-13T21:59:48.609Z,1628891988.609 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:59:48.609Z,1628891988.609 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:59:48.611Z,1628891988.611 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:59:49.012Z,1628891989.012 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:59:49.417Z,1628891989.417 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D86,000,00491,189,80,80,78,FF
2021-08-13T21:59:49.417Z,1628891989.417 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:59:49.446Z,1628891989.446 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:59:49.930Z,1628891989.930 [Micromodem](INFO): Nmea in: $SNTTA,0.093185,,,,215950.16*4B

2021-08-13T21:59:49.943Z,1628891989.943 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T21:59:49.965Z,1628891989.965 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.639999 m, bearing: 333.714191 deg, deltaT: 4.384750 s, approachRate: 0.123154 m/s, LOS rate: -0.476742 deg/s, posRepo size: 4
2021-08-13T21:59:51.950Z,1628891991.950 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:59:52.241Z,1628891992.241 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:59:52.241Z,1628891992.241 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:59:52.241Z,1628891992.241 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:59:52.242Z,1628891992.242 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:59:52.649Z,1628891992.649 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D86,000,00491,189,80,80,78,FF
2021-08-13T21:59:52.649Z,1628891992.649 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:59:52.649Z,1628891992.649 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:59:52.651Z,1628891992.651 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:59:53.060Z,1628891993.060 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:59:53.446Z,1628891993.446 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CB0,000,00495,189,80,80,7A,FF
2021-08-13T21:59:53.447Z,1628891993.447 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:59:53.496Z,1628891993.496 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:59:53.914Z,1628891993.914 [Micromodem](INFO): Nmea in: $SNTTA,,0.480890,,,215954.20*41

2021-08-13T21:59:53.980Z,1628891993.980 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.880001 m, bearing: 345.101482 deg, deltaT: 4.050385 s, approachRate: 0.059254 m/s, LOS rate: 2.811410 deg/s, posRepo size: 4
2021-08-13T21:59:56.355Z,1628891996.355 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T21:59:56.682Z,1628891996.682 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T21:59:56.682Z,1628891996.682 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T21:59:56.682Z,1628891996.682 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T21:59:56.683Z,1628891996.683 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T21:59:57.094Z,1628891997.094 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CB0,000,00495,189,80,80,7A,FF
2021-08-13T21:59:57.094Z,1628891997.094 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T21:59:57.094Z,1628891997.094 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T21:59:57.096Z,1628891997.096 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T21:59:57.492Z,1628891997.492 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T21:59:57.905Z,1628891997.905 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CC3,000,0048E,189,80,80,8E,FF
2021-08-13T21:59:57.905Z,1628891997.905 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T21:59:57.997Z,1628891997.997 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T21:59:58.325Z,1628891998.325 [Micromodem](INFO): Nmea in: $SNTTA,0.043597,,,,215958.65*4D

2021-08-13T21:59:58.381Z,1628891998.381 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.460003 m, bearing: 345.278111 deg, deltaT: 4.500733 s, approachRate: -0.093318 m/s, LOS rate: 0.039244 deg/s, posRepo size: 4
2021-08-13T21:59:59.939Z,1628891999.939 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T22:00:00.754Z,1628892000.754 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:00:01.137Z,1628892001.137 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:00:01.137Z,1628892001.137 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:00:01.137Z,1628892001.137 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:00:01.138Z,1628892001.138 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:00:01.537Z,1628892001.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CC3,000,0048E,189,80,80,8E,FF
2021-08-13T22:00:01.537Z,1628892001.537 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:00:01.537Z,1628892001.537 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:00:01.539Z,1628892001.539 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:00:01.940Z,1628892001.940 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:00:02.347Z,1628892002.347 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C8A,000,0048E,189,80,80,8F,FF
2021-08-13T22:00:02.347Z,1628892002.347 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:00:02.414Z,1628892002.414 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:00:02.785Z,1628892002.785 [Micromodem](INFO): Nmea in: $SNTTA,,,,,220003.09*54

2021-08-13T22:00:02.819Z,1628892002.819 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.460003 m, bearing: 349.202765 deg, deltaT: 4.416562 s, approachRate: 0.000000 m/s, LOS rate: 0.888622 deg/s, posRepo size: 4
2021-08-13T22:00:05.190Z,1628892005.190 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:00:05.580Z,1628892005.580 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:00:05.581Z,1628892005.581 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:00:05.581Z,1628892005.581 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:00:05.582Z,1628892005.582 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:00:05.973Z,1628892005.973 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C8A,000,0048E,189,80,80,8F,FF
2021-08-13T22:00:05.973Z,1628892005.973 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:00:05.973Z,1628892005.973 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:00:05.975Z,1628892005.975 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:00:06.441Z,1628892006.441 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:00:06.781Z,1628892006.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C94,000,0048D,189,80,80,5D,FF
2021-08-13T22:00:06.781Z,1628892006.781 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:00:06.870Z,1628892006.870 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:00:07.221Z,1628892007.221 [Micromodem](INFO): Nmea in: $SNTTA,,,,,220007.52*5E

2021-08-13T22:00:07.243Z,1628892007.243 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.399998 m, bearing: 349.698965 deg, deltaT: 4.456967 s, approachRate: -0.013463 m/s, LOS rate: 0.111331 deg/s, posRepo size: 4
2021-08-13T22:00:09.637Z,1628892009.637 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:00:10.021Z,1628892010.021 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:00:10.021Z,1628892010.021 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:00:10.021Z,1628892010.021 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:00:10.022Z,1628892010.022 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:00:10.432Z,1628892010.432 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C94,000,0048D,189,80,80,5D,FF
2021-08-13T22:00:10.432Z,1628892010.432 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:00:10.432Z,1628892010.432 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:00:10.434Z,1628892010.434 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:00:10.833Z,1628892010.833 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:00:11.654Z,1628892011.654 [Micromodem](INFO): Nmea in: $SNTTA,,,,,220011.98*5F

2021-08-13T22:00:12.438Z,1628892012.438 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CA5,000,0048D,189,80,80,5D,FF
2021-08-13T22:00:12.438Z,1628892012.438 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:00:12.510Z,1628892012.510 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:00:12.890Z,1628892012.890 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.399998 m, bearing: 350.310430 deg, deltaT: 5.639720 s, approachRate: 0.000000 m/s, LOS rate: 0.108421 deg/s, posRepo size: 4
2021-08-13T22:00:15.291Z,1628892015.291 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:00:15.673Z,1628892015.673 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:00:15.673Z,1628892015.673 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:00:15.673Z,1628892015.673 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:00:15.674Z,1628892015.674 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:00:16.081Z,1628892016.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CA5,000,0048D,189,80,80,5D,FF
2021-08-13T22:00:16.081Z,1628892016.081 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:00:16.082Z,1628892016.082 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:00:16.083Z,1628892016.083 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:00:16.480Z,1628892016.480 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:00:17.302Z,1628892017.302 [Micromodem](INFO): Nmea in: $SNTTA,,,,,220017.63*5D

2021-08-13T22:00:17.883Z,1628892017.883 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:00:19.717Z,1628892019.717 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,189,80,80,5D,FF
2021-08-13T22:00:19.717Z,1628892019.717 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,189,80,80,5D,FF
2021-08-13T22:00:19.718Z,1628892019.718 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T22:00:20.562Z,1628892020.562 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:00:20.922Z,1628892020.922 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:00:20.922Z,1628892020.922 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:00:20.923Z,1628892020.923 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:00:20.924Z,1628892020.924 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:00:21.347Z,1628892021.347 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,189,80,80,5D,FF
2021-08-13T22:00:21.347Z,1628892021.347 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:00:21.348Z,1628892021.348 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:00:21.350Z,1628892021.350 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:00:21.736Z,1628892021.736 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:00:22.137Z,1628892022.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,28B,000,00493,189,80,80,50,FF
2021-08-13T22:00:22.137Z,1628892022.137 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:00:22.212Z,1628892022.212 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:00:22.558Z,1628892022.558 [Micromodem](INFO): Nmea in: $SNTTA,0.134226,,,,220022.90*49

2021-08-13T22:00:22.593Z,1628892022.593 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.760002 m, bearing: 277.931216 deg, deltaT: 9.701756 s, approachRate: 0.037107 m/s, LOS rate: -7.460424 deg/s, posRepo size: 4
2021-08-13T22:00:24.989Z,1628892024.989 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:00:25.393Z,1628892025.393 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:00:25.393Z,1628892025.393 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:00:25.393Z,1628892025.393 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:00:25.394Z,1628892025.394 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:00:25.777Z,1628892025.777 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
28B,000,00493,189,80,80,50,FF
2021-08-13T22:00:25.777Z,1628892025.777 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:00:25.777Z,1628892025.777 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:00:25.779Z,1628892025.779 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:00:26.180Z,1628892026.180 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:00:26.585Z,1628892026.585 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DFC,000,00490,188,80,80,29,FF
2021-08-13T22:00:26.585Z,1628892026.585 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:00:26.638Z,1628892026.638 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:00:27.017Z,1628892027.017 [Micromodem](INFO): Nmea in: $SNTTA,0.043036,,,,220027.33*47

2021-08-13T22:00:27.049Z,1628892027.049 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.580002 m, bearing: 337.840281 deg, deltaT: 4.426010 s, approachRate: -0.040669 m/s, LOS rate: 13.535682 deg/s, posRepo size: 4
2021-08-13T22:00:29.456Z,1628892029.456 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:00:29.865Z,1628892029.865 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:00:29.865Z,1628892029.865 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:00:29.865Z,1628892029.865 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:00:29.866Z,1628892029.866 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:00:29.914Z,1628892029.914 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-13T22:00:30.238Z,1628892030.238 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DFC,000,00490,188,80,80,29,FF
2021-08-13T22:00:30.238Z,1628892030.238 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:00:30.238Z,1628892030.238 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:00:30.240Z,1628892030.240 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:00:30.628Z,1628892030.628 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:00:31.025Z,1628892031.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E50,000,0048D,186,80,80,29,FF
2021-08-13T22:00:31.026Z,1628892031.026 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:00:31.072Z,1628892031.072 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:00:31.461Z,1628892031.461 [Micromodem](INFO): Nmea in: $SNTTA,0.036733,,,,220031.79*4E

2021-08-13T22:00:31.490Z,1628892031.490 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.399998 m, bearing: 335.408242 deg, deltaT: 4.433710 s, approachRate: -0.040599 m/s, LOS rate: -0.548534 deg/s, posRepo size: 4
2021-08-13T22:00:33.933Z,1628892033.933 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:00:34.265Z,1628892034.265 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:00:34.265Z,1628892034.265 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:00:34.265Z,1628892034.265 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:00:34.266Z,1628892034.266 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:00:34.669Z,1628892034.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E50,000,0048D,186,80,80,29,FF
2021-08-13T22:00:34.669Z,1628892034.669 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:00:34.669Z,1628892034.669 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:00:34.671Z,1628892034.671 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:00:35.079Z,1628892035.079 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:00:35.477Z,1628892035.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,267,000,0048C,18A,80,80,4F,FF
2021-08-13T22:00:35.477Z,1628892035.477 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:00:35.545Z,1628892035.545 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:00:35.921Z,1628892035.921 [Micromodem](INFO): Nmea in: $SNTTA,0.050245,,,,220036.22*43

2021-08-13T22:00:35.981Z,1628892035.981 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.340000 m, bearing: 284.821620 deg, deltaT: 4.473388 s, approachRate: -0.013412 m/s, LOS rate: -11.308346 deg/s, posRepo size: 4
2021-08-13T22:00:38.364Z,1628892038.364 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:00:38.705Z,1628892038.705 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:00:38.705Z,1628892038.705 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:00:38.705Z,1628892038.705 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:00:38.706Z,1628892038.706 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:00:39.105Z,1628892039.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
267,000,0048C,18A,80,80,4F,FF
2021-08-13T22:00:39.105Z,1628892039.105 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:00:39.105Z,1628892039.105 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:00:39.107Z,1628892039.107 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:00:39.512Z,1628892039.512 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:00:39.929Z,1628892039.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1CE,000,0048B,186,80,80,6E,FF
2021-08-13T22:00:39.930Z,1628892039.930 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:00:39.963Z,1628892039.963 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:00:40.390Z,1628892040.390 [Micromodem](INFO): Nmea in: $SNTTA,0.039248,,,,220040.65*43

2021-08-13T22:00:40.416Z,1628892040.416 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.279999 m, bearing: 294.287771 deg, deltaT: 4.417846 s, approachRate: -0.013582 m/s, LOS rate: 2.142707 deg/s, posRepo size: 4
2021-08-13T22:00:42.760Z,1628892042.760 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:00:43.150Z,1628892043.150 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:00:43.150Z,1628892043.150 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:00:43.150Z,1628892043.150 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:00:43.151Z,1628892043.151 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:00:43.553Z,1628892043.553 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1CE,000,0048B,186,80,80,6E,FF
2021-08-13T22:00:43.553Z,1628892043.553 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:00:43.553Z,1628892043.553 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:00:43.555Z,1628892043.555 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:00:43.960Z,1628892043.960 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:00:44.393Z,1628892044.393 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1BE,000,00487,186,80,80,7A,FF
2021-08-13T22:00:44.393Z,1628892044.393 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:00:44.447Z,1628892044.447 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:00:44.785Z,1628892044.785 [Micromodem](INFO): Nmea in: $SNTTA,,,,,220045.10*5E

2021-08-13T22:00:44.807Z,1628892044.807 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.040001 m, bearing: 296.594107 deg, deltaT: 4.496311 s, approachRate: -0.053377 m/s, LOS rate: 0.512940 deg/s, posRepo size: 4
2021-08-13T22:00:47.206Z,1628892047.206 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:00:47.589Z,1628892047.589 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:00:47.589Z,1628892047.589 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:00:47.589Z,1628892047.589 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:00:47.590Z,1628892047.590 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:00:48.001Z,1628892048.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1BE,000,00487,186,80,80,7A,FF
2021-08-13T22:00:48.001Z,1628892048.001 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:00:48.002Z,1628892048.002 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:00:48.003Z,1628892048.003 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:00:48.417Z,1628892048.417 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:00:48.801Z,1628892048.801 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1E7,000,0048A,186,80,80,50,FF
2021-08-13T22:00:48.801Z,1628892048.801 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:00:48.821Z,1628892048.821 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:00:49.245Z,1628892049.245 [Micromodem](INFO): Nmea in: $SNTTA,,,,,220049.55*53

2021-08-13T22:00:49.282Z,1628892049.282 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.220001 m, bearing: 295.666895 deg, deltaT: 4.361214 s, approachRate: 0.041273 m/s, LOS rate: -0.212604 deg/s, posRepo size: 4
2021-08-13T22:00:50.058Z,1628892050.058 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-13T22:00:51.679Z,1628892051.679 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:00:52.037Z,1628892052.037 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:00:52.037Z,1628892052.037 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:00:52.037Z,1628892052.037 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:00:52.038Z,1628892052.038 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:00:52.453Z,1628892052.453 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1E7,000,0048A,186,80,80,50,FF
2021-08-13T22:00:52.453Z,1628892052.453 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:00:52.453Z,1628892052.453 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:00:52.455Z,1628892052.455 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:00:52.844Z,1628892052.844 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:00:53.257Z,1628892053.257 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,180,000,00487,186,80,80,80,FF
2021-08-13T22:00:53.257Z,1628892053.257 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:00:53.334Z,1628892053.334 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:00:53.674Z,1628892053.674 [Micromodem](INFO): Nmea in: $SNTTA,0.033014,,,,220054.00*44

2021-08-13T22:00:53.714Z,1628892053.714 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.040001 m, bearing: 301.969548 deg, deltaT: 4.514056 s, approachRate: -0.039876 m/s, LOS rate: 1.396228 deg/s, posRepo size: 4
2021-08-13T22:00:56.122Z,1628892056.122 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:00:56.485Z,1628892056.485 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:00:56.485Z,1628892056.485 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:00:56.485Z,1628892056.485 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:00:56.486Z,1628892056.486 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:00:56.885Z,1628892056.885 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
180,000,00487,186,80,80,80,FF
2021-08-13T22:00:56.885Z,1628892056.885 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:00:56.886Z,1628892056.886 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:00:56.887Z,1628892056.887 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:00:57.316Z,1628892057.316 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:00:57.690Z,1628892057.690 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,173,000,00489,185,80,80,85,FF
2021-08-13T22:00:57.690Z,1628892057.690 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:00:57.714Z,1628892057.714 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:00:58.121Z,1628892058.121 [Micromodem](INFO): Nmea in: $SNTTA,0.040904,0.364964,,,220058.44*50

2021-08-13T22:00:58.168Z,1628892058.168 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.160004 m, bearing: 302.805372 deg, deltaT: 4.379024 s, approachRate: 0.027404 m/s, LOS rate: 0.190870 deg/s, posRepo size: 4
2021-08-13T22:01:00.164Z,1628892060.164 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2021-08-13T22:01:00.164Z,1628892060.164 [RDI_Pathfinder] Communications Fault, FailCount= 1
2021-08-13T22:01:00.164Z,1628892060.164 [RDI_Pathfinder](ERROR): Communications Fault
2021-08-13T22:01:00.226Z,1628892060.226 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2021-08-13T22:01:00.596Z,1628892060.596 [RDI_Pathfinder](INFO): Powering down
2021-08-13T22:01:00.622Z,1628892060.622 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:01:00.927Z,1628892060.927 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:01:00.927Z,1628892060.927 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:01:00.927Z,1628892060.927 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:01:00.928Z,1628892060.928 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:01:01.361Z,1628892061.361 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
173,000,00489,185,80,80,85,FF
2021-08-13T22:01:01.361Z,1628892061.361 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:01:01.361Z,1628892061.361 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:01:01.363Z,1628892061.363 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:01:01.515Z,1628892061.515 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2021-08-13T22:01:01.515Z,1628892061.515 [RDI_Pathfinder] No Fault, FailCount= 1
2021-08-13T22:01:01.741Z,1628892061.741 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:01:02.143Z,1628892062.143 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,152,000,0048C,185,80,80,73,FF
2021-08-13T22:01:02.143Z,1628892062.143 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:01:02.186Z,1628892062.186 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:01:02.555Z,1628892062.555 [Micromodem](INFO): Nmea in: $SNTTA,0.156759,,,,220102.91*42

2021-08-13T22:01:02.586Z,1628892062.586 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.340000 m, bearing: 304.739490 deg, deltaT: 4.472445 s, approachRate: 0.040246 m/s, LOS rate: 0.432452 deg/s, posRepo size: 4
2021-08-13T22:01:04.978Z,1628892064.978 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:01:05.417Z,1628892065.417 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:01:05.417Z,1628892065.417 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:01:05.417Z,1628892065.417 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:01:05.418Z,1628892065.418 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:01:05.775Z,1628892065.775 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
152,000,0048C,185,80,80,73,FF
2021-08-13T22:01:05.775Z,1628892065.775 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:01:05.775Z,1628892065.775 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:01:05.777Z,1628892065.777 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:01:06.185Z,1628892066.185 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:01:06.575Z,1628892066.575 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,154,000,00497,187,80,80,2F,FF
2021-08-13T22:01:06.575Z,1628892066.575 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:01:06.604Z,1628892066.604 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:01:07.053Z,1628892067.053 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.999996 m, bearing: 304.660260 deg, deltaT: 4.418252 s, approachRate: 0.149379 m/s, LOS rate: -0.017932 deg/s, posRepo size: 4
2021-08-13T22:01:09.491Z,1628892069.491 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:01:09.813Z,1628892069.813 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:01:09.813Z,1628892069.813 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:01:09.813Z,1628892069.813 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:01:09.814Z,1628892069.814 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:01:10.229Z,1628892070.229 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
154,000,00497,187,80,80,2F,FF
2021-08-13T22:01:10.229Z,1628892070.229 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:01:10.230Z,1628892070.230 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:01:10.232Z,1628892070.232 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:01:10.628Z,1628892070.628 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:01:11.029Z,1628892071.029 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,126,000,00494,186,80,80,46,FF
2021-08-13T22:01:11.029Z,1628892071.029 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:01:11.098Z,1628892071.098 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:01:11.469Z,1628892071.469 [Micromodem](INFO): Nmea in: $SNTTA,0.112471,,,,220111.78*4E

2021-08-13T22:01:11.506Z,1628892071.506 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.820000 m, bearing: 307.105796 deg, deltaT: 4.493104 s, approachRate: -0.040061 m/s, LOS rate: 0.544286 deg/s, posRepo size: 4
2021-08-13T22:01:13.898Z,1628892073.898 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:01:14.261Z,1628892074.261 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:01:14.261Z,1628892074.261 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:01:14.261Z,1628892074.261 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:01:14.262Z,1628892074.262 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:01:14.668Z,1628892074.668 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
126,000,00494,186,80,80,46,FF
2021-08-13T22:01:14.668Z,1628892074.668 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:01:14.669Z,1628892074.669 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:01:14.670Z,1628892074.670 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:01:15.073Z,1628892075.073 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:01:15.485Z,1628892075.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1F4,000,00493,186,80,80,3D,FF
2021-08-13T22:01:15.485Z,1628892075.485 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:01:15.539Z,1628892075.539 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:01:15.932Z,1628892075.932 [Micromodem](INFO): Nmea in: $SNTTA,,0.476392,,,220116.22*4B

2021-08-13T22:01:15.965Z,1628892075.965 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.760002 m, bearing: 296.080368 deg, deltaT: 4.441454 s, approachRate: -0.013509 m/s, LOS rate: -2.482391 deg/s, posRepo size: 4
2021-08-13T22:01:18.385Z,1628892078.385 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:01:18.713Z,1628892078.713 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:01:18.713Z,1628892078.713 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:01:18.713Z,1628892078.713 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:01:18.714Z,1628892078.714 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:01:19.117Z,1628892079.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1F4,000,00493,186,80,80,3D,FF
2021-08-13T22:01:19.117Z,1628892079.117 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:01:19.117Z,1628892079.117 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:01:19.119Z,1628892079.119 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:01:19.527Z,1628892079.527 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:01:19.945Z,1628892079.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,25D,000,004A2,189,80,80,47,FF
2021-08-13T22:01:19.946Z,1628892079.946 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:01:20.024Z,1628892080.024 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:01:20.393Z,1628892080.393 [Micromodem](INFO): Nmea in: $SNTTA,0.060468,,,,220120.67*4E

2021-08-13T22:01:20.452Z,1628892080.452 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 33.660000 m, bearing: 290.005051 deg, deltaT: 4.485682 s, approachRate: 0.200638 m/s, LOS rate: -1.354380 deg/s, posRepo size: 4
2021-08-13T22:01:22.781Z,1628892082.781 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:01:23.153Z,1628892083.153 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:01:23.153Z,1628892083.153 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:01:23.153Z,1628892083.153 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:01:23.154Z,1628892083.154 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:01:23.559Z,1628892083.559 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
25D,000,004A2,189,80,80,47,FF
2021-08-13T22:01:23.559Z,1628892083.559 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:01:23.559Z,1628892083.559 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:01:23.561Z,1628892083.561 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:01:23.980Z,1628892083.980 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:01:25.618Z,1628892085.618 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:01:27.601Z,1628892087.601 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E49,000,09997,187,80,80,26,FF
2021-08-13T22:01:27.601Z,1628892087.601 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:01:27.663Z,1628892087.663 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:01:28.059Z,1628892088.059 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 2321.640137 m, bearing: 340.021078 deg, deltaT: 7.639087 s, approachRate: 299.509644 m/s, LOS rate: 6.547383 deg/s, posRepo size: 4
2021-08-13T22:01:28.059Z,1628892088.059 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 2321.64 m. Resuming terminal guidance.
2021-08-13T22:01:28.059Z,1628892088.059 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-13T22:01:28.442Z,1628892088.442 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-13T22:01:28.443Z,1628892088.443 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T22:01:28.443Z,1628892088.443 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-13T22:01:28.444Z,1628892088.444 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-13T22:01:28.444Z,1628892088.444 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-13T22:01:28.444Z,1628892088.444 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-13T22:01:28.447Z,1628892088.447 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-08-13T22:01:28.447Z,1628892088.447 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-13T22:01:28.447Z,1628892088.447 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-08-13T22:01:28.447Z,1628892088.447 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-08-13T22:01:28.447Z,1628892088.447 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2021-08-13T22:01:28.447Z,1628892088.447 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-08-13T22:01:28.447Z,1628892088.447 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-08-13T22:01:28.842Z,1628892088.842 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-13T22:01:28.842Z,1628892088.842 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T22:01:28.842Z,1628892088.842 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-13T22:01:28.843Z,1628892088.843 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T22:01:30.481Z,1628892090.481 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:01:30.845Z,1628892090.845 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:01:30.845Z,1628892090.845 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:01:30.845Z,1628892090.845 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:01:30.846Z,1628892090.846 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:01:31.242Z,1628892091.242 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E49,000,09997,187,80,80,26,FF
2021-08-13T22:01:31.242Z,1628892091.242 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:01:31.242Z,1628892091.242 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:01:31.244Z,1628892091.244 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:01:31.644Z,1628892091.644 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:01:32.057Z,1628892092.057 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DC8,000,004A5,189,80,80,4C,FF
2021-08-13T22:01:32.057Z,1628892092.057 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:01:32.489Z,1628892092.489 [Micromodem](INFO): Nmea in: $SNTTA,,,,,220132.79*50

2021-08-13T22:01:32.515Z,1628892092.515 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 33.839996 m, bearing: 346.013039 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-13T22:01:32.515Z,1628892092.515 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 33.84 m.
2021-08-13T22:01:32.536Z,1628892092.536 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 346.013039deg and heading rate command to 0 deg/s.
2021-08-13T22:01:32.890Z,1628892092.890 [PowerOnly](INFO): Powering up loadControl
2021-08-13T22:01:32.925Z,1628892092.925 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-13T22:01:32.925Z,1628892092.925 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T22:01:32.925Z,1628892092.925 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-13T22:01:32.926Z,1628892092.926 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-13T22:01:32.926Z,1628892092.926 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-13T22:01:32.926Z,1628892092.926 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-13T22:01:33.253Z,1628892093.253 [DDM](ERROR): Could not parse whisker state
2021-08-13T22:01:33.369Z,1628892093.369 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-13T22:01:33.369Z,1628892093.369 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T22:01:33.369Z,1628892093.369 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-13T22:01:33.369Z,1628892093.369 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T22:01:34.927Z,1628892094.927 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:01:35.285Z,1628892095.285 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:01:35.285Z,1628892095.285 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:01:35.286Z,1628892095.286 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:01:35.286Z,1628892095.286 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:01:35.689Z,1628892095.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DC8,000,004A5,189,80,80,4C,FF
2021-08-13T22:01:35.689Z,1628892095.689 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:01:35.689Z,1628892095.689 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:01:35.691Z,1628892095.691 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:01:36.096Z,1628892096.096 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:01:36.489Z,1628892096.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,BA3,000,004AF,18A,80,80,34,FF
2021-08-13T22:01:36.489Z,1628892096.489 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:01:36.547Z,1628892096.547 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:01:36.941Z,1628892096.941 [Micromodem](INFO): Nmea in: $SNTTA,,,,,220137.24*5D

2021-08-13T22:01:36.957Z,1628892096.957 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.439999 m, bearing: 8.544987 deg, deltaT: 4.450222 s, approachRate: 0.134825 m/s, LOS rate: 5.063104 deg/s, posRepo size: 2
2021-08-13T22:01:36.958Z,1628892096.958 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 34.44 m.
2021-08-13T22:01:36.960Z,1628892096.960 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 34.439999 m,
      bearing: 8.544987 deg,
      approachRate: 0.134825 m/s,
      LOS rate: 5.063104 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 346.013039 deg,
      new cmd heading: 346.013039 deg.

2021-08-13T22:01:39.378Z,1628892099.378 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:01:39.717Z,1628892099.717 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:01:39.717Z,1628892099.717 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:01:39.717Z,1628892099.717 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:01:39.718Z,1628892099.718 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:01:40.129Z,1628892100.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
BA3,000,004AF,18A,80,80,34,FF
2021-08-13T22:01:40.130Z,1628892100.130 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:01:40.130Z,1628892100.130 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:01:40.131Z,1628892100.131 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:01:40.204Z,1628892100.204 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-13T22:01:40.541Z,1628892100.541 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:01:40.937Z,1628892100.937 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E21,000,004C9,186,80,80,62,FF
2021-08-13T22:01:40.937Z,1628892100.937 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:01:40.958Z,1628892100.958 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:01:41.398Z,1628892101.398 [Micromodem](INFO): Nmea in: $SNTTA,,,,,220141.68*54

2021-08-13T22:01:41.429Z,1628892101.429 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.999996 m, bearing: 336.596804 deg, deltaT: 4.411608 s, approachRate: 0.353612 m/s, LOS rate: -7.241843 deg/s, posRepo size: 3
2021-08-13T22:01:41.429Z,1628892101.429 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 36.00 m.
2021-08-13T22:01:41.431Z,1628892101.431 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 35.999996 m,
      bearing: 336.596804 deg,
      approachRate: 0.353612 m/s,
      LOS rate: -7.241843 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 39.080244 deg,
      new cmd heading: 44.760900 deg.

2021-08-13T22:01:43.838Z,1628892103.838 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:01:44.169Z,1628892104.169 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:01:44.169Z,1628892104.169 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:01:44.169Z,1628892104.169 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:01:44.170Z,1628892104.170 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:01:44.585Z,1628892104.585 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E21,000,004C9,186,80,80,62,FF
2021-08-13T22:01:44.585Z,1628892104.585 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:01:44.585Z,1628892104.585 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:01:44.587Z,1628892104.587 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:01:44.981Z,1628892104.981 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:01:45.407Z,1628892105.407 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E56,000,004D3,186,80,80,60,FF
2021-08-13T22:01:45.407Z,1628892105.407 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:01:45.458Z,1628892105.458 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:01:45.844Z,1628892105.844 [Micromodem](INFO): Nmea in: $SNTTA,,,,,220146.14*58

2021-08-13T22:01:45.906Z,1628892105.906 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.600002 m, bearing: 345.837640 deg, deltaT: 4.499909 s, approachRate: 0.133337 m/s, LOS rate: 2.053561 deg/s, posRepo size: 4
2021-08-13T22:01:45.907Z,1628892105.907 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 36.60 m.
2021-08-13T22:01:45.907Z,1628892105.907 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 36.60 m.
2021-08-13T22:01:45.907Z,1628892105.907 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-13T22:01:45.910Z,1628892105.910 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 36.600002 m,
      bearing: 345.837640 deg,
      approachRate: 0.133337 m/s,
      LOS rate: 2.053561 deg/s,
      cmd update: 6.160682 deg/s,
      cmd heading: 345.086831 deg,
      new cmd heading: 339.670583 deg.

2021-08-13T22:01:48.258Z,1628892108.258 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:01:48.613Z,1628892108.613 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:01:48.613Z,1628892108.613 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:01:48.613Z,1628892108.613 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:01:48.614Z,1628892108.614 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:01:49.017Z,1628892109.017 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E56,000,004D3,186,80,80,60,FF
2021-08-13T22:01:49.017Z,1628892109.017 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:01:49.017Z,1628892109.017 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:01:49.019Z,1628892109.019 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:01:49.424Z,1628892109.424 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:01:49.830Z,1628892109.830 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,188,000,004DD,186,80,80,A9,FF
2021-08-13T22:01:49.831Z,1628892109.831 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:01:49.935Z,1628892109.935 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:01:50.270Z,1628892110.270 [Micromodem](INFO): Nmea in: $SNTTA,0.053747,,,,220150.57*44

2021-08-13T22:01:50.309Z,1628892110.309 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.200001 m, bearing: 323.071144 deg, deltaT: 4.476531 s, approachRate: 0.134032 m/s, LOS rate: -5.085745 deg/s, posRepo size: 4
2021-08-13T22:01:50.311Z,1628892110.311 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 37.200001 m,
      bearing: 323.071144 deg,
      approachRate: 0.134032 m/s,
      LOS rate: -5.085745 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 12.644332 deg,
      new cmd heading: 14.991250 deg.

2021-08-13T22:01:52.699Z,1628892112.699 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:01:53.057Z,1628892113.057 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:01:53.057Z,1628892113.057 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:01:53.057Z,1628892113.057 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:01:53.058Z,1628892113.058 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:01:53.465Z,1628892113.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
188,000,004DD,186,80,80,A9,FF
2021-08-13T22:01:53.465Z,1628892113.465 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:01:53.465Z,1628892113.465 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:01:53.467Z,1628892113.467 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:01:53.905Z,1628892113.905 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:01:54.261Z,1628892114.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DD8,000,004E2,188,80,80,92,FF
2021-08-13T22:01:54.262Z,1628892114.262 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:01:54.299Z,1628892114.299 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:01:54.709Z,1628892114.709 [Micromodem](INFO): Nmea in: $SNTTA,,,,,220155.01*5E

2021-08-13T22:01:54.735Z,1628892114.735 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.500000 m, bearing: 29.436589 deg, deltaT: 4.373640 s, approachRate: 0.068593 m/s, LOS rate: 15.173960 deg/s, posRepo size: 4
2021-08-13T22:01:54.756Z,1628892114.756 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 15.173960 deg/s. Setting heading cmd to target bearing of 29.436589deg and heading rate command to 0 deg/s.
2021-08-13T22:01:57.112Z,1628892117.112 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:01:57.493Z,1628892117.493 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:01:57.493Z,1628892117.493 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:01:57.493Z,1628892117.493 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:01:57.494Z,1628892117.494 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:01:57.913Z,1628892117.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DD8,000,004E2,188,80,80,92,FF
2021-08-13T22:01:57.913Z,1628892117.913 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:01:57.913Z,1628892117.913 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:01:57.915Z,1628892117.915 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:01:58.328Z,1628892118.328 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:01:58.713Z,1628892118.713 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DDA,000,004E3,188,80,80,61,FF
2021-08-13T22:01:58.713Z,1628892118.713 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:01:58.766Z,1628892118.766 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:01:59.157Z,1628892119.157 [Micromodem](INFO): Nmea in: $SNTTA,,,,,220159.46*51

2021-08-13T22:01:59.180Z,1628892119.180 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.559998 m, bearing: 33.175708 deg, deltaT: 4.457062 s, approachRate: 0.013461 m/s, LOS rate: 0.838920 deg/s, posRepo size: 4
2021-08-13T22:01:59.181Z,1628892119.181 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 37.56 m.
2021-08-13T22:01:59.183Z,1628892119.183 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 37.559998 m,
      bearing: 33.175708 deg,
      approachRate: 0.013461 m/s,
      LOS rate: 0.838920 deg/s,
      cmd update: 2.516760 deg/s,
      cmd heading: 29.436589 deg,
      new cmd heading: 29.436589 deg.

2021-08-13T22:02:01.592Z,1628892121.592 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:02:01.941Z,1628892121.941 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:02:01.941Z,1628892121.941 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:02:01.941Z,1628892121.941 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:02:01.942Z,1628892121.942 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:02:02.369Z,1628892122.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DDA,000,004E3,188,80,80,61,FF
2021-08-13T22:02:02.369Z,1628892122.369 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:02:02.369Z,1628892122.369 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:02:02.371Z,1628892122.371 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:02:02.757Z,1628892122.757 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:02:03.157Z,1628892123.157 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,004E9,189,80,80,50,FF
2021-08-13T22:02:03.158Z,1628892123.158 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:02:03.178Z,1628892123.178 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:02:03.589Z,1628892123.589 [Micromodem](INFO): Nmea in: $SNTTA,0.042880,,,,220203.92*4C

2021-08-13T22:02:03.648Z,1628892123.648 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.920002 m, bearing: 290.893140 deg, deltaT: 4.412226 s, approachRate: 0.081592 m/s, LOS rate: -23.181624 deg/s, posRepo size: 4
2021-08-13T22:02:03.649Z,1628892123.649 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -23.181624 deg/s. Setting heading cmd to target bearing of 290.893140deg and heading rate command to 0 deg/s.
2021-08-13T22:02:06.026Z,1628892126.026 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:02:06.397Z,1628892126.397 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:02:06.397Z,1628892126.397 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:02:06.397Z,1628892126.397 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:02:06.398Z,1628892126.398 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:02:06.793Z,1628892126.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,004E9,189,80,80,50,FF
2021-08-13T22:02:06.794Z,1628892126.794 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:02:06.794Z,1628892126.794 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:02:06.795Z,1628892126.795 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:02:07.196Z,1628892127.196 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:02:07.597Z,1628892127.597 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D62,000,004F3,189,80,80,71,FF
2021-08-13T22:02:07.597Z,1628892127.597 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:02:07.652Z,1628892127.652 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:02:08.037Z,1628892128.037 [Micromodem](INFO): Nmea in: $SNTTA,,,,,220208.34*53

2021-08-13T22:02:08.085Z,1628892128.085 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.520000 m, bearing: 38.246682 deg, deltaT: 4.474232 s, approachRate: 0.134101 m/s, LOS rate: 23.993736 deg/s, posRepo size: 4
2021-08-13T22:02:08.086Z,1628892128.086 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Stopped intercept timer at range: 38.52 m.
2021-08-13T22:02:08.086Z,1628892128.086 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 23.993736 deg/s. Setting heading cmd to target bearing of 38.246682deg and heading rate command to 0 deg/s.
2021-08-13T22:02:10.481Z,1628892130.481 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:02:10.829Z,1628892130.829 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:02:10.829Z,1628892130.829 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:02:10.829Z,1628892130.829 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:02:10.830Z,1628892130.830 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:02:11.243Z,1628892131.243 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D62,000,004F3,189,80,80,71,FF
2021-08-13T22:02:11.243Z,1628892131.243 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:02:11.243Z,1628892131.243 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:02:11.245Z,1628892131.245 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:02:11.640Z,1628892131.640 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:02:12.049Z,1628892132.049 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D8E,000,004F7,189,80,80,70,FF
2021-08-13T22:02:12.050Z,1628892132.050 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:02:12.117Z,1628892132.117 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:02:12.485Z,1628892132.485 [Micromodem](INFO): Nmea in: $SNTTA,,,,,220212.79*51

2021-08-13T22:02:12.523Z,1628892132.523 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.760002 m, bearing: 43.459121 deg, deltaT: 4.465264 s, approachRate: 0.053749 m/s, LOS rate: 1.167330 deg/s, posRepo size: 4
2021-08-13T22:02:12.523Z,1628892132.523 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 38.76 m.
2021-08-13T22:02:12.525Z,1628892132.525 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 38.760002 m,
      bearing: 43.459121 deg,
      approachRate: 0.053749 m/s,
      LOS rate: 1.167330 deg/s,
      cmd update: 3.501991 deg/s,
      cmd heading: 38.246682 deg,
      new cmd heading: 38.246682 deg.

2021-08-13T22:02:14.946Z,1628892134.946 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:02:15.277Z,1628892135.277 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:02:15.277Z,1628892135.277 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:02:15.277Z,1628892135.277 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:02:15.278Z,1628892135.278 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:02:15.688Z,1628892135.688 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D8E,000,004F7,189,80,80,70,FF
2021-08-13T22:02:15.688Z,1628892135.688 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:02:15.688Z,1628892135.688 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:02:15.690Z,1628892135.690 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:02:16.107Z,1628892136.107 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:02:16.489Z,1628892136.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D8A,000,004FC,189,80,80,85,FF
2021-08-13T22:02:16.490Z,1628892136.490 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:02:16.547Z,1628892136.547 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:02:16.941Z,1628892136.941 [Micromodem](INFO): Nmea in: $SNTTA,,,,,220217.24*5C

2021-08-13T22:02:16.987Z,1628892136.987 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.060001 m, bearing: 43.519742 deg, deltaT: 4.442050 s, approachRate: 0.067536 m/s, LOS rate: 0.013647 deg/s, posRepo size: 4
2021-08-13T22:02:16.993Z,1628892136.993 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 39.060001 m,
      bearing: 43.519742 deg,
      approachRate: 0.067536 m/s,
      LOS rate: 0.013647 deg/s,
      cmd update: 0.040941 deg/s,
      cmd heading: 53.787139 deg,
      new cmd heading: 55.339032 deg.

2021-08-13T22:02:19.417Z,1628892139.417 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:02:19.737Z,1628892139.737 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:02:19.737Z,1628892139.737 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:02:19.737Z,1628892139.737 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:02:19.738Z,1628892139.738 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:02:20.153Z,1628892140.153 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D8A,000,004FC,189,80,80,85,FF
2021-08-13T22:02:20.153Z,1628892140.153 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:02:20.153Z,1628892140.153 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:02:20.155Z,1628892140.155 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:02:20.541Z,1628892140.541 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:02:20.953Z,1628892140.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DC4,000,004FC,189,80,80,96,FF
2021-08-13T22:02:20.953Z,1628892140.953 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:02:21.003Z,1628892141.003 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:02:21.425Z,1628892141.425 [Micromodem](INFO): Nmea in: $SNTTA,,,,,220221.70*58

2021-08-13T22:02:21.475Z,1628892141.475 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.060001 m, bearing: 54.208595 deg, deltaT: 4.443366 s, approachRate: 0.000000 m/s, LOS rate: 2.405576 deg/s, posRepo size: 4
2021-08-13T22:02:21.477Z,1628892141.477 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 39.060001 m,
      bearing: 54.208595 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 2.405576 deg/s,
      cmd update: 7.216728 deg/s,
      cmd heading: 53.968574 deg,
      new cmd heading: 53.989015 deg.

2021-08-13T22:02:23.823Z,1628892143.823 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:02:24.177Z,1628892144.177 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:02:24.177Z,1628892144.177 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:02:24.177Z,1628892144.177 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:02:24.178Z,1628892144.178 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:02:24.585Z,1628892144.585 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DC4,000,004FC,189,80,80,96,FF
2021-08-13T22:02:24.585Z,1628892144.585 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:02:24.585Z,1628892144.585 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:02:24.586Z,1628892144.586 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:02:25.016Z,1628892145.016 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:02:25.401Z,1628892145.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,004FB,189,80,80,7B,FF
2021-08-13T22:02:25.401Z,1628892145.401 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:02:25.464Z,1628892145.464 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:02:25.870Z,1628892145.870 [Micromodem](INFO): Nmea in: $SNTTA,,,,,220226.13*5A

2021-08-13T22:02:25.921Z,1628892145.921 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.999996 m, bearing: 106.216224 deg, deltaT: 4.461534 s, approachRate: -0.013449 m/s, LOS rate: 11.656894 deg/s, posRepo size: 4
2021-08-13T22:02:25.922Z,1628892145.922 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Stopped intercept timer at range: 39.00 m.
2021-08-13T22:02:25.922Z,1628892145.922 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 11.656894 deg/s. Setting heading cmd to target bearing of 106.216224deg and heading rate command to 0 deg/s.
2021-08-13T22:02:28.262Z,1628892148.262 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:02:28.621Z,1628892148.621 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:02:28.621Z,1628892148.621 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:02:28.622Z,1628892148.622 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:02:28.623Z,1628892148.623 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:02:29.042Z,1628892149.042 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,004FB,189,80,80,7B,FF
2021-08-13T22:02:29.042Z,1628892149.042 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:02:29.042Z,1628892149.042 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:02:29.044Z,1628892149.044 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:02:29.436Z,1628892149.436 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:02:29.874Z,1628892149.874 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C5C,000,004E8,189,80,80,6D,FF
2021-08-13T22:02:29.875Z,1628892149.875 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:02:29.967Z,1628892149.967 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:02:30.265Z,1628892150.265 [Micromodem](INFO): Nmea in: $SNTTA,,,,,220230.59*53

2021-08-13T22:02:30.288Z,1628892150.288 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.859997 m, bearing: 105.895150 deg, deltaT: 4.502497 s, approachRate: -0.253193 m/s, LOS rate: -0.071310 deg/s, posRepo size: 4
2021-08-13T22:02:30.314Z,1628892150.314 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 37.859997 m,
      bearing: 105.895150 deg,
      approachRate: -0.253193 m/s,
      LOS rate: -0.071310 deg/s,
      cmd update: -0.213930 deg/s,
      cmd heading: 106.216224 deg,
      new cmd heading: 106.216224 deg.

2021-08-13T22:02:32.689Z,1628892152.689 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:02:33.058Z,1628892153.058 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:02:33.058Z,1628892153.058 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:02:33.058Z,1628892153.058 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:02:33.059Z,1628892153.059 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:02:33.461Z,1628892153.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C5C,000,004E8,189,80,80,6D,FF
2021-08-13T22:02:33.461Z,1628892153.461 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:02:33.462Z,1628892153.462 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:02:33.463Z,1628892153.463 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:02:33.908Z,1628892153.908 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:02:34.285Z,1628892154.285 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D5D,000,004CC,189,80,80,81,FF
2021-08-13T22:02:34.285Z,1628892154.285 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:02:34.310Z,1628892154.310 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:02:34.717Z,1628892154.717 [Micromodem](INFO): Nmea in: $SNTTA,,,,,220235.01*5B

2021-08-13T22:02:34.772Z,1628892154.772 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.180000 m, bearing: 108.563091 deg, deltaT: 4.343541 s, approachRate: -0.386780 m/s, LOS rate: 0.614232 deg/s, posRepo size: 4
2021-08-13T22:02:34.775Z,1628892154.775 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 36.180000 m,
      bearing: 108.563091 deg,
      approachRate: -0.386780 m/s,
      LOS rate: 0.614232 deg/s,
      cmd update: 1.842695 deg/s,
      cmd heading: 105.287017 deg,
      new cmd heading: 105.188417 deg.

2021-08-13T22:02:37.131Z,1628892157.131 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:02:37.509Z,1628892157.509 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:02:37.509Z,1628892157.509 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:02:37.509Z,1628892157.509 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:02:37.510Z,1628892157.510 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:02:37.927Z,1628892157.927 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D5D,000,004CC,189,80,80,81,FF
2021-08-13T22:02:37.927Z,1628892157.927 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:02:37.927Z,1628892157.927 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:02:37.930Z,1628892157.930 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:02:38.341Z,1628892158.341 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:02:38.723Z,1628892158.723 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E26,000,004AA,187,80,80,6D,FF
2021-08-13T22:02:38.724Z,1628892158.724 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:02:38.789Z,1628892158.789 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:02:39.165Z,1628892159.165 [Micromodem](INFO): Nmea in: $SNTTA,0.040877,,,,220239.48*48

2021-08-13T22:02:39.201Z,1628892159.201 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.139996 m, bearing: 113.937329 deg, deltaT: 4.478600 s, approachRate: -0.455501 m/s, LOS rate: 1.199982 deg/s, posRepo size: 4
2021-08-13T22:02:39.203Z,1628892159.203 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 34.139996 m,
      bearing: 113.937329 deg,
      approachRate: -0.455501 m/s,
      LOS rate: 1.199982 deg/s,
      cmd update: 3.599946 deg/s,
      cmd heading: 113.483897 deg,
      new cmd heading: 114.304316 deg.

2021-08-13T22:02:41.581Z,1628892161.581 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:02:41.949Z,1628892161.949 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:02:41.949Z,1628892161.949 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:02:41.949Z,1628892161.949 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:02:41.950Z,1628892161.950 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:02:42.389Z,1628892162.389 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E26,000,004AA,187,80,80,6D,FF
2021-08-13T22:02:42.389Z,1628892162.389 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:02:42.389Z,1628892162.389 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:02:42.391Z,1628892162.391 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:02:42.775Z,1628892162.775 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:02:43.169Z,1628892163.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FAE,000,0048B,185,80,80,7B,FF
2021-08-13T22:02:43.169Z,1628892163.169 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:02:43.215Z,1628892163.215 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:02:43.601Z,1628892163.601 [Micromodem](INFO): Nmea in: $SNTTA,0.045919,,,,220243.94*48

2021-08-13T22:02:43.660Z,1628892163.660 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.279999 m, bearing: 111.492818 deg, deltaT: 4.425699 s, approachRate: -0.420272 m/s, LOS rate: -0.552345 deg/s, posRepo size: 4
2021-08-13T22:02:43.662Z,1628892163.662 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 32.279999 m,
      bearing: 111.492818 deg,
      approachRate: -0.420272 m/s,
      LOS rate: -0.552345 deg/s,
      cmd update: -1.657034 deg/s,
      cmd heading: 129.524689 deg,
      new cmd heading: 131.066088 deg.

2021-08-13T22:02:46.054Z,1628892166.054 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:02:46.401Z,1628892166.401 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:02:46.401Z,1628892166.401 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:02:46.401Z,1628892166.401 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:02:46.402Z,1628892166.402 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:02:46.801Z,1628892166.801 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FAE,000,0048B,185,80,80,7B,FF
2021-08-13T22:02:46.801Z,1628892166.801 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:02:46.801Z,1628892166.801 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:02:46.803Z,1628892166.803 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:02:47.205Z,1628892167.205 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:02:47.613Z,1628892167.613 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,07A,000,0045E,186,80,80,94,FF
2021-08-13T22:02:47.614Z,1628892167.614 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:02:47.683Z,1628892167.683 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:02:48.041Z,1628892168.041 [Micromodem](INFO): Nmea in: $SNTTA,,,,,220248.35*56

2021-08-13T22:02:48.088Z,1628892168.088 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.580002 m, bearing: 116.872405 deg, deltaT: 4.468471 s, approachRate: -0.604233 m/s, LOS rate: 1.203899 deg/s, posRepo size: 4
2021-08-13T22:02:48.090Z,1628892168.090 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 29.580002 m,
      bearing: 116.872405 deg,
      approachRate: -0.604233 m/s,
      LOS rate: 1.203899 deg/s,
      cmd update: 3.611696 deg/s,
      cmd heading: 122.139254 deg,
      new cmd heading: 121.443699 deg.

2021-08-13T22:02:50.473Z,1628892170.473 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:02:50.841Z,1628892170.841 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:02:50.841Z,1628892170.841 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:02:50.841Z,1628892170.841 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:02:50.842Z,1628892170.842 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:02:51.245Z,1628892171.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
07A,000,0045E,186,80,80,94,FF
2021-08-13T22:02:51.245Z,1628892171.245 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:02:51.245Z,1628892171.245 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:02:51.247Z,1628892171.247 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:02:51.656Z,1628892171.656 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:02:52.057Z,1628892172.057 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0BA,000,00435,186,80,80,45,FF
2021-08-13T22:02:52.057Z,1628892172.057 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:02:52.144Z,1628892172.144 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:02:52.501Z,1628892172.501 [Micromodem](INFO): Nmea in: $SNTTA,,,,,220252.79*55

2021-08-13T22:02:52.576Z,1628892172.576 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.119997 m, bearing: 117.103347 deg, deltaT: 4.461374 s, approachRate: -0.551401 m/s, LOS rate: 0.051765 deg/s, posRepo size: 4
2021-08-13T22:02:52.579Z,1628892172.579 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 27.119997 m,
      bearing: 117.103347 deg,
      approachRate: -0.551401 m/s,
      LOS rate: 0.051765 deg/s,
      cmd update: 0.155295 deg/s,
      cmd heading: 138.263506 deg,
      new cmd heading: 139.847676 deg.

2021-08-13T22:02:54.910Z,1628892174.910 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:02:55.281Z,1628892175.281 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:02:55.281Z,1628892175.281 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:02:55.281Z,1628892175.281 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:02:55.282Z,1628892175.282 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:02:55.689Z,1628892175.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0BA,000,00435,186,80,80,45,FF
2021-08-13T22:02:55.689Z,1628892175.689 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:02:55.689Z,1628892175.689 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:02:55.691Z,1628892175.691 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:02:56.094Z,1628892176.094 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:02:56.489Z,1628892176.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,171,000,00408,186,80,80,4D,FF
2021-08-13T22:02:56.489Z,1628892176.489 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:02:56.548Z,1628892176.548 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:02:56.945Z,1628892176.945 [Micromodem](INFO): Nmea in: $SNTTA,,,,,220257.24*58

2021-08-13T22:02:56.968Z,1628892176.968 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.420002 m, bearing: 114.298885 deg, deltaT: 4.403900 s, approachRate: -0.613092 m/s, LOS rate: -0.636813 deg/s, posRepo size: 4
2021-08-13T22:02:56.970Z,1628892176.970 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 24.420002 m,
      bearing: 114.298885 deg,
      approachRate: -0.613092 m/s,
      LOS rate: -0.636813 deg/s,
      cmd update: -1.910440 deg/s,
      cmd heading: 138.947451 deg,
      new cmd heading: 139.014349 deg.

2021-08-13T22:02:59.395Z,1628892179.395 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:02:59.736Z,1628892179.736 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:02:59.736Z,1628892179.736 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:02:59.736Z,1628892179.736 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:02:59.737Z,1628892179.737 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:03:00.125Z,1628892180.125 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
171,000,00408,186,80,80,4D,FF
2021-08-13T22:03:00.125Z,1628892180.125 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:03:00.125Z,1628892180.125 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:03:00.127Z,1628892180.127 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:03:00.533Z,1628892180.533 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:03:00.941Z,1628892180.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,23E,000,00D4A,186,80,80,4D,FF
2021-08-13T22:03:00.942Z,1628892180.942 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:03:00.987Z,1628892180.987 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:03:01.397Z,1628892181.397 [Micromodem](INFO): Nmea in: $SNTTA,0.150353,,,,220301.67*42

2021-08-13T22:03:01.404Z,1628892181.404 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T22:03:01.424Z,1628892181.424 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 166.619995 m, bearing: 110.488255 deg, deltaT: 4.443289 s, approachRate: 32.003319 m/s, LOS rate: -0.857615 deg/s, posRepo size: 4
2021-08-13T22:03:01.426Z,1628892181.426 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 166.619995 m,
      bearing: 110.488255 deg,
      approachRate: 32.003319 m/s,
      LOS rate: -0.857615 deg/s,
      cmd update: -2.572845 deg/s,
      cmd heading: 130.490014 deg,
      new cmd heading: 129.611575 deg.

2021-08-13T22:03:01.785Z,1628892181.785 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-13T22:03:01.785Z,1628892181.785 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T22:03:01.786Z,1628892181.786 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-13T22:03:01.786Z,1628892181.786 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-13T22:03:01.786Z,1628892181.786 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-13T22:03:01.786Z,1628892181.786 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-13T22:03:02.207Z,1628892182.207 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-13T22:03:02.207Z,1628892182.207 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T22:03:02.207Z,1628892182.207 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-13T22:03:02.207Z,1628892182.207 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T22:03:03.783Z,1628892183.783 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:03:04.173Z,1628892184.173 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:03:04.173Z,1628892184.173 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:03:04.173Z,1628892184.173 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:03:04.174Z,1628892184.174 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:03:04.573Z,1628892184.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
23E,000,00D4A,186,80,80,4D,FF
2021-08-13T22:03:04.573Z,1628892184.573 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:03:04.573Z,1628892184.573 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:03:04.575Z,1628892184.575 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:03:05.048Z,1628892185.048 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:03:05.874Z,1628892185.874 [Micromodem](INFO): Nmea in: $SNTTA,,,,,220306.12*58

2021-08-13T22:03:06.694Z,1628892186.694 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:03:07.459Z,1628892187.459 [PowerOnly](INFO): Powering down loadControl
2021-08-13T22:03:07.900Z,1628892187.900 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
A,186,80,80,4D,FF
2021-08-13T22:03:07.900Z,1628892187.900 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
A,186,80,80,4D,FF
2021-08-13T22:03:07.900Z,1628892187.900 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T22:03:09.514Z,1628892189.514 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:03:09.918Z,1628892189.918 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:03:09.918Z,1628892189.918 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:03:09.918Z,1628892189.918 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:03:09.919Z,1628892189.919 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:03:10.289Z,1628892190.289 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
A,186,80,80,4D,FF
2021-08-13T22:03:10.289Z,1628892190.289 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:03:10.289Z,1628892190.289 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:03:10.291Z,1628892190.291 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:03:10.692Z,1628892190.692 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:03:11.526Z,1628892191.526 [Micromodem](INFO): Nmea in: $SNTTA,,,,,220311.84*51

2021-08-13T22:03:12.367Z,1628892192.367 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:03:13.937Z,1628892193.937 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
A,186,80,80,4D,FF
2021-08-13T22:03:13.937Z,1628892193.937 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
A,186,80,80,4D,FF
2021-08-13T22:03:13.938Z,1628892193.938 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T22:03:15.167Z,1628892195.167 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:03:15.533Z,1628892195.533 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:03:15.533Z,1628892195.533 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:03:15.533Z,1628892195.533 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:03:15.534Z,1628892195.534 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:03:15.949Z,1628892195.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
A,186,80,80,4D,FF
2021-08-13T22:03:15.950Z,1628892195.950 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:03:15.950Z,1628892195.950 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:03:15.952Z,1628892195.952 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:03:16.368Z,1628892196.368 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:03:16.749Z,1628892196.749 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF3,000,0034D,186,80,80,45,FF
2021-08-13T22:03:16.749Z,1628892196.749 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:03:17.173Z,1628892197.173 [Micromodem](INFO): Nmea in: $SNTTA,,,,,220317.50*5E

2021-08-13T22:03:17.222Z,1628892197.222 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.199997 m, bearing: 107.867074 deg, deltaT: 15.778094 s, approachRate: -9.723608 m/s, LOS rate: -0.166128 deg/s, posRepo size: 4
2021-08-13T22:03:17.224Z,1628892197.224 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.199997 m,
      bearing: 107.867074 deg,
      approachRate: -9.723608 m/s,
      LOS rate: -0.166128 deg/s,
      cmd update: -0.498384 deg/s,
      cmd heading: 89.831434 deg,
      new cmd heading: 88.660710 deg.

2021-08-13T22:03:17.585Z,1628892197.585 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-13T22:03:17.585Z,1628892197.585 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T22:03:17.586Z,1628892197.586 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-13T22:03:17.586Z,1628892197.586 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-13T22:03:17.586Z,1628892197.586 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-13T22:03:17.586Z,1628892197.586 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-13T22:03:18.005Z,1628892198.005 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-13T22:03:18.006Z,1628892198.006 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T22:03:18.006Z,1628892198.006 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-13T22:03:18.006Z,1628892198.006 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T22:03:19.617Z,1628892199.617 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:03:19.990Z,1628892199.990 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:03:19.990Z,1628892199.990 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:03:19.990Z,1628892199.990 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:03:19.991Z,1628892199.991 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:03:20.401Z,1628892200.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF3,000,0034D,186,80,80,45,FF
2021-08-13T22:03:20.401Z,1628892200.401 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:03:20.402Z,1628892200.402 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:03:20.403Z,1628892200.403 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:03:20.789Z,1628892200.789 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:03:21.183Z,1628892201.183 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E30,000,0032A,187,80,80,8A,FF
2021-08-13T22:03:21.183Z,1628892201.183 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:03:21.202Z,1628892201.202 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:03:21.625Z,1628892201.625 [Micromodem](INFO): Nmea in: $SNTTA,,,,,220321.95*52

2021-08-13T22:03:21.671Z,1628892201.671 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.100000 m, bearing: 108.334382 deg, deltaT: 4.432728 s, approachRate: -0.473748 m/s, LOS rate: 0.105422 deg/s, posRepo size: 4
2021-08-13T22:03:21.677Z,1628892201.677 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.100000 m,
      bearing: 108.334382 deg,
      approachRate: -0.473748 m/s,
      LOS rate: 0.105422 deg/s,
      cmd update: 0.316267 deg/s,
      cmd heading: 87.622399 deg,
      new cmd heading: 87.387249 deg.

2021-08-13T22:03:24.073Z,1628892204.073 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:03:24.429Z,1628892204.429 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:03:24.429Z,1628892204.429 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:03:24.429Z,1628892204.429 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:03:24.430Z,1628892204.430 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:03:24.834Z,1628892204.834 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E30,000,0032A,187,80,80,8A,FF
2021-08-13T22:03:24.834Z,1628892204.834 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:03:24.834Z,1628892204.834 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:03:24.835Z,1628892204.835 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:03:25.229Z,1628892205.229 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:03:25.633Z,1628892205.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,154,000,0032D,185,80,80,51,FF
2021-08-13T22:03:25.633Z,1628892205.633 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:03:25.703Z,1628892205.703 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:03:26.073Z,1628892206.073 [Micromodem](INFO): Nmea in: $SNTTA,,,,,220326.38*52

2021-08-13T22:03:26.141Z,1628892206.141 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.280000 m, bearing: 68.350707 deg, deltaT: 4.505426 s, approachRate: 0.039952 m/s, LOS rate: -8.874560 deg/s, posRepo size: 4
2021-08-13T22:03:26.143Z,1628892206.143 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.280000 m,
      bearing: 68.350707 deg,
      approachRate: 0.039952 m/s,
      LOS rate: -8.874560 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 89.041322 deg,
      new cmd heading: 89.183873 deg.

2021-08-13T22:03:28.502Z,1628892208.502 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:03:28.870Z,1628892208.870 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:03:28.870Z,1628892208.870 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:03:28.870Z,1628892208.870 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:03:28.871Z,1628892208.871 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:03:29.269Z,1628892209.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
154,000,0032D,185,80,80,51,FF
2021-08-13T22:03:29.269Z,1628892209.269 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:03:29.269Z,1628892209.269 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:03:29.271Z,1628892209.271 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:03:29.678Z,1628892209.678 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:03:30.093Z,1628892210.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,37A,000,002FA,18A,80,80,4A,FF
2021-08-13T22:03:30.093Z,1628892210.093 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:03:30.152Z,1628892210.152 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:03:30.513Z,1628892210.513 [Micromodem](INFO): Nmea in: $SNTTA,,,,,220330.82*54

2021-08-13T22:03:30.550Z,1628892210.550 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.219998 m, bearing: 40.207975 deg, deltaT: 4.444558 s, approachRate: -0.688483 m/s, LOS rate: -6.331953 deg/s, posRepo size: 4
2021-08-13T22:03:30.553Z,1628892210.553 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.219998 m,
      bearing: 40.207975 deg,
      approachRate: -0.688483 m/s,
      LOS rate: -6.331953 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 35.478697 deg,
      new cmd heading: 30.665533 deg.

2021-08-13T22:03:32.958Z,1628892212.958 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:03:33.313Z,1628892213.313 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:03:33.313Z,1628892213.313 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:03:33.313Z,1628892213.313 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:03:33.314Z,1628892213.314 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:03:33.725Z,1628892213.725 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
37A,000,002FA,18A,80,80,4A,FF
2021-08-13T22:03:33.725Z,1628892213.725 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:03:33.725Z,1628892213.725 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:03:33.727Z,1628892213.727 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:03:34.133Z,1628892214.133 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:03:34.529Z,1628892214.529 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DEC,000,002F7,187,80,80,AD,FF
2021-08-13T22:03:34.529Z,1628892214.529 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:03:34.583Z,1628892214.583 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:03:34.979Z,1628892214.979 [Micromodem](INFO): Nmea in: $SNTTA,,,,,220335.27*5E

2021-08-13T22:03:35.042Z,1628892215.042 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.040000 m, bearing: 91.848641 deg, deltaT: 4.431136 s, approachRate: -0.040621 m/s, LOS rate: 11.654047 deg/s, posRepo size: 4
2021-08-13T22:03:35.043Z,1628892215.043 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 11.654047 deg/s. Setting heading cmd to target bearing of 91.848641deg and heading rate command to 0 deg/s.
2021-08-13T22:03:37.398Z,1628892217.398 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:03:37.753Z,1628892217.753 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:03:37.753Z,1628892217.753 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:03:37.753Z,1628892217.753 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:03:37.754Z,1628892217.754 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:03:38.161Z,1628892218.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DEC,000,002F7,187,80,80,AD,FF
2021-08-13T22:03:38.161Z,1628892218.161 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:03:38.161Z,1628892218.161 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:03:38.163Z,1628892218.163 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:03:38.577Z,1628892218.577 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:03:38.969Z,1628892218.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D00,000,0032B,18A,80,80,4F,FF
2021-08-13T22:03:38.970Z,1628892218.970 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:03:39.031Z,1628892219.031 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:03:39.425Z,1628892219.425 [Micromodem](INFO): Nmea in: $SNTTA,,,,,220339.71*51

2021-08-13T22:03:39.483Z,1628892219.483 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.159998 m, bearing: 87.663204 deg, deltaT: 4.447183 s, approachRate: 0.701567 m/s, LOS rate: -0.941144 deg/s, posRepo size: 4
2021-08-13T22:03:39.490Z,1628892219.490 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.159998 m,
      bearing: 87.663204 deg,
      approachRate: 0.701567 m/s,
      LOS rate: -0.941144 deg/s,
      cmd update: -2.823431 deg/s,
      cmd heading: 91.848641 deg,
      new cmd heading: 91.848641 deg.

2021-08-13T22:03:41.895Z,1628892221.895 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:03:42.205Z,1628892222.205 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:03:42.205Z,1628892222.205 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:03:42.205Z,1628892222.205 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:03:42.206Z,1628892222.206 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:03:42.605Z,1628892222.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D00,000,0032B,18A,80,80,4F,FF
2021-08-13T22:03:42.605Z,1628892222.605 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:03:42.606Z,1628892222.606 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:03:42.607Z,1628892222.607 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:03:43.030Z,1628892223.030 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:03:43.868Z,1628892223.868 [Micromodem](INFO): Nmea in: $SNTTA,,,,,220344.15*59

2021-08-13T22:03:44.660Z,1628892224.660 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:03:46.230Z,1628892226.230 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
B,18A,80,80,4F,FF
2021-08-13T22:03:46.231Z,1628892226.231 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
B,18A,80,80,4F,FF
2021-08-13T22:03:46.231Z,1628892226.231 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T22:03:47.483Z,1628892227.483 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:03:47.901Z,1628892227.901 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:03:47.901Z,1628892227.901 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:03:47.901Z,1628892227.901 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:03:47.902Z,1628892227.902 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:03:48.265Z,1628892228.265 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
B,18A,80,80,4F,FF
2021-08-13T22:03:48.265Z,1628892228.265 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:03:48.265Z,1628892228.265 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:03:48.267Z,1628892228.267 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:03:48.672Z,1628892228.672 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:03:49.073Z,1628892229.073 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C8A,000,00374,189,80,80,64,FF
2021-08-13T22:03:49.073Z,1628892229.073 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:03:49.114Z,1628892229.114 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:03:49.509Z,1628892229.509 [Micromodem](INFO): Nmea in: $SNTTA,0.024068,,,,220349.81*4F

2021-08-13T22:03:49.548Z,1628892229.548 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.540001 m, bearing: 86.444889 deg, deltaT: 10.082996 s, approachRate: 0.434395 m/s, LOS rate: -0.120829 deg/s, posRepo size: 4
2021-08-13T22:03:49.550Z,1628892229.550 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.540001 m,
      bearing: 86.444889 deg,
      approachRate: 0.434395 m/s,
      LOS rate: -0.120829 deg/s,
      cmd update: -0.362486 deg/s,
      cmd heading: 63.425262 deg,
      new cmd heading: 62.134497 deg.

2021-08-13T22:03:51.954Z,1628892231.954 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:03:52.304Z,1628892232.304 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:03:52.304Z,1628892232.304 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:03:52.304Z,1628892232.304 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:03:52.305Z,1628892232.305 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:03:52.709Z,1628892232.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C8A,000,00374,189,80,80,64,FF
2021-08-13T22:03:52.710Z,1628892232.710 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:03:52.710Z,1628892232.710 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:03:52.711Z,1628892232.711 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:03:53.121Z,1628892233.121 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:03:53.517Z,1628892233.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E87,000,003AA,186,80,80,51,FF
2021-08-13T22:03:53.517Z,1628892233.517 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:03:53.583Z,1628892233.583 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:03:53.956Z,1628892233.956 [Micromodem](INFO): Nmea in: $SNTTA,0.028516,,,,220354.26*4E

2021-08-13T22:03:53.991Z,1628892233.991 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.779997 m, bearing: 76.117267 deg, deltaT: 4.474329 s, approachRate: 0.724130 m/s, LOS rate: -2.308195 deg/s, posRepo size: 4
2021-08-13T22:03:53.993Z,1628892233.993 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.779997 m,
      bearing: 76.117267 deg,
      approachRate: 0.724130 m/s,
      LOS rate: -2.308195 deg/s,
      cmd update: -6.924584 deg/s,
      cmd heading: 61.799270 deg,
      new cmd heading: 61.648894 deg.

2021-08-13T22:03:56.404Z,1628892236.404 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:03:56.753Z,1628892236.753 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:03:56.753Z,1628892236.753 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:03:56.753Z,1628892236.753 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:03:56.754Z,1628892236.754 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:03:57.146Z,1628892237.146 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E87,000,003AA,186,80,80,51,FF
2021-08-13T22:03:57.146Z,1628892237.146 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:03:57.146Z,1628892237.146 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:03:57.147Z,1628892237.147 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:03:57.560Z,1628892237.560 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:03:57.953Z,1628892237.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E3C,000,003C5,186,80,80,93,FF
2021-08-13T22:03:57.954Z,1628892237.954 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:03:58.025Z,1628892238.025 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:03:58.410Z,1628892238.410 [Micromodem](INFO): Nmea in: $SNTTA,,,,,220358.69*5F

2021-08-13T22:03:58.435Z,1628892238.435 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.400002 m, bearing: 91.077847 deg, deltaT: 4.436699 s, approachRate: 0.365137 m/s, LOS rate: 3.372007 deg/s, posRepo size: 4
2021-08-13T22:03:58.435Z,1628892238.435 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 20.40 m. Rolling out.
2021-08-13T22:03:58.436Z,1628892238.436 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-08-13T22:03:58.808Z,1628892238.808 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2021-08-13T22:03:58.808Z,1628892238.808 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-13T22:03:58.808Z,1628892238.808 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2021-08-13T22:03:58.808Z,1628892238.808 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2021-08-13T22:03:58.809Z,1628892238.809 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2021-08-13T22:03:58.809Z,1628892238.809 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2021-08-13T22:03:58.809Z,1628892238.809 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-08-13T22:04:00.834Z,1628892240.834 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:04:01.193Z,1628892241.193 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:04:01.193Z,1628892241.193 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:04:01.193Z,1628892241.193 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:04:01.194Z,1628892241.194 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:04:01.609Z,1628892241.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E3C,000,003C5,186,80,80,93,FF
2021-08-13T22:04:01.609Z,1628892241.609 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:04:01.609Z,1628892241.609 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:04:01.611Z,1628892241.611 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:04:01.996Z,1628892241.996 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:04:02.823Z,1628892242.823 [Micromodem](INFO): Nmea in: $SNTTA,,,,,220403.16*5E

2021-08-13T22:04:03.657Z,1628892243.657 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:04:05.221Z,1628892245.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
5,186,80,80,93,FF
2021-08-13T22:04:05.221Z,1628892245.221 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
5,186,80,80,93,FF
2021-08-13T22:04:05.221Z,1628892245.221 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T22:04:06.486Z,1628892246.486 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:04:06.842Z,1628892246.842 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:04:06.842Z,1628892246.842 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:04:06.842Z,1628892246.842 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:04:06.843Z,1628892246.843 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:04:07.259Z,1628892247.259 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
5,186,80,80,93,FF
2021-08-13T22:04:07.260Z,1628892247.260 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:04:07.260Z,1628892247.260 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:04:07.262Z,1628892247.262 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:04:07.656Z,1628892247.656 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:04:08.487Z,1628892248.487 [Micromodem](INFO): Nmea in: $SNTTA,,,,,220408.81*5B

2021-08-13T22:04:09.269Z,1628892249.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E72,000,0362C,186,80,80,5B,FF
2021-08-13T22:04:09.269Z,1628892249.269 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:04:09.347Z,1628892249.347 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:04:09.730Z,1628892249.730 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 794.580017 m, bearing: 66.387164 deg, deltaT: 11.329804 s, approachRate: 68.331276 m/s, LOS rate: -2.179268 deg/s, posRepo size: 4
2021-08-13T22:04:10.129Z,1628892250.129 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-13T22:04:10.129Z,1628892250.129 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T22:04:10.129Z,1628892250.129 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-13T22:04:10.130Z,1628892250.130 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-13T22:04:10.130Z,1628892250.130 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-13T22:04:10.130Z,1628892250.130 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-13T22:04:10.534Z,1628892250.534 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-13T22:04:10.534Z,1628892250.534 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T22:04:10.535Z,1628892250.535 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-13T22:04:10.535Z,1628892250.535 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T22:04:12.165Z,1628892252.165 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:04:12.497Z,1628892252.497 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:04:12.497Z,1628892252.497 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:04:12.497Z,1628892252.497 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:04:12.498Z,1628892252.498 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:04:12.922Z,1628892252.922 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E72,000,0362C,186,80,80,5B,FF
2021-08-13T22:04:12.922Z,1628892252.922 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:04:12.922Z,1628892252.922 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:04:12.930Z,1628892252.930 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:04:13.371Z,1628892253.371 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:04:14.129Z,1628892254.129 [Micromodem](INFO): Nmea in: $SNTTA,,,,,220414.48*53

2021-08-13T22:04:14.942Z,1628892254.942 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:04:16.545Z,1628892256.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,186,80,80,5B,FF
2021-08-13T22:04:16.546Z,1628892256.546 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,186,80,80,5B,FF
2021-08-13T22:04:16.546Z,1628892256.546 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T22:04:17.779Z,1628892257.779 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:04:18.165Z,1628892258.165 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:04:18.165Z,1628892258.165 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:04:18.165Z,1628892258.165 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:04:18.166Z,1628892258.166 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:04:18.565Z,1628892258.565 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,186,80,80,5B,FF
2021-08-13T22:04:18.565Z,1628892258.565 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:04:18.565Z,1628892258.565 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:04:18.567Z,1628892258.567 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:04:18.973Z,1628892258.973 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:04:19.825Z,1628892259.825 [Micromodem](INFO): Nmea in: $SNTTA,,,,,220420.11*58

2021-08-13T22:04:20.628Z,1628892260.628 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:04:21.913Z,1628892261.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,186,80,80,5B,FF
2021-08-13T22:04:21.914Z,1628892261.914 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,186,80,80,5B,FF
2021-08-13T22:04:21.914Z,1628892261.914 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T22:04:23.130Z,1628892263.130 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:04:23.527Z,1628892263.527 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:04:23.527Z,1628892263.527 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:04:23.527Z,1628892263.527 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:04:23.528Z,1628892263.528 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:04:23.917Z,1628892263.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,186,80,80,5B,FF
2021-08-13T22:04:23.917Z,1628892263.917 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:04:23.917Z,1628892263.917 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:04:23.919Z,1628892263.919 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:04:24.350Z,1628892264.350 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:04:24.717Z,1628892264.717 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA4,000,0045B,186,80,80,8A,FF
2021-08-13T22:04:24.717Z,1628892264.717 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:04:25.169Z,1628892265.169 [Micromodem](INFO): Nmea in: $SNTTA,,,,,220425.46*5F

2021-08-13T22:04:25.191Z,1628892265.191 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.399998 m, bearing: 45.342180 deg, deltaT: 15.409638 s, approachRate: -49.655937 m/s, LOS rate: -1.365703 deg/s, posRepo size: 4
2021-08-13T22:04:25.576Z,1628892265.576 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-13T22:04:25.578Z,1628892265.578 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T22:04:25.578Z,1628892265.578 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-13T22:04:25.578Z,1628892265.578 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-13T22:04:25.579Z,1628892265.579 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-13T22:04:25.579Z,1628892265.579 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-13T22:04:25.989Z,1628892265.989 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-13T22:04:25.989Z,1628892265.989 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T22:04:25.989Z,1628892265.989 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-13T22:04:25.989Z,1628892265.989 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T22:04:27.595Z,1628892267.595 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:04:27.945Z,1628892267.945 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:04:27.945Z,1628892267.945 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:04:27.945Z,1628892267.945 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:04:27.946Z,1628892267.946 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:04:28.370Z,1628892268.370 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA4,000,0045B,186,80,80,8A,FF
2021-08-13T22:04:28.371Z,1628892268.371 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:04:28.371Z,1628892268.371 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:04:28.375Z,1628892268.375 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:04:28.757Z,1628892268.757 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:04:29.162Z,1628892269.162 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FAA,000,00460,185,80,80,36,FF
2021-08-13T22:04:29.162Z,1628892269.162 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:04:29.233Z,1628892269.233 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:04:29.593Z,1628892269.593 [Micromodem](INFO): Nmea in: $SNTTA,0.019268,,,,220429.92*40

2021-08-13T22:04:29.643Z,1628892269.643 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.699997 m, bearing: 44.414343 deg, deltaT: 4.468563 s, approachRate: 0.067136 m/s, LOS rate: -0.207637 deg/s, posRepo size: 4
2021-08-13T22:04:32.038Z,1628892272.038 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:04:32.406Z,1628892272.406 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:04:32.406Z,1628892272.406 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:04:32.407Z,1628892272.407 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:04:32.409Z,1628892272.409 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:04:32.797Z,1628892272.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FAA,000,00460,185,80,80,36,FF
2021-08-13T22:04:32.798Z,1628892272.798 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:04:32.798Z,1628892272.798 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:04:32.799Z,1628892272.799 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:04:33.234Z,1628892273.234 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:04:34.018Z,1628892274.018 [Micromodem](INFO): Nmea in: $SNTTA,0.409696,0.410109,,,220434.35*52

2021-08-13T22:04:34.880Z,1628892274.880 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:04:36.429Z,1628892276.429 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
0,185,80,80,36,FF
2021-08-13T22:04:36.429Z,1628892276.429 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
0,185,80,80,36,FF
2021-08-13T22:04:36.429Z,1628892276.429 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T22:04:37.677Z,1628892277.677 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:04:38.049Z,1628892278.049 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:04:38.049Z,1628892278.049 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:04:38.049Z,1628892278.049 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:04:38.050Z,1628892278.050 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:04:38.457Z,1628892278.457 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
0,185,80,80,36,FF
2021-08-13T22:04:38.457Z,1628892278.457 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:04:38.458Z,1628892278.458 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:04:38.459Z,1628892278.459 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:04:38.876Z,1628892278.876 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:04:39.261Z,1628892279.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB9,000,00479,185,80,80,47,FF
2021-08-13T22:04:39.262Z,1628892279.262 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:04:39.308Z,1628892279.308 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:04:39.710Z,1628892279.710 [Micromodem](INFO): Nmea in: $SNTTA,,,,,220440.01*5F

2021-08-13T22:04:39.766Z,1628892279.766 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.200001 m, bearing: 42.220835 deg, deltaT: 10.075691 s, approachRate: 0.148874 m/s, LOS rate: -0.217703 deg/s, posRepo size: 4
2021-08-13T22:04:42.195Z,1628892282.195 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:04:42.529Z,1628892282.529 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:04:42.529Z,1628892282.529 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:04:42.530Z,1628892282.530 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:04:42.530Z,1628892282.530 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:04:42.933Z,1628892282.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB9,000,00479,185,80,80,47,FF
2021-08-13T22:04:42.933Z,1628892282.933 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:04:42.934Z,1628892282.934 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:04:42.935Z,1628892282.935 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:04:43.359Z,1628892283.359 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:04:43.743Z,1628892283.743 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FBB,000,00485,184,80,80,46,FF
2021-08-13T22:04:43.743Z,1628892283.743 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:04:43.770Z,1628892283.770 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:04:44.173Z,1628892284.173 [Micromodem](INFO): Nmea in: $SNTTA,0.041486,,,,220444.48*47

2021-08-13T22:04:44.235Z,1628892284.235 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.920000 m, bearing: 41.611862 deg, deltaT: 4.461748 s, approachRate: 0.161372 m/s, LOS rate: -0.136487 deg/s, posRepo size: 4
2021-08-13T22:04:46.601Z,1628892286.601 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:04:46.969Z,1628892286.969 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:04:46.969Z,1628892286.969 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:04:46.969Z,1628892286.969 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:04:46.970Z,1628892286.970 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:04:47.412Z,1628892287.412 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FBB,000,00485,184,80,80,46,FF
2021-08-13T22:04:47.412Z,1628892287.412 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:04:47.413Z,1628892287.413 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:04:47.414Z,1628892287.414 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:04:47.797Z,1628892287.797 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:04:48.181Z,1628892288.181 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB8,000,00493,184,80,80,50,FF
2021-08-13T22:04:48.181Z,1628892288.181 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:04:48.268Z,1628892288.268 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:04:48.605Z,1628892288.605 [Micromodem](INFO): Nmea in: $SNTTA,0.045211,,,,220448.96*44

2021-08-13T22:04:48.690Z,1628892288.690 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.760002 m, bearing: 41.628634 deg, deltaT: 4.497907 s, approachRate: 0.186754 m/s, LOS rate: 0.003729 deg/s, posRepo size: 4
2021-08-13T22:04:51.039Z,1628892291.039 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:04:51.417Z,1628892291.417 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:04:51.417Z,1628892291.417 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:04:51.417Z,1628892291.417 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:04:51.418Z,1628892291.418 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:04:51.830Z,1628892291.830 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB8,000,00493,184,80,80,50,FF
2021-08-13T22:04:51.831Z,1628892291.831 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:04:51.831Z,1628892291.831 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:04:51.839Z,1628892291.839 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:04:52.224Z,1628892292.224 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:04:52.633Z,1628892292.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F27,000,00497,186,80,80,47,FF
2021-08-13T22:04:52.633Z,1628892292.633 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:04:52.708Z,1628892292.708 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:04:53.053Z,1628892293.053 [Micromodem](INFO): Nmea in: $SNTTA,,,,,220453.39*56

2021-08-13T22:04:53.089Z,1628892293.089 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.999996 m, bearing: 49.043958 deg, deltaT: 4.440747 s, approachRate: 0.054044 m/s, LOS rate: 1.669837 deg/s, posRepo size: 4
2021-08-13T22:04:55.509Z,1628892295.509 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:04:55.897Z,1628892295.897 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:04:55.897Z,1628892295.897 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:04:55.898Z,1628892295.898 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:04:55.898Z,1628892295.898 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:04:56.267Z,1628892296.267 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F27,000,00497,186,80,80,47,FF
2021-08-13T22:04:56.267Z,1628892296.267 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:04:56.267Z,1628892296.267 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:04:56.269Z,1628892296.269 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:04:56.669Z,1628892296.669 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:04:57.073Z,1628892297.073 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE8,000,0049E,186,80,80,5D,FF
2021-08-13T22:04:57.073Z,1628892297.073 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:04:57.093Z,1628892297.093 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:04:57.505Z,1628892297.505 [Micromodem](INFO): Nmea in: $SNTTA,,,,,220457.81*51

2021-08-13T22:04:57.548Z,1628892297.548 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 33.419998 m, bearing: 52.488136 deg, deltaT: 4.384196 s, approachRate: 0.095799 m/s, LOS rate: 0.785589 deg/s, posRepo size: 4
2021-08-13T22:04:59.955Z,1628892299.955 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:05:00.309Z,1628892300.309 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:05:00.309Z,1628892300.309 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:05:00.309Z,1628892300.309 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:05:00.310Z,1628892300.310 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:05:00.702Z,1628892300.702 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE8,000,0049E,186,80,80,5D,FF
2021-08-13T22:05:00.702Z,1628892300.702 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:05:00.702Z,1628892300.702 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:05:00.703Z,1628892300.703 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:05:01.113Z,1628892301.113 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:05:01.517Z,1628892301.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE5,000,004A6,187,80,80,4F,FF
2021-08-13T22:05:01.518Z,1628892301.518 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:05:01.574Z,1628892301.574 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:05:01.953Z,1628892301.953 [Micromodem](INFO): Nmea in: $SNTTA,0.044931,,,,220502.25*4B

2021-08-13T22:05:02.005Z,1628892302.005 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 33.900002 m, bearing: 52.820578 deg, deltaT: 4.486347 s, approachRate: 0.106992 m/s, LOS rate: 0.074101 deg/s, posRepo size: 4
2021-08-13T22:05:04.416Z,1628892304.416 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:05:04.749Z,1628892304.749 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:05:04.749Z,1628892304.749 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:05:04.749Z,1628892304.749 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:05:04.750Z,1628892304.750 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:05:05.157Z,1628892305.157 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE5,000,004A6,187,80,80,4F,FF
2021-08-13T22:05:05.157Z,1628892305.157 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:05:05.158Z,1628892305.158 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:05:05.159Z,1628892305.159 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:05:05.557Z,1628892305.557 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:05:05.961Z,1628892305.961 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB5,000,004AC,186,80,80,58,FF
2021-08-13T22:05:05.961Z,1628892305.961 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:05:06.025Z,1628892306.025 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:05:06.429Z,1628892306.429 [Micromodem](INFO): Nmea in: $SNTTA,0.022460,,,,220506.71*47

2021-08-13T22:05:06.454Z,1628892306.454 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.259998 m, bearing: 55.059207 deg, deltaT: 4.445153 s, approachRate: 0.080986 m/s, LOS rate: 0.503611 deg/s, posRepo size: 4
2021-08-13T22:05:08.822Z,1628892308.822 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:05:09.189Z,1628892309.189 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:05:09.189Z,1628892309.189 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:05:09.189Z,1628892309.189 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:05:09.190Z,1628892309.190 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:05:09.597Z,1628892309.597 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EB5,000,004AC,186,80,80,58,FF
2021-08-13T22:05:09.597Z,1628892309.597 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:05:09.597Z,1628892309.597 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:05:09.599Z,1628892309.599 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:05:10.008Z,1628892310.008 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:05:10.426Z,1628892310.426 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F44,000,004B2,186,80,80,91,FF
2021-08-13T22:05:10.426Z,1628892310.426 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:05:10.483Z,1628892310.483 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:05:10.841Z,1628892310.841 [Micromodem](INFO): Nmea in: $SNTTA,,,,,220511.15*5F

2021-08-13T22:05:10.893Z,1628892310.893 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.620003 m, bearing: 46.785901 deg, deltaT: 4.458541 s, approachRate: 0.080745 m/s, LOS rate: -1.855608 deg/s, posRepo size: 4
2021-08-13T22:05:13.259Z,1628892313.259 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:05:13.641Z,1628892313.641 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:05:13.641Z,1628892313.641 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:05:13.641Z,1628892313.641 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:05:13.642Z,1628892313.642 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:05:14.037Z,1628892314.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F44,000,004B2,186,80,80,91,FF
2021-08-13T22:05:14.037Z,1628892314.037 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:05:14.037Z,1628892314.037 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:05:14.039Z,1628892314.039 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:05:14.445Z,1628892314.445 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:05:14.850Z,1628892314.850 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F9A,000,004B6,186,80,80,5F,FF
2021-08-13T22:05:14.850Z,1628892314.850 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:05:14.881Z,1628892314.881 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:05:15.285Z,1628892315.285 [Micromodem](INFO): Nmea in: $SNTTA,0.022903,,,,220515.59*47

2021-08-13T22:05:15.333Z,1628892315.333 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.859997 m, bearing: 40.511423 deg, deltaT: 4.398367 s, approachRate: 0.054564 m/s, LOS rate: -1.426547 deg/s, posRepo size: 4
2021-08-13T22:05:17.713Z,1628892317.713 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:05:18.081Z,1628892318.081 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:05:18.081Z,1628892318.081 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:05:18.081Z,1628892318.081 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:05:18.082Z,1628892318.082 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:05:18.481Z,1628892318.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F9A,000,004B6,186,80,80,5F,FF
2021-08-13T22:05:18.481Z,1628892318.481 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:05:18.481Z,1628892318.481 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:05:18.483Z,1628892318.483 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:05:18.917Z,1628892318.917 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:05:19.722Z,1628892319.722 [Micromodem](INFO): Nmea in: $SNTTA,,,,,220520.03*5A

2021-08-13T22:05:20.142Z,1628892320.142 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,004,000,0364D,183,80,80,5F,FF
2021-08-13T22:05:20.142Z,1628892320.142 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:05:20.220Z,1628892320.220 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:05:20.556Z,1628892320.556 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 796.559998 m, bearing: 33.715374 deg, deltaT: 5.338904 s, approachRate: 142.669739 m/s, LOS rate: -1.272930 deg/s, posRepo size: 4
2021-08-13T22:05:20.957Z,1628892320.957 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-13T22:05:20.957Z,1628892320.957 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T22:05:20.958Z,1628892320.958 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-13T22:05:20.958Z,1628892320.958 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-13T22:05:20.958Z,1628892320.958 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-13T22:05:20.958Z,1628892320.958 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-13T22:05:21.369Z,1628892321.369 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-13T22:05:21.369Z,1628892321.369 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T22:05:21.369Z,1628892321.369 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-13T22:05:21.369Z,1628892321.369 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T22:05:22.958Z,1628892322.958 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:05:23.355Z,1628892323.355 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:05:23.360Z,1628892323.360 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:05:23.360Z,1628892323.360 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:05:23.361Z,1628892323.361 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:05:23.738Z,1628892323.738 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
004,000,0364D,183,80,80,5F,FF
2021-08-13T22:05:23.738Z,1628892323.738 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:05:23.738Z,1628892323.738 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:05:23.739Z,1628892323.739 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:05:24.154Z,1628892324.154 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:05:24.549Z,1628892324.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,00E,000,004C1,184,80,80,50,FF
2021-08-13T22:05:24.550Z,1628892324.550 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:05:24.982Z,1628892324.982 [Micromodem](INFO): Nmea in: $SNTTA,,,,,220525.28*56

2021-08-13T22:05:25.004Z,1628892325.004 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.520000 m, bearing: 31.933013 deg, deltaT: 4.418505 s, approachRate: -172.239243 m/s, LOS rate: -0.403386 deg/s, posRepo size: 4
2021-08-13T22:05:25.428Z,1628892325.428 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-13T22:05:25.428Z,1628892325.428 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T22:05:25.428Z,1628892325.428 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-13T22:05:25.429Z,1628892325.429 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-13T22:05:25.429Z,1628892325.429 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-13T22:05:25.429Z,1628892325.429 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-13T22:05:25.843Z,1628892325.843 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-13T22:05:25.848Z,1628892325.848 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T22:05:25.848Z,1628892325.848 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-13T22:05:25.849Z,1628892325.849 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T22:05:27.445Z,1628892327.445 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:05:27.781Z,1628892327.781 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:05:27.781Z,1628892327.781 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:05:27.781Z,1628892327.781 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:05:27.782Z,1628892327.782 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:05:28.189Z,1628892328.189 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
00E,000,004C1,184,80,80,50,FF
2021-08-13T22:05:28.189Z,1628892328.189 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:05:28.189Z,1628892328.189 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:05:28.191Z,1628892328.191 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:05:28.597Z,1628892328.597 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:05:28.998Z,1628892328.998 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,01D,000,00C0E,184,80,80,43,FF
2021-08-13T22:05:28.998Z,1628892328.998 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:05:29.042Z,1628892329.042 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:05:29.446Z,1628892329.446 [Micromodem](INFO): Nmea in: $SNTTA,,,,,220529.73*54

2021-08-13T22:05:29.472Z,1628892329.472 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 147.660004 m, bearing: 30.584679 deg, deltaT: 4.403271 s, approachRate: 25.467430 m/s, LOS rate: -0.306212 deg/s, posRepo size: 4
2021-08-13T22:05:29.888Z,1628892329.888 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-13T22:05:29.888Z,1628892329.888 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T22:05:29.888Z,1628892329.888 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-13T22:05:29.889Z,1628892329.889 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-13T22:05:29.889Z,1628892329.889 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-13T22:05:29.890Z,1628892329.890 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-13T22:05:30.261Z,1628892330.261 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-13T22:05:30.261Z,1628892330.261 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T22:05:30.261Z,1628892330.261 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-13T22:05:30.261Z,1628892330.261 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T22:05:31.922Z,1628892331.922 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:05:32.225Z,1628892332.225 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:05:32.225Z,1628892332.225 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:05:32.225Z,1628892332.225 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:05:32.226Z,1628892332.226 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:05:32.641Z,1628892332.641 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
01D,000,00C0E,184,80,80,43,FF
2021-08-13T22:05:32.642Z,1628892332.642 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:05:32.642Z,1628892332.642 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:05:32.643Z,1628892332.643 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:05:33.040Z,1628892333.040 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:05:33.902Z,1628892333.902 [Micromodem](INFO): Nmea in: $SNTTA,,,,,220534.19*54

2021-08-13T22:05:34.697Z,1628892334.697 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:05:35.457Z,1628892335.457 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,00B,000,06266,183,80,80,AA,FF
2021-08-13T22:05:35.457Z,1628892335.457 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:05:35.963Z,1628892335.963 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1473.899902 m, bearing: 30.741490 deg, deltaT: 6.484057 s, approachRate: 204.538589 m/s, LOS rate: 0.024184 deg/s, posRepo size: 4
2021-08-13T22:05:38.307Z,1628892338.307 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:05:38.694Z,1628892338.694 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:05:38.695Z,1628892338.695 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:05:38.695Z,1628892338.695 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:05:38.696Z,1628892338.696 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:05:39.104Z,1628892339.104 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
00B,000,06266,183,80,80,AA,FF
2021-08-13T22:05:39.104Z,1628892339.104 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:05:39.105Z,1628892339.105 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:05:39.106Z,1628892339.106 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:05:39.517Z,1628892339.517 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:05:40.331Z,1628892340.331 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EC9,000,01924,187,80,80,2C,FF
2021-08-13T22:05:40.349Z,1628892340.349 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:05:40.358Z,1628892340.358 [Micromodem](INFO): Nmea in: $SNTTA,0.242122,,,,220540.65*47

2021-08-13T22:05:40.767Z,1628892340.767 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 348.660004 m, bearing: 46.954637 deg, deltaT: 4.906085 s, approachRate: -229.355972 m/s, LOS rate: 3.304702 deg/s, posRepo size: 4
2021-08-13T22:05:43.170Z,1628892343.170 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:05:43.533Z,1628892343.533 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:05:43.533Z,1628892343.533 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:05:43.533Z,1628892343.533 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:05:43.534Z,1628892343.534 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:05:43.953Z,1628892343.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EC9,000,01924,187,80,80,2C,FF
2021-08-13T22:05:43.953Z,1628892343.953 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:05:43.953Z,1628892343.953 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:05:43.955Z,1628892343.955 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:05:44.369Z,1628892344.369 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:05:44.753Z,1628892344.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,00D,000,0052F,183,80,80,5F,FF
2021-08-13T22:05:44.753Z,1628892344.753 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:05:45.198Z,1628892345.198 [Micromodem](INFO): Nmea in: $SNTTA,0.086797,,,,220545.50*46

2021-08-13T22:05:45.220Z,1628892345.220 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.119999 m, bearing: 31.008342 deg, deltaT: 4.339681 s, approachRate: -70.636528 m/s, LOS rate: -3.674532 deg/s, posRepo size: 4
2021-08-13T22:05:47.616Z,1628892347.616 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:05:47.985Z,1628892347.985 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:05:47.985Z,1628892347.985 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:05:47.985Z,1628892347.985 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:05:47.986Z,1628892347.986 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:05:48.397Z,1628892348.397 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
00D,000,0052F,183,80,80,5F,FF
2021-08-13T22:05:48.397Z,1628892348.397 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:05:48.398Z,1628892348.398 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:05:48.399Z,1628892348.399 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:05:48.793Z,1628892348.793 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:05:49.193Z,1628892349.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE2,000,004DA,185,80,80,8E,FF
2021-08-13T22:05:49.194Z,1628892349.194 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:05:49.645Z,1628892349.645 [Micromodem](INFO): Nmea in: $SNTTA,,,,,220549.94*5B

2021-08-13T22:05:49.695Z,1628892349.695 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.019997 m, bearing: 33.291264 deg, deltaT: 4.461311 s, approachRate: -1.143162 m/s, LOS rate: 0.511716 deg/s, posRepo size: 4
2021-08-13T22:05:50.050Z,1628892350.050 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-13T22:05:50.050Z,1628892350.050 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T22:05:50.050Z,1628892350.050 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-13T22:05:50.051Z,1628892350.051 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-13T22:05:50.051Z,1628892350.051 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-13T22:05:50.051Z,1628892350.051 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-13T22:05:50.454Z,1628892350.454 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-13T22:05:50.454Z,1628892350.454 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T22:05:50.454Z,1628892350.454 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-13T22:05:50.454Z,1628892350.454 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T22:05:52.074Z,1628892352.074 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:05:52.425Z,1628892352.425 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:05:52.425Z,1628892352.425 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:05:52.425Z,1628892352.425 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:05:52.426Z,1628892352.426 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:05:52.897Z,1628892352.897 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE2,000,004DA,185,80,80,8E,FF
2021-08-13T22:05:52.897Z,1628892352.897 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:05:52.897Z,1628892352.897 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:05:52.899Z,1628892352.899 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:05:53.298Z,1628892353.298 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:05:53.697Z,1628892353.697 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FEE,000,004DF,183,80,80,5A,FF
2021-08-13T22:05:53.697Z,1628892353.697 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:05:53.726Z,1628892353.726 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:05:54.117Z,1628892354.117 [Micromodem](INFO): Nmea in: $SNTTA,0.052780,0.362801,,,220554.44*5C

2021-08-13T22:05:54.178Z,1628892354.178 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.320004 m, bearing: 32.831138 deg, deltaT: 4.493017 s, approachRate: 0.066772 m/s, LOS rate: -0.102409 deg/s, posRepo size: 4
2021-08-13T22:05:56.575Z,1628892356.575 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:05:56.941Z,1628892356.941 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:05:56.941Z,1628892356.941 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:05:56.941Z,1628892356.941 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:05:56.942Z,1628892356.942 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:05:57.354Z,1628892357.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FEE,000,004DF,183,80,80,5A,FF
2021-08-13T22:05:57.355Z,1628892357.355 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:05:57.355Z,1628892357.355 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:05:57.361Z,1628892357.361 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:05:57.749Z,1628892357.749 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:05:58.149Z,1628892358.149 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD0,000,005DB,184,80,80,76,FF
2021-08-13T22:05:58.149Z,1628892358.149 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:05:58.228Z,1628892358.228 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:05:58.581Z,1628892358.581 [Micromodem](INFO): Nmea in: $SNTTA,,,,,220558.91*5E

2021-08-13T22:05:58.631Z,1628892358.631 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.440002 m, bearing: 34.193204 deg, deltaT: 4.501958 s, approachRate: 3.358538 m/s, LOS rate: 0.302550 deg/s, posRepo size: 4
2021-08-13T22:05:58.975Z,1628892358.975 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-13T22:05:58.975Z,1628892358.975 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T22:05:58.975Z,1628892358.975 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-13T22:05:58.975Z,1628892358.975 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-13T22:05:58.976Z,1628892358.976 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-13T22:05:58.976Z,1628892358.976 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-13T22:05:59.441Z,1628892359.441 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-13T22:05:59.441Z,1628892359.441 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T22:05:59.441Z,1628892359.441 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-13T22:05:59.441Z,1628892359.441 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T22:06:00.998Z,1628892360.998 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:06:01.397Z,1628892361.397 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:06:01.397Z,1628892361.397 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:06:01.397Z,1628892361.397 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:06:01.398Z,1628892361.398 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:06:01.811Z,1628892361.811 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD0,000,005DB,184,80,80,76,FF
2021-08-13T22:06:01.812Z,1628892361.812 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:06:01.813Z,1628892361.813 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:06:01.819Z,1628892361.819 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:06:02.189Z,1628892362.189 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:06:02.995Z,1628892362.995 [Micromodem](INFO): Nmea in: $SNTTA,,,,,220603.36*5E

2021-08-13T22:06:03.890Z,1628892363.890 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:06:05.410Z,1628892365.410 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
B,184,80,80,76,FF
2021-08-13T22:06:05.410Z,1628892365.410 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
B,184,80,80,76,FF
2021-08-13T22:06:05.410Z,1628892365.410 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T22:06:06.663Z,1628892366.663 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:06:07.025Z,1628892367.025 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:06:07.026Z,1628892367.026 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:06:07.026Z,1628892367.026 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:06:07.027Z,1628892367.027 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:06:07.442Z,1628892367.442 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
B,184,80,80,76,FF
2021-08-13T22:06:07.442Z,1628892367.442 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:06:07.443Z,1628892367.443 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:06:07.445Z,1628892367.445 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:06:07.890Z,1628892367.890 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:06:08.250Z,1628892368.250 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA9,000,004EA,185,80,80,96,FF
2021-08-13T22:06:08.251Z,1628892368.251 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:06:08.693Z,1628892368.693 [Micromodem](INFO): Nmea in: $SNTTA,0.165863,,,,220608.99*41

2021-08-13T22:06:08.747Z,1628892368.747 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.980000 m, bearing: 35.940592 deg, deltaT: 10.084624 s, approachRate: -1.433866 m/s, LOS rate: 0.173272 deg/s, posRepo size: 4
2021-08-13T22:06:09.105Z,1628892369.105 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-13T22:06:09.105Z,1628892369.105 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T22:06:09.106Z,1628892369.106 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-13T22:06:09.106Z,1628892369.106 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-13T22:06:09.106Z,1628892369.106 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-13T22:06:09.106Z,1628892369.106 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-13T22:06:09.486Z,1628892369.486 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-13T22:06:09.486Z,1628892369.486 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T22:06:09.487Z,1628892369.487 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-13T22:06:09.487Z,1628892369.487 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T22:06:11.098Z,1628892371.098 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:06:11.487Z,1628892371.487 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:06:11.487Z,1628892371.487 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:06:11.487Z,1628892371.487 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:06:11.489Z,1628892371.489 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:06:11.913Z,1628892371.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA9,000,004EA,185,80,80,96,FF
2021-08-13T22:06:11.913Z,1628892371.913 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:06:11.913Z,1628892371.913 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:06:11.915Z,1628892371.915 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:06:12.298Z,1628892372.298 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:06:12.700Z,1628892372.700 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB1,000,004F3,184,80,80,7E,FF
2021-08-13T22:06:12.701Z,1628892372.701 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:06:12.730Z,1628892372.730 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:06:13.108Z,1628892373.108 [Micromodem](INFO): Nmea in: $SNTTA,0.054288,,,,220613.46*45

2021-08-13T22:06:13.148Z,1628892373.148 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.520000 m, bearing: 35.714588 deg, deltaT: 4.417031 s, approachRate: 0.122254 m/s, LOS rate: -0.051167 deg/s, posRepo size: 4
2021-08-13T22:06:15.584Z,1628892375.584 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:06:15.925Z,1628892375.925 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:06:15.926Z,1628892375.926 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:06:15.926Z,1628892375.926 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:06:15.927Z,1628892375.927 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:06:16.357Z,1628892376.357 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB1,000,004F3,184,80,80,7E,FF
2021-08-13T22:06:16.357Z,1628892376.357 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:06:16.358Z,1628892376.358 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:06:16.370Z,1628892376.370 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:06:16.737Z,1628892376.737 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:06:17.566Z,1628892377.566 [Micromodem](INFO): Nmea in: $SNTTA,,,,,220617.91*56

2021-08-13T22:06:18.389Z,1628892378.389 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:06:19.961Z,1628892379.961 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
3,184,80,80,7E,FF
2021-08-13T22:06:19.961Z,1628892379.961 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
3,184,80,80,7E,FF
2021-08-13T22:06:19.961Z,1628892379.961 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T22:06:21.186Z,1628892381.186 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:06:21.577Z,1628892381.577 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:06:21.577Z,1628892381.577 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:06:21.577Z,1628892381.577 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:06:21.578Z,1628892381.578 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:06:21.982Z,1628892381.982 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
3,184,80,80,7E,FF
2021-08-13T22:06:21.982Z,1628892381.982 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:06:21.982Z,1628892381.982 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:06:21.983Z,1628892381.983 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:06:22.412Z,1628892382.412 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:06:23.214Z,1628892383.214 [Micromodem](INFO): Nmea in: $SNTTA,,,,,220623.53*5F

2021-08-13T22:06:24.043Z,1628892384.043 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:06:25.613Z,1628892385.613 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
3,184,80,80,7E,FF
2021-08-13T22:06:25.613Z,1628892385.613 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
3,184,80,80,7E,FF
2021-08-13T22:06:25.613Z,1628892385.613 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T22:06:26.869Z,1628892386.869 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:06:27.229Z,1628892387.229 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:06:27.229Z,1628892387.229 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:06:27.229Z,1628892387.229 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:06:27.230Z,1628892387.230 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:06:27.633Z,1628892387.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
3,184,80,80,7E,FF
2021-08-13T22:06:27.633Z,1628892387.633 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:06:27.634Z,1628892387.634 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:06:27.635Z,1628892387.635 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:06:28.040Z,1628892388.040 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:06:28.860Z,1628892388.860 [Micromodem](INFO): Nmea in: $SNTTA,,,,,220629.18*5A

2021-08-13T22:06:29.709Z,1628892389.709 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:06:31.269Z,1628892391.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
3,184,80,80,7E,FF
2021-08-13T22:06:31.270Z,1628892391.270 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
3,184,80,80,7E,FF
2021-08-13T22:06:31.270Z,1628892391.270 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T22:06:32.519Z,1628892392.519 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:06:32.885Z,1628892392.885 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:06:32.886Z,1628892392.886 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:06:32.886Z,1628892392.886 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:06:32.887Z,1628892392.887 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:06:33.293Z,1628892393.293 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
3,184,80,80,7E,FF
2021-08-13T22:06:33.293Z,1628892393.293 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:06:33.293Z,1628892393.293 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:06:33.295Z,1628892393.295 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:06:33.697Z,1628892393.697 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:06:34.097Z,1628892394.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F4D,000,00561,186,80,80,84,FF
2021-08-13T22:06:34.097Z,1628892394.097 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:06:34.101Z,1628892394.101 [Micromodem](INFO): Nmea in: $SNTTA,0.042791,0.163478,,,220634.84*55

2021-08-13T22:06:34.167Z,1628892394.167 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:06:34.550Z,1628892394.550 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.119999 m, bearing: 39.245222 deg, deltaT: 21.437081 s, approachRate: 0.307878 m/s, LOS rate: 0.164698 deg/s, posRepo size: 4
2021-08-13T22:06:34.937Z,1628892394.937 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-13T22:06:34.937Z,1628892394.937 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T22:06:34.937Z,1628892394.937 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-13T22:06:34.938Z,1628892394.938 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-13T22:06:34.938Z,1628892394.938 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-13T22:06:34.938Z,1628892394.938 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-13T22:06:35.365Z,1628892395.365 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-13T22:06:35.365Z,1628892395.365 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T22:06:35.365Z,1628892395.365 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-13T22:06:35.366Z,1628892395.366 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T22:06:36.947Z,1628892396.947 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:06:37.346Z,1628892397.346 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:06:37.346Z,1628892397.346 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:06:37.347Z,1628892397.347 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:06:37.364Z,1628892397.364 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:06:37.733Z,1628892397.733 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F4D,000,00561,186,80,80,84,FF
2021-08-13T22:06:37.733Z,1628892397.733 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:06:37.733Z,1628892397.733 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:06:37.735Z,1628892397.735 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:06:38.141Z,1628892398.141 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:06:38.974Z,1628892398.974 [Micromodem](INFO): Nmea in: $SNTTA,,,,,220639.28*58

2021-08-13T22:06:39.785Z,1628892399.785 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:06:41.425Z,1628892401.425 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
1,186,80,80,84,FF
2021-08-13T22:06:41.425Z,1628892401.425 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
1,186,80,80,84,FF
2021-08-13T22:06:41.425Z,1628892401.425 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T22:06:42.613Z,1628892402.613 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:06:42.985Z,1628892402.985 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:06:42.985Z,1628892402.985 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:06:42.985Z,1628892402.985 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:06:42.986Z,1628892402.986 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:06:43.401Z,1628892403.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
1,186,80,80,84,FF
2021-08-13T22:06:43.401Z,1628892403.401 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:06:43.401Z,1628892403.401 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:06:43.403Z,1628892403.403 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:06:43.826Z,1628892403.826 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:06:44.205Z,1628892404.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F40,000,0050D,186,80,80,92,FF
2021-08-13T22:06:44.205Z,1628892404.205 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:06:44.630Z,1628892404.630 [Micromodem](INFO): Nmea in: $SNTTA,0.037798,,,,220644.94*49

2021-08-13T22:06:44.661Z,1628892404.661 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.080002 m, bearing: 39.221426 deg, deltaT: 10.097877 s, approachRate: -0.499115 m/s, LOS rate: -0.002357 deg/s, posRepo size: 4
2021-08-13T22:06:47.048Z,1628892407.048 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:06:47.429Z,1628892407.429 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:06:47.429Z,1628892407.429 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:06:47.429Z,1628892407.429 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:06:47.430Z,1628892407.430 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:06:47.877Z,1628892407.877 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F40,000,0050D,186,80,80,92,FF
2021-08-13T22:06:47.877Z,1628892407.877 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:06:47.877Z,1628892407.877 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:06:47.880Z,1628892407.880 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:06:48.272Z,1628892408.272 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:06:48.667Z,1628892408.667 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F85,000,0050D,187,80,80,9B,FF
2021-08-13T22:06:48.667Z,1628892408.667 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:06:49.101Z,1628892409.101 [Micromodem](INFO): Nmea in: $SNTTA,0.043542,,,,220649.43*48

2021-08-13T22:06:49.134Z,1628892409.134 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.080002 m, bearing: 35.884175 deg, deltaT: 4.431434 s, approachRate: 0.000000 m/s, LOS rate: -0.753086 deg/s, posRepo size: 4
2021-08-13T22:06:51.590Z,1628892411.590 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:06:51.913Z,1628892411.913 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:06:51.913Z,1628892411.913 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:06:51.913Z,1628892411.913 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:06:51.914Z,1628892411.914 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:06:52.298Z,1628892412.298 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F85,000,0050D,187,80,80,9B,FF
2021-08-13T22:06:52.298Z,1628892412.298 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:06:52.298Z,1628892412.298 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:06:52.302Z,1628892412.302 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:06:52.721Z,1628892412.721 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:06:53.106Z,1628892413.106 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EDF,000,0050E,186,80,80,78,FF
2021-08-13T22:06:53.106Z,1628892413.106 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:06:53.554Z,1628892413.554 [Micromodem](INFO): Nmea in: $SNTTA,0.071866,,,,220653.85*43

2021-08-13T22:06:53.579Z,1628892413.579 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.139999 m, bearing: 44.039120 deg, deltaT: 4.429643 s, approachRate: 0.013545 m/s, LOS rate: 1.840994 deg/s, posRepo size: 4
2021-08-13T22:06:55.982Z,1628892415.982 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:06:56.356Z,1628892416.356 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:06:56.356Z,1628892416.356 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:06:56.357Z,1628892416.357 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:06:56.357Z,1628892416.357 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:06:56.753Z,1628892416.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EDF,000,0050E,186,80,80,78,FF
2021-08-13T22:06:56.753Z,1628892416.753 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:06:56.754Z,1628892416.754 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:06:56.755Z,1628892416.755 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:06:57.153Z,1628892417.153 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:06:57.553Z,1628892417.553 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EFB,000,0050C,186,80,80,97,FF
2021-08-13T22:06:57.554Z,1628892417.554 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:06:57.989Z,1628892417.989 [Micromodem](INFO): Nmea in: $SNTTA,,,,,220658.30*56

2021-08-13T22:06:58.053Z,1628892418.053 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.019997 m, bearing: 42.267656 deg, deltaT: 4.456174 s, approachRate: -0.026930 m/s, LOS rate: -0.397530 deg/s, posRepo size: 4
2021-08-13T22:07:00.438Z,1628892420.438 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:07:00.789Z,1628892420.789 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:07:00.789Z,1628892420.789 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:07:00.789Z,1628892420.789 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:07:00.790Z,1628892420.790 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:07:01.186Z,1628892421.186 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EFB,000,0050C,186,80,80,97,FF
2021-08-13T22:07:01.186Z,1628892421.186 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:07:01.186Z,1628892421.186 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:07:01.188Z,1628892421.188 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:07:01.605Z,1628892421.605 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:07:02.434Z,1628892422.434 [Micromodem](INFO): Nmea in: $SNTTA,,,,,220702.73*5F

2021-08-13T22:07:03.233Z,1628892423.233 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:07:04.831Z,1628892424.831 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,186,80,80,97,FF
2021-08-13T22:07:04.831Z,1628892424.831 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,186,80,80,97,FF
2021-08-13T22:07:04.831Z,1628892424.831 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T22:07:06.109Z,1628892426.109 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:07:06.446Z,1628892426.446 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:07:06.446Z,1628892426.446 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:07:06.446Z,1628892426.446 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:07:06.447Z,1628892426.447 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:07:06.846Z,1628892426.846 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,186,80,80,97,FF
2021-08-13T22:07:06.846Z,1628892426.846 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:07:06.846Z,1628892426.846 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:07:06.847Z,1628892426.847 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:07:07.253Z,1628892427.253 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:07:08.090Z,1628892428.090 [Micromodem](INFO): Nmea in: $SNTTA,,,,,220708.40*55

2021-08-13T22:07:08.906Z,1628892428.906 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:07:10.482Z,1628892430.482 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,186,80,80,97,FF
2021-08-13T22:07:10.482Z,1628892430.482 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,186,80,80,97,FF
2021-08-13T22:07:10.482Z,1628892430.482 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T22:07:11.729Z,1628892431.729 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:07:12.097Z,1628892432.097 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:07:12.098Z,1628892432.098 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:07:12.098Z,1628892432.098 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:07:12.099Z,1628892432.099 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:07:12.507Z,1628892432.507 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,186,80,80,97,FF
2021-08-13T22:07:12.507Z,1628892432.507 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:07:12.507Z,1628892432.507 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:07:12.509Z,1628892432.509 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:07:12.933Z,1628892432.933 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:07:13.738Z,1628892433.738 [Micromodem](INFO): Nmea in: $SNTTA,,,,,220714.05*59

2021-08-13T22:07:14.557Z,1628892434.557 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:07:16.149Z,1628892436.149 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,186,80,80,97,FF
2021-08-13T22:07:16.149Z,1628892436.149 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,186,80,80,97,FF
2021-08-13T22:07:16.149Z,1628892436.149 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T22:07:17.396Z,1628892437.396 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:07:17.753Z,1628892437.753 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:07:17.754Z,1628892437.754 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:07:17.754Z,1628892437.754 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:07:17.755Z,1628892437.755 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:07:18.158Z,1628892438.158 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,186,80,80,97,FF
2021-08-13T22:07:18.158Z,1628892438.158 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:07:18.158Z,1628892438.158 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:07:18.160Z,1628892438.160 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:07:18.565Z,1628892438.565 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:07:19.410Z,1628892439.410 [Micromodem](INFO): Nmea in: $SNTTA,,,,,220719.70*56

2021-08-13T22:07:20.260Z,1628892440.260 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:07:21.802Z,1628892441.802 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,186,80,80,97,FF
2021-08-13T22:07:21.803Z,1628892441.803 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,186,80,80,97,FF
2021-08-13T22:07:21.803Z,1628892441.803 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T22:07:23.042Z,1628892443.042 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:07:23.421Z,1628892443.421 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:07:23.421Z,1628892443.421 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:07:23.421Z,1628892443.421 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:07:23.422Z,1628892443.422 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:07:23.836Z,1628892443.836 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,186,80,80,97,FF
2021-08-13T22:07:23.837Z,1628892443.837 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:07:23.837Z,1628892443.837 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:07:23.858Z,1628892443.858 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:07:24.233Z,1628892444.233 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:07:25.031Z,1628892445.031 [Micromodem](INFO): Nmea in: $SNTTA,,,,,220725.40*5A

2021-08-13T22:07:25.922Z,1628892445.922 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:07:27.459Z,1628892447.459 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,186,80,80,97,FF
2021-08-13T22:07:27.459Z,1628892447.459 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,186,80,80,97,FF
2021-08-13T22:07:27.459Z,1628892447.459 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T22:07:27.910Z,1628892447.910 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-13T22:07:28.693Z,1628892448.693 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:07:29.074Z,1628892449.074 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:07:29.074Z,1628892449.074 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:07:29.074Z,1628892449.074 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:07:29.075Z,1628892449.075 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:07:29.478Z,1628892449.478 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,186,80,80,97,FF
2021-08-13T22:07:29.478Z,1628892449.478 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:07:29.478Z,1628892449.478 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:07:29.480Z,1628892449.480 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:07:29.905Z,1628892449.905 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:07:30.286Z,1628892450.286 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F17,000,005E7,186,80,80,49,FF
2021-08-13T22:07:30.286Z,1628892450.286 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:07:30.765Z,1628892450.765 [Micromodem](INFO): Nmea in: $SNTTA,0.066731,,,,220731.02*42

2021-08-13T22:07:30.956Z,1628892450.956 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.159996 m, bearing: 37.460900 deg, deltaT: 32.767212 s, approachRate: 0.401011 m/s, LOS rate: -0.146694 deg/s, posRepo size: 4
2021-08-13T22:07:33.144Z,1628892453.144 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:07:33.529Z,1628892453.529 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:07:33.529Z,1628892453.529 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:07:33.529Z,1628892453.529 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:07:33.530Z,1628892453.530 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:07:33.933Z,1628892453.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F17,000,005E7,186,80,80,49,FF
2021-08-13T22:07:33.933Z,1628892453.933 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:07:33.933Z,1628892453.933 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:07:33.935Z,1628892453.935 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:07:34.362Z,1628892454.362 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:07:34.733Z,1628892454.733 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF0,000,00524,186,80,80,50,FF
2021-08-13T22:07:34.734Z,1628892454.734 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:07:35.173Z,1628892455.173 [Micromodem](INFO): Nmea in: $SNTTA,0.073791,,,,220735.48*46

2021-08-13T22:07:35.240Z,1628892455.240 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 41.459999 m, bearing: 39.031051 deg, deltaT: 4.402870 s, approachRate: -2.657357 m/s, LOS rate: 0.356620 deg/s, posRepo size: 4
2021-08-13T22:07:37.607Z,1628892457.607 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:07:37.961Z,1628892457.961 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:07:37.962Z,1628892457.962 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:07:37.962Z,1628892457.962 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:07:37.963Z,1628892457.963 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:07:38.409Z,1628892458.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF0,000,00524,186,80,80,50,FF
2021-08-13T22:07:38.409Z,1628892458.409 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:07:38.409Z,1628892458.409 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:07:38.410Z,1628892458.410 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:07:38.780Z,1628892458.780 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:07:39.194Z,1628892459.194 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F5C,000,0052C,186,80,80,A1,FF
2021-08-13T22:07:39.194Z,1628892459.194 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:07:39.595Z,1628892459.595 [Micromodem](INFO): Nmea in: $SNTTA,0.044966,,,,220739.95*48

2021-08-13T22:07:39.646Z,1628892459.646 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 41.940002 m, bearing: 33.303767 deg, deltaT: 4.460311 s, approachRate: 0.107617 m/s, LOS rate: -1.284055 deg/s, posRepo size: 4
2021-08-13T22:07:42.073Z,1628892462.073 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:07:42.410Z,1628892462.410 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:07:42.410Z,1628892462.410 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:07:42.411Z,1628892462.411 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:07:42.412Z,1628892462.412 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:07:42.814Z,1628892462.814 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F5C,000,0052C,186,80,80,A1,FF
2021-08-13T22:07:42.814Z,1628892462.814 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:07:42.814Z,1628892462.814 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:07:42.815Z,1628892462.815 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:07:43.231Z,1628892463.231 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:07:43.622Z,1628892463.622 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F31,000,00533,187,80,80,80,FF
2021-08-13T22:07:43.622Z,1628892463.622 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:07:44.085Z,1628892464.085 [Micromodem](INFO): Nmea in: $SNTTA,0.035785,,,,220744.36*4E

2021-08-13T22:07:44.133Z,1628892464.133 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.360001 m, bearing: 35.343172 deg, deltaT: 4.474178 s, approachRate: 0.093872 m/s, LOS rate: 0.455817 deg/s, posRepo size: 4
2021-08-13T22:07:46.528Z,1628892466.528 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:07:46.870Z,1628892466.870 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:07:46.870Z,1628892466.870 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:07:46.870Z,1628892466.870 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:07:46.871Z,1628892466.871 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:07:47.263Z,1628892467.263 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F31,000,00533,187,80,80,80,FF
2021-08-13T22:07:47.263Z,1628892467.263 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:07:47.263Z,1628892467.263 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:07:47.266Z,1628892467.266 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:07:47.669Z,1628892467.669 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:07:48.078Z,1628892468.078 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F98,000,00532,187,80,80,79,FF
2021-08-13T22:07:48.079Z,1628892468.079 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:07:48.509Z,1628892468.509 [Micromodem](INFO): Nmea in: $SNTTA,0.177933,,,,220748.81*4A

2021-08-13T22:07:48.551Z,1628892468.551 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.299999 m, bearing: 29.667579 deg, deltaT: 4.467229 s, approachRate: -0.013431 m/s, LOS rate: -1.270495 deg/s, posRepo size: 4
2021-08-13T22:07:50.938Z,1628892470.938 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:07:51.332Z,1628892471.332 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:07:51.333Z,1628892471.333 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:07:51.333Z,1628892471.333 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:07:51.335Z,1628892471.335 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:07:51.715Z,1628892471.715 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F98,000,00532,187,80,80,79,FF
2021-08-13T22:07:51.715Z,1628892471.715 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:07:51.715Z,1628892471.715 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:07:51.717Z,1628892471.717 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:07:52.117Z,1628892472.117 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:07:52.956Z,1628892472.956 [Micromodem](INFO): Nmea in: $SNTTA,,,,,220753.26*5B

2021-08-13T22:07:53.441Z,1628892473.441 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:07:54.533Z,1628892474.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F43,000,0610C,186,80,80,95,FF
2021-08-13T22:07:54.534Z,1628892474.534 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:07:54.960Z,1628892474.960 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1453.140015 m, bearing: 33.923077 deg, deltaT: 6.474547 s, approachRate: 217.905594 m/s, LOS rate: 0.657266 deg/s, posRepo size: 4
2021-08-13T22:07:57.419Z,1628892477.419 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:07:57.772Z,1628892477.772 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:07:57.772Z,1628892477.772 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:07:57.772Z,1628892477.772 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:07:57.773Z,1628892477.773 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:07:58.182Z,1628892478.182 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F43,000,0610C,186,80,80,95,FF
2021-08-13T22:07:58.182Z,1628892478.182 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:07:58.182Z,1628892478.182 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:07:58.185Z,1628892478.185 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:07:58.585Z,1628892478.585 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:07:58.985Z,1628892478.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F2C,000,0053C,186,80,80,6F,FF
2021-08-13T22:07:58.985Z,1628892478.985 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:07:59.454Z,1628892479.454 [Micromodem](INFO): Nmea in: $SNTTA,0.053592,,,,220759.73*47

2021-08-13T22:07:59.515Z,1628892479.515 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.899998 m, bearing: 34.755896 deg, deltaT: 4.375938 s, approachRate: -322.271484 m/s, LOS rate: 0.190318 deg/s, posRepo size: 4
2021-08-13T22:08:01.906Z,1628892481.906 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:08:02.217Z,1628892482.217 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:08:02.217Z,1628892482.217 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:08:02.217Z,1628892482.217 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:08:02.218Z,1628892482.218 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:08:02.617Z,1628892482.617 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F2C,000,0053C,186,80,80,6F,FF
2021-08-13T22:08:02.617Z,1628892482.617 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:08:02.617Z,1628892482.617 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:08:02.619Z,1628892482.619 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:08:02.669Z,1628892482.669 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T22:08:03.029Z,1628892483.029 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:08:03.429Z,1628892483.429 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F33,000,00537,186,80,80,76,FF
2021-08-13T22:08:03.430Z,1628892483.430 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:08:03.882Z,1628892483.882 [Micromodem](INFO): Nmea in: $SNTTA,,,,,220804.16*55

2021-08-13T22:08:03.933Z,1628892483.933 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.599998 m, bearing: 34.233233 deg, deltaT: 4.455286 s, approachRate: -0.067336 m/s, LOS rate: -0.117313 deg/s, posRepo size: 4
2021-08-13T22:08:05.991Z,1628892485.991 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:08:06.254Z,1628892486.254 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:08:06.254Z,1628892486.254 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:08:06.254Z,1628892486.254 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:08:06.255Z,1628892486.255 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:08:06.653Z,1628892486.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F33,000,00537,186,80,80,76,FF
2021-08-13T22:08:06.653Z,1628892486.653 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:08:06.654Z,1628892486.654 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:08:06.656Z,1628892486.656 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:08:07.056Z,1628892487.056 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:08:07.461Z,1628892487.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F3E,000,00537,186,80,80,7C,FF
2021-08-13T22:08:07.462Z,1628892487.462 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:08:07.917Z,1628892487.917 [Micromodem](INFO): Nmea in: $SNTTA,0.056601,,,,220808.20*46

2021-08-13T22:08:07.977Z,1628892487.977 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.599998 m, bearing: 33.829603 deg, deltaT: 4.062193 s, approachRate: 0.000000 m/s, LOS rate: -0.099363 deg/s, posRepo size: 4
2021-08-13T22:08:10.363Z,1628892490.363 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:08:10.697Z,1628892490.697 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:08:10.697Z,1628892490.697 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:08:10.697Z,1628892490.697 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:08:10.698Z,1628892490.698 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:08:11.097Z,1628892491.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F3E,000,00537,186,80,80,7C,FF
2021-08-13T22:08:11.097Z,1628892491.097 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:08:11.098Z,1628892491.098 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:08:11.099Z,1628892491.099 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:08:11.505Z,1628892491.505 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:08:11.927Z,1628892491.927 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF6,000,00584,186,80,80,51,FF
2021-08-13T22:08:11.929Z,1628892491.929 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:08:11.957Z,1628892491.957 [Micromodem](INFO): Nmea in: $SNTTA,0.041505,0.304207,,,220812.64*50

2021-08-13T22:08:12.370Z,1628892492.370 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.219997 m, bearing: 36.951084 deg, deltaT: 4.493150 s, approachRate: 1.028232 m/s, LOS rate: 0.694720 deg/s, posRepo size: 4
2021-08-13T22:08:14.774Z,1628892494.774 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:08:15.137Z,1628892495.137 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:08:15.137Z,1628892495.137 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:08:15.137Z,1628892495.137 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:08:15.138Z,1628892495.138 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:08:15.541Z,1628892495.541 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF6,000,00584,186,80,80,51,FF
2021-08-13T22:08:15.541Z,1628892495.541 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:08:15.541Z,1628892495.541 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:08:15.543Z,1628892495.543 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:08:15.944Z,1628892495.944 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:08:16.376Z,1628892496.376 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F02,000,00540,186,80,80,75,FF
2021-08-13T22:08:16.377Z,1628892496.377 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:08:16.794Z,1628892496.794 [Micromodem](INFO): Nmea in: $SNTTA,,0.043864,,,220817.08*4B

2021-08-13T22:08:16.812Z,1628892496.812 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.139999 m, bearing: 36.180605 deg, deltaT: 4.391159 s, approachRate: -0.929139 m/s, LOS rate: -0.175462 deg/s, posRepo size: 4
2021-08-13T22:08:19.222Z,1628892499.222 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:08:19.589Z,1628892499.589 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:08:19.589Z,1628892499.589 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:08:19.589Z,1628892499.589 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:08:19.590Z,1628892499.590 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:08:19.989Z,1628892499.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F02,000,00540,186,80,80,75,FF
2021-08-13T22:08:19.989Z,1628892499.989 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:08:19.989Z,1628892499.989 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:08:19.991Z,1628892499.991 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:08:20.409Z,1628892500.409 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:08:20.797Z,1628892500.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F2C,000,0053D,186,80,80,65,FF
2021-08-13T22:08:20.797Z,1628892500.797 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:08:21.245Z,1628892501.245 [Micromodem](INFO): Nmea in: $SNTTA,,,,,220821.53*53

2021-08-13T22:08:21.263Z,1628892501.263 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.959999 m, bearing: 33.996382 deg, deltaT: 4.443017 s, approachRate: -0.040513 m/s, LOS rate: -0.491608 deg/s, posRepo size: 4
2021-08-13T22:08:23.656Z,1628892503.656 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:08:24.025Z,1628892504.025 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:08:24.025Z,1628892504.025 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:08:24.026Z,1628892504.026 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:08:24.026Z,1628892504.026 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:08:24.433Z,1628892504.433 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F2C,000,0053D,186,80,80,65,FF
2021-08-13T22:08:24.434Z,1628892504.434 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:08:24.434Z,1628892504.434 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:08:24.435Z,1628892504.435 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:08:24.846Z,1628892504.846 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:08:25.261Z,1628892505.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EFF,000,00540,186,80,80,6F,FF
2021-08-13T22:08:25.262Z,1628892505.262 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:08:25.682Z,1628892505.682 [Micromodem](INFO): Nmea in: $SNTTA,0.069886,,,,220825.98*47

2021-08-13T22:08:25.707Z,1628892505.707 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.139999 m, bearing: 35.771084 deg, deltaT: 4.469904 s, approachRate: 0.040269 m/s, LOS rate: 0.397034 deg/s, posRepo size: 4
2021-08-13T22:08:28.110Z,1628892508.110 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:08:28.481Z,1628892508.481 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:08:28.481Z,1628892508.481 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:08:28.481Z,1628892508.481 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:08:28.482Z,1628892508.482 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:08:28.878Z,1628892508.878 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EFF,000,00540,186,80,80,6F,FF
2021-08-13T22:08:28.878Z,1628892508.878 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:08:28.878Z,1628892508.878 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:08:28.921Z,1628892508.921 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:08:29.178Z,1628892509.178 [CTD_Seabird](ERROR): Failed to parse device response: 5.70,24.0934,4.773153
2021-08-13T22:08:29.285Z,1628892509.285 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:08:29.681Z,1628892509.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EBF,000,00543,186,80,80,67,FF
2021-08-13T22:08:29.681Z,1628892509.681 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:08:30.103Z,1628892510.103 [Micromodem](INFO): Nmea in: $SNTTA,,0.350030,,,220830.46*4C

2021-08-13T22:08:30.175Z,1628892510.175 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.319996 m, bearing: 38.519180 deg, deltaT: 4.440476 s, approachRate: 0.040535 m/s, LOS rate: 0.618874 deg/s, posRepo size: 4
2021-08-13T22:08:32.565Z,1628892512.565 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:08:32.917Z,1628892512.917 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:08:32.917Z,1628892512.917 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:08:32.917Z,1628892512.917 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:08:32.918Z,1628892512.918 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:08:33.321Z,1628892513.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EBF,000,00543,186,80,80,67,FF
2021-08-13T22:08:33.321Z,1628892513.321 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:08:33.322Z,1628892513.322 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:08:33.330Z,1628892513.330 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:08:33.734Z,1628892513.734 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:08:34.136Z,1628892514.136 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F5A,000,0054A,186,80,80,A5,FF
2021-08-13T22:08:34.136Z,1628892514.136 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:08:34.573Z,1628892514.573 [Micromodem](INFO): Nmea in: $SNTTA,0.039826,,,,220834.87*46

2021-08-13T22:08:34.612Z,1628892514.612 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.739998 m, bearing: 30.609756 deg, deltaT: 4.427217 s, approachRate: 0.094868 m/s, LOS rate: -1.786545 deg/s, posRepo size: 4
2021-08-13T22:08:36.977Z,1628892516.977 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:08:37.389Z,1628892517.389 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:08:37.389Z,1628892517.389 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:08:37.389Z,1628892517.389 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:08:37.390Z,1628892517.390 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:08:37.769Z,1628892517.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F5A,000,0054A,186,80,80,A5,FF
2021-08-13T22:08:37.770Z,1628892517.770 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:08:37.770Z,1628892517.770 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:08:37.771Z,1628892517.771 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:08:38.188Z,1628892518.188 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:08:38.573Z,1628892518.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F22,000,00549,186,80,80,62,FF
2021-08-13T22:08:38.573Z,1628892518.573 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:08:39.016Z,1628892519.016 [Micromodem](INFO): Nmea in: $SNTTA,,,,,220839.31*5E

2021-08-13T22:08:39.036Z,1628892519.036 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.680000 m, bearing: 33.184474 deg, deltaT: 4.452724 s, approachRate: -0.013474 m/s, LOS rate: 0.578234 deg/s, posRepo size: 4
2021-08-13T22:08:41.436Z,1628892521.436 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:08:41.850Z,1628892521.850 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:08:41.850Z,1628892521.850 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:08:41.851Z,1628892521.851 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:08:41.858Z,1628892521.858 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:08:42.209Z,1628892522.209 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F22,000,00549,186,80,80,62,FF
2021-08-13T22:08:42.209Z,1628892522.209 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:08:42.209Z,1628892522.209 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:08:42.211Z,1628892522.211 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:08:42.609Z,1628892522.609 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:08:43.014Z,1628892523.014 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F04,000,0054F,187,80,80,7C,FF
2021-08-13T22:08:43.014Z,1628892523.014 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:08:43.449Z,1628892523.449 [Micromodem](INFO): Nmea in: $SNTTA,,,,,220843.75*53

2021-08-13T22:08:43.486Z,1628892523.486 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 44.039997 m, bearing: 34.609180 deg, deltaT: 4.397971 s, approachRate: 0.081855 m/s, LOS rate: 0.323946 deg/s, posRepo size: 4
2021-08-13T22:08:45.933Z,1628892525.933 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:08:46.249Z,1628892526.249 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:08:46.249Z,1628892526.249 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:08:46.249Z,1628892526.249 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:08:46.250Z,1628892526.250 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:08:46.655Z,1628892526.655 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F04,000,0054F,187,80,80,7C,FF
2021-08-13T22:08:46.655Z,1628892526.655 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:08:46.655Z,1628892526.655 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:08:46.657Z,1628892526.657 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:08:47.068Z,1628892527.068 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:08:47.457Z,1628892527.457 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F7E,000,00555,186,80,80,8F,FF
2021-08-13T22:08:47.457Z,1628892527.457 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:08:47.917Z,1628892527.917 [Micromodem](INFO): Nmea in: $SNTTA,0.056572,,,,220848.20*45

2021-08-13T22:08:47.985Z,1628892527.985 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 44.400002 m, bearing: 28.557555 deg, deltaT: 4.480677 s, approachRate: 0.080346 m/s, LOS rate: -1.350605 deg/s, posRepo size: 4
2021-08-13T22:08:50.389Z,1628892530.389 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:08:50.689Z,1628892530.689 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:08:50.689Z,1628892530.689 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:08:50.689Z,1628892530.689 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:08:50.690Z,1628892530.690 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:08:51.093Z,1628892531.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F7E,000,00555,186,80,80,8F,FF
2021-08-13T22:08:51.093Z,1628892531.093 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:08:51.093Z,1628892531.093 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:08:51.095Z,1628892531.095 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:08:51.509Z,1628892531.509 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:08:51.921Z,1628892531.921 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED7,000,00559,186,80,80,85,FF
2021-08-13T22:08:51.922Z,1628892531.922 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:08:51.925Z,1628892531.925 [Micromodem](INFO): Nmea in: $SNTTA,0.265189,0.265395,,,220852.63*5B

2021-08-13T22:08:52.398Z,1628892532.398 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 44.640003 m, bearing: 36.613000 deg, deltaT: 4.443541 s, approachRate: 0.054011 m/s, LOS rate: 1.812844 deg/s, posRepo size: 4
2021-08-13T22:08:54.764Z,1628892534.764 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:08:55.133Z,1628892535.133 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:08:55.133Z,1628892535.133 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:08:55.133Z,1628892535.133 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:08:55.134Z,1628892535.134 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:08:55.556Z,1628892535.556 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ED7,000,00559,186,80,80,85,FF
2021-08-13T22:08:55.556Z,1628892535.556 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:08:55.557Z,1628892535.557 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:08:55.558Z,1628892535.558 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:08:55.949Z,1628892535.949 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:08:56.365Z,1628892536.365 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED5,000,0055A,187,80,80,39,FF
2021-08-13T22:08:56.366Z,1628892536.366 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:08:56.781Z,1628892536.781 [Micromodem](INFO): Nmea in: $SNTTA,,,,,220857.10*55

2021-08-13T22:08:56.803Z,1628892536.803 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 44.700001 m, bearing: 36.969065 deg, deltaT: 4.456829 s, approachRate: 0.013462 m/s, LOS rate: 0.079892 deg/s, posRepo size: 4
2021-08-13T22:08:59.190Z,1628892539.190 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:08:59.585Z,1628892539.585 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:08:59.585Z,1628892539.585 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:08:59.585Z,1628892539.585 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:08:59.586Z,1628892539.586 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:08:59.981Z,1628892539.981 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ED5,000,0055A,187,80,80,39,FF
2021-08-13T22:08:59.981Z,1628892539.981 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:08:59.981Z,1628892539.981 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:08:59.983Z,1628892539.983 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:09:00.433Z,1628892540.433 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:09:00.790Z,1628892540.790 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E77,000,0055C,186,80,80,8B,FF
2021-08-13T22:09:00.790Z,1628892540.790 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:09:01.225Z,1628892541.225 [Micromodem](INFO): Nmea in: $SNTTA,0.043890,,,,220901.53*48

2021-08-13T22:09:01.247Z,1628892541.247 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 44.820000 m, bearing: 41.670274 deg, deltaT: 4.395190 s, approachRate: 0.027302 m/s, LOS rate: 1.069626 deg/s, posRepo size: 4
2021-08-13T22:09:03.672Z,1628892543.672 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:09:04.032Z,1628892544.032 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:09:04.032Z,1628892544.032 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:09:04.032Z,1628892544.032 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:09:04.033Z,1628892544.033 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:09:04.426Z,1628892544.426 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E77,000,0055C,186,80,80,8B,FF
2021-08-13T22:09:04.426Z,1628892544.426 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:09:04.426Z,1628892544.426 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:09:04.429Z,1628892544.429 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:09:04.833Z,1628892544.833 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:09:05.226Z,1628892545.226 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E73,000,00557,185,80,80,7D,FF
2021-08-13T22:09:05.226Z,1628892545.226 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:09:05.674Z,1628892545.674 [Micromodem](INFO): Nmea in: $SNTTA,,,,,220905.97*5C

2021-08-13T22:09:05.705Z,1628892545.705 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 44.520000 m, bearing: 41.887549 deg, deltaT: 4.522991 s, approachRate: -0.066328 m/s, LOS rate: 0.048038 deg/s, posRepo size: 4
2021-08-13T22:09:08.118Z,1628892548.118 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:09:08.461Z,1628892548.461 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:09:08.462Z,1628892548.462 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:09:08.462Z,1628892548.462 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:09:08.463Z,1628892548.463 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:09:08.866Z,1628892548.866 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E73,000,00557,185,80,80,7D,FF
2021-08-13T22:09:08.866Z,1628892548.866 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:09:08.866Z,1628892548.866 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:09:08.887Z,1628892548.887 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:09:09.285Z,1628892549.285 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:09:09.677Z,1628892549.677 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E81,000,0055E,186,80,80,7C,FF
2021-08-13T22:09:09.678Z,1628892549.678 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:09:10.093Z,1628892550.093 [Micromodem](INFO): Nmea in: $SNTTA,,,,,220910.43*51

2021-08-13T22:09:10.164Z,1628892550.164 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 44.940002 m, bearing: 41.208666 deg, deltaT: 4.375095 s, approachRate: 0.095998 m/s, LOS rate: -0.155170 deg/s, posRepo size: 4
2021-08-13T22:09:12.571Z,1628892552.571 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:09:12.924Z,1628892552.924 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:09:12.924Z,1628892552.924 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:09:12.925Z,1628892552.925 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:09:12.926Z,1628892552.926 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:09:13.309Z,1628892553.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E81,000,0055E,186,80,80,7C,FF
2021-08-13T22:09:13.309Z,1628892553.309 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:09:13.309Z,1628892553.309 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:09:13.311Z,1628892553.311 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:09:13.725Z,1628892553.725 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:09:14.550Z,1628892554.550 [Micromodem](INFO): Nmea in: $SNTTA,,,,,220914.85*5F

2021-08-13T22:09:15.416Z,1628892555.416 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:09:16.960Z,1628892556.960 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E72,000,08B91,186,80,80,4C,FF
2021-08-13T22:09:16.961Z,1628892556.961 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:09:17.450Z,1628892557.450 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 2106.239990 m, bearing: 42.064082 deg, deltaT: 7.267191 s, approachRate: 283.644684 m/s, LOS rate: 0.117709 deg/s, posRepo size: 4
2021-08-13T22:09:17.450Z,1628892557.450 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 2106.24 m. Resuming terminal guidance.
2021-08-13T22:09:17.450Z,1628892557.450 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-13T22:09:17.784Z,1628892557.784 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-08-13T22:09:17.785Z,1628892557.785 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-13T22:09:17.785Z,1628892557.785 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-08-13T22:09:17.785Z,1628892557.785 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-08-13T22:09:17.785Z,1628892557.785 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2021-08-13T22:09:17.785Z,1628892557.785 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-08-13T22:09:17.785Z,1628892557.785 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-08-13T22:09:18.586Z,1628892558.586 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T22:09:19.874Z,1628892559.874 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:09:20.201Z,1628892560.201 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:09:20.201Z,1628892560.201 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:09:20.201Z,1628892560.201 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:09:20.202Z,1628892560.202 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:09:20.609Z,1628892560.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E72,000,08B91,186,80,80,4C,FF
2021-08-13T22:09:20.609Z,1628892560.609 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:09:20.609Z,1628892560.609 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:09:20.611Z,1628892560.611 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:09:21.089Z,1628892561.089 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:09:21.506Z,1628892561.506 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E42,000,00563,186,80,80,82,FF
2021-08-13T22:09:21.506Z,1628892561.506 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:09:21.921Z,1628892561.921 [Micromodem](INFO): Nmea in: $SNTTA,,,,,220922.15*53

2021-08-13T22:09:21.973Z,1628892561.973 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.240002 m, bearing: 44.087416 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-13T22:09:21.973Z,1628892561.973 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 44.087416deg and heading rate command to 0 deg/s.
2021-08-13T22:09:24.375Z,1628892564.375 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:09:24.718Z,1628892564.718 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:09:24.719Z,1628892564.719 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:09:24.719Z,1628892564.719 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:09:24.722Z,1628892564.722 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:09:25.121Z,1628892565.121 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E42,000,00563,186,80,80,82,FF
2021-08-13T22:09:25.121Z,1628892565.121 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:09:25.121Z,1628892565.121 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:09:25.123Z,1628892565.123 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:09:25.531Z,1628892565.531 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:09:25.934Z,1628892565.934 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E5E,000,00574,186,80,80,70,FF
2021-08-13T22:09:25.934Z,1628892565.934 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:09:26.397Z,1628892566.397 [Micromodem](INFO): Nmea in: $SNTTA,,,,,220926.67*52

2021-08-13T22:09:26.456Z,1628892566.456 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.259998 m, bearing: 44.224625 deg, deltaT: 4.432152 s, approachRate: 0.230136 m/s, LOS rate: 0.030957 deg/s, posRepo size: 2
2021-08-13T22:09:26.458Z,1628892566.458 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 46.259998 m,
      bearing: 44.224625 deg,
      approachRate: 0.230136 m/s,
      LOS rate: 0.030957 deg/s,
      cmd update: 0.092872 deg/s,
      cmd heading: 44.087416 deg,
      new cmd heading: 44.087416 deg.

2021-08-13T22:09:28.813Z,1628892568.813 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:09:29.165Z,1628892569.165 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:09:29.165Z,1628892569.165 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:09:29.165Z,1628892569.165 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:09:29.166Z,1628892569.166 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:09:29.578Z,1628892569.578 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E5E,000,00574,186,80,80,70,FF
2021-08-13T22:09:29.578Z,1628892569.578 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:09:29.578Z,1628892569.578 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:09:29.581Z,1628892569.581 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:09:29.972Z,1628892569.972 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:09:30.403Z,1628892570.403 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0DE,000,00594,187,80,80,52,FF
2021-08-13T22:09:30.420Z,1628892570.420 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:09:30.809Z,1628892570.809 [Micromodem](INFO): Nmea in: $SNTTA,,,,,220931.12*56

2021-08-13T22:09:30.848Z,1628892570.848 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 48.179996 m, bearing: 20.286357 deg, deltaT: 4.509030 s, approachRate: 0.425812 m/s, LOS rate: -5.308962 deg/s, posRepo size: 3
2021-08-13T22:09:30.850Z,1628892570.850 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 48.179996 m,
      bearing: 20.286357 deg,
      approachRate: 0.425812 m/s,
      LOS rate: -5.308962 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 44.505809 deg,
      new cmd heading: 44.537124 deg.

2021-08-13T22:09:33.238Z,1628892573.238 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:09:33.613Z,1628892573.613 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:09:33.613Z,1628892573.613 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:09:33.613Z,1628892573.613 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:09:33.614Z,1628892573.614 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:09:34.022Z,1628892574.022 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0DE,000,00594,187,80,80,52,FF
2021-08-13T22:09:34.022Z,1628892574.022 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:09:34.022Z,1628892574.022 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:09:34.024Z,1628892574.024 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:09:34.425Z,1628892574.425 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:09:34.830Z,1628892574.830 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F11,000,005BD,186,80,80,8E,FF
2021-08-13T22:09:34.830Z,1628892574.830 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:09:35.274Z,1628892575.274 [Micromodem](INFO): Nmea in: $SNTTA,,,,,220935.56*52

2021-08-13T22:09:35.371Z,1628892575.371 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 50.639996 m, bearing: 54.557406 deg, deltaT: 4.386780 s, approachRate: 0.560776 m/s, LOS rate: 7.812347 deg/s, posRepo size: 4
2021-08-13T22:09:35.377Z,1628892575.377 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 50.639996 m,
      bearing: 54.557406 deg,
      approachRate: 0.560776 m/s,
      LOS rate: 7.812347 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 352.217811 deg,
      new cmd heading: 345.997263 deg.

2021-08-13T22:09:37.709Z,1628892577.709 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:09:38.057Z,1628892578.057 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:09:38.057Z,1628892578.057 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:09:38.057Z,1628892578.057 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:09:38.058Z,1628892578.058 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:09:38.467Z,1628892578.467 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F11,000,005BD,186,80,80,8E,FF
2021-08-13T22:09:38.467Z,1628892578.467 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:09:38.467Z,1628892578.467 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:09:38.469Z,1628892578.469 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:09:38.873Z,1628892578.873 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:09:39.274Z,1628892579.274 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F05,000,005E5,186,80,80,64,FF
2021-08-13T22:09:39.274Z,1628892579.274 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:09:39.713Z,1628892579.713 [Micromodem](INFO): Nmea in: $SNTTA,,,,,220940.01*52

2021-08-13T22:09:39.739Z,1628892579.739 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.040001 m, bearing: 49.632430 deg, deltaT: 4.410302 s, approachRate: 0.544182 m/s, LOS rate: -1.116698 deg/s, posRepo size: 4
2021-08-13T22:09:39.761Z,1628892579.761 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 53.040001 m,
      bearing: 49.632430 deg,
      approachRate: 0.544182 m/s,
      LOS rate: -1.116698 deg/s,
      cmd update: -3.350094 deg/s,
      cmd heading: 45.542944 deg,
      new cmd heading: 50.855308 deg.

2021-08-13T22:09:42.149Z,1628892582.149 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:09:42.506Z,1628892582.506 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:09:42.506Z,1628892582.506 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:09:42.506Z,1628892582.506 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:09:42.507Z,1628892582.507 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:09:42.921Z,1628892582.921 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F05,000,005E5,186,80,80,64,FF
2021-08-13T22:09:42.921Z,1628892582.921 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:09:42.921Z,1628892582.921 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:09:42.923Z,1628892582.923 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:09:43.313Z,1628892583.313 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:09:43.719Z,1628892583.719 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E4C,000,00617,186,80,80,8C,FF
2021-08-13T22:09:43.720Z,1628892583.720 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:09:44.149Z,1628892584.149 [Micromodem](INFO): Nmea in: $SNTTA,,,,,220944.46*55

2021-08-13T22:09:44.230Z,1628892584.230 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 56.039997 m, bearing: 46.754612 deg, deltaT: 4.450779 s, approachRate: 0.674038 m/s, LOS rate: -0.646588 deg/s, posRepo size: 4
2021-08-13T22:09:44.239Z,1628892584.239 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 56.039997 m,
      bearing: 46.754612 deg,
      approachRate: 0.674038 m/s,
      LOS rate: -0.646588 deg/s,
      cmd update: -1.939763 deg/s,
      cmd heading: 30.632384 deg,
      new cmd heading: 29.014262 deg.

2021-08-13T22:09:46.585Z,1628892586.585 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:09:46.945Z,1628892586.945 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:09:46.945Z,1628892586.945 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:09:46.945Z,1628892586.945 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:09:46.946Z,1628892586.946 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:09:47.369Z,1628892587.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E4C,000,00617,186,80,80,8C,FF
2021-08-13T22:09:47.369Z,1628892587.369 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:09:47.369Z,1628892587.369 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:09:47.371Z,1628892587.371 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:09:47.753Z,1628892587.753 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:09:48.162Z,1628892588.162 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,12D,000,00647,186,80,80,9A,FF
2021-08-13T22:09:48.162Z,1628892588.162 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:09:48.597Z,1628892588.597 [Micromodem](INFO): Nmea in: $SNTTA,,,,,220948.91*53

2021-08-13T22:09:48.636Z,1628892588.636 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.920006 m, bearing: 21.296919 deg, deltaT: 4.483555 s, approachRate: 0.642349 m/s, LOS rate: -5.678015 deg/s, posRepo size: 4
2021-08-13T22:09:48.638Z,1628892588.638 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 58.920006 m,
      bearing: 21.296919 deg,
      approachRate: 0.642349 m/s,
      LOS rate: -5.678015 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 21.943504 deg,
      new cmd heading: 21.148863 deg.

2021-08-13T22:09:51.019Z,1628892591.019 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:09:51.526Z,1628892591.526 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:09:51.526Z,1628892591.526 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:09:51.527Z,1628892591.527 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:09:51.528Z,1628892591.528 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:09:51.810Z,1628892591.810 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
12D,000,00647,186,80,80,9A,FF
2021-08-13T22:09:51.811Z,1628892591.811 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:09:51.811Z,1628892591.811 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:09:51.817Z,1628892591.817 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:09:52.204Z,1628892592.204 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:09:52.605Z,1628892592.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CE3,000,0067C,189,80,80,6E,FF
2021-08-13T22:09:52.606Z,1628892592.606 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:09:53.037Z,1628892593.037 [Micromodem](INFO): Nmea in: $SNTTA,,,,,220953.36*54

2021-08-13T22:09:53.079Z,1628892593.079 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 62.100002 m, bearing: 73.601265 deg, deltaT: 4.434869 s, approachRate: 0.717044 m/s, LOS rate: 11.793887 deg/s, posRepo size: 4
2021-08-13T22:09:53.079Z,1628892593.079 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 11.793887 deg/s. Setting heading cmd to target bearing of 73.601265deg and heading rate command to 0 deg/s.
2021-08-13T22:09:55.441Z,1628892595.441 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T22:09:55.472Z,1628892595.472 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:09:55.885Z,1628892595.885 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:09:55.885Z,1628892595.885 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:09:55.886Z,1628892595.886 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:09:55.886Z,1628892595.886 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:09:56.245Z,1628892596.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CE3,000,0067C,189,80,80,6E,FF
2021-08-13T22:09:56.245Z,1628892596.245 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:09:56.246Z,1628892596.246 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:09:56.247Z,1628892596.247 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:09:56.653Z,1628892596.653 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:09:57.482Z,1628892597.482 [Micromodem](INFO): Nmea in: $SNTTA,,,,,220957.79*5B

2021-08-13T22:09:58.283Z,1628892598.283 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:09:59.909Z,1628892599.909 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,189,80,80,6E,FF
2021-08-13T22:09:59.909Z,1628892599.909 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,189,80,80,6E,FF
2021-08-13T22:09:59.909Z,1628892599.909 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T22:10:01.111Z,1628892601.111 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:10:01.497Z,1628892601.497 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:10:01.497Z,1628892601.497 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:10:01.498Z,1628892601.498 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:10:01.499Z,1628892601.499 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:10:01.917Z,1628892601.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,189,80,80,6E,FF
2021-08-13T22:10:01.917Z,1628892601.917 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:10:01.918Z,1628892601.918 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:10:01.919Z,1628892601.919 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:10:02.307Z,1628892602.307 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:10:02.714Z,1628892602.714 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,251,000,006E9,188,80,80,8C,FF
2021-08-13T22:10:02.714Z,1628892602.714 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:10:03.145Z,1628892603.145 [Micromodem](INFO): Nmea in: $SNTTA,0.054620,,,,221003.46*45

2021-08-13T22:10:03.168Z,1628892603.168 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 68.639999 m, bearing: 337.701491 deg, deltaT: 10.075940 s, approachRate: 0.649071 m/s, LOS rate: -9.517700 deg/s, posRepo size: 4
2021-08-13T22:10:03.170Z,1628892603.170 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 68.639999 m,
      bearing: 337.701491 deg,
      approachRate: 0.649071 m/s,
      LOS rate: -9.517700 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 73.601265 deg,
      new cmd heading: 73.601265 deg.

2021-08-13T22:10:05.547Z,1628892605.547 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T22:10:05.563Z,1628892605.563 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:10:05.949Z,1628892605.949 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:10:05.949Z,1628892605.949 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:10:05.949Z,1628892605.949 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:10:05.950Z,1628892605.950 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:10:06.351Z,1628892606.351 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
251,000,006E9,188,80,80,8C,FF
2021-08-13T22:10:06.356Z,1628892606.356 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:10:06.357Z,1628892606.357 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:10:06.359Z,1628892606.359 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:10:06.755Z,1628892606.755 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:10:07.157Z,1628892607.157 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB2,000,00715,186,80,80,77,FF
2021-08-13T22:10:07.158Z,1628892607.158 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:10:07.582Z,1628892607.582 [Micromodem](INFO): Nmea in: $SNTTA,,,,,221007.90*51

2021-08-13T22:10:07.612Z,1628892607.612 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 71.280006 m, bearing: 37.970415 deg, deltaT: 4.438800 s, approachRate: 0.594757 m/s, LOS rate: 13.577752 deg/s, posRepo size: 4
2021-08-13T22:10:07.613Z,1628892607.613 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.577752 deg/s. Setting heading cmd to target bearing of 37.970415deg and heading rate command to 0 deg/s.
2021-08-13T22:10:10.049Z,1628892610.049 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:10:10.425Z,1628892610.425 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:10:10.425Z,1628892610.425 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:10:10.426Z,1628892610.426 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:10:10.427Z,1628892610.427 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:10:10.441Z,1628892610.441 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T22:10:10.789Z,1628892610.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EB2,000,00715,186,80,80,77,FF
2021-08-13T22:10:10.789Z,1628892610.789 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:10:10.789Z,1628892610.789 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:10:10.791Z,1628892610.791 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:10:11.193Z,1628892611.193 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:10:11.603Z,1628892611.603 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EFA,000,00749,186,80,80,6D,FF
2021-08-13T22:10:11.603Z,1628892611.603 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:10:12.041Z,1628892612.041 [Micromodem](INFO): Nmea in: $SNTTA,,,,,221012.33*5C

2021-08-13T22:10:12.112Z,1628892612.112 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 74.400009 m, bearing: 52.300985 deg, deltaT: 4.459436 s, approachRate: 0.699641 m/s, LOS rate: 3.213539 deg/s, posRepo size: 4
2021-08-13T22:10:12.115Z,1628892612.115 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 74.400009 m,
      bearing: 52.300985 deg,
      approachRate: 0.699641 m/s,
      LOS rate: 3.213539 deg/s,
      cmd update: 9.640616 deg/s,
      cmd heading: 37.970415 deg,
      new cmd heading: 37.970415 deg.

2021-08-13T22:10:14.454Z,1628892614.454 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:10:14.825Z,1628892614.825 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:10:14.825Z,1628892614.825 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:10:14.825Z,1628892614.825 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:10:14.826Z,1628892614.826 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:10:15.233Z,1628892615.233 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EFA,000,00749,186,80,80,6D,FF
2021-08-13T22:10:15.233Z,1628892615.233 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:10:15.233Z,1628892615.233 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:10:15.235Z,1628892615.235 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:10:15.636Z,1628892615.636 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:10:15.690Z,1628892615.690 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T22:10:16.034Z,1628892616.034 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ECD,000,00772,186,80,80,8A,FF
2021-08-13T22:10:16.034Z,1628892616.034 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:10:16.483Z,1628892616.483 [Micromodem](INFO): Nmea in: $SNTTA,0.066474,,,,221016.77*41

2021-08-13T22:10:16.509Z,1628892616.509 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 76.860008 m, bearing: 64.788572 deg, deltaT: 4.453878 s, approachRate: 0.552327 m/s, LOS rate: 2.803756 deg/s, posRepo size: 4
2021-08-13T22:10:16.511Z,1628892616.511 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 76.860008 m,
      bearing: 64.788572 deg,
      approachRate: 0.552327 m/s,
      LOS rate: 2.803756 deg/s,
      cmd update: 8.411268 deg/s,
      cmd heading: 80.910739 deg,
      new cmd heading: 84.916569 deg.

2021-08-13T22:10:18.916Z,1628892618.916 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:10:19.273Z,1628892619.273 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:10:19.273Z,1628892619.273 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:10:19.273Z,1628892619.273 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:10:19.274Z,1628892619.274 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:10:19.691Z,1628892619.691 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ECD,000,00772,186,80,80,8A,FF
2021-08-13T22:10:19.691Z,1628892619.691 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:10:19.691Z,1628892619.691 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:10:19.693Z,1628892619.693 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:10:20.098Z,1628892620.098 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:10:20.491Z,1628892620.491 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T22:10:20.906Z,1628892620.906 [Micromodem](INFO): Nmea in: $SNTTA,,,,,221021.23*5D

2021-08-13T22:10:21.740Z,1628892621.740 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:10:23.317Z,1628892623.317 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
2,186,80,80,8A,FF
2021-08-13T22:10:23.317Z,1628892623.317 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
2,186,80,80,8A,FF
2021-08-13T22:10:23.317Z,1628892623.317 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T22:10:24.571Z,1628892624.571 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:10:24.929Z,1628892624.929 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:10:24.929Z,1628892624.929 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:10:24.929Z,1628892624.929 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:10:24.930Z,1628892624.930 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:10:25.366Z,1628892625.366 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
2,186,80,80,8A,FF
2021-08-13T22:10:25.368Z,1628892625.368 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:10:25.368Z,1628892625.368 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:10:25.371Z,1628892625.371 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:10:25.758Z,1628892625.758 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:10:26.137Z,1628892626.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E3E,000,007BD,186,80,80,A9,FF
2021-08-13T22:10:26.138Z,1628892626.138 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:10:26.605Z,1628892626.605 [Micromodem](INFO): Nmea in: $SNTTA,,,,,221026.91*53

2021-08-13T22:10:26.761Z,1628892626.761 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 81.360008 m, bearing: 102.582878 deg, deltaT: 10.105345 s, approachRate: 0.445309 m/s, LOS rate: 3.740031 deg/s, posRepo size: 4
2021-08-13T22:10:26.763Z,1628892626.763 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 81.360008 m,
      bearing: 102.582878 deg,
      approachRate: 0.445309 m/s,
      LOS rate: 3.740031 deg/s,
      cmd update: 11.220093 deg/s,
      cmd heading: 165.877144 deg,
      new cmd heading: 170.336445 deg.

2021-08-13T22:10:28.716Z,1628892628.716 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:10:29.083Z,1628892629.083 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:10:29.083Z,1628892629.083 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:10:29.083Z,1628892629.083 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:10:29.087Z,1628892629.087 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:10:29.497Z,1628892629.497 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E3E,000,007BD,186,80,80,A9,FF
2021-08-13T22:10:29.497Z,1628892629.497 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:10:29.498Z,1628892629.498 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:10:29.499Z,1628892629.499 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:10:29.912Z,1628892629.912 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:10:30.293Z,1628892630.293 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,291,000,007CB,189,80,80,8B,FF
2021-08-13T22:10:30.293Z,1628892630.293 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:10:30.753Z,1628892630.753 [Micromodem](INFO): Nmea in: $SNTTA,0.056937,,,,221031.04*49

2021-08-13T22:10:30.776Z,1628892630.776 [RDI_PathfinderUp](ERROR): DVL uart error: serial timeout
2021-08-13T22:10:30.776Z,1628892630.776 [RDI_PathfinderUp] Communications Fault, FailCount= 1
2021-08-13T22:10:30.776Z,1628892630.776 [RDI_PathfinderUp](ERROR): Communications Fault
2021-08-13T22:10:30.825Z,1628892630.825 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 82.200005 m, bearing: 62.267563 deg, deltaT: 4.185066 s, approachRate: 0.200713 m/s, LOS rate: -9.633137 deg/s, posRepo size: 4
2021-08-13T22:10:30.827Z,1628892630.827 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 82.200005 m,
      bearing: 62.267563 deg,
      approachRate: 0.200713 m/s,
      LOS rate: -9.633137 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 212.833684 deg,
      new cmd heading: 217.786906 deg.

2021-08-13T22:10:30.988Z,1628892630.988 [CBIT](ERROR): Communications Fault in component: RDI_PathfinderUp
2021-08-13T22:10:31.189Z,1628892631.189 [RDI_PathfinderUp](INFO): Powering down
2021-08-13T22:10:32.102Z,1628892632.102 [CBIT](INFO): Clearing failed state for component RDI_PathfinderUp
2021-08-13T22:10:32.102Z,1628892632.102 [RDI_PathfinderUp] No Fault, FailCount= 1
2021-08-13T22:10:33.172Z,1628892633.172 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:10:33.529Z,1628892633.529 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:10:33.529Z,1628892633.529 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:10:33.529Z,1628892633.529 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:10:33.530Z,1628892633.530 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:10:33.933Z,1628892633.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
291,000,007CB,189,80,80,8B,FF
2021-08-13T22:10:33.933Z,1628892633.933 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:10:33.933Z,1628892633.933 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:10:33.935Z,1628892633.935 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:10:34.337Z,1628892634.337 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:10:34.745Z,1628892634.745 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DAA,000,007CB,188,80,80,97,FF
2021-08-13T22:10:34.745Z,1628892634.745 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:10:35.198Z,1628892635.198 [Micromodem](INFO): Nmea in: $SNTTA,,,,,221035.47*5A

2021-08-13T22:10:35.220Z,1628892635.220 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 82.200005 m, bearing: 141.954649 deg, deltaT: 4.380395 s, approachRate: 0.000000 m/s, LOS rate: 18.191758 deg/s, posRepo size: 4
2021-08-13T22:10:35.221Z,1628892635.221 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 18.191758 deg/s. Setting heading cmd to target bearing of 141.954649deg and heading rate command to 0 deg/s.
2021-08-13T22:10:37.602Z,1628892637.602 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:10:37.973Z,1628892637.973 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:10:37.973Z,1628892637.973 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:10:37.973Z,1628892637.973 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:10:37.974Z,1628892637.974 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:10:38.378Z,1628892638.378 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DAA,000,007CB,188,80,80,97,FF
2021-08-13T22:10:38.378Z,1628892638.378 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:10:38.379Z,1628892638.379 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:10:38.385Z,1628892638.385 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:10:38.785Z,1628892638.785 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:10:39.181Z,1628892639.181 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,007C4,18A,80,80,BA,FF
2021-08-13T22:10:39.183Z,1628892639.183 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:10:39.641Z,1628892639.641 [Micromodem](INFO): Nmea in: $SNTTA,0.054221,,,,221039.93*41

2021-08-13T22:10:39.660Z,1628892639.660 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 81.780006 m, bearing: 194.431840 deg, deltaT: 4.434860 s, approachRate: -0.094704 m/s, LOS rate: 11.832885 deg/s, posRepo size: 4
2021-08-13T22:10:39.661Z,1628892639.661 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 11.832885 deg/s. Setting heading cmd to target bearing of 194.431840deg and heading rate command to 0 deg/s.
2021-08-13T22:10:42.073Z,1628892642.073 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:10:42.417Z,1628892642.417 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:10:42.417Z,1628892642.417 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:10:42.417Z,1628892642.417 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:10:42.418Z,1628892642.418 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:10:42.829Z,1628892642.829 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,007C4,18A,80,80,BA,FF
2021-08-13T22:10:42.829Z,1628892642.829 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:10:42.829Z,1628892642.829 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:10:42.831Z,1628892642.831 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:10:43.225Z,1628892643.225 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:10:43.625Z,1628892643.625 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C7D,000,007AD,188,80,80,B3,FF
2021-08-13T22:10:43.625Z,1628892643.625 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:10:44.061Z,1628892644.061 [Micromodem](INFO): Nmea in: $SNTTA,,,,,221044.37*5B

2021-08-13T22:10:44.107Z,1628892644.107 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 80.399994 m, bearing: 194.383482 deg, deltaT: 4.442672 s, approachRate: -0.310627 m/s, LOS rate: -0.010885 deg/s, posRepo size: 4
2021-08-13T22:10:44.110Z,1628892644.110 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 80.399994 m,
      bearing: 194.383482 deg,
      approachRate: -0.310627 m/s,
      LOS rate: -0.010885 deg/s,
      cmd update: -0.032654 deg/s,
      cmd heading: 194.431840 deg,
      new cmd heading: 194.431840 deg.

2021-08-13T22:10:46.511Z,1628892646.511 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:10:46.866Z,1628892646.866 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:10:46.866Z,1628892646.866 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:10:46.866Z,1628892646.866 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:10:46.867Z,1628892646.867 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:10:47.269Z,1628892647.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C7D,000,007AD,188,80,80,B3,FF
2021-08-13T22:10:47.269Z,1628892647.269 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:10:47.269Z,1628892647.269 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:10:47.271Z,1628892647.271 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:10:47.667Z,1628892647.667 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:10:48.073Z,1628892648.073 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,18D,000,0078C,186,80,80,99,FF
2021-08-13T22:10:48.073Z,1628892648.073 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:10:48.537Z,1628892648.537 [Micromodem](INFO): Nmea in: $SNTTA,0.059758,,,,221048.81*42

2021-08-13T22:10:48.583Z,1628892648.583 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 78.420006 m, bearing: 148.373770 deg, deltaT: 4.506195 s, approachRate: -0.439392 m/s, LOS rate: -10.210324 deg/s, posRepo size: 4
2021-08-13T22:10:48.589Z,1628892648.589 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 78.420006 m,
      bearing: 148.373770 deg,
      approachRate: -0.439392 m/s,
      LOS rate: -10.210324 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 194.284825 deg,
      new cmd heading: 194.270477 deg.

2021-08-13T22:10:50.949Z,1628892650.949 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:10:51.301Z,1628892651.301 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:10:51.301Z,1628892651.301 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:10:51.302Z,1628892651.302 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:10:51.303Z,1628892651.303 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:10:51.704Z,1628892651.704 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
18D,000,0078C,186,80,80,99,FF
2021-08-13T22:10:51.704Z,1628892651.704 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:10:51.705Z,1628892651.705 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:10:51.706Z,1628892651.706 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:10:52.109Z,1628892652.109 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:10:52.942Z,1628892652.942 [Micromodem](INFO): Nmea in: $SNTTA,,,,,221053.25*5E

2021-08-13T22:10:53.750Z,1628892653.750 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:10:55.338Z,1628892655.338 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,186,80,80,99,FF
2021-08-13T22:10:55.338Z,1628892655.338 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,186,80,80,99,FF
2021-08-13T22:10:55.338Z,1628892655.338 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T22:10:56.607Z,1628892656.607 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:10:56.957Z,1628892656.957 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:10:56.958Z,1628892656.958 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:10:56.958Z,1628892656.958 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:10:56.959Z,1628892656.959 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:10:57.365Z,1628892657.365 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,186,80,80,99,FF
2021-08-13T22:10:57.365Z,1628892657.365 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:10:57.365Z,1628892657.365 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:10:57.366Z,1628892657.366 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:10:57.765Z,1628892657.765 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:10:58.181Z,1628892658.181 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E1E,000,0072B,187,80,80,AE,FF
2021-08-13T22:10:58.181Z,1628892658.181 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:10:58.185Z,1628892658.185 [Micromodem](INFO): Nmea in: $SNTTA,0.075343,0.170281,,,221058.90*50

2021-08-13T22:10:58.622Z,1628892658.622 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 72.599998 m, bearing: 203.346480 deg, deltaT: 10.113954 s, approachRate: -0.575443 m/s, LOS rate: 5.435333 deg/s, posRepo size: 4
2021-08-13T22:10:58.640Z,1628892658.640 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 72.599998 m,
      bearing: 203.346480 deg,
      approachRate: -0.575443 m/s,
      LOS rate: 5.435333 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 72.917733 deg,
      new cmd heading: 68.549949 deg.

2021-08-13T22:11:01.031Z,1628892661.031 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:11:01.408Z,1628892661.408 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:11:01.408Z,1628892661.408 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:11:01.408Z,1628892661.408 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:11:01.409Z,1628892661.409 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:11:01.825Z,1628892661.825 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E1E,000,0072B,187,80,80,AE,FF
2021-08-13T22:11:01.825Z,1628892661.825 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:11:01.826Z,1628892661.826 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:11:01.831Z,1628892661.831 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:11:02.221Z,1628892662.221 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:11:02.618Z,1628892662.618 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C77,000,00702,189,80,80,A1,FF
2021-08-13T22:11:02.618Z,1628892662.618 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:11:03.057Z,1628892663.057 [Micromodem](INFO): Nmea in: $SNTTA,,0.046293,,,221103.37*4D

2021-08-13T22:11:03.093Z,1628892663.093 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 70.139999 m, bearing: 205.107931 deg, deltaT: 4.383489 s, approachRate: -0.561197 m/s, LOS rate: 0.401838 deg/s, posRepo size: 4
2021-08-13T22:11:03.095Z,1628892663.095 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 70.139999 m,
      bearing: 205.107931 deg,
      approachRate: -0.561197 m/s,
      LOS rate: 0.401838 deg/s,
      cmd update: 1.205513 deg/s,
      cmd heading: 125.565070 deg,
      new cmd heading: 130.797803 deg.

2021-08-13T22:11:05.511Z,1628892665.511 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:11:05.872Z,1628892665.872 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:11:05.872Z,1628892665.872 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:11:05.873Z,1628892665.873 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:11:05.874Z,1628892665.874 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:11:06.277Z,1628892666.277 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C77,000,00702,189,80,80,A1,FF
2021-08-13T22:11:06.277Z,1628892666.277 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:11:06.277Z,1628892666.277 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:11:06.279Z,1628892666.279 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:11:06.656Z,1628892666.656 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:11:07.065Z,1628892667.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,006DF,189,80,80,92,FF
2021-08-13T22:11:07.066Z,1628892667.066 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:11:07.509Z,1628892667.509 [Micromodem](INFO): Nmea in: $SNTTA,,,,,221107.82*53

2021-08-13T22:11:07.558Z,1628892667.558 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 68.040001 m, bearing: 207.519684 deg, deltaT: 4.440200 s, approachRate: -0.472951 m/s, LOS rate: 0.543163 deg/s, posRepo size: 4
2021-08-13T22:11:07.564Z,1628892667.564 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 68.040001 m,
      bearing: 207.519684 deg,
      approachRate: -0.472951 m/s,
      LOS rate: 0.543163 deg/s,
      cmd update: 1.629490 deg/s,
      cmd heading: 130.918126 deg,
      new cmd heading: 131.487452 deg.

2021-08-13T22:11:09.981Z,1628892669.981 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:11:10.317Z,1628892670.317 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:11:10.317Z,1628892670.317 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:11:10.318Z,1628892670.318 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:11:10.319Z,1628892670.319 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:11:10.693Z,1628892670.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,006DF,189,80,80,92,FF
2021-08-13T22:11:10.693Z,1628892670.693 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:11:10.693Z,1628892670.693 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:11:10.695Z,1628892670.695 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:11:11.121Z,1628892671.121 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:11:11.505Z,1628892671.505 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,006C7,189,80,80,B4,FF
2021-08-13T22:11:11.505Z,1628892671.505 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:11:11.967Z,1628892671.967 [Micromodem](INFO): Nmea in: $SNTTA,0.076492,,,,221112.24*4B

2021-08-13T22:11:12.011Z,1628892672.011 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 66.599998 m, bearing: 202.671479 deg, deltaT: 4.499269 s, approachRate: -0.320053 m/s, LOS rate: -1.077554 deg/s, posRepo size: 4
2021-08-13T22:11:12.013Z,1628892672.013 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 66.599998 m,
      bearing: 202.671479 deg,
      approachRate: -0.320053 m/s,
      LOS rate: -1.077554 deg/s,
      cmd update: -3.232662 deg/s,
      cmd heading: 138.235107 deg,
      new cmd heading: 138.944166 deg.

2021-08-13T22:11:14.399Z,1628892674.399 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:11:14.742Z,1628892674.742 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:11:14.742Z,1628892674.742 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:11:14.742Z,1628892674.742 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:11:14.743Z,1628892674.743 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:11:15.146Z,1628892675.146 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,006C7,189,80,80,B4,FF
2021-08-13T22:11:15.146Z,1628892675.146 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:11:15.146Z,1628892675.146 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:11:15.149Z,1628892675.149 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:11:15.565Z,1628892675.565 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:11:15.958Z,1628892675.958 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,006B1,189,80,80,A5,FF
2021-08-13T22:11:15.958Z,1628892675.958 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:11:16.378Z,1628892676.378 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 65.280006 m, bearing: 206.925813 deg, deltaT: 4.474070 s, approachRate: -0.295032 m/s, LOS rate: 0.950887 deg/s, posRepo size: 4
2021-08-13T22:11:16.380Z,1628892676.380 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 65.280006 m,
      bearing: 206.925813 deg,
      approachRate: -0.295032 m/s,
      LOS rate: 0.950887 deg/s,
      cmd update: 2.852660 deg/s,
      cmd heading: 123.756154 deg,
      new cmd heading: 122.711707 deg.

2021-08-13T22:11:18.830Z,1628892678.830 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:11:19.191Z,1628892679.191 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:11:19.191Z,1628892679.191 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:11:19.192Z,1628892679.192 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:11:19.193Z,1628892679.193 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:11:19.594Z,1628892679.594 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,006B1,189,80,80,A5,FF
2021-08-13T22:11:19.594Z,1628892679.594 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:11:19.594Z,1628892679.594 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:11:19.596Z,1628892679.596 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:11:19.996Z,1628892679.996 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:11:20.402Z,1628892680.402 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,0069D,189,80,80,97,FF
2021-08-13T22:11:20.403Z,1628892680.403 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:11:20.826Z,1628892680.826 [Micromodem](INFO): Nmea in: $SNTTA,0.056922,,,,221121.13*4B

2021-08-13T22:11:20.902Z,1628892680.902 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 64.080009 m, bearing: 199.093894 deg, deltaT: 4.416459 s, approachRate: -0.271710 m/s, LOS rate: -1.773348 deg/s, posRepo size: 4
2021-08-13T22:11:20.909Z,1628892680.909 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 64.080009 m,
      bearing: 199.093894 deg,
      approachRate: -0.271710 m/s,
      LOS rate: -1.773348 deg/s,
      cmd update: -5.320044 deg/s,
      cmd heading: 136.331672 deg,
      new cmd heading: 137.584675 deg.

2021-08-13T22:11:23.285Z,1628892683.285 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:11:23.621Z,1628892683.621 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:11:23.621Z,1628892683.621 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:11:23.621Z,1628892683.621 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:11:23.622Z,1628892683.622 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:11:24.032Z,1628892684.032 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,0069D,189,80,80,97,FF
2021-08-13T22:11:24.033Z,1628892684.033 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:11:24.033Z,1628892684.033 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:11:24.034Z,1628892684.034 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:11:24.463Z,1628892684.463 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:11:24.841Z,1628892684.841 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,0068E,18A,80,80,A2,FF
2021-08-13T22:11:24.841Z,1628892684.841 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:11:24.937Z,1628892684.937 [CTD_Seabird](ERROR): Failed to parse device response: .34
2021-08-13T22:11:25.249Z,1628892685.249 [Micromodem](INFO): Nmea in: $SNTTA,0.068793,0.375569,,,221125.57*53

2021-08-13T22:11:25.272Z,1628892685.272 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 63.180004 m, bearing: 202.852042 deg, deltaT: 4.454335 s, approachRate: -0.202052 m/s, LOS rate: 0.843706 deg/s, posRepo size: 4
2021-08-13T22:11:25.274Z,1628892685.274 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 63.180004 m,
      bearing: 202.852042 deg,
      approachRate: -0.202052 m/s,
      LOS rate: 0.843706 deg/s,
      cmd update: 2.531117 deg/s,
      cmd heading: 112.665346 deg,
      new cmd heading: 110.750886 deg.

2021-08-13T22:11:27.694Z,1628892687.694 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:11:28.065Z,1628892688.065 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:11:28.065Z,1628892688.065 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:11:28.065Z,1628892688.065 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:11:28.066Z,1628892688.066 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:11:28.497Z,1628892688.497 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,0068E,18A,80,80,A2,FF
2021-08-13T22:11:28.498Z,1628892688.498 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:11:28.498Z,1628892688.498 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:11:28.499Z,1628892688.499 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:11:28.883Z,1628892688.883 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:11:29.277Z,1628892689.277 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DFF,000,00684,186,80,80,BB,FF
2021-08-13T22:11:29.277Z,1628892689.277 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:11:29.706Z,1628892689.706 [Micromodem](INFO): Nmea in: $SNTTA,,,,,221130.04*59

2021-08-13T22:11:29.769Z,1628892689.769 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 62.580006 m, bearing: 151.567977 deg, deltaT: 4.406849 s, approachRate: -0.136151 m/s, LOS rate: -11.637355 deg/s, posRepo size: 4
2021-08-13T22:11:29.770Z,1628892689.770 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -11.637355 deg/s. Setting heading cmd to target bearing of 151.567977deg and heading rate command to 0 deg/s.
2021-08-13T22:11:32.147Z,1628892692.147 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:11:32.513Z,1628892692.513 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:11:32.513Z,1628892692.513 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:11:32.513Z,1628892692.513 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:11:32.514Z,1628892692.514 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:11:32.929Z,1628892692.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DFF,000,00684,186,80,80,BB,FF
2021-08-13T22:11:32.929Z,1628892692.929 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:11:32.929Z,1628892692.929 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:11:32.931Z,1628892692.931 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:11:33.321Z,1628892693.321 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:11:33.725Z,1628892693.725 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E44,000,00684,186,80,80,C8,FF
2021-08-13T22:11:33.725Z,1628892693.725 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:11:34.158Z,1628892694.158 [Micromodem](INFO): Nmea in: $SNTTA,,,,,221134.50*5C

2021-08-13T22:11:34.205Z,1628892694.205 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 62.580006 m, bearing: 151.760082 deg, deltaT: 4.465048 s, approachRate: 0.000000 m/s, LOS rate: 0.043024 deg/s, posRepo size: 4
2021-08-13T22:11:34.207Z,1628892694.207 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 62.580006 m,
      bearing: 151.760082 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.043024 deg/s,
      cmd update: 0.129073 deg/s,
      cmd heading: 151.567977 deg,
      new cmd heading: 151.567977 deg.

2021-08-13T22:11:36.582Z,1628892696.582 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:11:36.953Z,1628892696.953 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:11:36.953Z,1628892696.953 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:11:36.953Z,1628892696.953 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:11:36.954Z,1628892696.954 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:11:37.354Z,1628892697.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E44,000,00684,186,80,80,C8,FF
2021-08-13T22:11:37.354Z,1628892697.354 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:11:37.354Z,1628892697.354 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:11:37.355Z,1628892697.355 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:11:37.764Z,1628892697.764 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:11:38.169Z,1628892698.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C9C,000,0067B,189,80,80,9F,FF
2021-08-13T22:11:38.169Z,1628892698.169 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:11:38.605Z,1628892698.605 [Micromodem](INFO): Nmea in: $SNTTA,,,,,221138.89*54

2021-08-13T22:11:38.646Z,1628892698.646 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 62.039997 m, bearing: 189.135656 deg, deltaT: 4.464018 s, approachRate: -0.120969 m/s, LOS rate: 8.372630 deg/s, posRepo size: 4
2021-08-13T22:11:38.648Z,1628892698.648 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 62.039997 m,
      bearing: 189.135656 deg,
      approachRate: -0.120969 m/s,
      LOS rate: 8.372630 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 152.147384 deg,
      new cmd heading: 152.197015 deg.

2021-08-13T22:11:40.609Z,1628892700.609 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T22:11:41.018Z,1628892701.018 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:11:41.432Z,1628892701.432 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:11:41.432Z,1628892701.432 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:11:41.433Z,1628892701.433 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:11:41.435Z,1628892701.435 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:11:41.829Z,1628892701.829 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C9C,000,0067B,189,80,80,9F,FF
2021-08-13T22:11:41.830Z,1628892701.830 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:11:41.830Z,1628892701.830 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:11:41.844Z,1628892701.844 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:11:42.219Z,1628892702.219 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:11:42.606Z,1628892702.606 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,00664,189,80,80,B7,FF
2021-08-13T22:11:42.606Z,1628892702.606 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:11:43.032Z,1628892703.032 [Micromodem](INFO): Nmea in: $SNTTA,0.066743,,,,221143.38*4C

2021-08-13T22:11:43.079Z,1628892703.079 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 60.660000 m, bearing: 226.876263 deg, deltaT: 4.400235 s, approachRate: -0.313619 m/s, LOS rate: 8.576953 deg/s, posRepo size: 4
2021-08-13T22:11:43.082Z,1628892703.082 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 60.660000 m,
      bearing: 226.876263 deg,
      approachRate: -0.313619 m/s,
      LOS rate: 8.576953 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 204.948873 deg,
      new cmd heading: 209.963986 deg.

2021-08-13T22:11:45.511Z,1628892705.511 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T22:11:45.528Z,1628892705.528 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:11:45.882Z,1628892705.882 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:11:45.882Z,1628892705.882 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:11:45.883Z,1628892705.883 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:11:45.884Z,1628892705.884 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:11:46.245Z,1628892706.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,00664,189,80,80,B7,FF
2021-08-13T22:11:46.245Z,1628892706.245 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:11:46.245Z,1628892706.245 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:11:46.247Z,1628892706.247 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:11:46.652Z,1628892706.652 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:11:47.057Z,1628892707.057 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D29,000,00647,189,80,80,9F,FF
2021-08-13T22:11:47.057Z,1628892707.057 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:11:47.510Z,1628892707.510 [Micromodem](INFO): Nmea in: $SNTTA,,,,,221147.79*53

2021-08-13T22:11:47.536Z,1628892707.536 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.920006 m, bearing: 218.700513 deg, deltaT: 4.439347 s, approachRate: -0.391948 m/s, LOS rate: -1.841656 deg/s, posRepo size: 4
2021-08-13T22:11:47.538Z,1628892707.538 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 58.920006 m,
      bearing: 218.700513 deg,
      approachRate: -0.391948 m/s,
      LOS rate: -1.841656 deg/s,
      cmd update: -5.524968 deg/s,
      cmd heading: 257.951627 deg,
      new cmd heading: 263.443415 deg.

2021-08-13T22:11:49.950Z,1628892709.950 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:11:50.285Z,1628892710.285 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:11:50.285Z,1628892710.285 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:11:50.285Z,1628892710.285 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:11:50.286Z,1628892710.286 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:11:50.695Z,1628892710.695 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D29,000,00647,189,80,80,9F,FF
2021-08-13T22:11:50.695Z,1628892710.695 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:11:50.696Z,1628892710.696 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:11:50.700Z,1628892710.700 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:11:51.101Z,1628892711.101 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:11:51.499Z,1628892711.499 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DFB,000,00621,187,80,80,7C,FF
2021-08-13T22:11:51.499Z,1628892711.499 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:11:51.508Z,1628892711.508 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T22:11:51.946Z,1628892711.946 [Micromodem](INFO): Nmea in: $SNTTA,,,,,221152.24*5F

2021-08-13T22:11:51.981Z,1628892711.981 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 56.640007 m, bearing: 228.521792 deg, deltaT: 4.443356 s, approachRate: -0.513125 m/s, LOS rate: 2.210329 deg/s, posRepo size: 4
2021-08-13T22:11:51.983Z,1628892711.983 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 56.640007 m,
      bearing: 228.521792 deg,
      approachRate: -0.513125 m/s,
      LOS rate: 2.210329 deg/s,
      cmd update: 6.630987 deg/s,
      cmd heading: 233.406245 deg,
      new cmd heading: 230.868008 deg.

2021-08-13T22:11:54.350Z,1628892714.350 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:11:54.745Z,1628892714.745 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:11:54.745Z,1628892714.745 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:11:54.745Z,1628892714.745 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:11:54.746Z,1628892714.746 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:11:55.150Z,1628892715.150 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DFB,000,00621,187,80,80,7C,FF
2021-08-13T22:11:55.150Z,1628892715.150 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:11:55.151Z,1628892715.151 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:11:55.168Z,1628892715.168 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:11:55.545Z,1628892715.545 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:11:55.578Z,1628892715.578 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T22:11:55.941Z,1628892715.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FDC,000,005F3,184,80,80,66,FF
2021-08-13T22:11:55.941Z,1628892715.941 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:11:56.371Z,1628892716.371 [Micromodem](INFO): Nmea in: $SNTTA,,,,,221156.73*59

2021-08-13T22:11:56.459Z,1628892716.459 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.880001 m, bearing: 226.490685 deg, deltaT: 4.457587 s, approachRate: -0.619170 m/s, LOS rate: -0.455652 deg/s, posRepo size: 4
2021-08-13T22:11:56.463Z,1628892716.463 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 53.880001 m,
      bearing: 226.490685 deg,
      approachRate: -0.619170 m/s,
      LOS rate: -0.455652 deg/s,
      cmd update: -1.366955 deg/s,
      cmd heading: 263.092618 deg,
      new cmd heading: 265.996234 deg.

2021-08-13T22:11:58.825Z,1628892718.825 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:11:59.181Z,1628892719.181 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:11:59.181Z,1628892719.181 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:11:59.181Z,1628892719.181 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:11:59.182Z,1628892719.182 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:11:59.573Z,1628892719.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FDC,000,005F3,184,80,80,66,FF
2021-08-13T22:11:59.573Z,1628892719.573 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:11:59.574Z,1628892719.574 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:11:59.575Z,1628892719.575 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:11:59.984Z,1628892719.984 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:12:00.389Z,1628892720.389 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1EE,000,005C6,187,80,80,9B,FF
2021-08-13T22:12:00.389Z,1628892720.389 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:12:00.825Z,1628892720.825 [Micromodem](INFO): Nmea in: $SNTTA,0.042136,,,,221201.11*40

2021-08-13T22:12:00.863Z,1628892720.863 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.180000 m, bearing: 220.729161 deg, deltaT: 4.471857 s, approachRate: -0.603776 m/s, LOS rate: -1.288396 deg/s, posRepo size: 4
2021-08-13T22:12:00.867Z,1628892720.867 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 51.180000 m,
      bearing: 220.729161 deg,
      approachRate: -0.603776 m/s,
      LOS rate: -1.288396 deg/s,
      cmd update: -3.865189 deg/s,
      cmd heading: 256.974395 deg,
      new cmd heading: 256.443307 deg.

2021-08-13T22:12:03.230Z,1628892723.230 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:12:03.625Z,1628892723.625 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:12:03.626Z,1628892723.626 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:12:03.626Z,1628892723.626 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:12:03.627Z,1628892723.627 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:12:04.021Z,1628892724.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1EE,000,005C6,187,80,80,9B,FF
2021-08-13T22:12:04.021Z,1628892724.021 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:12:04.021Z,1628892724.021 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:12:04.023Z,1628892724.023 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:12:04.455Z,1628892724.455 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:12:04.841Z,1628892724.841 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,394,000,005A7,188,80,80,AA,FF
2021-08-13T22:12:04.841Z,1628892724.841 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:12:05.270Z,1628892725.270 [Micromodem](INFO): Nmea in: $SNTTA,0.060486,,,,221205.56*49

2021-08-13T22:12:05.286Z,1628892725.286 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.320000 m, bearing: 216.173602 deg, deltaT: 4.428337 s, approachRate: -0.420022 m/s, LOS rate: -1.028729 deg/s, posRepo size: 4
2021-08-13T22:12:05.288Z,1628892725.288 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 49.320000 m,
      bearing: 216.173602 deg,
      approachRate: -0.420022 m/s,
      LOS rate: -1.028729 deg/s,
      cmd update: -3.086187 deg/s,
      cmd heading: 239.858110 deg,
      new cmd heading: 238.375177 deg.

2021-08-13T22:12:07.701Z,1628892727.701 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:12:08.069Z,1628892728.069 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:12:08.069Z,1628892728.069 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:12:08.069Z,1628892728.069 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:12:08.070Z,1628892728.070 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:12:08.505Z,1628892728.505 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
394,000,005A7,188,80,80,AA,FF
2021-08-13T22:12:08.505Z,1628892728.505 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:12:08.505Z,1628892728.505 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:12:08.507Z,1628892728.507 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:12:08.875Z,1628892728.875 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:12:09.278Z,1628892729.278 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,304,000,0057A,189,80,80,73,FF
2021-08-13T22:12:09.278Z,1628892729.278 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:12:09.707Z,1628892729.707 [Micromodem](INFO): Nmea in: $SNTTA,,,,,221210.05*59

2021-08-13T22:12:09.733Z,1628892729.733 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.619999 m, bearing: 218.110480 deg, deltaT: 4.389522 s, approachRate: -0.615101 m/s, LOS rate: 0.441250 deg/s, posRepo size: 4
2021-08-13T22:12:09.735Z,1628892729.735 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 46.619999 m,
      bearing: 218.110480 deg,
      approachRate: -0.615101 m/s,
      LOS rate: 0.441250 deg/s,
      cmd update: 1.323751 deg/s,
      cmd heading: 226.298776 deg,
      new cmd heading: 224.949272 deg.

2021-08-13T22:12:10.529Z,1628892730.529 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T22:12:12.167Z,1628892732.167 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:12:12.506Z,1628892732.506 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:12:12.507Z,1628892732.507 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:12:12.507Z,1628892732.507 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:12:12.508Z,1628892732.508 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:12:12.921Z,1628892732.921 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
304,000,0057A,189,80,80,73,FF
2021-08-13T22:12:12.921Z,1628892732.921 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:12:12.921Z,1628892732.921 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:12:12.923Z,1628892732.923 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:12:13.316Z,1628892733.316 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:12:13.726Z,1628892733.726 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1BD,000,00548,186,80,80,A2,FF
2021-08-13T22:12:13.727Z,1628892733.727 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:12:14.161Z,1628892734.161 [Micromodem](INFO): Nmea in: $SNTTA,0.179625,,,,221214.46*4A

2021-08-13T22:12:14.232Z,1628892734.232 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.619995 m, bearing: 216.985589 deg, deltaT: 4.457774 s, approachRate: -0.672982 m/s, LOS rate: -0.252344 deg/s, posRepo size: 4
2021-08-13T22:12:14.234Z,1628892734.234 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 43.619995 m,
      bearing: 216.985589 deg,
      approachRate: -0.672982 m/s,
      LOS rate: -0.252344 deg/s,
      cmd update: -0.757031 deg/s,
      cmd heading: 232.199800 deg,
      new cmd heading: 232.827999 deg.

2021-08-13T22:12:15.753Z,1628892735.753 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T22:12:16.587Z,1628892736.587 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:12:16.957Z,1628892736.957 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:12:16.957Z,1628892736.957 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:12:16.957Z,1628892736.957 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:12:16.958Z,1628892736.958 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:12:17.354Z,1628892737.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1BD,000,00548,186,80,80,A2,FF
2021-08-13T22:12:17.354Z,1628892737.354 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:12:17.354Z,1628892737.354 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:12:17.355Z,1628892737.355 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:12:17.760Z,1628892737.760 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:12:18.169Z,1628892738.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1CD,000,00518,186,80,80,6A,FF
2021-08-13T22:12:18.170Z,1628892738.170 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:12:18.173Z,1628892738.173 [Micromodem](INFO): Nmea in: $SNTTA,0.038485,0.134905,,,221218.90*55

2021-08-13T22:12:18.626Z,1628892738.626 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.739998 m, bearing: 212.835074 deg, deltaT: 4.502185 s, approachRate: -0.639689 m/s, LOS rate: -0.921889 deg/s, posRepo size: 4
2021-08-13T22:12:18.632Z,1628892738.632 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 40.739998 m,
      bearing: 212.835074 deg,
      approachRate: -0.639689 m/s,
      LOS rate: -0.921889 deg/s,
      cmd update: -2.765667 deg/s,
      cmd heading: 228.797118 deg,
      new cmd heading: 228.511379 deg.

2021-08-13T22:12:20.607Z,1628892740.607 [RDI_PathfinderUp](ERROR): only read 0 of 4 data items
2021-08-13T22:12:21.011Z,1628892741.011 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:12:21.393Z,1628892741.393 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:12:21.393Z,1628892741.393 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:12:21.393Z,1628892741.393 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:12:21.394Z,1628892741.394 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:12:21.805Z,1628892741.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1CD,000,00518,186,80,80,6A,FF
2021-08-13T22:12:21.805Z,1628892741.805 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:12:21.806Z,1628892741.806 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:12:21.840Z,1628892741.840 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:12:22.225Z,1628892742.225 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:12:22.613Z,1628892742.613 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1E3,000,004E8,187,80,80,99,FF
2021-08-13T22:12:22.614Z,1628892742.614 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:12:23.035Z,1628892743.035 [Micromodem](INFO): Nmea in: $SNTTA,0.041871,,,,221223.38*42

2021-08-13T22:12:23.077Z,1628892743.077 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.859997 m, bearing: 211.128018 deg, deltaT: 4.411496 s, approachRate: -0.652840 m/s, LOS rate: -0.386956 deg/s, posRepo size: 4
2021-08-13T22:12:23.078Z,1628892743.078 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 37.86 m.
2021-08-13T22:12:23.080Z,1628892743.080 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 37.859997 m,
      bearing: 211.128018 deg,
      approachRate: -0.652840 m/s,
      LOS rate: -0.386956 deg/s,
      cmd update: -1.160868 deg/s,
      cmd heading: 216.576127 deg,
      new cmd heading: 215.442293 deg.

2021-08-13T22:12:23.466Z,1628892743.466 [PowerOnly](INFO): Powering up loadControl
2021-08-13T22:12:23.525Z,1628892743.525 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-13T22:12:23.526Z,1628892743.526 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T22:12:23.526Z,1628892743.526 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-13T22:12:23.526Z,1628892743.526 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-13T22:12:23.527Z,1628892743.527 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-13T22:12:23.527Z,1628892743.527 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-13T22:12:23.906Z,1628892743.906 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-13T22:12:23.917Z,1628892743.917 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-13T22:12:23.917Z,1628892743.917 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T22:12:23.917Z,1628892743.917 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-13T22:12:23.918Z,1628892743.918 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T22:12:25.504Z,1628892745.504 [DDM](ERROR): Could not parse whisker state
2021-08-13T22:12:25.528Z,1628892745.528 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:12:25.878Z,1628892745.878 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:12:25.878Z,1628892745.878 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:12:25.878Z,1628892745.878 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:12:25.879Z,1628892745.879 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:12:26.249Z,1628892746.249 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1E3,000,004E8,187,80,80,99,FF
2021-08-13T22:12:26.249Z,1628892746.249 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:12:26.249Z,1628892746.249 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:12:26.254Z,1628892746.254 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:12:26.664Z,1628892746.664 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:12:27.056Z,1628892747.056 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0E8,000,002D7,186,80,80,8D,FF
2021-08-13T22:12:27.057Z,1628892747.057 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:12:27.113Z,1628892747.113 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:12:27.513Z,1628892747.513 [Micromodem](INFO): Nmea in: $SNTTA,,,,,221227.79*56

2021-08-13T22:12:27.553Z,1628892747.553 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 6.119999 m, bearing: 215.503957 deg, deltaT: 4.443316 s, approachRate: -7.143313 m/s, LOS rate: 0.984836 deg/s, posRepo size: 4
2021-08-13T22:12:27.554Z,1628892747.554 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 6.12 m.
2021-08-13T22:12:27.556Z,1628892747.556 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.119999 m,
      bearing: 215.503957 deg,
      approachRate: -7.143313 m/s,
      LOS rate: 0.984836 deg/s,
      cmd update: 2.954508 deg/s,
      cmd heading: 211.423171 deg,
      new cmd heading: 210.904348 deg.

2021-08-13T22:12:29.950Z,1628892749.950 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:12:30.299Z,1628892750.299 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:12:30.299Z,1628892750.299 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:12:30.299Z,1628892750.299 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:12:30.300Z,1628892750.300 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:12:30.705Z,1628892750.705 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0E8,000,002D7,186,80,80,8D,FF
2021-08-13T22:12:30.705Z,1628892750.705 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:12:30.705Z,1628892750.705 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:12:30.706Z,1628892750.706 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:12:30.742Z,1628892750.742 [RDI_PathfinderUp](ERROR): only read 1 of 4 data items
2021-08-13T22:12:31.105Z,1628892751.105 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:12:31.505Z,1628892751.505 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A8,000,00482,186,80,80,86,FF
2021-08-13T22:12:31.505Z,1628892751.505 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:12:31.592Z,1628892751.592 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:12:31.949Z,1628892751.949 [Micromodem](INFO): Nmea in: $SNTTA,,,,,221232.25*5B

2021-08-13T22:12:31.997Z,1628892751.997 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.740002 m, bearing: 213.377910 deg, deltaT: 4.479190 s, approachRate: 5.719785 m/s, LOS rate: -0.474650 deg/s, posRepo size: 4
2021-08-13T22:12:31.997Z,1628892751.997 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 31.74 m.
2021-08-13T22:12:31.000Z,1628892752.000 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 31.740002 m,
      bearing: 213.377910 deg,
      approachRate: 5.719785 m/s,
      LOS rate: -0.474650 deg/s,
      cmd update: -1.423949 deg/s,
      cmd heading: 224.644714 deg,
      new cmd heading: 225.873016 deg.

2021-08-13T22:12:34.342Z,1628892754.342 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:12:34.811Z,1628892754.811 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:12:34.811Z,1628892754.811 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:12:34.811Z,1628892754.811 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:12:34.812Z,1628892754.812 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:12:35.133Z,1628892755.133 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0A8,000,00482,186,80,80,86,FF
2021-08-13T22:12:35.133Z,1628892755.133 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:12:35.133Z,1628892755.133 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:12:35.135Z,1628892755.135 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:12:35.565Z,1628892755.565 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:12:35.937Z,1628892755.937 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1AC,000,00453,186,80,80,96,FF
2021-08-13T22:12:35.937Z,1628892755.937 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:12:36.001Z,1628892756.001 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:12:36.386Z,1628892756.386 [Micromodem](INFO): Nmea in: $SNTTA,,,,,221236.67*59

2021-08-13T22:12:36.453Z,1628892756.453 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.920000 m, bearing: 206.272997 deg, deltaT: 4.408850 s, approachRate: -0.639623 m/s, LOS rate: -1.611512 deg/s, posRepo size: 4
2021-08-13T22:12:36.453Z,1628892756.453 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 28.92 m.
2021-08-13T22:12:36.455Z,1628892756.455 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 28.920000 m,
      bearing: 206.272997 deg,
      approachRate: -0.639623 m/s,
      LOS rate: -1.611512 deg/s,
      cmd update: -4.834535 deg/s,
      cmd heading: 218.355262 deg,
      new cmd heading: 217.745084 deg.

2021-08-13T22:12:38.813Z,1628892758.813 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:12:39.173Z,1628892759.173 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:12:39.173Z,1628892759.173 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:12:39.173Z,1628892759.173 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:12:39.174Z,1628892759.174 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:12:39.578Z,1628892759.578 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1AC,000,00453,186,80,80,96,FF
2021-08-13T22:12:39.578Z,1628892759.578 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:12:39.578Z,1628892759.578 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:12:39.581Z,1628892759.581 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:12:39.988Z,1628892759.988 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:12:40.405Z,1628892760.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,179,000,00427,186,80,80,92,FF
2021-08-13T22:12:40.406Z,1628892760.406 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:12:40.498Z,1628892760.498 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:12:40.829Z,1628892760.829 [Micromodem](INFO): Nmea in: $SNTTA,,,,,221241.12*5B

2021-08-13T22:12:40.876Z,1628892760.876 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.280003 m, bearing: 206.500716 deg, deltaT: 4.496838 s, approachRate: -0.587079 m/s, LOS rate: 0.050640 deg/s, posRepo size: 4
2021-08-13T22:12:40.877Z,1628892760.877 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 26.28 m.
2021-08-13T22:12:40.877Z,1628892760.877 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 26.28 m.
2021-08-13T22:12:40.878Z,1628892760.878 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-13T22:12:40.885Z,1628892760.885 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 26.280003 m,
      bearing: 206.500716 deg,
      approachRate: -0.587079 m/s,
      LOS rate: 0.050640 deg/s,
      cmd update: 0.151919 deg/s,
      cmd heading: 196.638086 deg,
      new cmd heading: 194.870686 deg.

2021-08-13T22:12:43.235Z,1628892763.235 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:12:43.613Z,1628892763.613 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:12:43.613Z,1628892763.613 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:12:43.613Z,1628892763.613 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:12:43.614Z,1628892763.614 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:12:44.029Z,1628892764.029 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
179,000,00427,186,80,80,92,FF
2021-08-13T22:12:44.029Z,1628892764.029 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:12:44.029Z,1628892764.029 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:12:44.031Z,1628892764.031 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:12:44.461Z,1628892764.461 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:12:45.269Z,1628892765.269 [Micromodem](INFO): Nmea in: $SNTTA,,,,,221245.57*5E

2021-08-13T22:12:45.650Z,1628892765.650 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T22:12:46.128Z,1628892766.128 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:12:47.653Z,1628892767.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
7,186,80,80,92,FF
2021-08-13T22:12:47.653Z,1628892767.653 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
7,186,80,80,92,FF
2021-08-13T22:12:47.653Z,1628892767.653 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T22:12:48.906Z,1628892768.906 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:12:49.269Z,1628892769.269 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:12:49.269Z,1628892769.269 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:12:49.269Z,1628892769.269 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:12:49.270Z,1628892769.270 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:12:49.681Z,1628892769.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
7,186,80,80,92,FF
2021-08-13T22:12:49.681Z,1628892769.681 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:12:49.681Z,1628892769.681 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:12:49.683Z,1628892769.683 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:12:50.088Z,1628892770.088 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:12:50.533Z,1628892770.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F43,000,003CC,186,80,80,57,FF
2021-08-13T22:12:50.533Z,1628892770.533 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:12:50.547Z,1628892770.547 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-13T22:12:50.587Z,1628892770.587 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:12:50.932Z,1628892770.932 [Micromodem](INFO): Nmea in: $SNTTA,,,,,221251.22*59

2021-08-13T22:12:50.962Z,1628892770.962 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.820002 m, bearing: 209.794834 deg, deltaT: 10.093374 s, approachRate: -0.540949 m/s, LOS rate: 0.326364 deg/s, posRepo size: 4
2021-08-13T22:12:50.966Z,1628892770.966 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 20.820002 m,
      bearing: 209.794834 deg,
      approachRate: -0.540949 m/s,
      LOS rate: 0.326364 deg/s,
      cmd update: 0.979093 deg/s,
      cmd heading: 198.170940 deg,
      new cmd heading: 198.228812 deg.

2021-08-13T22:12:53.327Z,1628892773.327 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:12:53.728Z,1628892773.728 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:12:53.728Z,1628892773.728 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:12:53.728Z,1628892773.728 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:12:53.729Z,1628892773.729 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:12:54.121Z,1628892774.121 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F43,000,003CC,186,80,80,57,FF
2021-08-13T22:12:54.121Z,1628892774.121 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:12:54.121Z,1628892774.121 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:12:54.123Z,1628892774.123 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:12:54.533Z,1628892774.533 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:12:54.933Z,1628892774.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FBE,000,00390,184,80,80,93,FF
2021-08-13T22:12:54.933Z,1628892774.933 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:12:54.984Z,1628892774.984 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:12:55.377Z,1628892775.377 [Micromodem](INFO): Nmea in: $SNTTA,,,,,221255.66*5D

2021-08-13T22:12:55.438Z,1628892775.438 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.219997 m, bearing: 207.448227 deg, deltaT: 4.392567 s, approachRate: -0.819567 m/s, LOS rate: -0.534222 deg/s, posRepo size: 4
2021-08-13T22:12:55.479Z,1628892775.479 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.219997 m,
      bearing: 207.448227 deg,
      approachRate: -0.819567 m/s,
      LOS rate: -0.534222 deg/s,
      cmd update: -1.602667 deg/s,
      cmd heading: 202.477103 deg,
      new cmd heading: 202.893966 deg.

2021-08-13T22:12:57.790Z,1628892777.790 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:12:58.165Z,1628892778.165 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:12:58.166Z,1628892778.166 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:12:58.166Z,1628892778.166 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:12:58.167Z,1628892778.167 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:12:58.561Z,1628892778.561 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FBE,000,00390,184,80,80,93,FF
2021-08-13T22:12:58.561Z,1628892778.561 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:12:58.561Z,1628892778.561 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:12:58.563Z,1628892778.563 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:12:58.968Z,1628892778.968 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:12:59.369Z,1628892779.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FEF,000,0036B,183,80,80,63,FF
2021-08-13T22:12:59.370Z,1628892779.370 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:12:59.451Z,1628892779.451 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:12:59.818Z,1628892779.818 [Micromodem](INFO): Nmea in: $SNTTA,,,,,221300.10*5D

2021-08-13T22:12:59.911Z,1628892779.911 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.000000 m, bearing: 206.825259 deg, deltaT: 4.471566 s, approachRate: -0.496470 m/s, LOS rate: -0.139318 deg/s, posRepo size: 4
2021-08-13T22:12:59.914Z,1628892779.914 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.000000 m,
      bearing: 206.825259 deg,
      approachRate: -0.496470 m/s,
      LOS rate: -0.139318 deg/s,
      cmd update: -0.417953 deg/s,
      cmd heading: 195.360470 deg,
      new cmd heading: 194.570368 deg.

2021-08-13T22:13:02.271Z,1628892782.271 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:13:02.614Z,1628892782.614 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:13:02.614Z,1628892782.614 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:13:02.614Z,1628892782.614 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:13:02.615Z,1628892782.615 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:13:03.005Z,1628892783.005 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FEF,000,0036B,183,80,80,63,FF
2021-08-13T22:13:03.005Z,1628892783.005 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:13:03.005Z,1628892783.005 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:13:03.007Z,1628892783.007 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:13:03.449Z,1628892783.449 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:13:03.845Z,1628892783.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F4D,000,00335,187,80,80,67,FF
2021-08-13T22:13:03.846Z,1628892783.846 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:13:03.979Z,1628892783.979 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:13:04.263Z,1628892784.263 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.759997 m, bearing: 208.031566 deg, deltaT: 4.523056 s, approachRate: -0.716330 m/s, LOS rate: 0.266702 deg/s, posRepo size: 4
2021-08-13T22:13:04.265Z,1628892784.265 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.759997 m,
      bearing: 208.031566 deg,
      approachRate: -0.716330 m/s,
      LOS rate: 0.266702 deg/s,
      cmd update: 0.800105 deg/s,
      cmd heading: 193.457603 deg,
      new cmd heading: 193.335827 deg.

2021-08-13T22:13:06.674Z,1628892786.674 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:13:07.058Z,1628892787.058 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:13:07.058Z,1628892787.058 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:13:07.059Z,1628892787.059 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:13:07.059Z,1628892787.059 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:13:07.501Z,1628892787.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F4D,000,00335,187,80,80,67,FF
2021-08-13T22:13:07.501Z,1628892787.501 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:13:07.501Z,1628892787.501 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:13:07.503Z,1628892787.503 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:13:07.900Z,1628892787.900 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:13:09.070Z,1628892789.070 [Micromodem](INFO): Nmea in: $SNTTA,,,,,221309.04*51

2021-08-13T22:13:09.539Z,1628892789.539 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:13:11.093Z,1628892791.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
5,187,80,80,67,FF
2021-08-13T22:13:11.094Z,1628892791.094 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
5,187,80,80,67,FF
2021-08-13T22:13:11.094Z,1628892791.094 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T22:13:12.326Z,1628892792.326 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:13:12.701Z,1628892792.701 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:13:12.701Z,1628892792.701 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:13:12.701Z,1628892792.701 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:13:12.702Z,1628892792.702 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:13:13.109Z,1628892793.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
5,187,80,80,67,FF
2021-08-13T22:13:13.109Z,1628892793.109 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:13:13.109Z,1628892793.109 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:13:13.111Z,1628892793.111 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:13:13.524Z,1628892793.524 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:13:13.932Z,1628892793.932 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F3D,000,002D5,186,80,80,BA,FF
2021-08-13T22:13:13.933Z,1628892793.933 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:13:13.972Z,1628892793.972 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:13:14.365Z,1628892794.365 [Micromodem](INFO): Nmea in: $SNTTA,0.029772,,,,221314.65*4D

2021-08-13T22:13:14.388Z,1628892794.388 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.999998 m, bearing: 212.595990 deg, deltaT: 9.993563 s, approachRate: -0.576371 m/s, LOS rate: 0.456736 deg/s, posRepo size: 4
2021-08-13T22:13:14.390Z,1628892794.390 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.999998 m,
      bearing: 212.595990 deg,
      approachRate: -0.576371 m/s,
      LOS rate: 0.456736 deg/s,
      cmd update: 1.370209 deg/s,
      cmd heading: 201.456630 deg,
      new cmd heading: 201.791573 deg.

2021-08-13T22:13:16.790Z,1628892796.790 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:13:17.149Z,1628892797.149 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:13:17.149Z,1628892797.149 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:13:17.150Z,1628892797.150 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:13:17.151Z,1628892797.151 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:13:17.556Z,1628892797.556 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F3D,000,002D5,186,80,80,BA,FF
2021-08-13T22:13:17.557Z,1628892797.557 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:13:17.557Z,1628892797.557 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:13:17.558Z,1628892797.558 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:13:17.956Z,1628892797.956 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:13:18.354Z,1628892798.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,225,000,002BF,188,80,80,8A,FF
2021-08-13T22:13:18.354Z,1628892798.354 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:13:18.379Z,1628892798.379 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:13:18.801Z,1628892798.801 [Micromodem](INFO): Nmea in: $SNTTA,0.023735,,,,221319.10*4B

2021-08-13T22:13:18.841Z,1628892798.841 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-08-13T22:13:18.841Z,1628892798.841 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-08-13T22:13:18.842Z,1628892798.842 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-08-13T22:13:18.842Z,1628892798.842 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-13T22:13:18.842Z,1628892798.842 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-08-13T22:13:18.843Z,1628892798.843 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.679999 m 
2021-08-13T22:13:18.843Z,1628892798.843 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-08-13T22:13:18.843Z,1628892798.843 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-08-13T22:13:18.843Z,1628892798.843 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-08-13T22:13:18.846Z,1628892798.846 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.679999 m, bearing: 179.193401 deg, deltaT: 4.406507 s, approachRate: -0.299557 m/s, LOS rate: -7.580287 deg/s, posRepo size: 4
2021-08-13T22:13:18.848Z,1628892798.848 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.679999 m,
      bearing: 179.193401 deg,
      approachRate: -0.299557 m/s,
      LOS rate: -7.580287 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 207.494891 deg,
      new cmd heading: 208.138748 deg.

2021-08-13T22:13:19.201Z,1628892799.201 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210813T221319: (41.552319, -70.708603)
2021-08-13T22:13:19.201Z,1628892799.201 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-08-13T22:13:19.201Z,1628892799.201 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-08-13T22:13:19.201Z,1628892799.201 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-13T22:13:19.201Z,1628892799.201 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-08-13T22:13:19.201Z,1628892799.201 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-13T22:13:19.201Z,1628892799.201 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-08-13T22:13:19.202Z,1628892799.202 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-08-13T22:13:19.202Z,1628892799.202 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-08-13T22:13:21.207Z,1628892801.207 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:13:21.595Z,1628892801.595 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:13:21.595Z,1628892801.595 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:13:21.595Z,1628892801.595 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:13:21.596Z,1628892801.596 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:13:21.993Z,1628892801.993 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
225,000,002BF,188,80,80,8A,FF
2021-08-13T22:13:21.993Z,1628892801.993 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:13:21.993Z,1628892801.993 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:13:21.995Z,1628892801.995 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:13:22.403Z,1628892802.403 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:13:22.811Z,1628892802.811 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F7F,000,002BA,186,80,80,B3,FF
2021-08-13T22:13:22.811Z,1628892802.811 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:13:22.872Z,1628892802.872 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:13:23.237Z,1628892803.237 [Micromodem](INFO): Nmea in: $SNTTA,0.062944,,,,221323.53*48

2021-08-13T22:13:23.273Z,1628892803.273 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.380000 m, bearing: 216.744988 deg, deltaT: 4.493837 s, approachRate: -0.066758 m/s, LOS rate: 8.356241 deg/s, posRepo size: 4
2021-08-13T22:13:23.275Z,1628892803.275 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.380000 m,
      bearing: 216.744988 deg,
      approachRate: -0.066758 m/s,
      LOS rate: 8.356241 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 153.701086 deg,
      new cmd heading: 148.732342 deg.

2021-08-13T22:13:25.657Z,1628892805.657 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:13:26.041Z,1628892806.041 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:13:26.041Z,1628892806.041 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:13:26.041Z,1628892806.041 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:13:26.042Z,1628892806.042 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:13:26.457Z,1628892806.457 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F7F,000,002BA,186,80,80,B3,FF
2021-08-13T22:13:26.458Z,1628892806.458 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:13:26.458Z,1628892806.458 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:13:26.459Z,1628892806.459 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:13:26.852Z,1628892806.852 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:13:27.253Z,1628892807.253 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F4E,000,002DF,187,80,80,5E,FF
2021-08-13T22:13:27.254Z,1628892807.254 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:13:27.274Z,1628892807.274 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:13:27.677Z,1628892807.677 [Micromodem](INFO): Nmea in: $SNTTA,0.033486,,,,221328.00*42

2021-08-13T22:13:27.703Z,1628892807.703 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 6.600000 m, bearing: 204.471671 deg, deltaT: 4.401145 s, approachRate: 0.504414 m/s, LOS rate: -2.788665 deg/s, posRepo size: 4
2021-08-13T22:13:27.705Z,1628892807.705 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.600000 m,
      bearing: 204.471671 deg,
      approachRate: 0.504414 m/s,
      LOS rate: -2.788665 deg/s,
      cmd update: -8.365994 deg/s,
      cmd heading: 206.647007 deg,
      new cmd heading: 211.833719 deg.

2021-08-13T22:13:30.150Z,1628892810.150 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:13:30.509Z,1628892810.509 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:13:30.509Z,1628892810.509 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:13:30.509Z,1628892810.509 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:13:30.510Z,1628892810.510 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:13:30.886Z,1628892810.886 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F4E,000,002DF,187,80,80,5E,FF
2021-08-13T22:13:30.886Z,1628892810.886 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:13:30.886Z,1628892810.886 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:13:30.889Z,1628892810.889 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:13:31.294Z,1628892811.294 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:13:31.693Z,1628892811.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F7E,000,00316,186,80,80,5D,FF
2021-08-13T22:13:31.693Z,1628892811.693 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:13:31.747Z,1628892811.747 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:13:32.137Z,1628892812.137 [Micromodem](INFO): Nmea in: $SNTTA,0.023407,,,,221332.43*46

2021-08-13T22:13:32.197Z,1628892812.197 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.899997 m, bearing: 190.971652 deg, deltaT: 4.490013 s, approachRate: 0.734964 m/s, LOS rate: -3.006677 deg/s, posRepo size: 4
2021-08-13T22:13:32.199Z,1628892812.199 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.899997 m,
      bearing: 190.971652 deg,
      approachRate: 0.734964 m/s,
      LOS rate: -3.006677 deg/s,
      cmd update: -9.020031 deg/s,
      cmd heading: 169.220060 deg,
      new cmd heading: 165.469108 deg.

2021-08-13T22:13:34.579Z,1628892814.579 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:13:34.925Z,1628892814.925 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:13:34.925Z,1628892814.925 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:13:34.925Z,1628892814.925 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:13:34.926Z,1628892814.926 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:13:35.325Z,1628892815.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F7E,000,00316,186,80,80,5D,FF
2021-08-13T22:13:35.325Z,1628892815.325 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:13:35.325Z,1628892815.325 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:13:35.327Z,1628892815.327 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:13:35.917Z,1628892815.917 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:13:36.165Z,1628892816.165 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,029,000,00330,185,80,80,5A,FF
2021-08-13T22:13:36.165Z,1628892816.165 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:13:36.220Z,1628892816.220 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:13:36.598Z,1628892816.598 [Micromodem](INFO): Nmea in: $SNTTA,,,,,221336.87*56

2021-08-13T22:13:36.624Z,1628892816.624 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.459998 m, bearing: 191.434548 deg, deltaT: 4.456364 s, approachRate: 0.350061 m/s, LOS rate: 0.103873 deg/s, posRepo size: 4
2021-08-13T22:13:36.626Z,1628892816.626 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.459998 m,
      bearing: 191.434548 deg,
      approachRate: 0.350061 m/s,
      LOS rate: 0.103873 deg/s,
      cmd update: 0.311619 deg/s,
      cmd heading: 128.950536 deg,
      new cmd heading: 125.209018 deg.

2021-08-13T22:13:39.004Z,1628892819.004 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:13:39.397Z,1628892819.397 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:13:39.397Z,1628892819.397 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:13:39.397Z,1628892819.397 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:13:39.398Z,1628892819.398 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:13:39.801Z,1628892819.801 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
029,000,00330,185,80,80,5A,FF
2021-08-13T22:13:39.801Z,1628892819.801 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:13:39.802Z,1628892819.802 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:13:39.807Z,1628892819.807 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:13:40.208Z,1628892820.208 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:13:40.613Z,1628892820.613 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,283,000,0035A,189,80,80,7C,FF
2021-08-13T22:13:40.614Z,1628892820.614 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:13:40.692Z,1628892820.692 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:13:41.037Z,1628892821.037 [Micromodem](INFO): Nmea in: $SNTTA,,,,,221341.35*5F

2021-08-13T22:13:41.059Z,1628892821.059 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.980000 m, bearing: 144.356212 deg, deltaT: 4.472240 s, approachRate: 0.563477 m/s, LOS rate: -10.526791 deg/s, posRepo size: 4
2021-08-13T22:13:41.080Z,1628892821.080 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 13.98 m. Rolling out.
2021-08-13T22:13:41.080Z,1628892821.080 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-08-13T22:13:41.497Z,1628892821.497 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2021-08-13T22:13:41.497Z,1628892821.497 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-13T22:13:41.498Z,1628892821.498 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2021-08-13T22:13:41.498Z,1628892821.498 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2021-08-13T22:13:41.498Z,1628892821.498 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2021-08-13T22:13:41.498Z,1628892821.498 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2021-08-13T22:13:41.498Z,1628892821.498 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-08-13T22:13:43.486Z,1628892823.486 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:13:43.864Z,1628892823.864 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:13:43.864Z,1628892823.864 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:13:43.864Z,1628892823.864 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:13:43.865Z,1628892823.865 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:13:44.241Z,1628892824.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
283,000,0035A,189,80,80,7C,FF
2021-08-13T22:13:44.241Z,1628892824.241 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:13:44.241Z,1628892824.241 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:13:44.243Z,1628892824.243 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:13:44.652Z,1628892824.652 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:13:45.045Z,1628892825.045 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,035,000,00382,185,80,80,64,FF
2021-08-13T22:13:45.045Z,1628892825.045 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:13:45.097Z,1628892825.097 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:13:45.505Z,1628892825.505 [Micromodem](INFO): Nmea in: $SNTTA,,,,,221345.78*52

2021-08-13T22:13:45.561Z,1628892825.561 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.380001 m, bearing: 159.292811 deg, deltaT: 4.404663 s, approachRate: 0.544877 m/s, LOS rate: 3.391088 deg/s, posRepo size: 4
2021-08-13T22:13:47.935Z,1628892827.935 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:13:48.277Z,1628892828.277 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:13:48.277Z,1628892828.277 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:13:48.277Z,1628892828.277 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:13:48.278Z,1628892828.278 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:13:48.681Z,1628892828.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
035,000,00382,185,80,80,64,FF
2021-08-13T22:13:48.681Z,1628892828.681 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:13:48.682Z,1628892828.682 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:13:48.683Z,1628892828.683 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:13:49.088Z,1628892829.088 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:13:49.493Z,1628892829.493 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,29B,000,00397,189,80,80,84,FF
2021-08-13T22:13:49.494Z,1628892829.494 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:13:49.544Z,1628892829.544 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:13:50.025Z,1628892830.025 [Micromodem](INFO): Nmea in: $SNTTA,,,,,221350.22*59

2021-08-13T22:13:50.077Z,1628892830.077 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.639997 m, bearing: 120.286093 deg, deltaT: 4.446798 s, approachRate: 0.283349 m/s, LOS rate: -8.771867 deg/s, posRepo size: 4
2021-08-13T22:13:52.335Z,1628892832.335 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:13:52.729Z,1628892832.729 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:13:52.729Z,1628892832.729 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:13:52.729Z,1628892832.729 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:13:52.730Z,1628892832.730 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:13:53.129Z,1628892833.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
29B,000,00397,189,80,80,84,FF
2021-08-13T22:13:53.130Z,1628892833.130 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:13:53.130Z,1628892833.130 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:13:53.131Z,1628892833.131 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:13:53.537Z,1628892833.537 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:13:53.937Z,1628892833.937 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,33D,000,003AF,189,80,80,77,FF
2021-08-13T22:13:53.937Z,1628892833.937 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:13:54.034Z,1628892834.034 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:13:54.365Z,1628892834.365 [Micromodem](INFO): Nmea in: $SNTTA,0.015036,,,,221354.67*43

2021-08-13T22:13:54.404Z,1628892834.404 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.079998 m, bearing: 104.173533 deg, deltaT: 4.489996 s, approachRate: 0.320713 m/s, LOS rate: -3.588546 deg/s, posRepo size: 4
2021-08-13T22:13:56.807Z,1628892836.807 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:13:57.161Z,1628892837.161 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:13:57.161Z,1628892837.161 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:13:57.162Z,1628892837.162 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:13:57.163Z,1628892837.163 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:13:57.581Z,1628892837.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
33D,000,003AF,189,80,80,77,FF
2021-08-13T22:13:57.582Z,1628892837.582 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:13:57.582Z,1628892837.582 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:13:57.583Z,1628892837.583 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:13:57.989Z,1628892837.989 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:13:58.013Z,1628892838.013 [PowerOnly](INFO): Powering down loadControl
2021-08-13T22:13:58.393Z,1628892838.393 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2EF,000,003B1,189,80,80,87,FF
2021-08-13T22:13:58.393Z,1628892838.393 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:13:58.461Z,1628892838.461 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:13:58.805Z,1628892838.805 [Micromodem](INFO): Nmea in: $SNTTA,,0.024316,,,221359.12*4F

2021-08-13T22:13:58.831Z,1628892838.831 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.199999 m, bearing: 103.901473 deg, deltaT: 4.427306 s, approachRate: 0.027105 m/s, LOS rate: -0.061450 deg/s, posRepo size: 4
2021-08-13T22:14:01.229Z,1628892841.229 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:14:01.613Z,1628892841.613 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:14:01.613Z,1628892841.613 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:14:01.614Z,1628892841.614 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:14:01.614Z,1628892841.614 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:14:02.009Z,1628892842.009 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2EF,000,003B1,189,80,80,87,FF
2021-08-13T22:14:02.009Z,1628892842.009 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:14:02.009Z,1628892842.009 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:14:02.011Z,1628892842.011 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:14:02.447Z,1628892842.447 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:14:03.242Z,1628892843.242 [Micromodem](INFO): Nmea in: $SNTTA,,,,,221403.55*58

2021-08-13T22:14:04.108Z,1628892844.108 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:14:05.653Z,1628892845.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
1,189,80,80,87,FF
2021-08-13T22:14:05.654Z,1628892845.654 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
1,189,80,80,87,FF
2021-08-13T22:14:05.654Z,1628892845.654 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T22:14:06.905Z,1628892846.905 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:14:07.274Z,1628892847.274 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:14:07.274Z,1628892847.274 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:14:07.274Z,1628892847.274 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:14:07.275Z,1628892847.275 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:14:07.688Z,1628892847.688 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
1,189,80,80,87,FF
2021-08-13T22:14:07.688Z,1628892847.688 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:14:07.689Z,1628892847.689 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:14:07.690Z,1628892847.690 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:14:08.086Z,1628892848.086 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:14:08.505Z,1628892848.505 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2F2,000,003C3,189,80,80,AF,FF
2021-08-13T22:14:08.505Z,1628892848.505 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:14:08.539Z,1628892848.539 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:14:08.902Z,1628892848.902 [Micromodem](INFO): Nmea in: $SNTTA,0.044931,,,,221409.23*46

2021-08-13T22:14:08.942Z,1628892848.942 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.280001 m, bearing: 99.581645 deg, deltaT: 10.077463 s, approachRate: 0.107170 m/s, LOS rate: -0.428662 deg/s, posRepo size: 4
2021-08-13T22:14:11.361Z,1628892851.361 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:14:11.733Z,1628892851.733 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:14:11.733Z,1628892851.733 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:14:11.733Z,1628892851.733 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:14:11.734Z,1628892851.734 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:14:12.123Z,1628892852.123 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2F2,000,003C3,189,80,80,AF,FF
2021-08-13T22:14:12.123Z,1628892852.123 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:14:12.123Z,1628892852.123 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:14:12.125Z,1628892852.125 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:14:12.524Z,1628892852.524 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:14:12.934Z,1628892852.934 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2D8,000,003C7,188,80,80,B0,FF
2021-08-13T22:14:12.934Z,1628892852.934 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:14:12.987Z,1628892852.987 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:14:13.361Z,1628892853.361 [Micromodem](INFO): Nmea in: $SNTTA,,,,,221413.66*59

2021-08-13T22:14:13.383Z,1628892853.383 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.519997 m, bearing: 94.627886 deg, deltaT: 4.448117 s, approachRate: 0.053955 m/s, LOS rate: -1.113675 deg/s, posRepo size: 4
2021-08-13T22:14:15.804Z,1628892855.804 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:14:16.149Z,1628892856.149 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:14:16.149Z,1628892856.149 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:14:16.150Z,1628892856.150 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:14:16.151Z,1628892856.151 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:14:16.561Z,1628892856.561 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2D8,000,003C7,188,80,80,B0,FF
2021-08-13T22:14:16.561Z,1628892856.561 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:14:16.561Z,1628892856.561 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:14:16.563Z,1628892856.563 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:14:16.969Z,1628892856.969 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:14:17.375Z,1628892857.375 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2D1,000,003CC,189,80,80,88,FF
2021-08-13T22:14:17.375Z,1628892857.375 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:14:17.402Z,1628892857.402 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:14:17.834Z,1628892857.834 [Micromodem](INFO): Nmea in: $SNTTA,0.049007,,,,221418.10*47

2021-08-13T22:14:17.929Z,1628892857.929 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.820002 m, bearing: 93.348332 deg, deltaT: 4.415418 s, approachRate: 0.067945 m/s, LOS rate: -0.289792 deg/s, posRepo size: 4
2021-08-13T22:14:20.271Z,1628892860.271 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:14:20.603Z,1628892860.603 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:14:20.603Z,1628892860.603 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:14:20.603Z,1628892860.603 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:14:20.604Z,1628892860.604 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:14:21.005Z,1628892861.005 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2D1,000,003CC,189,80,80,88,FF
2021-08-13T22:14:21.005Z,1628892861.005 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:14:21.005Z,1628892861.005 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:14:21.007Z,1628892861.007 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:14:21.412Z,1628892861.412 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:14:21.828Z,1628892861.828 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2D9,000,003D1,189,80,80,95,FF
2021-08-13T22:14:21.830Z,1628892861.830 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:14:21.935Z,1628892861.935 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:14:22.249Z,1628892862.249 [Micromodem](INFO): Nmea in: $SNTTA,,,,,221422.54*5A

2021-08-13T22:14:22.299Z,1628892862.299 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.120001 m, bearing: 93.117738 deg, deltaT: 4.537221 s, approachRate: 0.066120 m/s, LOS rate: -0.050823 deg/s, posRepo size: 4
2021-08-13T22:14:24.688Z,1628892864.688 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:14:25.045Z,1628892865.045 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:14:25.046Z,1628892865.046 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:14:25.046Z,1628892865.046 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:14:25.047Z,1628892865.047 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:14:25.461Z,1628892865.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2D9,000,003D1,189,80,80,95,FF
2021-08-13T22:14:25.461Z,1628892865.461 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:14:25.461Z,1628892865.461 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:14:25.463Z,1628892865.463 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:14:25.907Z,1628892865.907 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:14:26.261Z,1628892866.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2A1,000,003D3,189,80,80,69,FF
2021-08-13T22:14:26.262Z,1628892866.262 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:14:26.281Z,1628892866.281 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:14:26.689Z,1628892866.689 [Micromodem](INFO): Nmea in: $SNTTA,,,,,221427.00*5E

2021-08-13T22:14:26.717Z,1628892866.717 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.239996 m, bearing: 96.091548 deg, deltaT: 4.341909 s, approachRate: 0.027636 m/s, LOS rate: 0.684908 deg/s, posRepo size: 4
2021-08-13T22:14:29.106Z,1628892869.106 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:14:29.501Z,1628892869.501 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:14:29.501Z,1628892869.501 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:14:29.501Z,1628892869.501 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:14:29.502Z,1628892869.502 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:14:29.905Z,1628892869.905 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2A1,000,003D3,189,80,80,69,FF
2021-08-13T22:14:29.905Z,1628892869.905 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:14:29.905Z,1628892869.905 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:14:29.907Z,1628892869.907 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:14:30.296Z,1628892870.296 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:14:30.705Z,1628892870.705 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,236,000,003E6,188,80,80,63,FF
2021-08-13T22:14:30.705Z,1628892870.705 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:14:30.753Z,1628892870.753 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:14:31.125Z,1628892871.125 [Micromodem](INFO): Nmea in: $SNTTA,0.035979,,,,221431.44*46

2021-08-13T22:14:31.157Z,1628892871.157 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.379997 m, bearing: 103.891706 deg, deltaT: 4.472040 s, approachRate: 0.254918 m/s, LOS rate: 1.744206 deg/s, posRepo size: 4
2021-08-13T22:14:33.577Z,1628892873.577 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:14:33.933Z,1628892873.933 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:14:33.933Z,1628892873.933 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:14:33.933Z,1628892873.933 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:14:33.934Z,1628892873.934 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:14:34.337Z,1628892874.337 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
236,000,003E6,188,80,80,63,FF
2021-08-13T22:14:34.337Z,1628892874.337 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:14:34.338Z,1628892874.338 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:14:34.339Z,1628892874.339 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:14:34.741Z,1628892874.741 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:14:35.145Z,1628892875.145 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2B9,000,003DC,189,80,80,8D,FF
2021-08-13T22:14:35.145Z,1628892875.145 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:14:35.164Z,1628892875.164 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:14:35.565Z,1628892875.565 [Micromodem](INFO): Nmea in: $SNTTA,0.407103,0.441797,,,221435.88*54

2021-08-13T22:14:35.615Z,1628892875.615 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.779999 m, bearing: 102.086842 deg, deltaT: 4.410883 s, approachRate: -0.136027 m/s, LOS rate: -0.409184 deg/s, posRepo size: 4
2021-08-13T22:14:38.029Z,1628892878.029 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:14:38.381Z,1628892878.381 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:14:38.382Z,1628892878.382 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:14:38.382Z,1628892878.382 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:14:38.383Z,1628892878.383 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:14:38.777Z,1628892878.777 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2B9,000,003DC,189,80,80,8D,FF
2021-08-13T22:14:38.777Z,1628892878.777 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:14:38.777Z,1628892878.777 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:14:38.779Z,1628892878.779 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:14:39.189Z,1628892879.189 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:14:39.585Z,1628892879.585 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2BF,000,003E1,189,80,80,72,FF
2021-08-13T22:14:39.586Z,1628892879.586 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:14:39.614Z,1628892879.614 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:14:40.029Z,1628892880.029 [Micromodem](INFO): Nmea in: $SNTTA,,,,,221440.31*5D

2021-08-13T22:14:40.075Z,1628892880.075 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.079998 m, bearing: 102.482269 deg, deltaT: 4.450199 s, approachRate: 0.067413 m/s, LOS rate: 0.088856 deg/s, posRepo size: 4
2021-08-13T22:14:42.477Z,1628892882.477 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:14:42.818Z,1628892882.818 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:14:42.818Z,1628892882.818 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:14:42.818Z,1628892882.818 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:14:42.819Z,1628892882.819 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:14:43.221Z,1628892883.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2BF,000,003E1,189,80,80,72,FF
2021-08-13T22:14:43.221Z,1628892883.221 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:14:43.221Z,1628892883.221 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:14:43.223Z,1628892883.223 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:14:43.637Z,1628892883.637 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:14:44.029Z,1628892884.029 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1C3,000,003E8,186,80,80,45,FF
2021-08-13T22:14:44.029Z,1628892884.029 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:14:44.087Z,1628892884.087 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:14:44.485Z,1628892884.485 [Micromodem](INFO): Nmea in: $SNTTA,,,,,221444.76*5A

2021-08-13T22:14:44.515Z,1628892884.515 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.499998 m, bearing: 115.210156 deg, deltaT: 4.472699 s, approachRate: 0.093903 m/s, LOS rate: 2.845684 deg/s, posRepo size: 4
2021-08-13T22:14:46.588Z,1628892886.588 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:14:46.857Z,1628892886.857 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:14:46.857Z,1628892886.857 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:14:46.857Z,1628892886.857 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:14:46.858Z,1628892886.858 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:14:47.261Z,1628892887.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1C3,000,003E8,186,80,80,45,FF
2021-08-13T22:14:47.261Z,1628892887.261 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:14:47.261Z,1628892887.261 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:14:47.263Z,1628892887.263 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:14:47.668Z,1628892887.668 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:14:48.502Z,1628892888.502 [Micromodem](INFO): Nmea in: $SNTTA,,,,,221448.80*5F

2021-08-13T22:14:49.317Z,1628892889.317 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:14:50.917Z,1628892890.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
8,186,80,80,45,FF
2021-08-13T22:14:50.917Z,1628892890.917 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
8,186,80,80,45,FF
2021-08-13T22:14:50.917Z,1628892890.917 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T22:14:52.150Z,1628892892.150 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:14:52.530Z,1628892892.530 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:14:52.530Z,1628892892.530 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:14:52.530Z,1628892892.530 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:14:52.531Z,1628892892.531 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:14:52.945Z,1628892892.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
8,186,80,80,45,FF
2021-08-13T22:14:52.945Z,1628892892.945 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:14:52.945Z,1628892892.945 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:14:52.947Z,1628892892.947 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:14:53.328Z,1628892893.328 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:14:53.738Z,1628892893.738 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,286,000,003E3,189,80,80,64,FF
2021-08-13T22:14:53.739Z,1628892893.739 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:14:53.767Z,1628892893.767 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:14:54.153Z,1628892894.153 [Micromodem](INFO): Nmea in: $SNTTA,0.048830,0.341754,,,221454.48*51

2021-08-13T22:14:54.190Z,1628892894.190 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.199999 m, bearing: 105.412639 deg, deltaT: 9.680574 s, approachRate: -0.030990 m/s, LOS rate: -1.012080 deg/s, posRepo size: 4
2021-08-13T22:14:56.581Z,1628892896.581 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:14:56.965Z,1628892896.965 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:14:56.965Z,1628892896.965 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:14:56.966Z,1628892896.966 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:14:56.967Z,1628892896.967 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:14:57.365Z,1628892897.365 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
286,000,003E3,189,80,80,64,FF
2021-08-13T22:14:57.365Z,1628892897.365 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:14:57.366Z,1628892897.366 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:14:57.367Z,1628892897.367 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:14:57.772Z,1628892897.772 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:14:58.169Z,1628892898.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2E5,000,003E4,188,80,80,A7,FF
2021-08-13T22:14:58.170Z,1628892898.170 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:14:58.247Z,1628892898.247 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:14:58.613Z,1628892898.613 [Micromodem](INFO): Nmea in: $SNTTA,0.036876,,,,221458.90*4D

2021-08-13T22:14:58.638Z,1628892898.638 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.260002 m, bearing: 100.636021 deg, deltaT: 4.479069 s, approachRate: 0.013396 m/s, LOS rate: -1.066431 deg/s, posRepo size: 4
2021-08-13T22:15:01.021Z,1628892901.021 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:15:01.413Z,1628892901.413 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:15:01.413Z,1628892901.413 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:15:01.413Z,1628892901.413 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:15:01.414Z,1628892901.414 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:15:01.809Z,1628892901.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2E5,000,003E4,188,80,80,A7,FF
2021-08-13T22:15:01.809Z,1628892901.809 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:15:01.810Z,1628892901.810 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:15:01.815Z,1628892901.815 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:15:02.217Z,1628892902.217 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:15:02.617Z,1628892902.617 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,302,000,003E7,189,80,80,92,FF
2021-08-13T22:15:02.617Z,1628892902.617 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:15:02.647Z,1628892902.647 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:15:03.049Z,1628892903.049 [Micromodem](INFO): Nmea in: $SNTTA,0.038127,,,,221503.37*4C

2021-08-13T22:15:03.071Z,1628892903.071 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.440001 m, bearing: 98.988251 deg, deltaT: 4.399981 s, approachRate: 0.040909 m/s, LOS rate: -0.374495 deg/s, posRepo size: 4
2021-08-13T22:15:05.490Z,1628892905.490 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:15:05.890Z,1628892905.890 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:15:05.890Z,1628892905.890 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:15:05.890Z,1628892905.890 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:15:05.891Z,1628892905.891 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:15:06.245Z,1628892906.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
302,000,003E7,189,80,80,92,FF
2021-08-13T22:15:06.245Z,1628892906.245 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:15:06.245Z,1628892906.245 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:15:06.247Z,1628892906.247 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:15:06.653Z,1628892906.653 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:15:07.058Z,1628892907.058 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2BF,000,003E7,188,80,80,9E,FF
2021-08-13T22:15:07.058Z,1628892907.058 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:15:07.102Z,1628892907.102 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:15:07.509Z,1628892907.509 [Micromodem](INFO): Nmea in: $SNTTA,0.033491,,,,221507.78*40

2021-08-13T22:15:07.555Z,1628892907.555 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.440001 m, bearing: 102.246279 deg, deltaT: 4.455442 s, approachRate: 0.000000 m/s, LOS rate: 0.731247 deg/s, posRepo size: 4
2021-08-13T22:15:09.962Z,1628892909.962 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:15:10.297Z,1628892910.297 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:15:10.297Z,1628892910.297 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:15:10.298Z,1628892910.298 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:15:10.298Z,1628892910.298 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:15:10.693Z,1628892910.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2BF,000,003E7,188,80,80,9E,FF
2021-08-13T22:15:10.693Z,1628892910.693 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:15:10.693Z,1628892910.693 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:15:10.695Z,1628892910.695 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:15:11.096Z,1628892911.096 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:15:11.509Z,1628892911.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2D4,000,003E8,189,80,80,9A,FF
2021-08-13T22:15:11.509Z,1628892911.509 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:15:11.563Z,1628892911.563 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:15:11.961Z,1628892911.961 [Micromodem](INFO): Nmea in: $SNTTA,0.147096,,,,221512.23*4B

2021-08-13T22:15:12.013Z,1628892912.013 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.499998 m, bearing: 101.120309 deg, deltaT: 4.460643 s, approachRate: 0.013450 m/s, LOS rate: -0.252423 deg/s, posRepo size: 4
2021-08-13T22:15:14.355Z,1628892914.355 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:15:14.741Z,1628892914.741 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:15:14.741Z,1628892914.741 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:15:14.741Z,1628892914.741 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:15:14.742Z,1628892914.742 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:15:15.145Z,1628892915.145 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2D4,000,003E8,189,80,80,9A,FF
2021-08-13T22:15:15.145Z,1628892915.145 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:15:15.145Z,1628892915.145 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:15:15.147Z,1628892915.147 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:15:15.545Z,1628892915.545 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:15:15.945Z,1628892915.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1FF,000,003F9,187,80,80,54,FF
2021-08-13T22:15:15.945Z,1628892915.945 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:15:16.025Z,1628892916.025 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:15:16.394Z,1628892916.394 [Micromodem](INFO): Nmea in: $SNTTA,0.047076,,,,221516.68*4F

2021-08-13T22:15:16.416Z,1628892916.416 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.519997 m, bearing: 111.700313 deg, deltaT: 4.462592 s, approachRate: 0.228566 m/s, LOS rate: 2.370820 deg/s, posRepo size: 4
2021-08-13T22:15:18.815Z,1628892918.815 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:15:19.181Z,1628892919.181 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:15:19.181Z,1628892919.181 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:15:19.181Z,1628892919.181 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:15:19.182Z,1628892919.182 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:15:19.585Z,1628892919.585 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1FF,000,003F9,187,80,80,54,FF
2021-08-13T22:15:19.585Z,1628892919.585 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:15:19.585Z,1628892919.585 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:15:19.587Z,1628892919.587 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:15:19.989Z,1628892919.989 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:15:20.393Z,1628892920.393 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2C6,000,003E7,189,80,80,A4,FF
2021-08-13T22:15:20.394Z,1628892920.394 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:15:20.462Z,1628892920.462 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:15:20.825Z,1628892920.825 [Micromodem](INFO): Nmea in: $SNTTA,,,,,221521.12*5A

2021-08-13T22:15:20.878Z,1628892920.878 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.440001 m, bearing: 101.370430 deg, deltaT: 4.436822 s, approachRate: -0.243417 m/s, LOS rate: -2.328217 deg/s, posRepo size: 4
2021-08-13T22:15:23.251Z,1628892923.251 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:15:23.641Z,1628892923.641 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:15:23.641Z,1628892923.641 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:15:23.641Z,1628892923.641 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:15:23.642Z,1628892923.642 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:15:24.033Z,1628892924.033 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2C6,000,003E7,189,80,80,A4,FF
2021-08-13T22:15:24.033Z,1628892924.033 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:15:24.033Z,1628892924.033 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:15:24.035Z,1628892924.035 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:15:24.532Z,1628892924.532 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:15:24.925Z,1628892924.925 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2C7,000,003E8,188,80,80,A0,FF
2021-08-13T22:15:24.925Z,1628892924.925 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:15:24.944Z,1628892924.944 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:15:25.335Z,1628892925.335 [Micromodem](INFO): Nmea in: $SNTTA,0.058913,,,,221525.57*47

2021-08-13T22:15:25.350Z,1628892925.350 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.499998 m, bearing: 101.024447 deg, deltaT: 4.482138 s, approachRate: 0.013386 m/s, LOS rate: -0.077192 deg/s, posRepo size: 4
2021-08-13T22:15:27.783Z,1628892927.783 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:15:28.149Z,1628892928.149 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:15:28.149Z,1628892928.149 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:15:28.149Z,1628892928.149 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:15:28.150Z,1628892928.150 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:15:28.561Z,1628892928.561 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2C7,000,003E8,188,80,80,A0,FF
2021-08-13T22:15:28.561Z,1628892928.561 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:15:28.561Z,1628892928.561 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:15:28.563Z,1628892928.563 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:15:28.966Z,1628892928.966 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:15:29.361Z,1628892929.361 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,22C,000,003F1,188,80,80,4E,FF
2021-08-13T22:15:29.362Z,1628892929.362 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:15:29.445Z,1628892929.445 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:15:29.808Z,1628892929.808 [Micromodem](INFO): Nmea in: $SNTTA,,,,,221530.10*58

2021-08-13T22:15:29.900Z,1628892929.900 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.039999 m, bearing: 108.551206 deg, deltaT: 4.502108 s, approachRate: 0.119944 m/s, LOS rate: 1.671830 deg/s, posRepo size: 4
2021-08-13T22:15:32.251Z,1628892932.251 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:15:32.601Z,1628892932.601 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:15:32.601Z,1628892932.601 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:15:32.601Z,1628892932.601 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:15:32.602Z,1628892932.602 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:15:32.997Z,1628892932.997 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
22C,000,003F1,188,80,80,4E,FF
2021-08-13T22:15:32.997Z,1628892932.997 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:15:32.997Z,1628892932.997 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:15:32.999Z,1628892932.999 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:15:33.416Z,1628892933.416 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:15:33.830Z,1628892933.830 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2CC,000,003E7,189,80,80,86,FF
2021-08-13T22:15:33.831Z,1628892933.831 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:15:33.951Z,1628892933.951 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:15:34.237Z,1628892934.237 [Micromodem](INFO): Nmea in: $SNTTA,,,,,221534.54*5C

2021-08-13T22:15:34.281Z,1628892934.281 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.440001 m, bearing: 100.121995 deg, deltaT: 4.504718 s, approachRate: -0.133193 m/s, LOS rate: -1.871196 deg/s, posRepo size: 4
2021-08-13T22:15:36.681Z,1628892936.681 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:15:37.041Z,1628892937.041 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:15:37.041Z,1628892937.041 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:15:37.041Z,1628892937.041 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:15:37.042Z,1628892937.042 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:15:37.456Z,1628892937.456 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2CC,000,003E7,189,80,80,86,FF
2021-08-13T22:15:37.457Z,1628892937.457 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:15:37.457Z,1628892937.457 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:15:37.465Z,1628892937.465 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:15:37.894Z,1628892937.894 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:15:38.261Z,1628892938.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2A0,000,003EB,189,80,80,6E,FF
2021-08-13T22:15:38.262Z,1628892938.262 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:15:38.311Z,1628892938.311 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:15:38.673Z,1628892938.673 [Micromodem](INFO): Nmea in: $SNTTA,,,,,221539.00*50

2021-08-13T22:15:38.710Z,1628892938.710 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.679996 m, bearing: 101.663240 deg, deltaT: 4.359533 s, approachRate: 0.055051 m/s, LOS rate: 0.353535 deg/s, posRepo size: 4
2021-08-13T22:15:41.121Z,1628892941.121 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:15:41.512Z,1628892941.512 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:15:41.512Z,1628892941.512 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:15:41.513Z,1628892941.513 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:15:41.514Z,1628892941.514 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:15:41.909Z,1628892941.909 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2A0,000,003EB,189,80,80,6E,FF
2021-08-13T22:15:41.909Z,1628892941.909 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:15:41.909Z,1628892941.909 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:15:41.911Z,1628892941.911 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:15:42.305Z,1628892942.305 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:15:42.701Z,1628892942.701 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2BA,000,003E1,189,80,80,87,FF
2021-08-13T22:15:42.701Z,1628892942.701 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:15:42.759Z,1628892942.759 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:15:43.149Z,1628892943.149 [Micromodem](INFO): Nmea in: $SNTTA,,,,,221543.45*5C

2021-08-13T22:15:43.164Z,1628892943.164 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.079998 m, bearing: 99.768423 deg, deltaT: 4.452802 s, approachRate: -0.134746 m/s, LOS rate: -0.425534 deg/s, posRepo size: 4
2021-08-13T22:15:45.569Z,1628892945.569 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:15:45.945Z,1628892945.945 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:15:45.945Z,1628892945.945 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:15:45.945Z,1628892945.945 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:15:45.946Z,1628892945.946 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:15:46.342Z,1628892946.342 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2BA,000,003E1,189,80,80,87,FF
2021-08-13T22:15:46.342Z,1628892946.342 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:15:46.342Z,1628892946.342 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:15:46.344Z,1628892946.344 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:15:46.783Z,1628892946.783 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:15:47.161Z,1628892947.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,253,000,003EE,188,80,80,80,FF
2021-08-13T22:15:47.161Z,1628892947.161 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:15:47.180Z,1628892947.180 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:15:47.581Z,1628892947.581 [Micromodem](INFO): Nmea in: $SNTTA,0.031314,,,,221547.88*43

2021-08-13T22:15:47.611Z,1628892947.611 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.860001 m, bearing: 104.496963 deg, deltaT: 4.417007 s, approachRate: 0.176591 m/s, LOS rate: 1.070530 deg/s, posRepo size: 4
2021-08-13T22:15:50.010Z,1628892950.010 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:15:50.363Z,1628892950.363 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:15:50.364Z,1628892950.364 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:15:50.365Z,1628892950.365 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:15:50.365Z,1628892950.365 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:15:50.777Z,1628892950.777 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
253,000,003EE,188,80,80,80,FF
2021-08-13T22:15:50.777Z,1628892950.777 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:15:50.777Z,1628892950.777 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:15:50.778Z,1628892950.778 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:15:51.185Z,1628892951.185 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:15:51.590Z,1628892951.590 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2B0,000,003DF,189,80,80,6D,FF
2021-08-13T22:15:51.590Z,1628892951.590 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:15:51.625Z,1628892951.625 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:15:52.014Z,1628892952.014 [Micromodem](INFO): Nmea in: $SNTTA,0.424945,0.424989,,,221552.31*5F

2021-08-13T22:15:52.067Z,1628892952.067 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.959997 m, bearing: 99.901564 deg, deltaT: 4.444071 s, approachRate: -0.202518 m/s, LOS rate: -1.034052 deg/s, posRepo size: 4
2021-08-13T22:15:54.485Z,1628892954.485 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:15:54.821Z,1628892954.821 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:15:54.821Z,1628892954.821 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:15:54.821Z,1628892954.821 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:15:54.822Z,1628892954.822 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:15:55.237Z,1628892955.237 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2B0,000,003DF,189,80,80,6D,FF
2021-08-13T22:15:55.237Z,1628892955.237 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:15:55.238Z,1628892955.238 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:15:55.240Z,1628892955.240 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:15:55.627Z,1628892955.627 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:15:56.038Z,1628892956.038 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,301,000,003E0,189,80,80,8A,FF
2021-08-13T22:15:56.039Z,1628892956.039 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:15:56.126Z,1628892956.126 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:15:56.465Z,1628892956.465 [Micromodem](INFO): Nmea in: $SNTTA,0.052492,,,,221556.78*40

2021-08-13T22:15:56.499Z,1628892956.499 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.020000 m, bearing: 96.217817 deg, deltaT: 4.501461 s, approachRate: 0.013330 m/s, LOS rate: -0.818345 deg/s, posRepo size: 4
2021-08-13T22:15:58.908Z,1628892958.908 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:15:59.261Z,1628892959.261 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:15:59.261Z,1628892959.261 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:15:59.261Z,1628892959.261 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:15:59.262Z,1628892959.262 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:15:59.665Z,1628892959.665 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
301,000,003E0,189,80,80,8A,FF
2021-08-13T22:15:59.666Z,1628892959.666 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:15:59.666Z,1628892959.666 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:15:59.668Z,1628892959.668 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:16:00.081Z,1628892960.081 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:16:00.501Z,1628892960.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1D7,000,003E9,186,80,80,40,FF
2021-08-13T22:16:00.501Z,1628892960.501 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:16:00.529Z,1628892960.529 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:16:00.914Z,1628892960.914 [Micromodem](INFO): Nmea in: $SNTTA,,,,,221601.20*5A

2021-08-13T22:16:00.939Z,1628892960.939 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.560001 m, bearing: 111.389430 deg, deltaT: 4.403496 s, approachRate: 0.122630 m/s, LOS rate: 3.445356 deg/s, posRepo size: 4
2021-08-13T22:16:03.407Z,1628892963.407 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:16:03.777Z,1628892963.777 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:16:03.777Z,1628892963.777 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:16:03.777Z,1628892963.777 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:16:03.778Z,1628892963.778 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:16:04.194Z,1628892964.194 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1D7,000,003E9,186,80,80,40,FF
2021-08-13T22:16:04.194Z,1628892964.194 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:16:04.194Z,1628892964.194 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:16:04.197Z,1628892964.197 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:16:04.597Z,1628892964.597 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:16:04.994Z,1628892964.994 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2AA,000,003DF,189,80,80,8C,FF
2021-08-13T22:16:04.994Z,1628892964.994 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:16:05.045Z,1628892965.045 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:16:05.463Z,1628892965.463 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.959997 m, bearing: 100.771709 deg, deltaT: 4.515699 s, approachRate: -0.132871 m/s, LOS rate: -2.351290 deg/s, posRepo size: 4
2021-08-13T22:16:07.924Z,1628892967.924 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:16:08.222Z,1628892968.222 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:16:08.222Z,1628892968.222 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:16:08.222Z,1628892968.222 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:16:08.223Z,1628892968.223 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:16:08.625Z,1628892968.625 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2AA,000,003DF,189,80,80,8C,FF
2021-08-13T22:16:08.625Z,1628892968.625 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:16:08.625Z,1628892968.625 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:16:08.627Z,1628892968.627 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:16:09.039Z,1628892969.039 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:16:09.441Z,1628892969.441 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,299,000,003E0,188,80,80,6D,FF
2021-08-13T22:16:09.442Z,1628892969.442 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:16:09.511Z,1628892969.511 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:16:09.905Z,1628892969.905 [Micromodem](INFO): Nmea in: $SNTTA,0.055754,,,,221610.16*47

2021-08-13T22:16:09.964Z,1628892969.964 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.020000 m, bearing: 101.575138 deg, deltaT: 4.465319 s, approachRate: 0.013438 m/s, LOS rate: 0.179926 deg/s, posRepo size: 4
2021-08-13T22:16:12.315Z,1628892972.315 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:16:12.673Z,1628892972.673 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:16:12.673Z,1628892972.673 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:16:12.673Z,1628892972.673 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:16:12.674Z,1628892972.674 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:16:13.069Z,1628892973.069 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
299,000,003E0,188,80,80,6D,FF
2021-08-13T22:16:13.069Z,1628892973.069 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:16:13.069Z,1628892973.069 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:16:13.074Z,1628892973.074 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:16:13.504Z,1628892973.504 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:16:13.921Z,1628892973.921 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2BA,000,003E1,189,80,80,A8,FF
2021-08-13T22:16:13.922Z,1628892973.922 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:16:14.014Z,1628892974.014 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:16:14.325Z,1628892974.325 [Micromodem](INFO): Nmea in: $SNTTA,0.035037,,,,221614.61*47

2021-08-13T22:16:14.343Z,1628892974.343 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.079998 m, bearing: 99.760076 deg, deltaT: 4.503501 s, approachRate: 0.013322 m/s, LOS rate: -0.403033 deg/s, posRepo size: 4
2021-08-13T22:16:16.753Z,1628892976.753 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:16:17.109Z,1628892977.109 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:16:17.109Z,1628892977.109 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:16:17.110Z,1628892977.110 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:16:17.111Z,1628892977.111 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:16:17.521Z,1628892977.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2BA,000,003E1,189,80,80,A8,FF
2021-08-13T22:16:17.521Z,1628892977.521 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:16:17.521Z,1628892977.521 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:16:17.523Z,1628892977.523 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:16:17.929Z,1628892977.929 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:16:18.325Z,1628892978.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2C4,000,003E3,189,80,80,9C,FF
2021-08-13T22:16:18.325Z,1628892978.325 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:16:18.345Z,1628892978.345 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:16:18.759Z,1628892978.759 [Micromodem](INFO): Nmea in: $SNTTA,0.036140,,,,221619.06*49

2021-08-13T22:16:18.841Z,1628892978.841 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.199999 m, bearing: 98.384135 deg, deltaT: 4.330776 s, approachRate: 0.027709 m/s, LOS rate: -0.317712 deg/s, posRepo size: 4
2021-08-13T22:16:21.208Z,1628892981.208 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:16:21.557Z,1628892981.557 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:16:21.557Z,1628892981.557 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:16:21.558Z,1628892981.558 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:16:21.558Z,1628892981.558 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:16:21.957Z,1628892981.957 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2C4,000,003E3,189,80,80,9C,FF
2021-08-13T22:16:21.957Z,1628892981.957 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:16:21.957Z,1628892981.957 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:16:21.959Z,1628892981.959 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:16:22.365Z,1628892982.365 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:16:22.778Z,1628892982.778 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,286,000,003E5,189,80,80,B1,FF
2021-08-13T22:16:22.779Z,1628892982.779 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:16:22.808Z,1628892982.808 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:16:23.205Z,1628892983.205 [Micromodem](INFO): Nmea in: $SNTTA,0.034859,,,,221623.50*40

2021-08-13T22:16:23.227Z,1628892983.227 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.320000 m, bearing: 100.828680 deg, deltaT: 4.463662 s, approachRate: 0.026884 m/s, LOS rate: 0.547655 deg/s, posRepo size: 4
2021-08-13T22:16:25.660Z,1628892985.660 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:16:25.997Z,1628892985.997 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:16:25.997Z,1628892985.997 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:16:25.997Z,1628892985.997 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:16:25.998Z,1628892985.998 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:16:26.414Z,1628892986.414 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
286,000,003E5,189,80,80,B1,FF
2021-08-13T22:16:26.415Z,1628892986.415 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:16:26.415Z,1628892986.415 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:16:26.422Z,1628892986.422 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:16:26.828Z,1628892986.828 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:16:27.229Z,1628892987.229 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,10F,000,003F2,186,80,80,36,FF
2021-08-13T22:16:27.229Z,1628892987.229 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:16:27.248Z,1628892987.248 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:16:27.653Z,1628892987.653 [Micromodem](INFO): Nmea in: $SNTTA,0.065228,,,,221627.96*46

2021-08-13T22:16:27.717Z,1628892987.717 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.099997 m, bearing: 118.834582 deg, deltaT: 4.439690 s, approachRate: 0.175687 m/s, LOS rate: 4.055666 deg/s, posRepo size: 4
2021-08-13T22:16:30.087Z,1628892990.087 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:16:30.457Z,1628892990.457 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:16:30.458Z,1628892990.458 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:16:30.458Z,1628892990.458 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:16:30.459Z,1628892990.459 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:16:30.862Z,1628892990.862 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
10F,000,003F2,186,80,80,36,FF
2021-08-13T22:16:30.862Z,1628892990.862 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:16:30.862Z,1628892990.862 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:16:30.864Z,1628892990.864 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:16:31.261Z,1628892991.261 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:16:31.665Z,1628892991.665 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,191,000,003E8,185,80,80,8A,FF
2021-08-13T22:16:31.666Z,1628892991.666 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:16:31.863Z,1628892991.863 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:16:32.109Z,1628892992.109 [Micromodem](INFO): Nmea in: $SNTTA,0.090829,,,,221632.40*48

2021-08-13T22:16:32.159Z,1628892992.159 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.499998 m, bearing: 111.654468 deg, deltaT: 4.619589 s, approachRate: -0.129881 m/s, LOS rate: -1.554275 deg/s, posRepo size: 4
2021-08-13T22:16:34.538Z,1628892994.538 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:16:34.894Z,1628892994.894 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:16:34.894Z,1628892994.894 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:16:34.894Z,1628892994.894 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:16:34.895Z,1628892994.895 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:16:35.312Z,1628892995.312 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
191,000,003E8,185,80,80,8A,FF
2021-08-13T22:16:35.313Z,1628892995.313 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:16:35.313Z,1628892995.313 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:16:35.314Z,1628892995.314 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:16:35.714Z,1628892995.714 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:16:36.105Z,1628892996.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,217,000,003F6,187,80,80,21,FF
2021-08-13T22:16:36.105Z,1628892996.105 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:16:36.165Z,1628892996.165 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:16:36.533Z,1628892996.533 [Micromodem](INFO): Nmea in: $SNTTA,0.042655,,,,221636.85*4F

2021-08-13T22:16:36.570Z,1628892996.570 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.339998 m, bearing: 104.435717 deg, deltaT: 4.297226 s, approachRate: 0.195475 m/s, LOS rate: -1.679863 deg/s, posRepo size: 4
2021-08-13T22:16:38.954Z,1628892998.954 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:16:39.337Z,1628892999.337 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:16:39.337Z,1628892999.337 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:16:39.337Z,1628892999.337 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:16:39.338Z,1628892999.338 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:16:39.741Z,1628892999.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
217,000,003F6,187,80,80,21,FF
2021-08-13T22:16:39.741Z,1628892999.741 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:16:39.741Z,1628892999.741 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:16:39.743Z,1628892999.743 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:16:40.160Z,1628893000.160 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:16:40.561Z,1628893000.561 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,15B,000,003F5,186,80,80,54,FF
2021-08-13T22:16:40.561Z,1628893000.561 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:16:40.610Z,1628893000.610 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:16:40.993Z,1628893000.993 [Micromodem](INFO): Nmea in: $SNTTA,0.049355,,,,221641.28*46

2021-08-13T22:16:41.016Z,1628893001.016 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.280001 m, bearing: 112.882441 deg, deltaT: 4.445213 s, approachRate: -0.013497 m/s, LOS rate: 1.900184 deg/s, posRepo size: 4
2021-08-13T22:16:43.429Z,1628893003.429 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:16:43.785Z,1628893003.785 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:16:43.785Z,1628893003.785 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:16:43.785Z,1628893003.785 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:16:43.786Z,1628893003.786 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:16:44.196Z,1628893004.196 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
15B,000,003F5,186,80,80,54,FF
2021-08-13T22:16:44.196Z,1628893004.196 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:16:44.196Z,1628893004.196 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:16:44.198Z,1628893004.198 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:16:44.608Z,1628893004.608 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:16:45.001Z,1628893005.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1AA,000,003EB,185,80,80,64,FF
2021-08-13T22:16:45.001Z,1628893005.001 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:16:45.080Z,1628893005.080 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:16:45.461Z,1628893005.461 [Micromodem](INFO): Nmea in: $SNTTA,0.051171,,,,221645.73*41

2021-08-13T22:16:45.501Z,1628893005.501 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.679996 m, bearing: 107.646855 deg, deltaT: 4.469977 s, approachRate: -0.134230 m/s, LOS rate: -1.171278 deg/s, posRepo size: 4
2021-08-13T22:16:47.894Z,1628893007.894 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:16:48.229Z,1628893008.229 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:16:48.229Z,1628893008.229 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:16:48.229Z,1628893008.229 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:16:48.230Z,1628893008.230 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:16:48.633Z,1628893008.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1AA,000,003EB,185,80,80,64,FF
2021-08-13T22:16:48.633Z,1628893008.633 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:16:48.633Z,1628893008.633 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:16:48.635Z,1628893008.635 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:16:49.053Z,1628893009.053 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:16:49.449Z,1628893009.449 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1CD,000,003ED,186,80,80,B7,FF
2021-08-13T22:16:49.450Z,1628893009.450 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:16:49.509Z,1628893009.509 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:16:49.905Z,1628893009.905 [Micromodem](INFO): Nmea in: $SNTTA,,,,,221650.17*5A

2021-08-13T22:16:49.974Z,1628893009.974 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.799997 m, bearing: 104.581268 deg, deltaT: 4.429196 s, approachRate: 0.027093 m/s, LOS rate: -0.692132 deg/s, posRepo size: 4
2021-08-13T22:16:52.297Z,1628893012.297 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:16:52.669Z,1628893012.669 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:16:52.669Z,1628893012.669 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:16:52.669Z,1628893012.669 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:16:52.670Z,1628893012.670 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:16:53.085Z,1628893013.085 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1CD,000,003ED,186,80,80,B7,FF
2021-08-13T22:16:53.085Z,1628893013.085 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:16:53.085Z,1628893013.085 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:16:53.087Z,1628893013.087 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:16:53.500Z,1628893013.500 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:16:53.913Z,1628893013.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,212,000,003EA,187,80,80,A7,FF
2021-08-13T22:16:53.913Z,1628893013.913 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:16:53.917Z,1628893013.917 [Micromodem](INFO): Nmea in: $SNTTA,0.269183,0.269077,,,221654.62*56

2021-08-13T22:16:54.000Z,1628893014.000 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:16:54.338Z,1628893014.338 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.619999 m, bearing: 99.621574 deg, deltaT: 4.491092 s, approachRate: -0.040079 m/s, LOS rate: -1.104340 deg/s, posRepo size: 4
2021-08-13T22:16:56.784Z,1628893016.784 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:16:57.125Z,1628893017.125 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:16:57.125Z,1628893017.125 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:16:57.126Z,1628893017.126 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:16:57.127Z,1628893017.127 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:16:57.540Z,1628893017.540 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
212,000,003EA,187,80,80,A7,FF
2021-08-13T22:16:57.541Z,1628893017.541 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:16:57.541Z,1628893017.541 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:16:57.542Z,1628893017.542 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:16:57.948Z,1628893017.948 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:16:58.338Z,1628893018.338 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,200,000,003E9,186,80,80,B1,FF
2021-08-13T22:16:58.338Z,1628893018.338 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:16:58.358Z,1628893018.358 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:16:58.773Z,1628893018.773 [Micromodem](INFO): Nmea in: $SNTTA,0.039257,,,,221659.08*49

2021-08-13T22:16:58.816Z,1628893018.816 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.560001 m, bearing: 98.918242 deg, deltaT: 4.357599 s, approachRate: -0.013768 m/s, LOS rate: -0.161404 deg/s, posRepo size: 4
2021-08-13T22:17:01.182Z,1628893021.182 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:17:01.565Z,1628893021.565 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:17:01.565Z,1628893021.565 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:17:01.566Z,1628893021.566 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:17:01.566Z,1628893021.566 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:17:01.977Z,1628893021.977 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
200,000,003E9,186,80,80,B1,FF
2021-08-13T22:17:01.978Z,1628893021.978 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:17:01.978Z,1628893021.978 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:17:01.979Z,1628893021.979 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:17:02.381Z,1628893022.381 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:17:02.877Z,1628893022.877 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,19C,000,003F2,185,80,80,66,FF
2021-08-13T22:17:02.878Z,1628893022.878 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:17:02.939Z,1628893022.939 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:17:03.217Z,1628893023.217 [Micromodem](INFO): Nmea in: $SNTTA,0.064965,,,,221703.52*4A

2021-08-13T22:17:03.252Z,1628893023.252 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.099997 m, bearing: 101.985113 deg, deltaT: 4.586256 s, approachRate: 0.117742 m/s, LOS rate: 0.668709 deg/s, posRepo size: 4
2021-08-13T22:17:05.644Z,1628893025.644 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:17:06.009Z,1628893026.009 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:17:06.009Z,1628893026.009 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:17:06.009Z,1628893026.009 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:17:06.010Z,1628893026.010 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:17:06.414Z,1628893026.414 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
19C,000,003F2,185,80,80,66,FF
2021-08-13T22:17:06.414Z,1628893026.414 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:17:06.414Z,1628893026.414 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:17:06.418Z,1628893026.418 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:17:06.816Z,1628893026.816 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:17:07.213Z,1628893027.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,16B,000,003F2,186,80,80,6A,FF
2021-08-13T22:17:07.214Z,1628893027.214 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:17:07.232Z,1628893027.232 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:17:07.662Z,1628893027.662 [Micromodem](INFO): Nmea in: $SNTTA,0.036903,,,,221707.95*42

2021-08-13T22:17:07.687Z,1628893027.687 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.099997 m, bearing: 102.216936 deg, deltaT: 4.287794 s, approachRate: 0.000000 m/s, LOS rate: 0.054066 deg/s, posRepo size: 4
2021-08-13T22:17:10.101Z,1628893030.101 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:17:10.469Z,1628893030.469 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:17:10.469Z,1628893030.469 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:17:10.469Z,1628893030.469 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:17:10.469Z,1628893030.469 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:17:10.863Z,1628893030.863 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
16B,000,003F2,186,80,80,6A,FF
2021-08-13T22:17:10.864Z,1628893030.864 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:17:10.864Z,1628893030.864 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:17:10.866Z,1628893030.866 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:17:11.260Z,1628893031.260 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:17:11.661Z,1628893031.661 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1A5,000,003F1,186,80,80,5D,FF
2021-08-13T22:17:11.661Z,1628893031.661 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:17:11.746Z,1628893031.746 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:17:12.083Z,1628893032.083 [Micromodem](INFO): Nmea in: $SNTTA,0.033307,0.379425,,,221712.40*55

2021-08-13T22:17:12.118Z,1628893032.118 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.039999 m, bearing: 96.882327 deg, deltaT: 4.513638 s, approachRate: -0.013293 m/s, LOS rate: -1.181887 deg/s, posRepo size: 4
2021-08-13T22:17:14.540Z,1628893034.540 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:17:14.894Z,1628893034.894 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:17:14.894Z,1628893034.894 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:17:14.894Z,1628893034.894 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:17:14.895Z,1628893034.895 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:17:15.301Z,1628893035.301 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1A5,000,003F1,186,80,80,5D,FF
2021-08-13T22:17:15.301Z,1628893035.301 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:17:15.301Z,1628893035.301 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:17:15.303Z,1628893035.303 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:17:15.763Z,1628893035.763 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:17:16.101Z,1628893036.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,06F,000,003F1,187,80,80,86,FF
2021-08-13T22:17:16.102Z,1628893036.102 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:17:16.105Z,1628893036.105 [Micromodem](INFO): Nmea in: $SNTTA,0.163953,0.163453,,,221716.84*5E

2021-08-13T22:17:16.171Z,1628893036.171 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:17:16.586Z,1628893036.586 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.039999 m, bearing: 110.385563 deg, deltaT: 4.433687 s, approachRate: 0.000000 m/s, LOS rate: 3.045600 deg/s, posRepo size: 4
2021-08-13T22:17:18.982Z,1628893038.982 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:17:19.337Z,1628893039.337 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:17:19.337Z,1628893039.337 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:17:19.337Z,1628893039.337 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:17:19.338Z,1628893039.338 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:17:19.749Z,1628893039.749 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
06F,000,003F1,187,80,80,86,FF
2021-08-13T22:17:19.749Z,1628893039.749 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:17:19.749Z,1628893039.749 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:17:19.751Z,1628893039.751 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:17:20.149Z,1628893040.149 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:17:20.982Z,1628893040.982 [Micromodem](INFO): Nmea in: $SNTTA,,,,,221721.29*50

2021-08-13T22:17:21.929Z,1628893041.929 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:17:23.377Z,1628893043.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
1,187,80,80,86,FF
2021-08-13T22:17:23.377Z,1628893043.377 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
1,187,80,80,86,FF
2021-08-13T22:17:23.377Z,1628893043.377 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T22:17:24.639Z,1628893044.639 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:17:24.993Z,1628893044.993 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:17:24.993Z,1628893044.993 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:17:24.993Z,1628893044.993 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:17:24.994Z,1628893044.994 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:17:25.405Z,1628893045.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
1,187,80,80,86,FF
2021-08-13T22:17:25.405Z,1628893045.405 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:17:25.405Z,1628893045.405 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:17:25.406Z,1628893045.406 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:17:25.842Z,1628893045.842 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:17:25.860Z,1628893045.860 [Micromodem](INFO): Nmea in: 0.20.0.39330*78

2021-08-13T22:17:25.861Z,1628893045.861 [Micromodem](ERROR): Response from modem failed NMEA checksum: 0.20.0.39330*78
 expected 0
2021-08-13T22:17:26.229Z,1628893046.229 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C6F,000,003ED,188,80,80,5C,FF
2021-08-13T22:17:26.230Z,1628893046.230 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:17:26.276Z,1628893046.276 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:17:26.677Z,1628893046.677 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.799997 m, bearing: 157.867282 deg, deltaT: 10.096865 s, approachRate: -0.023770 m/s, LOS rate: 4.702620 deg/s, posRepo size: 4
2021-08-13T22:17:29.072Z,1628893049.072 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:17:29.473Z,1628893049.473 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:17:29.473Z,1628893049.473 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:17:29.473Z,1628893049.473 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:17:29.474Z,1628893049.474 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:17:29.889Z,1628893049.889 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C6F,000,003ED,188,80,80,5C,FF
2021-08-13T22:17:29.890Z,1628893049.890 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:17:29.890Z,1628893049.890 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:17:29.893Z,1628893049.893 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:17:30.275Z,1628893050.275 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:17:31.078Z,1628893051.078 [Micromodem](INFO): Nmea in: $SNTTA,0.049040,,,,221731.43*4A

2021-08-13T22:17:31.963Z,1628893051.963 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:17:33.513Z,1628893053.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,188,80,80,5C,FF
2021-08-13T22:17:33.513Z,1628893053.513 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,188,80,80,5C,FF
2021-08-13T22:17:33.514Z,1628893053.514 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T22:17:34.729Z,1628893054.729 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:17:35.101Z,1628893055.101 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:17:35.101Z,1628893055.101 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:17:35.102Z,1628893055.102 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:17:35.103Z,1628893055.103 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:17:35.505Z,1628893055.505 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,188,80,80,5C,FF
2021-08-13T22:17:35.505Z,1628893055.505 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:17:35.505Z,1628893055.505 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:17:35.507Z,1628893055.507 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:17:35.930Z,1628893055.930 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:17:36.310Z,1628893056.310 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,003EA,189,80,80,67,FF
2021-08-13T22:17:36.310Z,1628893056.310 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:17:36.383Z,1628893056.383 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:17:36.761Z,1628893056.761 [Micromodem](INFO): Nmea in: $SNTTA,,,,,221737.04*58

2021-08-13T22:17:36.789Z,1628893056.789 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.619999 m, bearing: 44.093837 deg, deltaT: 10.106559 s, approachRate: -0.017810 m/s, LOS rate: -11.257387 deg/s, posRepo size: 4
2021-08-13T22:17:39.181Z,1628893059.181 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:17:39.541Z,1628893059.541 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:17:39.541Z,1628893059.541 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:17:39.541Z,1628893059.541 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:17:39.542Z,1628893059.542 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:17:39.950Z,1628893059.950 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,003EA,189,80,80,67,FF
2021-08-13T22:17:39.951Z,1628893059.951 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:17:39.951Z,1628893059.951 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:17:39.954Z,1628893059.954 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:17:40.357Z,1628893060.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:17:40.771Z,1628893060.771 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1CD,000,003E5,187,80,80,55,FF
2021-08-13T22:17:40.773Z,1628893060.773 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:17:40.837Z,1628893060.837 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:17:41.201Z,1628893061.201 [Micromodem](INFO): Nmea in: $SNTTA,0.071364,,,,221741.49*49

2021-08-13T22:17:41.223Z,1628893061.223 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.320000 m, bearing: 83.151993 deg, deltaT: 4.454008 s, approachRate: -0.067355 m/s, LOS rate: 8.769216 deg/s, posRepo size: 4
2021-08-13T22:17:43.640Z,1628893063.640 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:17:43.985Z,1628893063.985 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:17:43.985Z,1628893063.985 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:17:43.985Z,1628893063.985 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:17:43.986Z,1628893063.986 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:17:44.389Z,1628893064.389 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1CD,000,003E5,187,80,80,55,FF
2021-08-13T22:17:44.389Z,1628893064.389 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:17:44.390Z,1628893064.390 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:17:44.391Z,1628893064.391 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:17:44.801Z,1628893064.801 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:17:45.197Z,1628893065.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1E5,000,003E0,186,80,80,6A,FF
2021-08-13T22:17:45.197Z,1628893065.197 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:17:45.245Z,1628893065.245 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:17:45.653Z,1628893065.653 [Micromodem](INFO): Nmea in: $SNTTA,,,,,221745.92*52

2021-08-13T22:17:45.746Z,1628893065.746 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.020000 m, bearing: 79.587324 deg, deltaT: 4.408311 s, approachRate: -0.068053 m/s, LOS rate: -0.808625 deg/s, posRepo size: 4
2021-08-13T22:17:48.067Z,1628893068.067 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:17:48.448Z,1628893068.448 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:17:48.449Z,1628893068.449 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:17:48.449Z,1628893068.449 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:17:48.451Z,1628893068.451 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:17:48.837Z,1628893068.837 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1E5,000,003E0,186,80,80,6A,FF
2021-08-13T22:17:48.838Z,1628893068.838 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:17:48.838Z,1628893068.838 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:17:48.839Z,1628893068.839 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:17:49.241Z,1628893069.241 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:17:49.645Z,1628893069.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A2,000,003EB,187,80,80,28,FF
2021-08-13T22:17:49.645Z,1628893069.645 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:17:49.703Z,1628893069.703 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:17:50.059Z,1628893070.059 [Micromodem](INFO): Nmea in: $SNTTA,0.393788,0.392020,,,221750.38*52

2021-08-13T22:17:50.094Z,1628893070.094 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.679996 m, bearing: 93.174893 deg, deltaT: 4.462727 s, approachRate: 0.147891 m/s, LOS rate: 3.044678 deg/s, posRepo size: 4
2021-08-13T22:17:52.528Z,1628893072.528 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:17:52.882Z,1628893072.882 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:17:52.882Z,1628893072.882 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:17:52.882Z,1628893072.882 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:17:52.883Z,1628893072.883 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:17:53.282Z,1628893073.282 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0A2,000,003EB,187,80,80,28,FF
2021-08-13T22:17:53.283Z,1628893073.283 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:17:53.283Z,1628893073.283 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:17:53.284Z,1628893073.284 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:17:53.684Z,1628893073.684 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:17:54.522Z,1628893074.522 [Micromodem](INFO): Nmea in: $SNTTA,,,,,221754.82*53

2021-08-13T22:17:55.322Z,1628893075.322 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:17:56.929Z,1628893076.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
B,187,80,80,28,FF
2021-08-13T22:17:56.929Z,1628893076.929 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
B,187,80,80,28,FF
2021-08-13T22:17:56.930Z,1628893076.930 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T22:17:58.174Z,1628893078.174 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:17:58.529Z,1628893078.529 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:17:58.529Z,1628893078.529 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:17:58.529Z,1628893078.529 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:17:58.530Z,1628893078.530 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:17:58.941Z,1628893078.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
B,187,80,80,28,FF
2021-08-13T22:17:58.941Z,1628893078.941 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:17:58.942Z,1628893078.942 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:17:58.943Z,1628893078.943 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:17:59.340Z,1628893079.340 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:18:00.147Z,1628893080.147 [Micromodem](INFO): Nmea in: $SNTTA,0.341970,0.340926,,,221800.48*59

2021-08-13T22:18:00.975Z,1628893080.975 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:18:02.569Z,1628893082.569 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
B,187,80,80,28,FF
2021-08-13T22:18:02.569Z,1628893082.569 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
B,187,80,80,28,FF
2021-08-13T22:18:02.569Z,1628893082.569 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T22:18:03.889Z,1628893083.889 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:18:04.194Z,1628893084.194 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:18:04.195Z,1628893084.195 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:18:04.195Z,1628893084.195 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:18:04.196Z,1628893084.196 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:18:04.589Z,1628893084.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
B,187,80,80,28,FF
2021-08-13T22:18:04.589Z,1628893084.589 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:18:04.589Z,1628893084.589 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:18:04.591Z,1628893084.591 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:18:05.034Z,1628893085.034 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:18:05.461Z,1628893085.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,003D2,189,80,80,B4,FF
2021-08-13T22:18:05.461Z,1628893085.461 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:18:05.527Z,1628893085.527 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:18:05.900Z,1628893085.900 [Micromodem](INFO): Nmea in: $SNTTA,,,,,221806.13*53

2021-08-13T22:18:05.942Z,1628893085.942 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.179998 m, bearing: 30.097331 deg, deltaT: 15.818748 s, approachRate: -0.094824 m/s, LOS rate: -3.987519 deg/s, posRepo size: 4
2021-08-13T22:18:08.306Z,1628893088.306 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:18:08.682Z,1628893088.682 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:18:08.682Z,1628893088.682 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:18:08.682Z,1628893088.682 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:18:08.683Z,1628893088.683 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:18:09.081Z,1628893089.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,003D2,189,80,80,B4,FF
2021-08-13T22:18:09.081Z,1628893089.081 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:18:09.081Z,1628893089.081 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:18:09.083Z,1628893089.083 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:18:09.512Z,1628893089.512 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:18:09.913Z,1628893089.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,003D2,189,80,80,B0,FF
2021-08-13T22:18:09.913Z,1628893089.913 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:18:09.953Z,1628893089.953 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:18:10.330Z,1628893090.330 [Micromodem](INFO): Nmea in: $SNTTA,,,,,221810.62*52

2021-08-13T22:18:10.355Z,1628893090.355 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.179998 m, bearing: 27.771848 deg, deltaT: 4.426293 s, approachRate: 0.000000 m/s, LOS rate: -0.525379 deg/s, posRepo size: 4
2021-08-13T22:18:12.768Z,1628893092.768 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:18:13.121Z,1628893093.121 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:18:13.121Z,1628893093.121 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:18:13.121Z,1628893093.121 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:18:13.122Z,1628893093.122 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:18:13.521Z,1628893093.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,003D2,189,80,80,B0,FF
2021-08-13T22:18:13.521Z,1628893093.521 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:18:13.521Z,1628893093.521 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:18:13.523Z,1628893093.523 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:18:13.933Z,1628893093.933 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:18:14.329Z,1628893094.329 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,003D8,189,80,80,65,FF
2021-08-13T22:18:14.330Z,1628893094.330 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:18:14.354Z,1628893094.354 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:18:14.781Z,1628893094.781 [Micromodem](INFO): Nmea in: $SNTTA,0.027255,,,,221815.06*4C

2021-08-13T22:18:14.807Z,1628893094.807 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.540003 m, bearing: 25.812883 deg, deltaT: 4.401212 s, approachRate: 0.081797 m/s, LOS rate: -0.445097 deg/s, posRepo size: 4
2021-08-13T22:18:17.190Z,1628893097.190 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:18:17.565Z,1628893097.565 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:18:17.565Z,1628893097.565 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:18:17.565Z,1628893097.565 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:18:17.566Z,1628893097.566 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:18:17.965Z,1628893097.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,003D8,189,80,80,65,FF
2021-08-13T22:18:17.965Z,1628893097.965 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:18:17.965Z,1628893097.965 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:18:17.967Z,1628893097.967 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:18:18.373Z,1628893098.373 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:18:18.785Z,1628893098.785 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4D2,000,003DF,189,80,80,61,FF
2021-08-13T22:18:18.786Z,1628893098.786 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:18:18.839Z,1628893098.839 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:18:19.205Z,1628893099.205 [Micromodem](INFO): Nmea in: $SNTTA,,,,,221819.50*5A

2021-08-13T22:18:19.246Z,1628893099.246 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.959997 m, bearing: 25.829651 deg, deltaT: 4.484647 s, approachRate: 0.093652 m/s, LOS rate: 0.003739 deg/s, posRepo size: 4
2021-08-13T22:18:21.639Z,1628893101.639 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:18:22.005Z,1628893102.005 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:18:22.005Z,1628893102.005 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:18:22.005Z,1628893102.005 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:18:22.006Z,1628893102.006 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:18:22.413Z,1628893102.413 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
4D2,000,003DF,189,80,80,61,FF
2021-08-13T22:18:22.413Z,1628893102.413 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:18:22.413Z,1628893102.413 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:18:22.417Z,1628893102.417 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:18:22.819Z,1628893102.819 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:18:23.217Z,1628893103.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,003CF,189,80,80,85,FF
2021-08-13T22:18:23.217Z,1628893103.217 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:18:23.308Z,1628893103.308 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:18:23.660Z,1628893103.660 [Micromodem](INFO): Nmea in: $SNTTA,,,,,221823.95*5A

2021-08-13T22:18:23.686Z,1628893103.686 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.000000 m, bearing: 21.572961 deg, deltaT: 4.469223 s, approachRate: -0.214802 m/s, LOS rate: -0.952445 deg/s, posRepo size: 4
2021-08-13T22:18:26.096Z,1628893106.096 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:18:26.476Z,1628893106.476 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:18:26.476Z,1628893106.476 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:18:26.477Z,1628893106.477 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:18:26.477Z,1628893106.477 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:18:26.853Z,1628893106.853 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,003CF,189,80,80,85,FF
2021-08-13T22:18:26.853Z,1628893106.853 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:18:26.854Z,1628893106.854 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:18:26.855Z,1628893106.855 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:18:27.261Z,1628893107.261 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:18:27.657Z,1628893107.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,003CC,18A,80,80,96,FF
2021-08-13T22:18:27.658Z,1628893107.658 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:18:27.711Z,1628893107.711 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:18:28.097Z,1628893108.097 [Micromodem](INFO): Nmea in: $SNTTA,,,,,221828.39*57

2021-08-13T22:18:28.147Z,1628893108.147 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.820002 m, bearing: 19.635534 deg, deltaT: 4.402712 s, approachRate: -0.040884 m/s, LOS rate: -0.440053 deg/s, posRepo size: 4
2021-08-13T22:18:30.538Z,1628893110.538 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:18:30.898Z,1628893110.898 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:18:30.898Z,1628893110.898 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:18:30.898Z,1628893110.898 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:18:30.899Z,1628893110.899 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:18:31.297Z,1628893111.297 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,003CC,18A,80,80,96,FF
2021-08-13T22:18:31.297Z,1628893111.297 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:18:31.297Z,1628893111.297 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:18:31.299Z,1628893111.299 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:18:31.712Z,1628893111.712 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:18:32.113Z,1628893112.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,003CB,189,80,80,78,FF
2021-08-13T22:18:32.113Z,1628893112.113 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:18:32.184Z,1628893112.184 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:18:32.537Z,1628893112.537 [Micromodem](INFO): Nmea in: $SNTTA,,,,,221832.86*58

2021-08-13T22:18:32.579Z,1628893112.579 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.759998 m, bearing: 17.975004 deg, deltaT: 4.473492 s, approachRate: -0.013413 m/s, LOS rate: -0.371193 deg/s, posRepo size: 4
2021-08-13T22:18:34.958Z,1628893114.958 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:18:35.333Z,1628893115.333 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:18:35.333Z,1628893115.333 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:18:35.333Z,1628893115.333 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:18:35.334Z,1628893115.334 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:18:35.757Z,1628893115.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,003CB,189,80,80,78,FF
2021-08-13T22:18:35.757Z,1628893115.757 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:18:35.757Z,1628893115.757 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:18:35.759Z,1628893115.759 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:18:36.160Z,1628893116.160 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:18:36.549Z,1628893116.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,003C6,189,80,80,6C,FF
2021-08-13T22:18:36.549Z,1628893116.549 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:18:36.644Z,1628893116.644 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:18:36.977Z,1628893116.977 [Micromodem](INFO): Nmea in: $SNTTA,,,,,221837.29*58

2021-08-13T22:18:37.011Z,1628893117.011 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.459999 m, bearing: 15.596940 deg, deltaT: 4.459616 s, approachRate: -0.067270 m/s, LOS rate: -0.533244 deg/s, posRepo size: 4
2021-08-13T22:18:39.455Z,1628893119.455 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:18:39.784Z,1628893119.784 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:18:39.784Z,1628893119.784 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:18:39.784Z,1628893119.784 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:18:39.785Z,1628893119.785 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:18:40.193Z,1628893120.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,003C6,189,80,80,6C,FF
2021-08-13T22:18:40.193Z,1628893120.193 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:18:40.193Z,1628893120.193 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:18:40.195Z,1628893120.195 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:18:40.597Z,1628893120.597 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:18:40.993Z,1628893120.993 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4B3,000,003D2,189,80,80,9C,FF
2021-08-13T22:18:40.994Z,1628893120.994 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:18:41.017Z,1628893121.017 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:18:41.459Z,1628893121.459 [Micromodem](INFO): Nmea in: $SNTTA,,,,,221841.73*56

2021-08-13T22:18:41.486Z,1628893121.486 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.179998 m, bearing: 18.135546 deg, deltaT: 4.373283 s, approachRate: 0.164636 m/s, LOS rate: 0.580480 deg/s, posRepo size: 4
2021-08-13T22:18:43.927Z,1628893123.927 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:18:44.233Z,1628893124.233 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:18:44.233Z,1628893124.233 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:18:44.233Z,1628893124.233 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:18:44.234Z,1628893124.234 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:18:44.630Z,1628893124.630 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
4B3,000,003D2,189,80,80,9C,FF
2021-08-13T22:18:44.630Z,1628893124.630 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:18:44.630Z,1628893124.630 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:18:44.631Z,1628893124.631 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:18:45.036Z,1628893125.036 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:18:45.457Z,1628893125.457 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4E4,000,003CF,189,80,80,AD,FF
2021-08-13T22:18:45.458Z,1628893125.458 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:18:45.524Z,1628893125.524 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:18:45.913Z,1628893125.913 [Micromodem](INFO): Nmea in: $SNTTA,0.055138,,,,221846.16*46

2021-08-13T22:18:45.966Z,1628893125.966 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.000000 m, bearing: 14.590391 deg, deltaT: 4.506771 s, approachRate: -0.039940 m/s, LOS rate: -0.786629 deg/s, posRepo size: 4
2021-08-13T22:18:48.294Z,1628893128.294 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:18:48.673Z,1628893128.673 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:18:48.674Z,1628893128.674 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:18:48.674Z,1628893128.674 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:18:48.675Z,1628893128.675 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:18:49.088Z,1628893129.088 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
4E4,000,003CF,189,80,80,AD,FF
2021-08-13T22:18:49.089Z,1628893129.089 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:18:49.089Z,1628893129.089 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:18:49.090Z,1628893129.090 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:18:49.500Z,1628893129.500 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:18:49.933Z,1628893129.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4AC,000,003C8,18A,80,80,B4,FF
2021-08-13T22:18:49.933Z,1628893129.933 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:18:49.975Z,1628893129.975 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:18:50.317Z,1628893130.317 [Micromodem](INFO): Nmea in: $SNTTA,0.043082,,,,221850.62*45

2021-08-13T22:18:50.339Z,1628893130.339 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.580000 m, bearing: 16.826671 deg, deltaT: 4.471469 s, approachRate: -0.093929 m/s, LOS rate: 0.500122 deg/s, posRepo size: 4
2021-08-13T22:18:52.740Z,1628893132.740 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:18:53.125Z,1628893133.125 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:18:53.125Z,1628893133.125 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:18:53.125Z,1628893133.125 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:18:53.126Z,1628893133.126 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:18:53.521Z,1628893133.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
4AC,000,003C8,18A,80,80,B4,FF
2021-08-13T22:18:53.521Z,1628893133.521 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:18:53.521Z,1628893133.521 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:18:53.523Z,1628893133.523 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:18:53.945Z,1628893133.945 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:18:54.329Z,1628893134.329 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,47C,000,003C5,189,80,80,92,FF
2021-08-13T22:18:54.330Z,1628893134.330 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:18:54.348Z,1628893134.348 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:18:54.765Z,1628893134.765 [Micromodem](INFO): Nmea in: $SNTTA,,,,,221855.06*51

2021-08-13T22:18:54.816Z,1628893134.816 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.400002 m, bearing: 18.784805 deg, deltaT: 4.352967 s, approachRate: -0.041351 m/s, LOS rate: 0.449839 deg/s, posRepo size: 4
2021-08-13T22:18:57.202Z,1628893137.202 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:18:57.600Z,1628893137.600 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:18:57.600Z,1628893137.600 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:18:57.600Z,1628893137.600 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:18:57.601Z,1628893137.601 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:18:58.013Z,1628893138.013 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
47C,000,003C5,189,80,80,92,FF
2021-08-13T22:18:58.013Z,1628893138.013 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:18:58.014Z,1628893138.014 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:18:58.016Z,1628893138.016 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:18:58.438Z,1628893138.438 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:18:58.821Z,1628893138.821 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,429,000,003CA,18A,80,80,46,FF
2021-08-13T22:18:58.822Z,1628893138.822 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:18:58.887Z,1628893138.887 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:18:59.217Z,1628893139.217 [Micromodem](INFO): Nmea in: $SNTTA,,,,,221859.55*5B

2021-08-13T22:18:59.249Z,1628893139.249 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.700001 m, bearing: 22.246555 deg, deltaT: 4.538676 s, approachRate: 0.066098 m/s, LOS rate: 0.762722 deg/s, posRepo size: 4
2021-08-13T22:19:01.664Z,1628893141.664 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:19:02.041Z,1628893142.041 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:19:02.041Z,1628893142.041 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:19:02.041Z,1628893142.041 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:19:02.042Z,1628893142.042 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:19:02.441Z,1628893142.441 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
429,000,003CA,18A,80,80,46,FF
2021-08-13T22:19:02.441Z,1628893142.441 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:19:02.442Z,1628893142.442 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:19:02.447Z,1628893142.447 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:19:02.850Z,1628893142.850 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:19:03.241Z,1628893143.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3DF,000,003C7,189,80,80,5D,FF
2021-08-13T22:19:03.242Z,1628893143.242 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:19:03.310Z,1628893143.310 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:19:03.673Z,1628893143.673 [Micromodem](INFO): Nmea in: $SNTTA,0.142570,,,,221903.98*4F

2021-08-13T22:19:03.728Z,1628893143.728 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.519997 m, bearing: 25.744460 deg, deltaT: 4.423463 s, approachRate: -0.040693 m/s, LOS rate: 0.790762 deg/s, posRepo size: 4
2021-08-13T22:19:06.127Z,1628893146.127 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:19:06.529Z,1628893146.529 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:19:06.530Z,1628893146.530 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:19:06.530Z,1628893146.530 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:19:06.531Z,1628893146.531 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:19:06.879Z,1628893146.879 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3DF,000,003C7,189,80,80,5D,FF
2021-08-13T22:19:06.880Z,1628893146.880 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:19:06.880Z,1628893146.880 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:19:06.883Z,1628893146.883 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:19:07.281Z,1628893147.281 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:19:07.686Z,1628893147.686 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,429,000,003BB,189,80,80,B4,FF
2021-08-13T22:19:07.686Z,1628893147.686 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:19:07.766Z,1628893147.766 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:19:08.105Z,1628893148.105 [Micromodem](INFO): Nmea in: $SNTTA,0.370616,0.372741,,,221908.42*59

2021-08-13T22:19:08.141Z,1628893148.141 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.799997 m, bearing: 21.823687 deg, deltaT: 4.455212 s, approachRate: -0.161608 m/s, LOS rate: -0.880042 deg/s, posRepo size: 4
2021-08-13T22:19:10.590Z,1628893150.590 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:19:10.993Z,1628893150.993 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:19:10.994Z,1628893150.994 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:19:10.994Z,1628893150.994 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:19:10.995Z,1628893150.995 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:19:11.521Z,1628893151.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
429,000,003BB,189,80,80,B4,FF
2021-08-13T22:19:11.521Z,1628893151.521 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:19:11.521Z,1628893151.521 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:19:11.523Z,1628893151.523 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:19:11.932Z,1628893151.932 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:19:12.241Z,1628893152.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,351,000,003C1,189,80,80,78,FF
2021-08-13T22:19:12.242Z,1628893152.242 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:19:12.260Z,1628893152.260 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:19:12.737Z,1628893152.737 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.160000 m, bearing: 31.937630 deg, deltaT: 4.494796 s, approachRate: 0.080093 m/s, LOS rate: 2.250145 deg/s, posRepo size: 4
2021-08-13T22:19:13.041Z,1628893153.041 [Micromodem](INFO): Nmea in: $SNTTA,0.041965,,,,221913.06*43

2021-08-13T22:19:15.097Z,1628893155.097 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:19:15.459Z,1628893155.459 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:19:15.459Z,1628893155.459 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:19:15.460Z,1628893155.460 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:19:15.461Z,1628893155.461 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:19:15.913Z,1628893155.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
351,000,003C1,189,80,80,78,FF
2021-08-13T22:19:15.913Z,1628893155.913 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:19:15.913Z,1628893155.913 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:19:15.915Z,1628893155.915 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:19:16.257Z,1628893156.257 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:19:16.669Z,1628893156.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3D7,000,003B5,188,80,80,AA,FF
2021-08-13T22:19:16.670Z,1628893156.670 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:19:16.759Z,1628893156.759 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:19:17.122Z,1628893157.122 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.440001 m, bearing: 24.631517 deg, deltaT: 4.498636 s, approachRate: -0.160048 m/s, LOS rate: -1.624073 deg/s, posRepo size: 4
2021-08-13T22:19:17.518Z,1628893157.518 [Micromodem](INFO): Nmea in: $SNTTA,0.068883,,,,221917.45*42

2021-08-13T22:19:19.526Z,1628893159.526 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:19:19.919Z,1628893159.919 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:19:19.919Z,1628893159.919 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:19:19.919Z,1628893159.919 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:19:19.920Z,1628893159.920 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:19:20.293Z,1628893160.293 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3D7,000,003B5,188,80,80,AA,FF
2021-08-13T22:19:20.293Z,1628893160.293 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:19:20.293Z,1628893160.293 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:19:20.295Z,1628893160.295 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:19:20.709Z,1628893160.709 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:19:21.109Z,1628893161.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,388,000,003BC,189,80,80,8F,FF
2021-08-13T22:19:21.110Z,1628893161.110 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:19:21.139Z,1628893161.139 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:19:21.558Z,1628893161.558 [Micromodem](INFO): Nmea in: $SNTTA,0.036836,,,,221921.83*48

2021-08-13T22:19:21.603Z,1628893161.603 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.860001 m, bearing: 27.522637 deg, deltaT: 4.379525 s, approachRate: 0.095901 m/s, LOS rate: 0.660145 deg/s, posRepo size: 4
2021-08-13T22:19:24.012Z,1628893164.012 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:19:24.337Z,1628893164.337 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:19:24.337Z,1628893164.337 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:19:24.337Z,1628893164.337 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:19:24.338Z,1628893164.338 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:19:24.833Z,1628893164.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
388,000,003BC,189,80,80,8F,FF
2021-08-13T22:19:24.833Z,1628893164.833 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:19:24.833Z,1628893164.833 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:19:24.835Z,1628893164.835 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:19:25.298Z,1628893165.298 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:19:25.649Z,1628893165.649 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,35C,000,00249,189,80,80,A8,FF
2021-08-13T22:19:25.649Z,1628893165.649 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2021-08-13T22:19:26.049Z,1628893166.049 [Micromodem](INFO): Nmea in: $SNTTA,,,,,221926.37*56

2021-08-13T22:19:26.839Z,1628893166.839 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:19:29.672Z,1628893169.672 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:19:30.055Z,1628893170.055 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:19:30.055Z,1628893170.055 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:19:30.055Z,1628893170.055 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:19:30.056Z,1628893170.056 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:19:30.489Z,1628893170.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
35C,000,00249,189,80,80,A8,FF
2021-08-13T22:19:30.489Z,1628893170.489 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:19:30.489Z,1628893170.489 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:19:30.491Z,1628893170.491 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:19:30.853Z,1628893170.853 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:19:31.267Z,1628893171.267 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,30A,000,003B8,189,80,80,60,FF
2021-08-13T22:19:31.268Z,1628893171.268 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:19:31.289Z,1628893171.289 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:19:31.675Z,1628893171.675 [Micromodem](INFO): Nmea in: $SNTTA,0.062680,,,,221932.03*40

2021-08-13T22:19:31.725Z,1628893171.725 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.619999 m, bearing: 30.101723 deg, deltaT: 10.150442 s, approachRate: -0.023644 m/s, LOS rate: 0.254086 deg/s, posRepo size: 4
2021-08-13T22:19:34.153Z,1628893174.153 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:19:34.511Z,1628893174.511 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:19:34.511Z,1628893174.511 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:19:34.511Z,1628893174.511 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:19:34.512Z,1628893174.512 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:19:34.898Z,1628893174.898 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
30A,000,003B8,189,80,80,60,FF
2021-08-13T22:19:34.898Z,1628893174.898 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:19:34.898Z,1628893174.898 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:19:34.940Z,1628893174.940 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:19:35.321Z,1628893175.321 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:19:35.701Z,1628893175.701 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,312,000,003B0,189,80,80,83,FF
2021-08-13T22:19:35.701Z,1628893175.701 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:19:35.820Z,1628893175.820 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:19:36.216Z,1628893176.216 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.140001 m, bearing: 28.394838 deg, deltaT: 4.532021 s, approachRate: -0.105912 m/s, LOS rate: -0.376628 deg/s, posRepo size: 4
2021-08-13T22:19:36.529Z,1628893176.529 [Micromodem](INFO): Nmea in: $SNTTA,,,,,221936.52*54

2021-08-13T22:19:38.717Z,1628893178.717 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:19:38.981Z,1628893178.981 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:19:38.981Z,1628893178.981 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:19:38.981Z,1628893178.981 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:19:38.982Z,1628893178.982 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:19:39.362Z,1628893179.362 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
312,000,003B0,189,80,80,83,FF
2021-08-13T22:19:39.362Z,1628893179.362 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:19:39.363Z,1628893179.363 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:19:39.366Z,1628893179.366 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:19:39.764Z,1628893179.764 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:19:40.137Z,1628893180.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,307,000,003AC,189,80,80,65,FF
2021-08-13T22:19:40.138Z,1628893180.138 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:19:40.231Z,1628893180.231 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:19:40.581Z,1628893180.581 [Micromodem](INFO): Nmea in: $SNTTA,,,,,221940.90*5B

2021-08-13T22:19:40.619Z,1628893180.619 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.899998 m, bearing: 27.765201 deg, deltaT: 4.409534 s, approachRate: -0.054428 m/s, LOS rate: -0.142790 deg/s, posRepo size: 4
2021-08-13T22:19:43.007Z,1628893183.007 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:19:43.374Z,1628893183.374 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:19:43.374Z,1628893183.374 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:19:43.374Z,1628893183.374 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:19:43.375Z,1628893183.375 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:19:43.790Z,1628893183.790 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
307,000,003AC,189,80,80,65,FF
2021-08-13T22:19:43.791Z,1628893183.791 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:19:43.791Z,1628893183.791 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:19:43.793Z,1628893183.793 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:19:44.192Z,1628893184.192 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:19:44.597Z,1628893184.597 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2D4,000,003AE,189,80,80,73,FF
2021-08-13T22:19:44.597Z,1628893184.597 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:19:44.651Z,1628893184.651 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:19:45.021Z,1628893185.021 [Micromodem](INFO): Nmea in: $SNTTA,,,,,221945.33*57

2021-08-13T22:19:45.086Z,1628893185.086 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.020000 m, bearing: 29.947531 deg, deltaT: 4.420512 s, approachRate: 0.027147 m/s, LOS rate: 0.493683 deg/s, posRepo size: 4
2021-08-13T22:19:47.487Z,1628893187.487 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:19:47.838Z,1628893187.838 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:19:47.839Z,1628893187.839 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:19:47.839Z,1628893187.839 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:19:47.845Z,1628893187.845 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:19:48.221Z,1628893188.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2D4,000,003AE,189,80,80,73,FF
2021-08-13T22:19:48.221Z,1628893188.221 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:19:48.221Z,1628893188.221 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:19:48.223Z,1628893188.223 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:19:48.629Z,1628893188.629 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:19:49.029Z,1628893189.029 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2F7,000,003AB,189,80,80,AA,FF
2021-08-13T22:19:49.030Z,1628893189.030 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:19:49.150Z,1628893189.150 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:19:49.505Z,1628893189.505 [Micromodem](INFO): Nmea in: $SNTTA,0.028495,,,,221949.76*46

2021-08-13T22:19:49.530Z,1628893189.530 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.840000 m, bearing: 27.778036 deg, deltaT: 4.498699 s, approachRate: -0.040012 m/s, LOS rate: -0.482249 deg/s, posRepo size: 4
2021-08-13T22:19:52.084Z,1628893192.084 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:19:52.289Z,1628893192.289 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:19:52.289Z,1628893192.289 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:19:52.289Z,1628893192.289 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:19:52.290Z,1628893192.290 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:19:52.701Z,1628893192.701 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2F7,000,003AB,189,80,80,AA,FF
2021-08-13T22:19:52.701Z,1628893192.701 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:19:52.701Z,1628893192.701 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:19:52.703Z,1628893192.703 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:19:53.113Z,1628893193.113 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:19:53.509Z,1628893193.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2F7,000,003AA,189,80,80,40,FF
2021-08-13T22:19:53.510Z,1628893193.510 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:19:53.566Z,1628893193.566 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:19:53.929Z,1628893193.929 [Micromodem](INFO): Nmea in: $SNTTA,,,,,221954.24*51

2021-08-13T22:19:53.998Z,1628893193.998 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.779997 m, bearing: 27.381120 deg, deltaT: 4.416183 s, approachRate: -0.013587 m/s, LOS rate: -0.089878 deg/s, posRepo size: 4
2021-08-13T22:19:56.418Z,1628893196.418 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:19:56.721Z,1628893196.721 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:19:56.721Z,1628893196.721 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:19:56.721Z,1628893196.721 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:19:56.722Z,1628893196.722 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:19:57.117Z,1628893197.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2F7,000,003AA,189,80,80,40,FF
2021-08-13T22:19:57.117Z,1628893197.117 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:19:57.118Z,1628893197.118 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:19:57.119Z,1628893197.119 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:19:57.532Z,1628893197.532 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:19:57.941Z,1628893197.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,288,000,003B2,189,80,80,84,FF
2021-08-13T22:19:57.942Z,1628893197.942 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:19:58.034Z,1628893198.034 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:19:58.369Z,1628893198.369 [Micromodem](INFO): Nmea in: $SNTTA,,,,,221958.66*5B

2021-08-13T22:19:58.408Z,1628893198.408 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.260002 m, bearing: 32.506530 deg, deltaT: 4.468349 s, approachRate: 0.107423 m/s, LOS rate: 1.147048 deg/s, posRepo size: 4
2021-08-13T22:20:00.818Z,1628893200.818 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:20:01.165Z,1628893201.165 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:20:01.165Z,1628893201.165 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:20:01.165Z,1628893201.165 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:20:01.166Z,1628893201.166 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:20:01.565Z,1628893201.565 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
288,000,003B2,189,80,80,84,FF
2021-08-13T22:20:01.566Z,1628893201.566 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:20:01.566Z,1628893201.566 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:20:01.568Z,1628893201.568 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:20:01.973Z,1628893201.973 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:20:02.381Z,1628893202.381 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2C9,000,003A4,189,80,80,68,FF
2021-08-13T22:20:02.382Z,1628893202.382 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:20:02.461Z,1628893202.461 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:20:02.814Z,1628893202.814 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222003.10*5E

2021-08-13T22:20:02.841Z,1628893202.841 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.420000 m, bearing: 28.779197 deg, deltaT: 4.426482 s, approachRate: -0.189767 m/s, LOS rate: -0.842053 deg/s, posRepo size: 4
2021-08-13T22:20:05.240Z,1628893205.240 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:20:05.729Z,1628893205.729 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:20:05.729Z,1628893205.729 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:20:05.729Z,1628893205.729 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:20:05.730Z,1628893205.730 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:20:06.085Z,1628893206.085 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2C9,000,003A4,189,80,80,68,FF
2021-08-13T22:20:06.085Z,1628893206.085 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:20:06.085Z,1628893206.085 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:20:06.087Z,1628893206.087 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:20:06.146Z,1628893206.146 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-13T22:20:06.512Z,1628893206.512 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:20:06.882Z,1628893206.882 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2AD,000,003AC,189,80,80,79,FF
2021-08-13T22:20:06.882Z,1628893206.882 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:20:06.912Z,1628893206.912 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:20:07.270Z,1628893207.270 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222007.63*5E

2021-08-13T22:20:07.314Z,1628893207.314 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.899998 m, bearing: 29.244865 deg, deltaT: 4.451133 s, approachRate: 0.107837 m/s, LOS rate: 0.104618 deg/s, posRepo size: 4
2021-08-13T22:20:09.718Z,1628893209.718 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:20:10.085Z,1628893210.085 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:20:10.085Z,1628893210.085 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:20:10.085Z,1628893210.085 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:20:10.086Z,1628893210.086 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:20:10.516Z,1628893210.516 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2AD,000,003AC,189,80,80,79,FF
2021-08-13T22:20:10.517Z,1628893210.517 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:20:10.517Z,1628893210.517 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:20:10.518Z,1628893210.518 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:20:10.899Z,1628893210.899 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:20:11.309Z,1628893211.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,250,000,0039F,188,80,80,7D,FF
2021-08-13T22:20:11.310Z,1628893211.310 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:20:11.348Z,1628893211.348 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:20:11.725Z,1628893211.725 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222012.05*5A

2021-08-13T22:20:11.780Z,1628893211.780 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.120001 m, bearing: 32.855010 deg, deltaT: 4.435820 s, approachRate: -0.175841 m/s, LOS rate: 0.813862 deg/s, posRepo size: 4
2021-08-13T22:20:14.171Z,1628893214.171 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:20:14.533Z,1628893214.533 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:20:14.533Z,1628893214.533 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:20:14.533Z,1628893214.533 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:20:14.534Z,1628893214.534 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:20:14.945Z,1628893214.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
250,000,0039F,188,80,80,7D,FF
2021-08-13T22:20:14.945Z,1628893214.945 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:20:14.945Z,1628893214.945 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:20:14.947Z,1628893214.947 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:20:15.350Z,1628893215.350 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:20:15.749Z,1628893215.749 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,21B,000,003A2,188,80,80,7E,FF
2021-08-13T22:20:15.749Z,1628893215.749 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:20:15.891Z,1628893215.891 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:20:16.193Z,1628893216.193 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222016.48*57

2021-08-13T22:20:16.244Z,1628893216.244 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.299999 m, bearing: 33.646113 deg, deltaT: 4.548112 s, approachRate: 0.039577 m/s, LOS rate: 0.173941 deg/s, posRepo size: 4
2021-08-13T22:20:18.611Z,1628893218.611 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:20:19.101Z,1628893219.101 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:20:19.101Z,1628893219.101 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:20:19.101Z,1628893219.101 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:20:19.102Z,1628893219.102 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:20:19.433Z,1628893219.433 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
21B,000,003A2,188,80,80,7E,FF
2021-08-13T22:20:19.433Z,1628893219.433 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:20:19.434Z,1628893219.434 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:20:19.439Z,1628893219.439 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:20:19.834Z,1628893219.834 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:20:20.209Z,1628893220.209 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1C3,000,003A2,186,80,80,6A,FF
2021-08-13T22:20:20.209Z,1628893220.209 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:20:20.295Z,1628893220.295 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:20:20.673Z,1628893220.673 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.299999 m, bearing: 35.822153 deg, deltaT: 4.398669 s, approachRate: 0.000000 m/s, LOS rate: 0.494704 deg/s, posRepo size: 4
2021-08-13T22:20:21.005Z,1628893221.005 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222021.01*5E

2021-08-13T22:20:23.029Z,1628893223.029 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:20:23.413Z,1628893223.413 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:20:23.413Z,1628893223.413 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:20:23.413Z,1628893223.413 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:20:23.414Z,1628893223.414 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:20:23.848Z,1628893223.848 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1C3,000,003A2,186,80,80,6A,FF
2021-08-13T22:20:23.849Z,1628893223.849 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:20:23.849Z,1628893223.849 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:20:23.859Z,1628893223.859 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:20:24.229Z,1628893224.229 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:20:24.625Z,1628893224.625 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1E7,000,003AC,187,80,80,5A,FF
2021-08-13T22:20:24.626Z,1628893224.626 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:20:24.690Z,1628893224.690 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:20:25.061Z,1628893225.061 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222025.39*51

2021-08-13T22:20:25.100Z,1628893225.100 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.899998 m, bearing: 32.235675 deg, deltaT: 4.395745 s, approachRate: 0.136495 m/s, LOS rate: -0.815898 deg/s, posRepo size: 4
2021-08-13T22:20:25.938Z,1628893225.938 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-13T22:20:27.529Z,1628893227.529 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:20:27.901Z,1628893227.901 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:20:27.901Z,1628893227.901 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:20:27.901Z,1628893227.901 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:20:27.902Z,1628893227.902 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:20:28.273Z,1628893228.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1E7,000,003AC,187,80,80,5A,FF
2021-08-13T22:20:28.273Z,1628893228.273 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:20:28.273Z,1628893228.273 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:20:28.275Z,1628893228.275 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:20:28.678Z,1628893228.678 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:20:29.071Z,1628893229.071 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,16B,000,003A0,185,80,80,86,FF
2021-08-13T22:20:29.071Z,1628893229.071 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:20:29.075Z,1628893229.075 [Micromodem](INFO): Nmea in: $SNTTA,0.193267,0.192911,,,222029.81*55

2021-08-13T22:20:29.138Z,1628893229.138 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:20:29.535Z,1628893229.535 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.179998 m, bearing: 37.093333 deg, deltaT: 4.448036 s, approachRate: -0.161869 m/s, LOS rate: 1.092090 deg/s, posRepo size: 4
2021-08-13T22:20:32.025Z,1628893232.025 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:20:32.321Z,1628893232.321 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:20:32.321Z,1628893232.321 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:20:32.321Z,1628893232.321 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:20:32.322Z,1628893232.322 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:20:32.789Z,1628893232.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
16B,000,003A0,185,80,80,86,FF
2021-08-13T22:20:32.789Z,1628893232.789 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:20:32.790Z,1628893232.790 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:20:32.791Z,1628893232.791 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:20:33.228Z,1628893233.228 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:20:33.605Z,1628893233.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,10F,000,003A2,186,80,80,81,FF
2021-08-13T22:20:33.605Z,1628893233.605 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:20:33.663Z,1628893233.663 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:20:34.053Z,1628893234.053 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222034.33*5B

2021-08-13T22:20:34.093Z,1628893234.093 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.299999 m, bearing: 40.423723 deg, deltaT: 4.524656 s, approachRate: 0.026522 m/s, LOS rate: 0.736054 deg/s, posRepo size: 4
2021-08-13T22:20:36.526Z,1628893236.526 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:20:36.882Z,1628893236.882 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:20:36.882Z,1628893236.882 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:20:36.883Z,1628893236.883 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:20:36.883Z,1628893236.883 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:20:37.276Z,1628893237.276 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
10F,000,003A2,186,80,80,81,FF
2021-08-13T22:20:37.276Z,1628893237.276 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:20:37.276Z,1628893237.276 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:20:37.278Z,1628893237.278 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:20:37.684Z,1628893237.684 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:20:38.084Z,1628893238.084 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0F6,000,003A2,186,80,80,61,FF
2021-08-13T22:20:38.084Z,1628893238.084 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:20:38.144Z,1628893238.144 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:20:38.529Z,1628893238.529 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222038.81*5E

2021-08-13T22:20:38.571Z,1628893238.571 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.299999 m, bearing: 40.552575 deg, deltaT: 4.481104 s, approachRate: 0.000000 m/s, LOS rate: 0.028754 deg/s, posRepo size: 4
2021-08-13T22:20:40.938Z,1628893240.938 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:20:41.321Z,1628893241.321 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:20:41.321Z,1628893241.321 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:20:41.321Z,1628893241.321 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:20:41.322Z,1628893241.322 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:20:41.721Z,1628893241.721 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0F6,000,003A2,186,80,80,61,FF
2021-08-13T22:20:41.721Z,1628893241.721 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:20:41.721Z,1628893241.721 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:20:41.723Z,1628893241.723 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:20:42.147Z,1628893242.147 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:20:42.541Z,1628893242.541 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0B3,000,003A4,186,80,80,5E,FF
2021-08-13T22:20:42.541Z,1628893242.541 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:20:42.596Z,1628893242.596 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:20:42.985Z,1628893242.985 [Micromodem](INFO): Nmea in: $SNTTA,0.059998,,,,222043.26*45

2021-08-13T22:20:43.008Z,1628893243.008 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.420000 m, bearing: 42.921735 deg, deltaT: 4.451676 s, approachRate: 0.026956 m/s, LOS rate: 0.532195 deg/s, posRepo size: 4
2021-08-13T22:20:45.405Z,1628893245.405 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:20:45.919Z,1628893245.919 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:20:45.919Z,1628893245.919 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:20:45.919Z,1628893245.919 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:20:45.920Z,1628893245.920 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:20:45.986Z,1628893245.986 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-13T22:20:46.293Z,1628893246.293 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0B3,000,003A4,186,80,80,5E,FF
2021-08-13T22:20:46.293Z,1628893246.293 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:20:46.293Z,1628893246.293 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:20:46.295Z,1628893246.295 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:20:46.653Z,1628893246.653 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:20:47.045Z,1628893247.045 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0B8,000,003B5,186,80,80,89,FF
2021-08-13T22:20:47.045Z,1628893247.045 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:20:47.089Z,1628893247.089 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:20:47.463Z,1628893247.463 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222047.83*54

2021-08-13T22:20:47.527Z,1628893247.527 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.440001 m, bearing: 41.561110 deg, deltaT: 4.492942 s, approachRate: 0.227023 m/s, LOS rate: -0.302836 deg/s, posRepo size: 4
2021-08-13T22:20:49.935Z,1628893249.935 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:20:50.253Z,1628893250.253 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:20:50.253Z,1628893250.253 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:20:50.253Z,1628893250.253 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:20:50.254Z,1628893250.254 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:20:50.666Z,1628893250.666 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0B8,000,003B5,186,80,80,89,FF
2021-08-13T22:20:50.666Z,1628893250.666 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:20:50.666Z,1628893250.666 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:20:50.667Z,1628893250.667 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:20:51.095Z,1628893251.095 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:20:51.509Z,1628893251.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,060,000,003A2,186,80,80,87,FF
2021-08-13T22:20:51.509Z,1628893251.509 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:20:51.538Z,1628893251.538 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:20:51.937Z,1628893251.937 [Micromodem](INFO): Nmea in: $SNTTA,0.051119,,,,222052.20*4A

2021-08-13T22:20:52.005Z,1628893252.005 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.299999 m, bearing: 45.201990 deg, deltaT: 4.449531 s, approachRate: -0.256207 m/s, LOS rate: 0.818262 deg/s, posRepo size: 4
2021-08-13T22:20:54.326Z,1628893254.326 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:20:54.729Z,1628893254.729 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:20:54.729Z,1628893254.729 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:20:54.729Z,1628893254.729 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:20:54.730Z,1628893254.730 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:20:55.121Z,1628893255.121 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
060,000,003A2,186,80,80,87,FF
2021-08-13T22:20:55.121Z,1628893255.121 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:20:55.121Z,1628893255.121 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:20:55.123Z,1628893255.123 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:20:55.540Z,1628893255.540 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:20:55.941Z,1628893255.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,03F,000,003A1,184,80,80,42,FF
2021-08-13T22:20:55.942Z,1628893255.942 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:20:55.969Z,1628893255.969 [Micromodem](INFO): Nmea in: $SNTTA,0.032059,0.253364,,,222056.66*57

2021-08-13T22:20:55.983Z,1628893255.983 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-13T22:20:56.015Z,1628893256.015 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:20:56.391Z,1628893256.391 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.240002 m, bearing: 46.286040 deg, deltaT: 4.476587 s, approachRate: -0.013403 m/s, LOS rate: 0.242160 deg/s, posRepo size: 4
2021-08-13T22:20:58.796Z,1628893258.796 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:20:59.165Z,1628893259.165 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:20:59.165Z,1628893259.165 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:20:59.165Z,1628893259.165 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:20:59.166Z,1628893259.166 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:20:59.633Z,1628893259.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
03F,000,003A1,184,80,80,42,FF
2021-08-13T22:20:59.633Z,1628893259.633 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:20:59.633Z,1628893259.633 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:20:59.635Z,1628893259.635 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:21:00.101Z,1628893260.101 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:21:00.428Z,1628893260.428 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,035,000,003A6,184,80,80,50,FF
2021-08-13T22:21:00.430Z,1628893260.430 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:21:00.517Z,1628893260.517 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:21:00.849Z,1628893260.849 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222101.17*5A

2021-08-13T22:21:00.910Z,1628893260.910 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.540001 m, bearing: 46.237413 deg, deltaT: 4.502344 s, approachRate: 0.066632 m/s, LOS rate: -0.010800 deg/s, posRepo size: 4
2021-08-13T22:21:03.247Z,1628893263.247 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:21:03.629Z,1628893263.629 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:21:03.629Z,1628893263.629 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:21:03.629Z,1628893263.629 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:21:03.630Z,1628893263.630 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:21:04.029Z,1628893264.029 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
035,000,003A6,184,80,80,50,FF
2021-08-13T22:21:04.029Z,1628893264.029 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:21:04.029Z,1628893264.029 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:21:04.031Z,1628893264.031 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:21:04.458Z,1628893264.458 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:21:04.845Z,1628893264.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,017,000,003A7,184,80,80,4A,FF
2021-08-13T22:21:04.846Z,1628893264.846 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:21:04.900Z,1628893264.900 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:21:05.273Z,1628893265.273 [Micromodem](INFO): Nmea in: $SNTTA,0.031216,,,,222105.57*43

2021-08-13T22:21:05.303Z,1628893265.303 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.599998 m, bearing: 46.634889 deg, deltaT: 4.382861 s, approachRate: 0.013689 m/s, LOS rate: 0.090689 deg/s, posRepo size: 4
2021-08-13T22:21:07.712Z,1628893267.712 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:21:08.069Z,1628893268.069 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:21:08.069Z,1628893268.069 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:21:08.069Z,1628893268.069 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:21:08.070Z,1628893268.070 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:21:08.509Z,1628893268.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
017,000,003A7,184,80,80,4A,FF
2021-08-13T22:21:08.509Z,1628893268.509 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:21:08.509Z,1628893268.509 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:21:08.511Z,1628893268.511 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:21:08.901Z,1628893268.901 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:21:09.289Z,1628893269.289 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,001,000,003A8,182,80,80,3F,FF
2021-08-13T22:21:09.289Z,1628893269.289 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:21:09.337Z,1628893269.337 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:21:09.711Z,1628893269.711 [Micromodem](INFO): Nmea in: $SNTTA,0.051646,,,,222110.04*46

2021-08-13T22:21:09.752Z,1628893269.752 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.659996 m, bearing: 45.881680 deg, deltaT: 4.436657 s, approachRate: 0.013523 m/s, LOS rate: -0.169770 deg/s, posRepo size: 4
2021-08-13T22:21:12.158Z,1628893272.158 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:21:12.512Z,1628893272.512 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:21:12.513Z,1628893272.513 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:21:12.513Z,1628893272.513 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:21:12.514Z,1628893272.514 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:21:12.921Z,1628893272.921 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
001,000,003A8,182,80,80,3F,FF
2021-08-13T22:21:12.921Z,1628893272.921 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:21:12.921Z,1628893272.921 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:21:12.923Z,1628893272.923 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:21:13.385Z,1628893273.385 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:21:13.849Z,1628893273.849 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FFC,000,003A7,184,80,80,38,FF
2021-08-13T22:21:13.850Z,1628893273.850 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:21:13.995Z,1628893273.995 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:21:14.181Z,1628893274.181 [Micromodem](INFO): Nmea in: $SNTTA,0.031608,0.391457,,,222114.46*5B

2021-08-13T22:21:14.213Z,1628893274.213 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.599998 m, bearing: 44.327648 deg, deltaT: 4.657941 s, approachRate: -0.012881 m/s, LOS rate: -0.333631 deg/s, posRepo size: 4
2021-08-13T22:21:16.607Z,1628893276.607 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:21:16.977Z,1628893276.977 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:21:16.977Z,1628893276.977 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:21:16.977Z,1628893276.977 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:21:16.978Z,1628893276.978 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:21:17.377Z,1628893277.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FFC,000,003A7,184,80,80,38,FF
2021-08-13T22:21:17.377Z,1628893277.377 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:21:17.377Z,1628893277.377 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:21:17.379Z,1628893277.379 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:21:17.793Z,1628893277.793 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:21:18.197Z,1628893278.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F71,000,003A1,186,80,80,A0,FF
2021-08-13T22:21:18.197Z,1628893278.197 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:21:18.201Z,1628893278.201 [Micromodem](INFO): Nmea in: $SNTTA,0.125572,0.125572,,,222118.91*5C

2021-08-13T22:21:18.281Z,1628893278.281 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:21:18.653Z,1628893278.653 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.240002 m, bearing: 48.685742 deg, deltaT: 4.286370 s, approachRate: -0.083986 m/s, LOS rate: 1.016733 deg/s, posRepo size: 4
2021-08-13T22:21:21.058Z,1628893281.058 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:21:21.440Z,1628893281.440 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:21:21.440Z,1628893281.440 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:21:21.441Z,1628893281.441 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:21:21.442Z,1628893281.442 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:21:21.852Z,1628893281.852 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F71,000,003A1,186,80,80,A0,FF
2021-08-13T22:21:21.853Z,1628893281.853 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:21:21.853Z,1628893281.853 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:21:21.863Z,1628893281.863 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:21:22.256Z,1628893282.256 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:21:22.661Z,1628893282.661 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F66,000,003AB,187,80,80,93,FF
2021-08-13T22:21:22.662Z,1628893282.662 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:21:22.752Z,1628893282.752 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:21:23.089Z,1628893283.089 [Micromodem](INFO): Nmea in: $SNTTA,0.056181,,,,222123.40*4D

2021-08-13T22:21:23.136Z,1628893283.136 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.840000 m, bearing: 47.232421 deg, deltaT: 4.471386 s, approachRate: 0.134186 m/s, LOS rate: -0.325027 deg/s, posRepo size: 4
2021-08-13T22:21:25.551Z,1628893285.551 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:21:25.941Z,1628893285.941 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:21:25.941Z,1628893285.941 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:21:25.941Z,1628893285.941 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:21:25.942Z,1628893285.942 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:21:26.298Z,1628893286.298 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F66,000,003AB,187,80,80,93,FF
2021-08-13T22:21:26.298Z,1628893286.298 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:21:26.298Z,1628893286.298 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:21:26.300Z,1628893286.300 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:21:26.779Z,1628893286.779 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:21:27.186Z,1628893287.186 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F08,000,003A3,186,80,80,7F,FF
2021-08-13T22:21:27.186Z,1628893287.186 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:21:27.205Z,1628893287.205 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:21:27.573Z,1628893287.573 [Micromodem](INFO): Nmea in: $SNTTA,0.039235,,,,222127.83*43

2021-08-13T22:21:27.621Z,1628893287.621 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.359997 m, bearing: 50.089701 deg, deltaT: 4.452805 s, approachRate: -0.107798 m/s, LOS rate: 0.641681 deg/s, posRepo size: 4
2021-08-13T22:21:28.920Z,1628893288.920 [CBIT](IMPORTANT): Beginning ground fault scan
2021-08-13T22:21:29.510Z,1628893289.510 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-13T22:21:29.988Z,1628893289.988 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:21:30.337Z,1628893290.337 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:21:30.338Z,1628893290.338 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:21:30.338Z,1628893290.338 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:21:30.339Z,1628893290.339 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:21:30.514Z,1628893290.514 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-13T22:21:30.733Z,1628893290.733 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F08,000,003A3,186,80,80,7F,FF
2021-08-13T22:21:30.733Z,1628893290.733 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:21:30.733Z,1628893290.733 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:21:30.735Z,1628893290.735 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:21:31.141Z,1628893291.141 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:21:31.518Z,1628893291.518 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-13T22:21:31.541Z,1628893291.541 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E9F,000,003A1,186,80,80,7A,FF
2021-08-13T22:21:31.542Z,1628893291.542 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:21:31.595Z,1628893291.595 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:21:32.002Z,1628893292.002 [Micromodem](INFO): Nmea in: $SNTTA,0.051061,0.445921,,,222132.27*55

2021-08-13T22:21:32.042Z,1628893292.042 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.240002 m, bearing: 54.553305 deg, deltaT: 4.394863 s, approachRate: -0.027303 m/s, LOS rate: 1.015641 deg/s, posRepo size: 4
2021-08-13T22:21:32.522Z,1628893292.522 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-13T22:21:33.526Z,1628893293.526 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-13T22:21:34.479Z,1628893294.479 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:21:34.530Z,1628893294.530 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-13T22:21:34.821Z,1628893294.821 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:21:34.821Z,1628893294.821 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:21:34.821Z,1628893294.821 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:21:34.822Z,1628893294.822 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:21:35.221Z,1628893295.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E9F,000,003A1,186,80,80,7A,FF
2021-08-13T22:21:35.222Z,1628893295.222 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:21:35.222Z,1628893295.222 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:21:35.224Z,1628893295.224 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:21:35.534Z,1628893295.534 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-13T22:21:35.633Z,1628893295.633 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:21:36.029Z,1628893296.029 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA3,000,003A6,186,80,80,6A,FF
2021-08-13T22:21:36.030Z,1628893296.030 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:21:36.106Z,1628893296.106 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:21:36.481Z,1628893296.481 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222136.76*59

2021-08-13T22:21:36.507Z,1628893296.507 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.540001 m, bearing: 53.704989 deg, deltaT: 4.506313 s, approachRate: 0.066573 m/s, LOS rate: -0.188251 deg/s, posRepo size: 4
2021-08-13T22:21:36.538Z,1628893296.538 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-13T22:21:37.542Z,1628893297.542 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-13T22:21:38.546Z,1628893298.546 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-13T22:21:38.914Z,1628893298.914 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:21:39.257Z,1628893299.257 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:21:39.257Z,1628893299.257 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:21:39.257Z,1628893299.257 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:21:39.258Z,1628893299.258 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:21:39.551Z,1628893299.551 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-13T22:21:39.669Z,1628893299.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EA3,000,003A6,186,80,80,6A,FF
2021-08-13T22:21:39.670Z,1628893299.670 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:21:39.670Z,1628893299.670 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:21:39.671Z,1628893299.671 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:21:40.294Z,1628893300.294 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E9B,000,003A6,186,80,80,6A,FF
2021-08-13T22:21:40.294Z,1628893300.294 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:21:40.315Z,1628893300.315 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:21:40.440Z,1628893300.440 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:21:40.555Z,1628893300.555 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-13T22:21:40.568Z,1628893300.568 [CBIT](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): -0.005803
CHAN A1 (24V): -0.023970
CHAN A2 (12V): -0.005252
CHAN A3 (5V): -0.001410
CHAN B0 (3.3V): 0.000641
CHAN B1 (3.15aV): 0.000431
CHAN B2 (3.15bV): 0.000392
CHAN B3 (GND): 0.002004
OPEN: 0.006544
Full Scale Calc: 4.765 mA, -1.589 mA
2021-08-13T22:21:40.744Z,1628893300.744 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.540001 m, bearing: 53.247653 deg, deltaT: 4.334933 s, approachRate: 0.000000 m/s, LOS rate: -0.105500 deg/s, posRepo size: 4
2021-08-13T22:21:41.065Z,1628893301.065 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222141.21*5B

2021-08-13T22:21:43.062Z,1628893303.062 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:21:43.469Z,1628893303.469 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:21:43.469Z,1628893303.469 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:21:43.469Z,1628893303.469 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:21:43.470Z,1628893303.470 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:21:43.909Z,1628893303.909 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E9B,000,003A6,186,80,80,6A,FF
2021-08-13T22:21:43.909Z,1628893303.909 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:21:43.909Z,1628893303.909 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:21:43.911Z,1628893303.911 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:21:44.266Z,1628893304.266 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:21:44.673Z,1628893304.673 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E35,000,003A7,186,80,80,9E,FF
2021-08-13T22:21:44.674Z,1628893304.674 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:21:44.703Z,1628893304.703 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:21:45.092Z,1628893305.092 [Micromodem](INFO): Nmea in: $SNTTA,0.427398,0.427398,,,222145.44*5C

2021-08-13T22:21:45.116Z,1628893305.116 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.599998 m, bearing: 58.210595 deg, deltaT: 4.261282 s, approachRate: 0.014080 m/s, LOS rate: 1.164659 deg/s, posRepo size: 4
2021-08-13T22:21:47.544Z,1628893307.544 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:21:47.917Z,1628893307.917 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:21:47.917Z,1628893307.917 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:21:47.917Z,1628893307.917 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:21:47.918Z,1628893307.918 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:21:48.301Z,1628893308.301 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E35,000,003A7,186,80,80,9E,FF
2021-08-13T22:21:48.301Z,1628893308.301 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:21:48.301Z,1628893308.301 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:21:48.303Z,1628893308.303 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:21:48.719Z,1628893308.719 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:21:49.105Z,1628893309.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED4,000,003B0,186,80,80,64,FF
2021-08-13T22:21:49.105Z,1628893309.105 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:21:49.170Z,1628893309.170 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:21:49.557Z,1628893309.557 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222149.84*5C

2021-08-13T22:21:49.583Z,1628893309.583 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.140001 m, bearing: 49.083136 deg, deltaT: 4.467289 s, approachRate: 0.120879 m/s, LOS rate: -2.043176 deg/s, posRepo size: 4
2021-08-13T22:21:52.006Z,1628893312.006 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:21:52.347Z,1628893312.347 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:21:52.347Z,1628893312.347 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:21:52.347Z,1628893312.347 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:21:52.348Z,1628893312.348 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:21:52.750Z,1628893312.750 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ED4,000,003B0,186,80,80,64,FF
2021-08-13T22:21:52.750Z,1628893312.750 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:21:52.750Z,1628893312.750 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:21:52.751Z,1628893312.751 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:21:53.157Z,1628893313.157 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:21:53.693Z,1628893313.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DF7,000,003A4,188,80,80,65,FF
2021-08-13T22:21:53.694Z,1628893313.694 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:21:53.744Z,1628893313.744 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:21:54.033Z,1628893314.033 [Micromodem](INFO): Nmea in: $SNTTA,0.035559,,,,222154.31*4F

2021-08-13T22:21:54.086Z,1628893314.086 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.420000 m, bearing: 59.096402 deg, deltaT: 4.574288 s, approachRate: -0.157402 m/s, LOS rate: 2.189033 deg/s, posRepo size: 4
2021-08-13T22:21:56.463Z,1628893316.463 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:21:56.789Z,1628893316.789 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:21:56.790Z,1628893316.790 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:21:56.790Z,1628893316.790 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:21:56.791Z,1628893316.791 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:21:57.190Z,1628893317.190 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DF7,000,003A4,188,80,80,65,FF
2021-08-13T22:21:57.190Z,1628893317.190 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:21:57.190Z,1628893317.190 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:21:57.192Z,1628893317.192 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:21:57.601Z,1628893317.601 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:21:57.997Z,1628893317.997 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E0E,000,003A5,186,80,80,50,FF
2021-08-13T22:21:57.998Z,1628893317.998 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:21:58.076Z,1628893318.076 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:21:58.457Z,1628893318.457 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222158.73*54

2021-08-13T22:21:58.507Z,1628893318.507 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.479998 m, bearing: 56.431330 deg, deltaT: 4.332176 s, approachRate: 0.013849 m/s, LOS rate: -0.615181 deg/s, posRepo size: 4
2021-08-13T22:22:00.850Z,1628893320.850 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:22:01.229Z,1628893321.229 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:22:01.229Z,1628893321.229 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:22:01.229Z,1628893321.229 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:22:01.230Z,1628893321.230 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:22:01.633Z,1628893321.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E0E,000,003A5,186,80,80,50,FF
2021-08-13T22:22:01.633Z,1628893321.633 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:22:01.634Z,1628893321.634 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:22:01.635Z,1628893321.635 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:22:02.046Z,1628893322.046 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:22:02.465Z,1628893322.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DD3,000,003A6,189,80,80,82,FF
2021-08-13T22:22:02.466Z,1628893322.466 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:22:02.546Z,1628893322.546 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:22:02.890Z,1628893322.890 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222203.17*5B

2021-08-13T22:22:02.911Z,1628893322.911 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.540001 m, bearing: 57.788229 deg, deltaT: 4.469917 s, approachRate: 0.013424 m/s, LOS rate: 0.303562 deg/s, posRepo size: 4
2021-08-13T22:22:05.293Z,1628893325.293 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:22:05.689Z,1628893325.689 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:22:05.689Z,1628893325.689 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:22:05.689Z,1628893325.689 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:22:05.690Z,1628893325.690 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:22:06.077Z,1628893326.077 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DD3,000,003A6,189,80,80,82,FF
2021-08-13T22:22:06.077Z,1628893326.077 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:22:06.077Z,1628893326.077 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:22:06.079Z,1628893326.079 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:22:06.577Z,1628893326.577 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:22:06.891Z,1628893326.891 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DD7,000,003B1,189,80,80,3E,FF
2021-08-13T22:22:06.891Z,1628893326.891 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:22:06.943Z,1628893326.943 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:22:07.426Z,1628893327.426 [Micromodem](INFO): Nmea in: $SNTTA,0.040377,,,,222207.61*47

2021-08-13T22:22:07.462Z,1628893327.462 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.199999 m, bearing: 55.626847 deg, deltaT: 4.396597 s, approachRate: 0.150116 m/s, LOS rate: -0.491604 deg/s, posRepo size: 4
2021-08-13T22:22:09.750Z,1628893329.750 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:22:10.121Z,1628893330.121 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:22:10.122Z,1628893330.122 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:22:10.122Z,1628893330.122 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:22:10.123Z,1628893330.123 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:22:10.529Z,1628893330.529 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DD7,000,003B1,189,80,80,3E,FF
2021-08-13T22:22:10.529Z,1628893330.529 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:22:10.529Z,1628893330.529 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:22:10.531Z,1628893330.531 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:22:10.960Z,1628893330.960 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:22:11.329Z,1628893331.329 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DAA,000,003AA,189,80,80,6F,FF
2021-08-13T22:22:11.329Z,1628893331.329 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:22:11.369Z,1628893331.369 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:22:11.785Z,1628893331.785 [Micromodem](INFO): Nmea in: $SNTTA,0.038093,,,,222212.07*45

2021-08-13T22:22:11.887Z,1628893331.887 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.779997 m, bearing: 56.217798 deg, deltaT: 4.426102 s, approachRate: -0.094892 m/s, LOS rate: 0.133515 deg/s, posRepo size: 4
2021-08-13T22:22:13.938Z,1628893333.938 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:22:14.253Z,1628893334.253 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:22:14.253Z,1628893334.253 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:22:14.253Z,1628893334.253 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:22:14.254Z,1628893334.254 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:22:14.657Z,1628893334.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DAA,000,003AA,189,80,80,6F,FF
2021-08-13T22:22:14.657Z,1628893334.657 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:22:14.657Z,1628893334.657 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:22:14.659Z,1628893334.659 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:22:15.061Z,1628893335.061 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:22:15.497Z,1628893335.497 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D86,000,003AD,189,80,80,36,FF
2021-08-13T22:22:15.497Z,1628893335.497 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:22:15.526Z,1628893335.526 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:22:15.922Z,1628893335.922 [Micromodem](INFO): Nmea in: $SNTTA,0.031649,,,,222216.19*46

2021-08-13T22:22:15.985Z,1628893335.985 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.960001 m, bearing: 56.548427 deg, deltaT: 4.156881 s, approachRate: 0.043303 m/s, LOS rate: 0.079538 deg/s, posRepo size: 4
2021-08-13T22:22:18.306Z,1628893338.306 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:22:18.693Z,1628893338.693 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:22:18.693Z,1628893338.693 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:22:18.693Z,1628893338.693 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:22:18.694Z,1628893338.694 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:22:19.103Z,1628893339.103 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D86,000,003AD,189,80,80,36,FF
2021-08-13T22:22:19.103Z,1628893339.103 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:22:19.103Z,1628893339.103 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:22:19.104Z,1628893339.104 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:22:19.576Z,1628893339.576 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:22:19.954Z,1628893339.954 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D86,000,003AD,18A,80,80,78,FF
2021-08-13T22:22:19.954Z,1628893339.954 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:22:19.993Z,1628893339.993 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:22:20.428Z,1628893340.428 [Micromodem](INFO): Nmea in: $SNTTA,0.034813,,,,222220.64*4D

2021-08-13T22:22:20.487Z,1628893340.487 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.960001 m, bearing: 55.516536 deg, deltaT: 4.467325 s, approachRate: 0.000000 m/s, LOS rate: -0.230986 deg/s, posRepo size: 4
2021-08-13T22:22:22.797Z,1628893342.797 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:22:23.149Z,1628893343.149 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:22:23.149Z,1628893343.149 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:22:23.149Z,1628893343.149 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:22:23.150Z,1628893343.150 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:22:23.550Z,1628893343.550 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D86,000,003AD,18A,80,80,78,FF
2021-08-13T22:22:23.550Z,1628893343.550 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:22:23.550Z,1628893343.550 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:22:23.552Z,1628893343.552 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:22:23.953Z,1628893343.953 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:22:24.354Z,1628893344.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D86,000,003AD,189,80,80,94,FF
2021-08-13T22:22:24.354Z,1628893344.354 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:22:24.373Z,1628893344.373 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:22:24.789Z,1628893344.789 [Micromodem](INFO): Nmea in: $SNTTA,0.012365,,,,222225.09*4D

2021-08-13T22:22:24.837Z,1628893344.837 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.960001 m, bearing: 54.415642 deg, deltaT: 4.380078 s, approachRate: 0.000000 m/s, LOS rate: -0.251341 deg/s, posRepo size: 4
2021-08-13T22:22:26.893Z,1628893346.893 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:22:27.181Z,1628893347.181 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:22:27.182Z,1628893347.181 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:22:27.182Z,1628893347.182 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:22:27.183Z,1628893347.183 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:22:27.589Z,1628893347.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D86,000,003AD,189,80,80,94,FF
2021-08-13T22:22:27.589Z,1628893347.589 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:22:27.589Z,1628893347.589 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:22:27.591Z,1628893347.591 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:22:27.992Z,1628893347.992 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:22:28.401Z,1628893348.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D64,000,003AC,189,80,80,B0,FF
2021-08-13T22:22:28.403Z,1628893348.403 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:22:28.440Z,1628893348.440 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:22:28.877Z,1628893348.877 [Micromodem](INFO): Nmea in: $SNTTA,0.012338,,,,222229.12*43

2021-08-13T22:22:28.945Z,1628893348.945 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.899998 m, bearing: 55.367071 deg, deltaT: 4.067668 s, approachRate: -0.014751 m/s, LOS rate: 0.233900 deg/s, posRepo size: 4
2021-08-13T22:22:30.952Z,1628893350.952 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:22:31.223Z,1628893351.223 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:22:31.223Z,1628893351.223 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:22:31.223Z,1628893351.223 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:22:31.224Z,1628893351.224 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:22:31.621Z,1628893351.621 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D64,000,003AC,189,80,80,B0,FF
2021-08-13T22:22:31.621Z,1628893351.621 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:22:31.621Z,1628893351.621 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:22:31.623Z,1628893351.623 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:22:32.036Z,1628893352.036 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:22:32.449Z,1628893352.449 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D5C,000,003AC,189,80,80,AA,FF
2021-08-13T22:22:32.450Z,1628893352.450 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:22:32.518Z,1628893352.518 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:22:32.993Z,1628893352.993 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222233.16*59

2021-08-13T22:22:33.042Z,1628893353.042 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.899998 m, bearing: 55.065627 deg, deltaT: 4.076914 s, approachRate: 0.000000 m/s, LOS rate: -0.073939 deg/s, posRepo size: 4
2021-08-13T22:22:35.297Z,1628893355.297 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:22:35.669Z,1628893355.669 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:22:35.669Z,1628893355.669 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:22:35.669Z,1628893355.669 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:22:35.670Z,1628893355.670 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:22:36.077Z,1628893356.077 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D5C,000,003AC,189,80,80,AA,FF
2021-08-13T22:22:36.077Z,1628893356.077 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:22:36.077Z,1628893356.077 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:22:36.079Z,1628893356.079 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:22:36.500Z,1628893356.500 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:22:36.945Z,1628893356.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D10,000,003AC,18A,80,80,93,FF
2021-08-13T22:22:36.945Z,1628893356.945 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:22:37.035Z,1628893357.035 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:22:37.333Z,1628893357.333 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222237.61*5D

2021-08-13T22:22:37.356Z,1628893357.356 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.899998 m, bearing: 58.421600 deg, deltaT: 4.517482 s, approachRate: 0.000000 m/s, LOS rate: 0.742886 deg/s, posRepo size: 4
2021-08-13T22:22:39.744Z,1628893359.744 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:22:40.109Z,1628893360.109 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:22:40.109Z,1628893360.109 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:22:40.109Z,1628893360.109 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:22:40.110Z,1628893360.110 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:22:40.525Z,1628893360.525 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D10,000,003AC,18A,80,80,93,FF
2021-08-13T22:22:40.525Z,1628893360.525 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:22:40.525Z,1628893360.525 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:22:40.527Z,1628893360.527 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:22:40.985Z,1628893360.985 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:22:41.337Z,1628893361.337 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CF8,000,003AE,188,80,80,A4,FF
2021-08-13T22:22:41.337Z,1628893361.337 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:22:41.392Z,1628893361.392 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:22:41.777Z,1628893361.777 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222242.06*5E

2021-08-13T22:22:41.836Z,1628893361.836 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.020000 m, bearing: 59.021263 deg, deltaT: 4.356711 s, approachRate: 0.027544 m/s, LOS rate: 0.137641 deg/s, posRepo size: 4
2021-08-13T22:22:44.182Z,1628893364.182 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:22:44.573Z,1628893364.573 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:22:44.573Z,1628893364.573 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:22:44.573Z,1628893364.573 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:22:44.574Z,1628893364.574 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:22:44.965Z,1628893364.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CF8,000,003AE,188,80,80,A4,FF
2021-08-13T22:22:44.966Z,1628893364.966 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:22:44.966Z,1628893364.966 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:22:44.967Z,1628893364.967 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:22:45.443Z,1628893365.443 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:22:45.821Z,1628893365.821 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CDC,000,003AF,189,80,80,C2,FF
2021-08-13T22:22:45.821Z,1628893365.821 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:22:45.844Z,1628893365.844 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:22:46.297Z,1628893366.297 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222246.50*59

2021-08-13T22:22:46.344Z,1628893366.344 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.079998 m, bearing: 59.516233 deg, deltaT: 4.452296 s, approachRate: 0.013476 m/s, LOS rate: 0.111172 deg/s, posRepo size: 4
2021-08-13T22:22:48.705Z,1628893368.705 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:22:49.065Z,1628893369.065 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:22:49.065Z,1628893369.065 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:22:49.065Z,1628893369.065 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:22:49.066Z,1628893369.066 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:22:49.485Z,1628893369.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CDC,000,003AF,189,80,80,C2,FF
2021-08-13T22:22:49.485Z,1628893369.485 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:22:49.485Z,1628893369.485 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:22:49.487Z,1628893369.487 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:22:49.871Z,1628893369.871 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:22:50.269Z,1628893370.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CCD,000,003AF,189,80,80,AE,FF
2021-08-13T22:22:50.269Z,1628893370.269 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:22:50.346Z,1628893370.346 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:22:50.701Z,1628893370.701 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222251.02*58

2021-08-13T22:22:50.748Z,1628893370.748 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.079998 m, bearing: 59.369541 deg, deltaT: 4.501839 s, approachRate: 0.000000 m/s, LOS rate: -0.032585 deg/s, posRepo size: 4
2021-08-13T22:22:53.143Z,1628893373.143 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:22:53.513Z,1628893373.513 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:22:53.513Z,1628893373.513 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:22:53.513Z,1628893373.513 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:22:53.514Z,1628893373.514 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:22:53.925Z,1628893373.925 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CCD,000,003AF,189,80,80,AE,FF
2021-08-13T22:22:53.925Z,1628893373.925 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:22:53.925Z,1628893373.925 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:22:53.927Z,1628893373.927 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:22:54.317Z,1628893374.317 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:22:54.712Z,1628893374.712 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CB9,000,003B0,188,80,80,BD,FF
2021-08-13T22:22:54.712Z,1628893374.712 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:22:54.741Z,1628893374.741 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:22:55.153Z,1628893375.153 [Micromodem](INFO): Nmea in: $SNTTA,0.034986,,,,222255.46*42

2021-08-13T22:22:55.214Z,1628893375.214 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.140001 m, bearing: 59.004017 deg, deltaT: 4.394750 s, approachRate: 0.013653 m/s, LOS rate: -0.083173 deg/s, posRepo size: 4
2021-08-13T22:22:57.597Z,1628893377.597 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:22:57.955Z,1628893377.955 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:22:57.956Z,1628893377.956 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:22:57.956Z,1628893377.956 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:22:57.957Z,1628893377.957 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:22:58.364Z,1628893378.364 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CB9,000,003B0,188,80,80,BD,FF
2021-08-13T22:22:58.365Z,1628893378.365 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:22:58.365Z,1628893378.365 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:22:58.367Z,1628893378.367 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:22:58.757Z,1628893378.757 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:22:59.169Z,1628893379.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C75,000,003B1,189,80,80,AE,FF
2021-08-13T22:22:59.170Z,1628893379.170 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:22:59.229Z,1628893379.229 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:22:59.581Z,1628893379.581 [Micromodem](INFO): Nmea in: $SNTTA,,0.036488,,,222259.90*44

2021-08-13T22:22:59.607Z,1628893379.607 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.199999 m, bearing: 60.679237 deg, deltaT: 4.488337 s, approachRate: 0.013367 m/s, LOS rate: 0.373238 deg/s, posRepo size: 4
2021-08-13T22:23:02.025Z,1628893382.025 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:23:02.406Z,1628893382.406 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:23:02.406Z,1628893382.406 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:23:02.406Z,1628893382.406 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:23:02.407Z,1628893382.407 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:23:02.812Z,1628893382.812 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C75,000,003B1,189,80,80,AE,FF
2021-08-13T22:23:02.813Z,1628893382.813 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:23:02.813Z,1628893382.813 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:23:02.814Z,1628893382.814 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:23:03.203Z,1628893383.203 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:23:03.606Z,1628893383.606 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C1E,000,003B4,189,80,80,71,FF
2021-08-13T22:23:03.606Z,1628893383.606 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:23:03.635Z,1628893383.635 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:23:04.045Z,1628893384.045 [Micromodem](INFO): Nmea in: $SNTTA,0.037671,,,,222304.35*47

2021-08-13T22:23:04.083Z,1628893384.083 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.379997 m, bearing: 63.493247 deg, deltaT: 4.405599 s, approachRate: 0.040857 m/s, LOS rate: 0.638735 deg/s, posRepo size: 4
2021-08-13T22:23:06.490Z,1628893386.490 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:23:06.845Z,1628893386.845 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:23:06.846Z,1628893386.846 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:23:06.846Z,1628893386.846 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:23:06.852Z,1628893386.852 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:23:07.234Z,1628893387.234 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C1E,000,003B4,189,80,80,71,FF
2021-08-13T22:23:07.234Z,1628893387.234 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:23:07.235Z,1628893387.235 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:23:07.237Z,1628893387.237 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:23:07.641Z,1628893387.641 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:23:08.050Z,1628893388.050 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C0B,000,003B3,189,80,80,B2,FF
2021-08-13T22:23:08.051Z,1628893388.051 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:23:08.102Z,1628893388.102 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:23:08.493Z,1628893388.493 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222308.77*57

2021-08-13T22:23:08.538Z,1628893388.538 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.320000 m, bearing: 63.608917 deg, deltaT: 4.467476 s, approachRate: -0.013430 m/s, LOS rate: 0.025891 deg/s, posRepo size: 4
2021-08-13T22:23:11.004Z,1628893391.004 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:23:11.289Z,1628893391.289 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:23:11.289Z,1628893391.289 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:23:11.289Z,1628893391.289 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:23:11.290Z,1628893391.290 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:23:11.677Z,1628893391.677 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C0B,000,003B3,189,80,80,B2,FF
2021-08-13T22:23:11.677Z,1628893391.677 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:23:11.677Z,1628893391.677 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:23:11.679Z,1628893391.679 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:23:12.097Z,1628893392.097 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:23:12.505Z,1628893392.505 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,BFC,000,003B7,189,80,80,89,FF
2021-08-13T22:23:12.505Z,1628893392.505 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:23:12.534Z,1628893392.534 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:23:12.947Z,1628893392.947 [Micromodem](INFO): Nmea in: $SNTTA,0.064444,0.490179,,,222313.21*5A

2021-08-13T22:23:13.025Z,1628893393.025 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.560001 m, bearing: 64.089052 deg, deltaT: 4.431701 s, approachRate: 0.054156 m/s, LOS rate: 0.108341 deg/s, posRepo size: 4
2021-08-13T22:23:15.480Z,1628893395.480 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:23:15.733Z,1628893395.733 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:23:15.733Z,1628893395.733 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:23:15.733Z,1628893395.733 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:23:15.733Z,1628893395.733 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:23:16.141Z,1628893396.141 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
BFC,000,003B7,189,80,80,89,FF
2021-08-13T22:23:16.141Z,1628893396.141 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:23:16.141Z,1628893396.141 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:23:16.142Z,1628893396.142 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:23:16.544Z,1628893396.544 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:23:16.953Z,1628893396.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,BDB,000,003BA,189,80,80,BF,FF
2021-08-13T22:23:16.954Z,1628893396.954 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:23:17.051Z,1628893397.051 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:23:17.365Z,1628893397.365 [Micromodem](INFO): Nmea in: $SNTTA,0.035145,,,,222317.68*4F

2021-08-13T22:23:17.410Z,1628893397.410 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.740000 m, bearing: 65.446688 deg, deltaT: 4.517626 s, approachRate: 0.039844 m/s, LOS rate: 0.300520 deg/s, posRepo size: 4
2021-08-13T22:23:19.800Z,1628893399.800 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:23:20.161Z,1628893400.161 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:23:20.161Z,1628893400.161 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:23:20.161Z,1628893400.161 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:23:20.162Z,1628893400.162 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:23:20.574Z,1628893400.574 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
BDB,000,003BA,189,80,80,BF,FF
2021-08-13T22:23:20.574Z,1628893400.574 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:23:20.574Z,1628893400.574 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:23:20.575Z,1628893400.575 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:23:21.004Z,1628893401.004 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:23:21.373Z,1628893401.373 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,BA2,000,003B9,189,80,80,66,FF
2021-08-13T22:23:21.374Z,1628893401.374 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:23:21.425Z,1628893401.425 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:23:21.821Z,1628893401.821 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222322.11*5F

2021-08-13T22:23:21.862Z,1628893401.862 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.680002 m, bearing: 68.668174 deg, deltaT: 4.374247 s, approachRate: -0.013716 m/s, LOS rate: 0.736466 deg/s, posRepo size: 4
2021-08-13T22:23:24.238Z,1628893404.238 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:23:24.605Z,1628893404.605 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:23:24.605Z,1628893404.605 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:23:24.605Z,1628893404.605 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:23:24.606Z,1628893404.606 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:23:25.015Z,1628893405.015 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
BA2,000,003B9,189,80,80,66,FF
2021-08-13T22:23:25.015Z,1628893405.015 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:23:25.015Z,1628893405.015 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:23:25.017Z,1628893405.017 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:23:25.446Z,1628893405.446 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:23:25.829Z,1628893405.829 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,BC8,000,003B9,18A,80,80,96,FF
2021-08-13T22:23:25.830Z,1628893405.830 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:23:25.882Z,1628893405.882 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:23:26.253Z,1628893406.253 [Micromodem](INFO): Nmea in: $SNTTA,0.049687,,,,222326.55*41

2021-08-13T22:23:26.292Z,1628893406.292 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.680002 m, bearing: 66.783411 deg, deltaT: 4.455877 s, approachRate: 0.000000 m/s, LOS rate: -0.422984 deg/s, posRepo size: 4
2021-08-13T22:23:28.765Z,1628893408.765 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:23:29.071Z,1628893409.071 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:23:29.071Z,1628893409.071 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:23:29.071Z,1628893409.071 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:23:29.071Z,1628893409.071 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:23:29.485Z,1628893409.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
BC8,000,003B9,18A,80,80,96,FF
2021-08-13T22:23:29.485Z,1628893409.485 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:23:29.485Z,1628893409.485 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:23:29.487Z,1628893409.487 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:23:29.883Z,1628893409.883 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:23:30.273Z,1628893410.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,BB5,000,003BA,189,80,80,AF,FF
2021-08-13T22:23:30.274Z,1628893410.274 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:23:30.318Z,1628893410.318 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:23:30.689Z,1628893410.689 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222331.02*5F

2021-08-13T22:23:30.741Z,1628893410.741 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.740000 m, bearing: 68.261293 deg, deltaT: 4.435793 s, approachRate: 0.013526 m/s, LOS rate: 0.333172 deg/s, posRepo size: 4
2021-08-13T22:23:33.149Z,1628893413.149 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:23:33.509Z,1628893413.509 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:23:33.509Z,1628893413.509 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:23:33.509Z,1628893413.509 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:23:33.510Z,1628893413.510 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:23:33.905Z,1628893413.905 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
BB5,000,003BA,189,80,80,AF,FF
2021-08-13T22:23:33.905Z,1628893413.905 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:23:33.906Z,1628893413.906 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:23:33.907Z,1628893413.907 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:23:34.313Z,1628893414.313 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:23:34.709Z,1628893414.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C39,000,003CC,189,80,80,7D,FF
2021-08-13T22:23:34.710Z,1628893414.710 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:23:34.764Z,1628893414.764 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:23:35.121Z,1628893415.121 [Micromodem](INFO): Nmea in: $SNTTA,0.040372,0.374483,,,222335.44*54

2021-08-13T22:23:35.168Z,1628893415.168 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.820002 m, bearing: 62.026963 deg, deltaT: 4.446167 s, approachRate: 0.242906 m/s, LOS rate: -1.402181 deg/s, posRepo size: 4
2021-08-13T22:23:37.570Z,1628893417.570 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:23:37.941Z,1628893417.941 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:23:37.941Z,1628893417.941 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:23:37.941Z,1628893417.941 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:23:37.942Z,1628893417.942 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:23:38.341Z,1628893418.341 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C39,000,003CC,189,80,80,7D,FF
2021-08-13T22:23:38.341Z,1628893418.341 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:23:38.341Z,1628893418.341 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:23:38.343Z,1628893418.343 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:23:38.749Z,1628893418.749 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:23:39.149Z,1628893419.149 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B72,000,003BC,189,80,80,87,FF
2021-08-13T22:23:39.150Z,1628893419.150 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:23:39.153Z,1628893419.153 [Micromodem](INFO): Nmea in: $SNTTA,0.049366,0.157978,,,222339.88*5E

2021-08-13T22:23:39.222Z,1628893419.222 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:23:39.594Z,1628893419.594 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.860001 m, bearing: 71.981069 deg, deltaT: 4.458614 s, approachRate: -0.215314 m/s, LOS rate: 2.232556 deg/s, posRepo size: 4
2021-08-13T22:23:42.058Z,1628893422.058 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:23:42.401Z,1628893422.401 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:23:42.401Z,1628893422.401 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:23:42.401Z,1628893422.401 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:23:42.401Z,1628893422.401 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:23:42.793Z,1628893422.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B72,000,003BC,189,80,80,87,FF
2021-08-13T22:23:42.793Z,1628893422.793 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:23:42.793Z,1628893422.793 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:23:42.795Z,1628893422.795 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:23:43.212Z,1628893423.212 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:23:43.597Z,1628893423.597 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B61,000,003BB,189,80,80,AA,FF
2021-08-13T22:23:43.597Z,1628893423.597 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:23:43.689Z,1628893423.689 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:23:44.041Z,1628893424.041 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222344.33*5F

2021-08-13T22:23:44.064Z,1628893424.064 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.799997 m, bearing: 72.312989 deg, deltaT: 4.467112 s, approachRate: -0.013432 m/s, LOS rate: 0.074303 deg/s, posRepo size: 4
2021-08-13T22:23:46.482Z,1628893426.482 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:23:46.821Z,1628893426.821 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:23:46.821Z,1628893426.821 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:23:46.821Z,1628893426.821 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:23:46.822Z,1628893426.822 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:23:47.229Z,1628893427.229 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B61,000,003BB,189,80,80,AA,FF
2021-08-13T22:23:47.230Z,1628893427.230 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:23:47.230Z,1628893427.230 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:23:47.231Z,1628893427.231 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:23:47.641Z,1628893427.641 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:23:48.037Z,1628893428.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B1E,000,003C1,189,80,80,A5,FF
2021-08-13T22:23:48.038Z,1628893428.038 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:23:48.057Z,1628893428.057 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:23:48.493Z,1628893428.493 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222348.77*53

2021-08-13T22:23:48.519Z,1628893428.519 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.160000 m, bearing: 74.558154 deg, deltaT: 4.367602 s, approachRate: 0.082426 m/s, LOS rate: 0.514050 deg/s, posRepo size: 4
2021-08-13T22:23:50.965Z,1628893430.965 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:23:51.265Z,1628893431.265 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:23:51.265Z,1628893431.265 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:23:51.265Z,1628893431.265 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:23:51.266Z,1628893431.266 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:23:51.681Z,1628893431.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B1E,000,003C1,189,80,80,A5,FF
2021-08-13T22:23:51.681Z,1628893431.681 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:23:51.681Z,1628893431.681 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:23:51.683Z,1628893431.683 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:23:52.081Z,1628893432.081 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:23:52.501Z,1628893432.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,003C4,18A,80,80,AF,FF
2021-08-13T22:23:52.502Z,1628893432.502 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:23:52.530Z,1628893432.530 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:23:52.954Z,1628893432.954 [Micromodem](INFO): Nmea in: $SNTTA,0.013247,,,,222353.22*44

2021-08-13T22:23:52.989Z,1628893432.989 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.339998 m, bearing: 75.862938 deg, deltaT: 4.473239 s, approachRate: 0.040239 m/s, LOS rate: 0.291687 deg/s, posRepo size: 4
2021-08-13T22:23:55.358Z,1628893435.358 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:23:55.781Z,1628893435.781 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:23:55.781Z,1628893435.781 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:23:55.781Z,1628893435.781 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:23:55.782Z,1628893435.782 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:23:56.141Z,1628893436.141 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,003C4,18A,80,80,AF,FF
2021-08-13T22:23:56.141Z,1628893436.141 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:23:56.141Z,1628893436.141 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:23:56.143Z,1628893436.143 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:23:56.536Z,1628893436.536 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:23:56.960Z,1628893436.960 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B0E,000,003CD,189,80,80,7A,FF
2021-08-13T22:23:56.961Z,1628893436.961 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:23:56.999Z,1628893436.999 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:23:57.357Z,1628893437.357 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222357.68*53

2021-08-13T22:23:57.395Z,1628893437.395 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.879999 m, bearing: 74.143896 deg, deltaT: 4.469214 s, approachRate: 0.120827 m/s, LOS rate: -0.384641 deg/s, posRepo size: 4
2021-08-13T22:23:59.793Z,1628893439.793 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:24:00.158Z,1628893440.158 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:24:00.158Z,1628893440.158 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:24:00.159Z,1628893440.159 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:24:00.160Z,1628893440.160 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:24:00.565Z,1628893440.565 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B0E,000,003CD,189,80,80,7A,FF
2021-08-13T22:24:00.566Z,1628893440.566 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:24:00.566Z,1628893440.566 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:24:00.567Z,1628893440.567 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:24:00.983Z,1628893440.983 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:24:01.409Z,1628893441.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,003C2,189,80,80,9E,FF
2021-08-13T22:24:01.410Z,1628893441.410 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:24:01.510Z,1628893441.510 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:24:01.813Z,1628893441.813 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222402.10*5B

2021-08-13T22:24:01.852Z,1628893441.852 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.219997 m, bearing: 73.748920 deg, deltaT: 4.510554 s, approachRate: -0.146324 m/s, LOS rate: -0.087567 deg/s, posRepo size: 4
2021-08-13T22:24:04.254Z,1628893444.254 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:24:04.601Z,1628893444.601 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:24:04.601Z,1628893444.601 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:24:04.601Z,1628893444.601 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:24:04.602Z,1628893444.602 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:24:05.009Z,1628893445.009 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,003C2,189,80,80,9E,FF
2021-08-13T22:24:05.009Z,1628893445.009 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:24:05.009Z,1628893445.009 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:24:05.011Z,1628893445.011 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:24:05.413Z,1628893445.413 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:24:05.823Z,1628893445.823 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,003CF,189,80,80,65,FF
2021-08-13T22:24:05.825Z,1628893445.825 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:24:05.887Z,1628893445.887 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:24:06.277Z,1628893446.277 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222406.55*5E

2021-08-13T22:24:06.299Z,1628893446.299 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.000000 m, bearing: 73.418284 deg, deltaT: 4.381744 s, approachRate: 0.178012 m/s, LOS rate: -0.075458 deg/s, posRepo size: 4
2021-08-13T22:24:08.693Z,1628893448.693 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:24:09.114Z,1628893449.114 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:24:09.114Z,1628893449.114 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:24:09.115Z,1628893449.115 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:24:09.115Z,1628893449.115 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:24:09.501Z,1628893449.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,003CF,189,80,80,65,FF
2021-08-13T22:24:09.501Z,1628893449.501 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:24:09.501Z,1628893449.501 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:24:09.503Z,1628893449.503 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:24:09.887Z,1628893449.887 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:24:10.284Z,1628893450.284 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,003D2,189,80,80,6B,FF
2021-08-13T22:24:10.285Z,1628893450.285 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:24:10.303Z,1628893450.303 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:24:10.687Z,1628893450.687 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222411.04*5C

2021-08-13T22:24:10.734Z,1628893450.734 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.179998 m, bearing: 72.981746 deg, deltaT: 4.411589 s, approachRate: 0.040801 m/s, LOS rate: -0.098953 deg/s, posRepo size: 4
2021-08-13T22:24:13.141Z,1628893453.141 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:24:13.505Z,1628893453.505 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:24:13.505Z,1628893453.505 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:24:13.505Z,1628893453.505 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:24:13.506Z,1628893453.506 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:24:13.909Z,1628893453.909 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,003D2,189,80,80,6B,FF
2021-08-13T22:24:13.909Z,1628893453.909 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:24:13.909Z,1628893453.909 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:24:13.911Z,1628893453.911 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:24:14.305Z,1628893454.305 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:24:14.709Z,1628893454.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,003D2,18A,80,80,56,FF
2021-08-13T22:24:14.710Z,1628893454.710 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:24:14.771Z,1628893454.771 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:24:15.121Z,1628893455.121 [Micromodem](INFO): Nmea in: $SNTTA,0.033621,0.372802,,,222415.44*55

2021-08-13T22:24:15.181Z,1628893455.181 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.179998 m, bearing: 72.669169 deg, deltaT: 4.472105 s, approachRate: 0.000000 m/s, LOS rate: -0.069895 deg/s, posRepo size: 4
2021-08-13T22:24:17.578Z,1628893457.578 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:24:17.949Z,1628893457.949 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:24:17.949Z,1628893457.949 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:24:17.949Z,1628893457.949 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:24:17.950Z,1628893457.950 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:24:18.342Z,1628893458.342 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,003D2,18A,80,80,56,FF
2021-08-13T22:24:18.342Z,1628893458.342 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:24:18.342Z,1628893458.342 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:24:18.344Z,1628893458.344 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:24:18.757Z,1628893458.757 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:24:19.149Z,1628893459.149 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,003CF,189,80,80,A0,FF
2021-08-13T22:24:19.150Z,1628893459.150 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:24:19.212Z,1628893459.212 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:24:19.589Z,1628893459.589 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222419.88*50

2021-08-13T22:24:19.632Z,1628893459.632 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.000000 m, bearing: 72.849759 deg, deltaT: 4.436372 s, approachRate: -0.040573 m/s, LOS rate: 0.040707 deg/s, posRepo size: 4
2021-08-13T22:24:22.044Z,1628893462.044 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:24:22.461Z,1628893462.461 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:24:22.461Z,1628893462.461 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:24:22.461Z,1628893462.461 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:24:22.462Z,1628893462.462 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:24:22.827Z,1628893462.827 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,003CF,189,80,80,A0,FF
2021-08-13T22:24:22.828Z,1628893462.828 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:24:22.828Z,1628893462.828 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:24:22.834Z,1628893462.834 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:24:23.221Z,1628893463.221 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:24:23.645Z,1628893463.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,003D1,189,80,80,78,FF
2021-08-13T22:24:23.645Z,1628893463.645 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:24:23.694Z,1628893463.694 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:24:24.045Z,1628893464.045 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222424.37*5A

2021-08-13T22:24:24.083Z,1628893464.083 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.120001 m, bearing: 72.605621 deg, deltaT: 4.482114 s, approachRate: 0.026773 m/s, LOS rate: -0.054469 deg/s, posRepo size: 4
2021-08-13T22:24:26.494Z,1628893466.494 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:24:26.870Z,1628893466.870 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:24:26.870Z,1628893466.870 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:24:26.871Z,1628893466.871 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:24:26.873Z,1628893466.873 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:24:27.265Z,1628893467.265 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,003D1,189,80,80,78,FF
2021-08-13T22:24:27.265Z,1628893467.265 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:24:27.265Z,1628893467.265 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:24:27.267Z,1628893467.267 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:24:27.674Z,1628893467.674 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:24:28.057Z,1628893468.057 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,003CF,189,80,80,94,FF
2021-08-13T22:24:28.057Z,1628893468.057 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:24:28.077Z,1628893468.077 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:24:28.521Z,1628893468.521 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222428.80*5A

2021-08-13T22:24:28.547Z,1628893468.547 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.000000 m, bearing: 72.512594 deg, deltaT: 4.382677 s, approachRate: -0.027381 m/s, LOS rate: -0.021226 deg/s, posRepo size: 4
2021-08-13T22:24:30.986Z,1628893470.986 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:24:31.297Z,1628893471.297 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:24:31.297Z,1628893471.297 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:24:31.297Z,1628893471.297 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:24:31.298Z,1628893471.298 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:24:31.707Z,1628893471.707 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,003CF,189,80,80,94,FF
2021-08-13T22:24:31.707Z,1628893471.707 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:24:31.708Z,1628893471.708 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:24:31.711Z,1628893471.711 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:24:32.105Z,1628893472.105 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:24:32.516Z,1628893472.516 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,003D3,18A,80,80,A8,FF
2021-08-13T22:24:32.517Z,1628893472.517 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:24:32.578Z,1628893472.578 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:24:32.957Z,1628893472.957 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222433.24*5E

2021-08-13T22:24:33.012Z,1628893473.012 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.239996 m, bearing: 72.461299 deg, deltaT: 4.501092 s, approachRate: 0.053319 m/s, LOS rate: -0.011396 deg/s, posRepo size: 4
2021-08-13T22:24:35.363Z,1628893475.363 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:24:35.809Z,1628893475.809 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:24:35.810Z,1628893475.810 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:24:35.810Z,1628893475.810 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:24:35.811Z,1628893475.811 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:24:36.149Z,1628893476.149 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,003D3,18A,80,80,A8,FF
2021-08-13T22:24:36.149Z,1628893476.149 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:24:36.149Z,1628893476.149 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:24:36.151Z,1628893476.151 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:24:36.567Z,1628893476.567 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:24:36.961Z,1628893476.961 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B6A,000,003DE,189,80,80,56,FF
2021-08-13T22:24:36.962Z,1628893476.962 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:24:37.055Z,1628893477.055 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:24:37.411Z,1628893477.411 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222437.69*53

2021-08-13T22:24:37.469Z,1628893477.469 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.900000 m, bearing: 66.783445 deg, deltaT: 4.477195 s, approachRate: 0.147415 m/s, LOS rate: -1.268172 deg/s, posRepo size: 4
2021-08-13T22:24:39.843Z,1628893479.843 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:24:40.186Z,1628893480.186 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:24:40.186Z,1628893480.186 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:24:40.186Z,1628893480.186 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:24:40.187Z,1628893480.187 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:24:40.589Z,1628893480.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B6A,000,003DE,189,80,80,56,FF
2021-08-13T22:24:40.590Z,1628893480.590 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:24:40.590Z,1628893480.590 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:24:40.591Z,1628893480.591 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:24:40.989Z,1628893480.989 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:24:41.391Z,1628893481.391 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,003D3,189,80,80,6D,FF
2021-08-13T22:24:41.391Z,1628893481.391 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:24:41.417Z,1628893481.417 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:24:41.850Z,1628893481.850 [Micromodem](INFO): Nmea in: $SNTTA,0.038811,,,,222442.12*40

2021-08-13T22:24:41.883Z,1628893481.883 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.239996 m, bearing: 71.846459 deg, deltaT: 4.361894 s, approachRate: -0.151311 m/s, LOS rate: 1.160738 deg/s, posRepo size: 4
2021-08-13T22:24:44.258Z,1628893484.258 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:24:44.621Z,1628893484.621 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:24:44.621Z,1628893484.621 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:24:44.621Z,1628893484.621 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:24:44.622Z,1628893484.622 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:24:45.029Z,1628893485.029 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,003D3,189,80,80,6D,FF
2021-08-13T22:24:45.029Z,1628893485.029 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:24:45.029Z,1628893485.029 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:24:45.031Z,1628893485.031 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:24:45.464Z,1628893485.464 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:24:45.841Z,1628893485.841 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,003D6,18A,80,80,B6,FF
2021-08-13T22:24:45.841Z,1628893485.841 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:24:45.898Z,1628893485.898 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:24:46.278Z,1628893486.278 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222446.56*59

2021-08-13T22:24:46.310Z,1628893486.310 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.420002 m, bearing: 71.061015 deg, deltaT: 4.481267 s, approachRate: 0.040169 m/s, LOS rate: -0.175273 deg/s, posRepo size: 4
2021-08-13T22:24:48.809Z,1628893488.809 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:24:49.142Z,1628893489.142 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:24:49.142Z,1628893489.142 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:24:49.143Z,1628893489.143 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:24:49.143Z,1628893489.143 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:24:49.529Z,1628893489.529 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,003D6,18A,80,80,B6,FF
2021-08-13T22:24:49.529Z,1628893489.529 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:24:49.529Z,1628893489.529 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:24:49.531Z,1628893489.531 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:24:49.895Z,1628893489.895 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:24:50.289Z,1628893490.289 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,003D9,189,80,80,81,FF
2021-08-13T22:24:50.290Z,1628893490.290 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:24:50.314Z,1628893490.314 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:24:50.715Z,1628893490.715 [Micromodem](INFO): Nmea in: $SNTTA,0.036929,,,,222451.06*43

2021-08-13T22:24:50.760Z,1628893490.760 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.600000 m, bearing: 71.046385 deg, deltaT: 4.415571 s, approachRate: 0.040764 m/s, LOS rate: -0.003313 deg/s, posRepo size: 4
2021-08-13T22:24:53.163Z,1628893493.163 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:24:53.517Z,1628893493.517 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:24:53.517Z,1628893493.517 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:24:53.517Z,1628893493.517 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:24:53.518Z,1628893493.518 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:24:53.933Z,1628893493.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,003D9,189,80,80,81,FF
2021-08-13T22:24:53.933Z,1628893493.933 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:24:53.933Z,1628893493.933 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:24:53.935Z,1628893493.935 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:24:54.325Z,1628893494.325 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:24:54.729Z,1628893494.729 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B3B,000,003E3,189,80,80,4E,FF
2021-08-13T22:24:54.730Z,1628893494.730 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:24:54.790Z,1628893494.790 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:24:55.150Z,1628893495.150 [Micromodem](INFO): Nmea in: $SNTTA,0.029945,0.400609,,,222455.47*53

2021-08-13T22:24:55.185Z,1628893495.185 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.199999 m, bearing: 68.114485 deg, deltaT: 4.476564 s, approachRate: 0.134031 m/s, LOS rate: -0.654944 deg/s, posRepo size: 4
2021-08-13T22:24:57.587Z,1628893497.587 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:24:57.957Z,1628893497.957 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:24:57.957Z,1628893497.957 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:24:57.957Z,1628893497.957 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:24:57.958Z,1628893497.958 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:24:58.357Z,1628893498.357 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B3B,000,003E3,189,80,80,4E,FF
2021-08-13T22:24:58.357Z,1628893498.357 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:24:58.358Z,1628893498.358 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:24:58.359Z,1628893498.359 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:24:58.765Z,1628893498.765 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:24:59.170Z,1628893499.170 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,003D9,189,80,80,95,FF
2021-08-13T22:24:59.170Z,1628893499.170 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:24:59.246Z,1628893499.246 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:24:59.614Z,1628893499.614 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222459.89*55

2021-08-13T22:24:59.643Z,1628893499.643 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.600000 m, bearing: 72.048824 deg, deltaT: 4.455835 s, approachRate: -0.134655 m/s, LOS rate: 0.882963 deg/s, posRepo size: 4
2021-08-13T22:25:02.086Z,1628893502.086 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:25:02.447Z,1628893502.447 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:25:02.448Z,1628893502.448 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:25:02.449Z,1628893502.449 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:25:02.450Z,1628893502.450 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:25:02.833Z,1628893502.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,003D9,189,80,80,95,FF
2021-08-13T22:25:02.833Z,1628893502.833 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:25:02.834Z,1628893502.834 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:25:02.839Z,1628893502.839 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:25:03.224Z,1628893503.224 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:25:03.613Z,1628893503.613 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,003DA,18A,80,80,88,FF
2021-08-13T22:25:03.614Z,1628893503.614 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:25:03.699Z,1628893503.699 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:25:04.049Z,1628893504.049 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222504.37*59

2021-08-13T22:25:04.090Z,1628893504.090 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.659998 m, bearing: 73.426214 deg, deltaT: 4.452576 s, approachRate: 0.013475 m/s, LOS rate: 0.309347 deg/s, posRepo size: 4
2021-08-13T22:25:06.509Z,1628893506.509 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:25:06.860Z,1628893506.860 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:25:06.861Z,1628893506.861 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:25:06.862Z,1628893506.862 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:25:06.863Z,1628893506.863 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:25:07.249Z,1628893507.249 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,003DA,18A,80,80,88,FF
2021-08-13T22:25:07.249Z,1628893507.249 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:25:07.250Z,1628893507.250 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:25:07.251Z,1628893507.251 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:25:07.657Z,1628893507.657 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:25:08.057Z,1628893508.057 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,003DA,189,80,80,A7,FF
2021-08-13T22:25:08.057Z,1628893508.057 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:25:08.101Z,1628893508.101 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:25:08.529Z,1628893508.529 [Micromodem](INFO): Nmea in: $SNTTA,0.029029,,,,222508.78*40

2021-08-13T22:25:08.582Z,1628893508.582 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.659998 m, bearing: 75.145810 deg, deltaT: 4.401967 s, approachRate: 0.000000 m/s, LOS rate: 0.390643 deg/s, posRepo size: 4
2021-08-13T22:25:10.986Z,1628893510.986 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:25:11.293Z,1628893511.293 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:25:11.293Z,1628893511.293 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:25:11.294Z,1628893511.294 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:25:11.294Z,1628893511.294 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:25:11.693Z,1628893511.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,003DA,189,80,80,A7,FF
2021-08-13T22:25:11.693Z,1628893511.693 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:25:11.694Z,1628893511.694 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:25:11.695Z,1628893511.695 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:25:12.101Z,1628893512.101 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:25:12.513Z,1628893512.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,BB0,000,003ED,18A,80,80,46,FF
2021-08-13T22:25:12.514Z,1628893512.514 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:25:12.571Z,1628893512.571 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:25:12.958Z,1628893512.958 [Micromodem](INFO): Nmea in: $SNTTA,0.057555,0.481757,,,222513.23*55

2021-08-13T22:25:12.994Z,1628893512.994 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.799997 m, bearing: 67.451752 deg, deltaT: 4.474998 s, approachRate: 0.254749 m/s, LOS rate: -1.719343 deg/s, posRepo size: 4
2021-08-13T22:25:14.499Z,1628893514.499 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2021-08-13T22:25:14.502Z,1628893514.502 [BPC1](INFO): Received data from all battery sticks.
2021-08-13T22:25:15.372Z,1628893515.372 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:25:15.737Z,1628893515.737 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:25:15.738Z,1628893515.738 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:25:15.739Z,1628893515.739 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:25:15.741Z,1628893515.741 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:25:16.143Z,1628893516.143 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
BB0,000,003ED,18A,80,80,46,FF
2021-08-13T22:25:16.143Z,1628893516.143 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:25:16.143Z,1628893516.143 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:25:16.149Z,1628893516.149 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:25:16.548Z,1628893516.548 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:25:17.382Z,1628893517.382 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222517.69*50

2021-08-13T22:25:18.186Z,1628893518.186 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:25:19.789Z,1628893519.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,18A,80,80,46,FF
2021-08-13T22:25:19.789Z,1628893519.789 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,18A,80,80,46,FF
2021-08-13T22:25:19.789Z,1628893519.789 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T22:25:21.039Z,1628893521.039 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:25:21.398Z,1628893521.398 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:25:21.398Z,1628893521.398 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:25:21.398Z,1628893521.398 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:25:21.399Z,1628893521.399 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:25:21.797Z,1628893521.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,18A,80,80,46,FF
2021-08-13T22:25:21.797Z,1628893521.797 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:25:21.797Z,1628893521.797 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:25:21.799Z,1628893521.799 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:25:22.204Z,1628893522.204 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:25:22.605Z,1628893522.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,003DE,189,80,80,73,FF
2021-08-13T22:25:22.606Z,1628893522.606 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:25:22.672Z,1628893522.672 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:25:23.017Z,1628893523.017 [Micromodem](INFO): Nmea in: $SNTTA,0.470341,0.470391,,,222523.33*55

2021-08-13T22:25:23.077Z,1628893523.077 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.900000 m, bearing: 80.240215 deg, deltaT: 10.096232 s, approachRate: -0.089142 m/s, LOS rate: 1.266657 deg/s, posRepo size: 4
2021-08-13T22:25:25.501Z,1628893525.501 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:25:25.841Z,1628893525.841 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:25:25.841Z,1628893525.841 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:25:25.841Z,1628893525.841 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:25:25.842Z,1628893525.842 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:25:26.245Z,1628893526.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,003DE,189,80,80,73,FF
2021-08-13T22:25:26.245Z,1628893526.245 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:25:26.245Z,1628893526.245 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:25:26.247Z,1628893526.247 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:25:26.661Z,1628893526.661 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:25:27.049Z,1628893527.049 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B1E,000,003E9,18A,80,80,62,FF
2021-08-13T22:25:27.049Z,1628893527.049 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:25:27.113Z,1628893527.113 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:25:27.498Z,1628893527.498 [Micromodem](INFO): Nmea in: $SNTTA,,0.205868,,,222527.78*4C

2021-08-13T22:25:27.529Z,1628893527.529 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.560001 m, bearing: 79.889069 deg, deltaT: 4.441010 s, approachRate: 0.148615 m/s, LOS rate: -0.079069 deg/s, posRepo size: 4
2021-08-13T22:25:29.924Z,1628893529.924 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:25:30.293Z,1628893530.293 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:25:30.293Z,1628893530.293 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:25:30.293Z,1628893530.293 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:25:30.294Z,1628893530.294 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:25:30.689Z,1628893530.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B1E,000,003E9,18A,80,80,62,FF
2021-08-13T22:25:30.689Z,1628893530.689 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:25:30.689Z,1628893530.689 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:25:30.691Z,1628893530.691 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:25:31.119Z,1628893531.119 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:25:31.501Z,1628893531.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,003E3,189,80,80,B4,FF
2021-08-13T22:25:31.501Z,1628893531.501 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:25:31.566Z,1628893531.566 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:25:31.941Z,1628893531.941 [Micromodem](INFO): Nmea in: $SNTTA,0.030307,,,,222532.22*41

2021-08-13T22:25:31.956Z,1628893531.956 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.199999 m, bearing: 82.382204 deg, deltaT: 4.453591 s, approachRate: -0.080834 m/s, LOS rate: 0.559803 deg/s, posRepo size: 4
2021-08-13T22:25:34.355Z,1628893534.355 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:25:34.725Z,1628893534.725 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:25:34.725Z,1628893534.725 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:25:34.725Z,1628893534.725 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:25:34.726Z,1628893534.726 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:25:35.125Z,1628893535.125 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,003E3,189,80,80,B4,FF
2021-08-13T22:25:35.126Z,1628893535.126 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:25:35.126Z,1628893535.126 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:25:35.127Z,1628893535.127 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:25:35.547Z,1628893535.547 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:25:35.937Z,1628893535.937 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,003E6,189,80,80,98,FF
2021-08-13T22:25:35.938Z,1628893535.938 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:25:35.987Z,1628893535.987 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:25:36.385Z,1628893536.385 [Micromodem](INFO): Nmea in: $SNTTA,0.142389,,,,222536.66*47

2021-08-13T22:25:36.412Z,1628893536.412 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.379997 m, bearing: 82.454344 deg, deltaT: 4.420553 s, approachRate: 0.040719 m/s, LOS rate: 0.016319 deg/s, posRepo size: 4
2021-08-13T22:25:38.819Z,1628893538.819 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:25:39.173Z,1628893539.173 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:25:39.173Z,1628893539.173 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:25:39.173Z,1628893539.173 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:25:39.174Z,1628893539.174 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:25:39.585Z,1628893539.585 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,003E6,189,80,80,98,FF
2021-08-13T22:25:39.585Z,1628893539.585 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:25:39.585Z,1628893539.585 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:25:39.587Z,1628893539.587 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:25:39.985Z,1628893539.985 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:25:40.391Z,1628893540.391 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,003E8,189,80,80,A9,FF
2021-08-13T22:25:40.391Z,1628893540.391 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:25:40.426Z,1628893540.426 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:25:40.828Z,1628893540.828 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222541.12*5F

2021-08-13T22:25:40.922Z,1628893540.922 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.499998 m, bearing: 82.430240 deg, deltaT: 4.439597 s, approachRate: 0.027030 m/s, LOS rate: -0.005429 deg/s, posRepo size: 4
2021-08-13T22:25:43.279Z,1628893543.279 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:25:43.625Z,1628893543.625 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:25:43.625Z,1628893543.625 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:25:43.625Z,1628893543.625 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:25:43.626Z,1628893543.626 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:25:44.025Z,1628893544.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,003E8,189,80,80,A9,FF
2021-08-13T22:25:44.025Z,1628893544.025 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:25:44.025Z,1628893544.025 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:25:44.027Z,1628893544.027 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:25:44.438Z,1628893544.438 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:25:44.833Z,1628893544.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,003F1,189,80,80,A2,FF
2021-08-13T22:25:44.834Z,1628893544.834 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:25:44.922Z,1628893544.922 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:25:45.265Z,1628893545.265 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222545.56*5B

2021-08-13T22:25:45.316Z,1628893545.316 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.039999 m, bearing: 82.356953 deg, deltaT: 4.495498 s, approachRate: 0.120120 m/s, LOS rate: -0.016303 deg/s, posRepo size: 4
2021-08-13T22:25:47.702Z,1628893547.702 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:25:48.073Z,1628893548.073 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:25:48.073Z,1628893548.073 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:25:48.073Z,1628893548.073 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:25:48.074Z,1628893548.074 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:25:48.493Z,1628893548.493 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,003F1,189,80,80,A2,FF
2021-08-13T22:25:48.493Z,1628893548.493 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:25:48.493Z,1628893548.493 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:25:48.495Z,1628893548.495 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:25:48.938Z,1628893548.938 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:25:49.273Z,1628893549.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,003F3,189,80,80,6F,FF
2021-08-13T22:25:49.274Z,1628893549.274 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:25:49.293Z,1628893549.293 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:25:49.703Z,1628893549.703 [Micromodem](INFO): Nmea in: $SNTTA,0.064964,,,,222550.03*48

2021-08-13T22:25:49.752Z,1628893549.752 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.160000 m, bearing: 81.809984 deg, deltaT: 4.370828 s, approachRate: 0.027455 m/s, LOS rate: -0.125141 deg/s, posRepo size: 4
2021-08-13T22:25:52.137Z,1628893552.137 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:25:52.501Z,1628893552.501 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:25:52.501Z,1628893552.501 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:25:52.501Z,1628893552.501 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:25:52.502Z,1628893552.502 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:25:52.948Z,1628893552.948 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,003F3,189,80,80,6F,FF
2021-08-13T22:25:52.949Z,1628893552.949 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:25:52.949Z,1628893552.949 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:25:52.951Z,1628893552.951 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:25:53.321Z,1628893553.321 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:25:53.722Z,1628893553.722 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,003F9,18A,80,80,B5,FF
2021-08-13T22:25:53.722Z,1628893553.722 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:25:53.791Z,1628893553.791 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:25:54.135Z,1628893554.135 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222554.48*54

2021-08-13T22:25:54.176Z,1628893554.176 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.519997 m, bearing: 81.433368 deg, deltaT: 4.502559 s, approachRate: 0.079954 m/s, LOS rate: -0.083645 deg/s, posRepo size: 4
2021-08-13T22:25:56.582Z,1628893556.582 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:25:56.949Z,1628893556.949 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:25:56.950Z,1628893556.950 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:25:56.950Z,1628893556.950 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:25:56.951Z,1628893556.951 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:25:57.354Z,1628893557.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,003F9,18A,80,80,B5,FF
2021-08-13T22:25:57.354Z,1628893557.354 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:25:57.354Z,1628893557.354 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:25:57.355Z,1628893557.355 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:25:57.759Z,1628893557.759 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:25:58.157Z,1628893558.157 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,003FB,189,80,80,8D,FF
2021-08-13T22:25:58.157Z,1628893558.157 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:25:58.211Z,1628893558.211 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:25:58.607Z,1628893558.607 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222558.89*55

2021-08-13T22:25:58.625Z,1628893558.625 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.639997 m, bearing: 81.338599 deg, deltaT: 4.415077 s, approachRate: 0.027180 m/s, LOS rate: -0.021465 deg/s, posRepo size: 4
2021-08-13T22:26:01.077Z,1628893561.077 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:26:01.389Z,1628893561.389 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:26:01.389Z,1628893561.389 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:26:01.389Z,1628893561.389 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:26:01.390Z,1628893561.390 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:26:01.789Z,1628893561.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,003FB,189,80,80,8D,FF
2021-08-13T22:26:01.789Z,1628893561.789 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:26:01.790Z,1628893561.790 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:26:01.791Z,1628893561.791 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:26:02.213Z,1628893562.213 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:26:02.601Z,1628893562.601 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,00406,18A,80,80,84,FF
2021-08-13T22:26:02.601Z,1628893562.601 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:26:02.682Z,1628893562.682 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:26:03.025Z,1628893563.025 [Micromodem](INFO): Nmea in: $SNTTA,0.431046,0.430602,,,222603.33*5E

2021-08-13T22:26:03.072Z,1628893563.072 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.300001 m, bearing: 81.263651 deg, deltaT: 4.471142 s, approachRate: 0.147614 m/s, LOS rate: -0.016763 deg/s, posRepo size: 4
2021-08-13T22:26:05.499Z,1628893565.499 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:26:05.833Z,1628893565.833 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:26:05.833Z,1628893565.833 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:26:05.833Z,1628893565.833 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:26:05.834Z,1628893565.834 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:26:06.237Z,1628893566.237 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,00406,18A,80,80,84,FF
2021-08-13T22:26:06.237Z,1628893566.237 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:26:06.237Z,1628893566.237 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:26:06.239Z,1628893566.239 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:26:06.645Z,1628893566.645 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:26:07.053Z,1628893567.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,003FD,189,80,80,95,FF
2021-08-13T22:26:07.053Z,1628893567.053 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:26:07.112Z,1628893567.112 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:26:07.499Z,1628893567.499 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222607.77*5D

2021-08-13T22:26:07.553Z,1628893567.553 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.760000 m, bearing: 80.760444 deg, deltaT: 4.430192 s, approachRate: -0.121891 m/s, LOS rate: -0.113586 deg/s, posRepo size: 4
2021-08-13T22:26:09.919Z,1628893569.919 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:26:10.277Z,1628893570.277 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:26:10.277Z,1628893570.277 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:26:10.277Z,1628893570.277 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:26:10.278Z,1628893570.278 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:26:10.681Z,1628893570.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,003FD,189,80,80,95,FF
2021-08-13T22:26:10.681Z,1628893570.681 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:26:10.681Z,1628893570.681 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:26:10.685Z,1628893570.685 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:26:11.103Z,1628893571.103 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:26:11.505Z,1628893571.505 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,00407,189,80,80,73,FF
2021-08-13T22:26:11.505Z,1628893571.505 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:26:11.596Z,1628893571.596 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:26:11.937Z,1628893571.937 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222612.22*59

2021-08-13T22:26:11.959Z,1628893571.959 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.359999 m, bearing: 80.506743 deg, deltaT: 4.484987 s, approachRate: 0.133779 m/s, LOS rate: -0.056567 deg/s, posRepo size: 4
2021-08-13T22:26:14.354Z,1628893574.354 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:26:14.721Z,1628893574.721 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:26:14.721Z,1628893574.721 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:26:14.721Z,1628893574.721 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:26:14.722Z,1628893574.722 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:26:15.137Z,1628893575.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,00407,189,80,80,73,FF
2021-08-13T22:26:15.137Z,1628893575.137 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:26:15.137Z,1628893575.137 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:26:15.139Z,1628893575.139 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:26:15.537Z,1628893575.537 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:26:15.941Z,1628893575.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B30,000,0040C,18A,80,80,62,FF
2021-08-13T22:26:15.941Z,1628893575.941 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:26:15.981Z,1628893575.981 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:26:16.378Z,1628893576.378 [Micromodem](INFO): Nmea in: $SNTTA,0.048499,,,,222616.67*4A

2021-08-13T22:26:16.399Z,1628893576.399 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.659998 m, bearing: 77.744314 deg, deltaT: 4.384215 s, approachRate: 0.068427 m/s, LOS rate: -0.630085 deg/s, posRepo size: 4
2021-08-13T22:26:18.811Z,1628893578.811 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:26:19.173Z,1628893579.173 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:26:19.173Z,1628893579.173 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:26:19.173Z,1628893579.173 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:26:19.174Z,1628893579.174 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:26:19.565Z,1628893579.565 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B30,000,0040C,18A,80,80,62,FF
2021-08-13T22:26:19.565Z,1628893579.565 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:26:19.566Z,1628893579.566 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:26:19.567Z,1628893579.567 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:26:19.977Z,1628893579.977 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:26:20.377Z,1628893580.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B86,000,00413,189,80,80,9A,FF
2021-08-13T22:26:20.377Z,1628893580.377 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:26:20.397Z,1628893580.397 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:26:20.828Z,1628893580.828 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222621.10*58

2021-08-13T22:26:20.918Z,1628893580.918 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.079998 m, bearing: 73.182055 deg, deltaT: 4.415484 s, approachRate: 0.095120 m/s, LOS rate: -1.033241 deg/s, posRepo size: 4
2021-08-13T22:26:22.911Z,1628893582.911 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:26:23.213Z,1628893583.213 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:26:23.213Z,1628893583.213 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:26:23.214Z,1628893583.214 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:26:23.214Z,1628893583.214 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:26:23.609Z,1628893583.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B86,000,00413,189,80,80,9A,FF
2021-08-13T22:26:23.609Z,1628893583.609 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:26:23.609Z,1628893583.609 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:26:23.611Z,1628893583.611 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:26:24.028Z,1628893584.028 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:26:24.417Z,1628893584.417 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,00407,189,80,80,99,FF
2021-08-13T22:26:24.417Z,1628893584.417 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:26:24.490Z,1628893584.490 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:26:24.889Z,1628893584.889 [Micromodem](INFO): Nmea in: $SNTTA,0.031829,,,,222625.14*47

2021-08-13T22:26:24.949Z,1628893584.949 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.359999 m, bearing: 79.122250 deg, deltaT: 4.093068 s, approachRate: -0.175907 m/s, LOS rate: 1.451282 deg/s, posRepo size: 4
2021-08-13T22:26:27.295Z,1628893587.295 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:26:27.645Z,1628893587.645 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:26:27.645Z,1628893587.645 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:26:27.645Z,1628893587.645 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:26:27.646Z,1628893587.646 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:26:28.057Z,1628893588.057 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,00407,189,80,80,99,FF
2021-08-13T22:26:28.057Z,1628893588.057 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:26:28.058Z,1628893588.058 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:26:28.059Z,1628893588.059 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:26:28.496Z,1628893588.496 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:26:28.885Z,1628893588.885 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,00406,18A,80,80,8A,FF
2021-08-13T22:26:28.886Z,1628893588.886 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:26:28.966Z,1628893588.966 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:26:29.310Z,1628893589.310 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222629.60*57

2021-08-13T22:26:29.331Z,1628893589.331 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.300001 m, bearing: 78.777817 deg, deltaT: 4.476201 s, approachRate: -0.013404 m/s, LOS rate: -0.076948 deg/s, posRepo size: 4
2021-08-13T22:26:31.477Z,1628893591.477 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:26:31.691Z,1628893591.691 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:26:31.691Z,1628893591.691 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:26:31.691Z,1628893591.691 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:26:31.712Z,1628893591.712 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:26:32.102Z,1628893592.102 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,00406,18A,80,80,8A,FF
2021-08-13T22:26:32.102Z,1628893592.102 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:26:32.102Z,1628893592.102 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:26:32.103Z,1628893592.103 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:26:32.520Z,1628893592.520 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:26:32.937Z,1628893592.937 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CC8,000,00411,18A,80,80,35,FF
2021-08-13T22:26:32.937Z,1628893592.937 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:26:32.977Z,1628893592.977 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:26:33.337Z,1628893593.337 [Micromodem](INFO): Nmea in: $SNTTA,0.049084,,,,222633.64*47

2021-08-13T22:26:33.368Z,1628893593.368 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.959997 m, bearing: 56.023831 deg, deltaT: 4.010640 s, approachRate: 0.164561 m/s, LOS rate: -5.673405 deg/s, posRepo size: 4
2021-08-13T22:26:35.777Z,1628893595.777 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:26:36.139Z,1628893596.139 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:26:36.139Z,1628893596.139 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:26:36.142Z,1628893596.142 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:26:36.157Z,1628893596.157 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:26:36.541Z,1628893596.541 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CC8,000,00411,18A,80,80,35,FF
2021-08-13T22:26:36.542Z,1628893596.542 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:26:36.542Z,1628893596.542 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:26:36.544Z,1628893596.544 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:26:36.948Z,1628893596.948 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:26:37.349Z,1628893597.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,0040C,189,80,80,3A,FF
2021-08-13T22:26:37.349Z,1628893597.349 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:26:37.368Z,1628893597.368 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:26:37.785Z,1628893597.785 [Micromodem](INFO): Nmea in: $SNTTA,0.041775,,,,222638.08*47

2021-08-13T22:26:37.843Z,1628893597.843 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.659998 m, bearing: 79.062233 deg, deltaT: 4.391977 s, approachRate: -0.068306 m/s, LOS rate: 5.245565 deg/s, posRepo size: 4
2021-08-13T22:26:40.191Z,1628893600.191 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:26:40.585Z,1628893600.585 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:26:40.585Z,1628893600.585 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:26:40.585Z,1628893600.585 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:26:40.586Z,1628893600.586 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:26:40.989Z,1628893600.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,0040C,189,80,80,3A,FF
2021-08-13T22:26:40.989Z,1628893600.989 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:26:40.989Z,1628893600.989 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:26:40.991Z,1628893600.991 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:26:41.392Z,1628893601.392 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:26:41.797Z,1628893601.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,385,000,0040E,189,80,80,38,FF
2021-08-13T22:26:41.797Z,1628893601.797 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:26:41.855Z,1628893601.855 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:26:42.229Z,1628893602.229 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222642.53*5A

2021-08-13T22:26:42.269Z,1628893602.269 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.779999 m, bearing: 329.745250 deg, deltaT: 4.486055 s, approachRate: 0.026750 m/s, LOS rate: -24.368175 deg/s, posRepo size: 4
2021-08-13T22:26:44.657Z,1628893604.657 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:26:45.029Z,1628893605.029 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:26:45.029Z,1628893605.029 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:26:45.029Z,1628893605.029 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:26:45.030Z,1628893605.030 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:26:45.449Z,1628893605.449 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
385,000,0040E,189,80,80,38,FF
2021-08-13T22:26:45.449Z,1628893605.449 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:26:45.450Z,1628893605.450 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:26:45.454Z,1628893605.454 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:26:45.837Z,1628893605.837 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:26:46.237Z,1628893606.237 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,00411,189,80,80,B1,FF
2021-08-13T22:26:46.238Z,1628893606.238 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:26:46.257Z,1628893606.257 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:26:46.661Z,1628893606.661 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222646.99*58

2021-08-13T22:26:46.705Z,1628893606.705 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.959997 m, bearing: 79.560420 deg, deltaT: 4.402664 s, approachRate: 0.040884 m/s, LOS rate: 24.942891 deg/s, posRepo size: 4
2021-08-13T22:26:49.108Z,1628893609.108 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:26:49.500Z,1628893609.500 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:26:49.501Z,1628893609.501 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:26:49.501Z,1628893609.501 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:26:49.502Z,1628893609.502 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:26:49.874Z,1628893609.874 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,00411,189,80,80,B1,FF
2021-08-13T22:26:49.874Z,1628893609.874 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:26:49.874Z,1628893609.874 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:26:49.878Z,1628893609.878 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:26:50.277Z,1628893610.277 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:26:50.677Z,1628893610.677 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B43,000,0041C,189,80,80,61,FF
2021-08-13T22:26:50.678Z,1628893610.678 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:26:50.707Z,1628893610.707 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:26:51.121Z,1628893611.121 [Micromodem](INFO): Nmea in: $SNTTA,0.047278,,,,222651.41*4B

2021-08-13T22:26:51.209Z,1628893611.209 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.619999 m, bearing: 76.836527 deg, deltaT: 4.449547 s, approachRate: 0.148330 m/s, LOS rate: -0.612173 deg/s, posRepo size: 4
2021-08-13T22:26:53.557Z,1628893613.557 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:26:53.925Z,1628893613.925 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:26:53.925Z,1628893613.925 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:26:53.925Z,1628893613.925 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:26:53.926Z,1628893613.926 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:26:54.318Z,1628893614.318 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B43,000,0041C,189,80,80,61,FF
2021-08-13T22:26:54.319Z,1628893614.319 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:26:54.319Z,1628893614.319 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:26:54.320Z,1628893614.320 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:26:54.764Z,1628893614.764 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:26:55.170Z,1628893615.170 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,00416,189,80,80,AF,FF
2021-08-13T22:26:55.170Z,1628893615.170 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:26:55.209Z,1628893615.209 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:26:55.587Z,1628893615.587 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222655.85*57

2021-08-13T22:26:55.613Z,1628893615.613 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.259996 m, bearing: 81.082671 deg, deltaT: 4.501953 s, approachRate: -0.079966 m/s, LOS rate: 0.943178 deg/s, posRepo size: 4
2021-08-13T22:26:58.014Z,1628893618.014 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:26:58.411Z,1628893618.411 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:26:58.411Z,1628893618.411 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:26:58.411Z,1628893618.411 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:26:58.412Z,1628893618.412 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:26:58.813Z,1628893618.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,00416,189,80,80,AF,FF
2021-08-13T22:26:58.813Z,1628893618.813 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:26:58.813Z,1628893618.813 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:26:58.855Z,1628893618.855 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:26:59.313Z,1628893619.313 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:26:59.709Z,1628893619.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,00418,189,80,80,8A,FF
2021-08-13T22:26:59.710Z,1628893619.710 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:26:59.763Z,1628893619.763 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:27:00.125Z,1628893620.125 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222700.39*51

2021-08-13T22:27:00.162Z,1628893620.162 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.379997 m, bearing: 81.828658 deg, deltaT: 4.553847 s, approachRate: 0.026352 m/s, LOS rate: 0.163815 deg/s, posRepo size: 4
2021-08-13T22:27:02.575Z,1628893622.575 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:27:02.941Z,1628893622.941 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:27:02.941Z,1628893622.941 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:27:02.941Z,1628893622.941 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:27:02.942Z,1628893622.942 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:27:03.354Z,1628893623.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,00418,189,80,80,8A,FF
2021-08-13T22:27:03.354Z,1628893623.354 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:27:03.354Z,1628893623.354 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:27:03.356Z,1628893623.356 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:27:03.753Z,1628893623.753 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:27:04.149Z,1628893624.149 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,0041D,189,80,80,81,FF
2021-08-13T22:27:04.150Z,1628893624.150 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:27:04.168Z,1628893624.168 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:27:04.577Z,1628893624.577 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222704.89*5E

2021-08-13T22:27:04.615Z,1628893624.615 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.679996 m, bearing: 82.252007 deg, deltaT: 4.405786 s, approachRate: 0.068092 m/s, LOS rate: 0.096089 deg/s, posRepo size: 4
2021-08-13T22:27:07.034Z,1628893627.034 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:27:07.381Z,1628893627.381 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:27:07.381Z,1628893627.381 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:27:07.381Z,1628893627.381 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:27:07.382Z,1628893627.382 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:27:07.789Z,1628893627.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,0041D,189,80,80,81,FF
2021-08-13T22:27:07.789Z,1628893627.789 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:27:07.789Z,1628893627.789 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:27:07.791Z,1628893627.791 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:27:08.193Z,1628893628.193 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:27:09.022Z,1628893629.022 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222709.32*53

2021-08-13T22:27:09.848Z,1628893629.848 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:27:11.452Z,1628893631.452 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,189,80,80,81,FF
2021-08-13T22:27:11.453Z,1628893631.453 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,189,80,80,81,FF
2021-08-13T22:27:11.454Z,1628893631.454 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T22:27:12.665Z,1628893632.665 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:27:13.052Z,1628893633.052 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:27:13.053Z,1628893633.053 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:27:13.053Z,1628893633.053 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:27:13.054Z,1628893633.054 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:27:13.449Z,1628893633.449 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,189,80,80,81,FF
2021-08-13T22:27:13.449Z,1628893633.449 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:27:13.450Z,1628893633.450 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:27:13.455Z,1628893633.455 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:27:13.848Z,1628893633.848 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:27:14.257Z,1628893634.257 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,00423,189,80,80,94,FF
2021-08-13T22:27:14.258Z,1628893634.258 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:27:14.305Z,1628893634.305 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:27:14.694Z,1628893634.694 [Micromodem](INFO): Nmea in: $SNTTA,0.033749,,,,222714.99*4A

2021-08-13T22:27:14.720Z,1628893634.720 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.039999 m, bearing: 82.520658 deg, deltaT: 10.136455 s, approachRate: 0.035516 m/s, LOS rate: 0.026504 deg/s, posRepo size: 4
2021-08-13T22:27:17.128Z,1628893637.128 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:27:17.505Z,1628893637.505 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:27:17.505Z,1628893637.505 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:27:17.505Z,1628893637.505 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:27:17.506Z,1628893637.506 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:27:17.895Z,1628893637.895 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,00423,189,80,80,94,FF
2021-08-13T22:27:17.895Z,1628893637.895 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:27:17.895Z,1628893637.895 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:27:17.898Z,1628893637.898 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:27:18.293Z,1628893638.293 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:27:18.689Z,1628893638.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,00426,189,80,80,41,FF
2021-08-13T22:27:18.690Z,1628893638.690 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:27:18.773Z,1628893638.773 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:27:19.133Z,1628893639.133 [Micromodem](INFO): Nmea in: $SNTTA,0.045044,,,,222719.43*4B

2021-08-13T22:27:19.200Z,1628893639.200 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.219999 m, bearing: 82.855276 deg, deltaT: 4.468257 s, approachRate: 0.040284 m/s, LOS rate: 0.074888 deg/s, posRepo size: 4
2021-08-13T22:27:21.553Z,1628893641.553 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:27:21.937Z,1628893641.937 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:27:21.937Z,1628893641.937 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:27:21.938Z,1628893641.938 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:27:21.938Z,1628893641.938 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:27:22.341Z,1628893642.341 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,00426,189,80,80,41,FF
2021-08-13T22:27:22.341Z,1628893642.341 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:27:22.341Z,1628893642.341 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:27:22.343Z,1628893642.343 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:27:22.742Z,1628893642.742 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:27:23.566Z,1628893643.566 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222723.88*5A

2021-08-13T22:27:24.375Z,1628893644.375 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:27:25.965Z,1628893645.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,189,80,80,41,FF
2021-08-13T22:27:25.965Z,1628893645.965 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,189,80,80,41,FF
2021-08-13T22:27:25.965Z,1628893645.965 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T22:27:27.233Z,1628893647.233 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:27:27.586Z,1628893647.586 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:27:27.586Z,1628893647.586 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:27:27.587Z,1628893647.587 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:27:27.587Z,1628893647.587 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:27:28.001Z,1628893648.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,189,80,80,41,FF
2021-08-13T22:27:28.001Z,1628893648.001 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:27:28.001Z,1628893648.001 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:27:28.003Z,1628893648.003 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:27:28.400Z,1628893648.400 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:27:28.801Z,1628893648.801 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,00432,189,80,80,84,FF
2021-08-13T22:27:28.801Z,1628893648.801 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:27:28.915Z,1628893648.915 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:27:29.229Z,1628893649.229 [Micromodem](INFO): Nmea in: $SNTTA,,0.326846,,,222729.54*42

2021-08-13T22:27:29.281Z,1628893649.281 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.939999 m, bearing: 81.861648 deg, deltaT: 10.146652 s, approachRate: 0.070959 m/s, LOS rate: -0.097927 deg/s, posRepo size: 4
2021-08-13T22:27:31.676Z,1628893651.676 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:27:32.053Z,1628893652.053 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:27:32.053Z,1628893652.053 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:27:32.053Z,1628893652.053 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:27:32.054Z,1628893652.054 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:27:32.455Z,1628893652.455 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,00432,189,80,80,84,FF
2021-08-13T22:27:32.455Z,1628893652.455 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:27:32.460Z,1628893652.460 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:27:32.466Z,1628893652.466 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:27:32.890Z,1628893652.890 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:27:33.237Z,1628893653.237 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,00437,18A,80,80,7C,FF
2021-08-13T22:27:33.237Z,1628893653.237 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:27:33.283Z,1628893653.283 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:27:33.673Z,1628893653.673 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222734.00*5C

2021-08-13T22:27:33.699Z,1628893653.699 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.239998 m, bearing: 80.756195 deg, deltaT: 4.367835 s, approachRate: 0.068684 m/s, LOS rate: -0.253089 deg/s, posRepo size: 4
2021-08-13T22:27:36.133Z,1628893656.133 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:27:36.501Z,1628893656.501 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:27:36.501Z,1628893656.501 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:27:36.501Z,1628893656.501 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:27:36.502Z,1628893656.502 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:27:36.921Z,1628893656.921 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,00437,18A,80,80,7C,FF
2021-08-13T22:27:36.921Z,1628893656.921 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:27:36.922Z,1628893656.922 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:27:36.923Z,1628893656.923 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:27:37.305Z,1628893657.305 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:27:37.718Z,1628893657.718 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C9F,000,00440,189,80,80,49,FF
2021-08-13T22:27:37.718Z,1628893657.718 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:27:37.779Z,1628893657.779 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:27:38.137Z,1628893658.137 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222738.46*52

2021-08-13T22:27:38.176Z,1628893658.176 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.779999 m, bearing: 59.186956 deg, deltaT: 4.491292 s, approachRate: 0.120233 m/s, LOS rate: -4.802458 deg/s, posRepo size: 4
2021-08-13T22:27:40.584Z,1628893660.584 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:27:40.958Z,1628893660.958 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:27:40.958Z,1628893660.958 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:27:40.958Z,1628893660.958 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:27:40.959Z,1628893660.959 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:27:41.350Z,1628893661.350 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C9F,000,00440,189,80,80,49,FF
2021-08-13T22:27:41.350Z,1628893661.350 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:27:41.350Z,1628893661.350 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:27:41.353Z,1628893661.353 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:27:41.767Z,1628893661.767 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:27:42.153Z,1628893662.153 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D59,000,00446,189,80,80,33,FF
2021-08-13T22:27:42.153Z,1628893662.153 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:27:42.173Z,1628893662.173 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:27:42.597Z,1628893662.597 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222742.89*5C

2021-08-13T22:27:42.638Z,1628893662.638 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.140001 m, bearing: 49.261916 deg, deltaT: 4.393987 s, approachRate: 0.081931 m/s, LOS rate: -2.258778 deg/s, posRepo size: 4
2021-08-13T22:27:45.035Z,1628893665.035 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:27:45.381Z,1628893665.381 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:27:45.381Z,1628893665.381 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:27:45.381Z,1628893665.381 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:27:45.382Z,1628893665.382 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:27:45.800Z,1628893665.800 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D59,000,00446,189,80,80,33,FF
2021-08-13T22:27:45.800Z,1628893665.800 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:27:45.801Z,1628893665.801 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:27:45.804Z,1628893665.804 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:27:46.225Z,1628893666.225 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:27:46.598Z,1628893666.598 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,00443,189,80,80,99,FF
2021-08-13T22:27:46.598Z,1628893666.598 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:27:46.665Z,1628893666.665 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:27:47.029Z,1628893667.029 [Micromodem](INFO): Nmea in: $SNTTA,0.107445,,,,222747.34*42

2021-08-13T22:27:47.077Z,1628893667.077 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.959997 m, bearing: 78.558001 deg, deltaT: 4.492613 s, approachRate: -0.040067 m/s, LOS rate: 6.520946 deg/s, posRepo size: 4
2021-08-13T22:27:49.484Z,1628893669.484 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:27:49.825Z,1628893669.825 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:27:49.825Z,1628893669.825 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:27:49.825Z,1628893669.825 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:27:49.826Z,1628893669.826 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:27:50.234Z,1628893670.234 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,00443,189,80,80,99,FF
2021-08-13T22:27:50.235Z,1628893670.235 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:27:50.235Z,1628893670.235 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:27:50.237Z,1628893670.237 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:27:50.636Z,1628893670.636 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:27:51.037Z,1628893671.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D08,000,0044C,188,80,80,56,FF
2021-08-13T22:27:51.038Z,1628893671.038 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:27:51.096Z,1628893671.096 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:27:51.510Z,1628893671.510 [Micromodem](INFO): Nmea in: $SNTTA,0.036915,,,,222751.77*49

2021-08-13T22:27:51.562Z,1628893671.562 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.500000 m, bearing: 52.328388 deg, deltaT: 4.430827 s, approachRate: 0.121874 m/s, LOS rate: -5.919801 deg/s, posRepo size: 4
2021-08-13T22:27:53.928Z,1628893673.928 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:27:54.273Z,1628893674.273 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:27:54.273Z,1628893674.273 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:27:54.273Z,1628893674.273 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:27:54.274Z,1628893674.274 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:27:54.669Z,1628893674.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D08,000,0044C,188,80,80,56,FF
2021-08-13T22:27:54.670Z,1628893674.670 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:27:54.670Z,1628893674.670 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:27:54.671Z,1628893674.671 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:27:55.185Z,1628893675.185 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:27:55.583Z,1628893675.583 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CB0,000,00448,18A,80,80,39,FF
2021-08-13T22:27:55.583Z,1628893675.583 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:27:55.617Z,1628893675.617 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:27:55.981Z,1628893675.981 [Micromodem](INFO): Nmea in: $SNTTA,0.046352,,,,222756.21*43

2021-08-13T22:27:56.011Z,1628893676.011 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.259996 m, bearing: 56.337688 deg, deltaT: 4.520677 s, approachRate: -0.053090 m/s, LOS rate: 0.886881 deg/s, posRepo size: 4
2021-08-13T22:27:58.433Z,1628893678.433 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:27:58.807Z,1628893678.807 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:27:58.811Z,1628893678.811 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:27:58.811Z,1628893678.811 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:27:58.813Z,1628893678.813 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:27:58.946Z,1628893678.946 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-08-13T22:27:58.946Z,1628893678.946 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-08-13T22:27:58.946Z,1628893678.946 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-08-13T22:27:58.946Z,1628893678.946 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-13T22:27:58.946Z,1628893678.946 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-08-13T22:27:59.426Z,1628893679.426 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CB0,000,00448,18A,80,80,39,FF
2021-08-13T22:27:59.426Z,1628893679.426 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:27:59.427Z,1628893679.427 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:27:59.433Z,1628893679.433 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:27:59.841Z,1628893679.841 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:28:00.079Z,1628893680.079 [Micromodem](INFO): Outgoing frame #1, 64 bytes: B2AB16613F0000005D00000400320000000000000000151D80030C5669C08C79985AE5B98A7CF24AC49E77F185CA0DDFC9A3E96C881A964525307A15F45407FD
2021-08-13T22:28:00.079Z,1628893680.079 [Micromodem](INFO): Outgoing frame #2, 6 bytes: 3D27FFEA1C00
2021-08-13T22:28:00.080Z,1628893680.080 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,2*6A

2021-08-13T22:28:00.289Z,1628893680.289 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C8A,000,00452,189,80,80,55,FF
2021-08-13T22:28:00.289Z,1628893680.289 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:28:00.292Z,1628893680.292 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,2*68

2021-08-13T22:28:00.355Z,1628893680.355 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:28:00.705Z,1628893680.705 [Micromodem](INFO): Nmea in: $CADRQ,222801,1,10,0,64,1*7D

2021-08-13T22:28:00.706Z,1628893680.706 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,B2AB16613F0000005D00000400320000000000000000151D80030C5669C08C79985AE5B98A7CF24AC49E77F185CA0DDFC9A3E96C881A964525307A15F45407FD*30

2021-08-13T22:28:00.894Z,1628893680.894 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.860003 m, bearing: 58.278200 deg, deltaT: 4.737598 s, approachRate: 0.126648 m/s, LOS rate: 0.409598 deg/s, posRepo size: 4
2021-08-13T22:28:01.107Z,1628893681.107 [Micromodem](INFO): Nmea in: $SNTTA,0.018589,,,,222800.97*49

2021-08-13T22:28:01.107Z,1628893681.107 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,0.018589,,,,222800.97*49

2021-08-13T22:28:02.337Z,1628893682.337 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-08-13T22:28:02.757Z,1628893682.757 [Micromodem](INFO): Nmea in: $CADRQ,222802,1,10,0,64,2*7D

2021-08-13T22:28:02.758Z,1628893682.758 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,3D27FFEA1C00*4D

2021-08-13T22:28:03.134Z,1628893683.134 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,6*7D

2021-08-13T22:28:03.194Z,1628893683.194 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:28:03.539Z,1628893683.539 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:28:03.539Z,1628893683.539 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:28:03.541Z,1628893683.541 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:28:03.542Z,1628893683.542 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:28:03.547Z,1628893683.547 [Micromodem](INFO): Nmea in: $CATXP,70*75

2021-08-13T22:28:03.951Z,1628893683.951 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C8A,000,00452,189,80,80,55,FF
2021-08-13T22:28:03.951Z,1628893683.951 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:28:03.952Z,1628893683.952 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:28:03.954Z,1628893683.954 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:28:05.745Z,1628893685.745 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:28:05.958Z,1628893685.958 [Micromodem](INFO): Nmea in: $CATXF,70*63

2021-08-13T22:28:05.958Z,1628893685.958 [Micromodem](ERROR): Response from modem unexpected: $CATXF,70*63

2021-08-13T22:28:06.399Z,1628893686.399 [Micromodem](INFO): Nmea in: $CAXST,7,20210813,222804.268940,3,0,200,4000,14500,1,1,10,1,2,2,3,70,14500*5D

2021-08-13T22:28:06.399Z,1628893686.399 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210813,222804.268940,3,0,200,4000,14500,1,1,10,1,2,2,3,70,14500*5D

2021-08-13T22:28:08.405Z,1628893688.405 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-08-13T22:28:08.501Z,1628893688.501 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:28:08.796Z,1628893688.796 [Micromodem](INFO): Nmea in: $CAACK,10,1,2,1*78

2021-08-13T22:28:08.797Z,1628893688.797 [Micromodem](INFO): Sent 62 bytes from file Logs/20210813T172818/Courier0063.lzma.parts
2021-08-13T22:28:08.797Z,1628893688.797 [Micromodem](INFO): Packets left to send: 0
2021-08-13T22:28:09.218Z,1628893689.218 [Micromodem](INFO): Nmea in: $CACST,6,0,20210813222808.928613,06,32767,45,0101,0150,07,01,01,00,01,1,010,001,0,4,1,0,150,28.6,9.59,20,-6.59,-01,0.20,45,14500,4000*65

2021-08-13T22:28:09.218Z,1628893689.218 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210813222808.928613,06,32767,45,0101,0150,07,01,01,00,01,1,010,001,0,4,1,0,150,28.6,9.59,20,-6.59,-01,0.20,45,14500,4000*65

2021-08-13T22:28:09.488Z,1628893689.488 [lineCaptureDepth:MicromodemComms] Stopped
2021-08-13T22:28:09.488Z,1628893689.488 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-08-13T22:28:09.488Z,1628893689.488 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-08-13T22:28:09.488Z,1628893689.488 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-13T22:28:09.489Z,1628893689.489 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-08-13T22:28:09.628Z,1628893689.628 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.085932
2021-08-13T22:28:11.314Z,1628893691.314 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:28:11.633Z,1628893691.633 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:28:11.633Z,1628893691.633 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:28:11.633Z,1628893691.633 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:28:11.634Z,1628893691.634 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:28:12.042Z,1628893692.042 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C8A,000,00452,189,80,80,55,FF
2021-08-13T22:28:12.042Z,1628893692.042 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:28:12.042Z,1628893692.042 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:28:14.162Z,1628893694.162 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:28:14.958Z,1628893694.958 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:28:15.357Z,1628893695.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:28:15.761Z,1628893695.761 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D4E,000,0045B,188,80,80,72,FF
2021-08-13T22:28:15.762Z,1628893695.762 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:28:15.791Z,1628893695.791 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:28:16.197Z,1628893696.197 [Micromodem](INFO): Nmea in: $SNTTA,,0.049190,,,222816.49*45

2021-08-13T22:28:16.275Z,1628893696.275 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.399998 m, bearing: 47.205609 deg, deltaT: 15.436892 s, approachRate: 0.034981 m/s, LOS rate: -0.717281 deg/s, posRepo size: 4
2021-08-13T22:28:18.640Z,1628893698.640 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:28:18.993Z,1628893698.993 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:28:18.993Z,1628893698.993 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:28:18.993Z,1628893698.993 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:28:18.994Z,1628893698.994 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:28:19.407Z,1628893699.407 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D4E,000,0045B,188,80,80,72,FF
2021-08-13T22:28:19.408Z,1628893699.408 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:28:19.408Z,1628893699.408 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:28:19.410Z,1628893699.410 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:28:19.800Z,1628893699.800 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:28:20.202Z,1628893700.202 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D12,000,00462,189,80,80,75,FF
2021-08-13T22:28:20.202Z,1628893700.202 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:28:20.229Z,1628893700.229 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:28:20.637Z,1628893700.637 [Micromodem](INFO): Nmea in: $SNTTA,0.044017,,,,222820.94*43

2021-08-13T22:28:20.689Z,1628893700.689 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.819998 m, bearing: 50.175205 deg, deltaT: 4.437799 s, approachRate: 0.094642 m/s, LOS rate: 0.669160 deg/s, posRepo size: 4
2021-08-13T22:28:22.910Z,1628893702.910 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:28:23.225Z,1628893703.225 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:28:23.225Z,1628893703.225 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:28:23.225Z,1628893703.225 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:28:23.226Z,1628893703.226 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:28:23.621Z,1628893703.621 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D12,000,00462,189,80,80,75,FF
2021-08-13T22:28:23.621Z,1628893703.621 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:28:23.621Z,1628893703.621 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:28:23.623Z,1628893703.623 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:28:24.041Z,1628893704.041 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:28:24.432Z,1628893704.432 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CED,000,00461,189,80,80,73,FF
2021-08-13T22:28:24.434Z,1628893704.434 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:28:24.502Z,1628893704.502 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:28:24.894Z,1628893704.894 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222825.16*54

2021-08-13T22:28:24.959Z,1628893704.959 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.760000 m, bearing: 52.486302 deg, deltaT: 4.272830 s, approachRate: -0.014042 m/s, LOS rate: 0.540882 deg/s, posRepo size: 4
2021-08-13T22:28:27.302Z,1628893707.302 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:28:27.673Z,1628893707.673 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:28:27.673Z,1628893707.673 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:28:27.673Z,1628893707.673 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:28:27.674Z,1628893707.674 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:28:28.077Z,1628893708.077 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CED,000,00461,189,80,80,73,FF
2021-08-13T22:28:28.077Z,1628893708.077 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:28:28.077Z,1628893708.077 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:28:28.079Z,1628893708.079 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:28:28.500Z,1628893708.500 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:28:28.921Z,1628893708.921 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D65,000,00468,189,80,80,7F,FF
2021-08-13T22:28:28.921Z,1628893708.921 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:28:29.003Z,1628893709.003 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:28:29.321Z,1628893709.321 [Micromodem](INFO): Nmea in: $SNTTA,0.041409,,,,222829.61*4E

2021-08-13T22:28:29.365Z,1628893709.365 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.180000 m, bearing: 47.342353 deg, deltaT: 4.501989 s, approachRate: 0.093292 m/s, LOS rate: -1.142595 deg/s, posRepo size: 4
2021-08-13T22:28:31.737Z,1628893711.737 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:28:32.121Z,1628893712.121 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:28:32.122Z,1628893712.122 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:28:32.122Z,1628893712.122 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:28:32.123Z,1628893712.123 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:28:32.509Z,1628893712.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D65,000,00468,189,80,80,7F,FF
2021-08-13T22:28:32.509Z,1628893712.509 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:28:32.509Z,1628893712.509 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:28:32.511Z,1628893712.511 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:28:32.948Z,1628893712.948 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:28:33.317Z,1628893713.317 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D0A,000,0046A,188,80,80,62,FF
2021-08-13T22:28:33.317Z,1628893713.317 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:28:33.356Z,1628893713.356 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:28:33.769Z,1628893713.769 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222834.04*57

2021-08-13T22:28:33.794Z,1628893713.794 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.300001 m, bearing: 52.922222 deg, deltaT: 4.352314 s, approachRate: 0.027572 m/s, LOS rate: 1.282046 deg/s, posRepo size: 4
2021-08-13T22:28:36.185Z,1628893716.185 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:28:36.549Z,1628893716.549 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:28:36.549Z,1628893716.549 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:28:36.549Z,1628893716.549 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:28:36.550Z,1628893716.550 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:28:36.962Z,1628893716.962 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D0A,000,0046A,188,80,80,62,FF
2021-08-13T22:28:36.962Z,1628893716.962 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:28:36.962Z,1628893716.962 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:28:36.965Z,1628893716.965 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:28:37.383Z,1628893717.383 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:28:37.762Z,1628893717.762 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,00468,18A,80,80,2C,FF
2021-08-13T22:28:37.763Z,1628893717.763 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:28:37.837Z,1628893717.837 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:28:38.201Z,1628893718.201 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222838.50*5A

2021-08-13T22:28:38.231Z,1628893718.231 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.180000 m, bearing: 80.712209 deg, deltaT: 4.481071 s, approachRate: -0.026779 m/s, LOS rate: 6.201640 deg/s, posRepo size: 4
2021-08-13T22:28:40.629Z,1628893720.629 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:28:40.993Z,1628893720.993 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:28:40.993Z,1628893720.993 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:28:40.993Z,1628893720.993 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:28:40.994Z,1628893720.994 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:28:41.413Z,1628893721.413 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,00468,18A,80,80,2C,FF
2021-08-13T22:28:41.413Z,1628893721.413 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:28:41.413Z,1628893721.413 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:28:41.415Z,1628893721.415 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:28:41.804Z,1628893721.804 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:28:42.625Z,1628893722.625 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222842.95*5E

2021-08-13T22:28:42.627Z,1628893722.627 [NAL9602](INFO): Not Powering down - fast GPS
2021-08-13T22:28:43.494Z,1628893723.494 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:28:45.037Z,1628893725.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
8,18A,80,80,2C,FF
2021-08-13T22:28:45.037Z,1628893725.037 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
8,18A,80,80,2C,FF
2021-08-13T22:28:45.038Z,1628893725.038 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T22:28:46.304Z,1628893726.304 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:28:46.650Z,1628893726.650 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:28:46.650Z,1628893726.650 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:28:46.650Z,1628893726.650 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:28:46.651Z,1628893726.651 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:28:47.053Z,1628893727.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
8,18A,80,80,2C,FF
2021-08-13T22:28:47.053Z,1628893727.053 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:28:47.053Z,1628893727.053 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:28:47.055Z,1628893727.055 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:28:47.498Z,1628893727.498 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:28:47.861Z,1628893727.861 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,00471,189,80,80,8C,FF
2021-08-13T22:28:47.862Z,1628893727.862 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:28:47.922Z,1628893727.922 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:28:48.314Z,1628893728.314 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222848.59*54

2021-08-13T22:28:48.369Z,1628893728.369 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.720001 m, bearing: 84.428747 deg, deltaT: 10.084272 s, approachRate: 0.053549 m/s, LOS rate: 0.368548 deg/s, posRepo size: 4
2021-08-13T22:28:48.370Z,1628893728.370 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 30.72 m. Resuming terminal guidance.
2021-08-13T22:28:48.370Z,1628893728.370 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-13T22:28:48.711Z,1628893728.711 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-08-13T22:28:48.711Z,1628893728.711 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-13T22:28:48.711Z,1628893728.711 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-08-13T22:28:48.711Z,1628893728.711 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-08-13T22:28:48.711Z,1628893728.711 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2021-08-13T22:28:48.712Z,1628893728.712 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-08-13T22:28:48.712Z,1628893728.712 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-08-13T22:28:50.727Z,1628893730.727 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:28:51.093Z,1628893731.093 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:28:51.093Z,1628893731.093 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:28:51.093Z,1628893731.093 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:28:51.094Z,1628893731.094 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:28:51.501Z,1628893731.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,00471,189,80,80,8C,FF
2021-08-13T22:28:51.501Z,1628893731.501 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:28:51.501Z,1628893731.501 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:28:51.503Z,1628893731.503 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:28:51.917Z,1628893731.917 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:28:52.313Z,1628893732.313 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,00475,18A,80,80,87,FF
2021-08-13T22:28:52.313Z,1628893732.313 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:28:52.360Z,1628893732.360 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:28:52.761Z,1628893732.761 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222853.04*56

2021-08-13T22:28:52.791Z,1628893732.791 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.959999 m, bearing: 85.863729 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-13T22:28:52.812Z,1628893732.812 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 30.96 m.
2021-08-13T22:28:52.813Z,1628893732.813 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 85.863729deg and heading rate command to 0 deg/s.
2021-08-13T22:28:53.242Z,1628893733.242 [PowerOnly](INFO): Powering up loadControl
2021-08-13T22:28:54.919Z,1628893734.919 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:28:55.217Z,1628893735.217 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:28:55.217Z,1628893735.217 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:28:55.217Z,1628893735.217 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:28:55.218Z,1628893735.218 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:28:55.629Z,1628893735.629 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,00475,18A,80,80,87,FF
2021-08-13T22:28:55.630Z,1628893735.630 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:28:55.630Z,1628893735.630 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:28:55.633Z,1628893735.633 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:28:56.028Z,1628893736.028 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:28:56.464Z,1628893736.464 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,0046E,189,80,80,3D,FF
2021-08-13T22:28:56.464Z,1628893736.464 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:28:56.548Z,1628893736.548 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:28:56.889Z,1628893736.889 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222857.17*50

2021-08-13T22:28:56.938Z,1628893736.938 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.539997 m, bearing: 87.089031 deg, deltaT: 4.187427 s, approachRate: -0.100301 m/s, LOS rate: 0.292614 deg/s, posRepo size: 2
2021-08-13T22:28:56.938Z,1628893736.938 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 30.54 m.
2021-08-13T22:28:56.941Z,1628893736.941 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 30.539997 m,
      bearing: 87.089031 deg,
      approachRate: -0.100301 m/s,
      LOS rate: 0.292614 deg/s,
      cmd update: 0.877843 deg/s,
      cmd heading: 85.863729 deg,
      new cmd heading: 85.863729 deg.

2021-08-13T22:28:59.291Z,1628893739.291 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:28:59.657Z,1628893739.657 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:28:59.658Z,1628893739.658 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:28:59.658Z,1628893739.658 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:28:59.659Z,1628893739.659 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:29:00.066Z,1628893740.066 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,0046E,189,80,80,3D,FF
2021-08-13T22:29:00.067Z,1628893740.067 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:29:00.067Z,1628893740.067 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:29:00.068Z,1628893740.068 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:29:00.507Z,1628893740.507 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:29:00.914Z,1628893740.914 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,00465,189,80,80,68,FF
2021-08-13T22:29:00.914Z,1628893740.914 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:29:00.970Z,1628893740.970 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:29:01.326Z,1628893741.326 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222901.60*52

2021-08-13T22:29:01.351Z,1628893741.351 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.000002 m, bearing: 94.990501 deg, deltaT: 4.421962 s, approachRate: -0.122117 m/s, LOS rate: 1.786870 deg/s, posRepo size: 3
2021-08-13T22:29:01.351Z,1628893741.351 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 30.00 m.
2021-08-13T22:29:01.356Z,1628893741.356 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 30.000002 m,
      bearing: 94.990501 deg,
      approachRate: -0.122117 m/s,
      LOS rate: 1.786870 deg/s,
      cmd update: 5.360610 deg/s,
      cmd heading: 89.738605 deg,
      new cmd heading: 90.088634 deg.

2021-08-13T22:29:03.746Z,1628893743.746 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:29:04.101Z,1628893744.101 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:29:04.101Z,1628893744.101 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:29:04.101Z,1628893744.101 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:29:04.102Z,1628893744.102 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:29:04.505Z,1628893744.505 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,00465,189,80,80,68,FF
2021-08-13T22:29:04.505Z,1628893744.505 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:29:04.505Z,1628893744.505 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:29:04.507Z,1628893744.507 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:29:04.941Z,1628893744.941 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:29:05.318Z,1628893745.318 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,BAB,000,00458,18A,80,80,9D,FF
2021-08-13T22:29:05.318Z,1628893745.318 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:29:05.343Z,1628893745.343 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:29:05.749Z,1628893745.749 [Micromodem](INFO): Nmea in: $SNTTA,,0.019095,,,222906.04*4D

2021-08-13T22:29:05.791Z,1628893745.791 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.219999 m, bearing: 96.512841 deg, deltaT: 4.372241 s, approachRate: -0.178399 m/s, LOS rate: 0.348183 deg/s, posRepo size: 4
2021-08-13T22:29:05.796Z,1628893745.796 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 29.22 m.
2021-08-13T22:29:05.798Z,1628893745.798 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 29.219999 m,
      bearing: 96.512841 deg,
      approachRate: -0.178399 m/s,
      LOS rate: 0.348183 deg/s,
      cmd update: 1.044549 deg/s,
      cmd heading: 113.262627 deg,
      new cmd heading: 115.684004 deg.

2021-08-13T22:29:08.167Z,1628893748.167 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:29:08.545Z,1628893748.545 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:29:08.545Z,1628893748.545 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:29:08.545Z,1628893748.545 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:29:08.546Z,1628893748.546 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:29:08.953Z,1628893748.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
BAB,000,00458,18A,80,80,9D,FF
2021-08-13T22:29:08.953Z,1628893748.953 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:29:08.954Z,1628893748.954 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:29:08.955Z,1628893748.955 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:29:09.367Z,1628893749.367 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:29:09.765Z,1628893749.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C85,000,00443,189,80,80,A1,FF
2021-08-13T22:29:09.765Z,1628893749.765 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:29:09.832Z,1628893749.832 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:29:10.227Z,1628893750.227 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222910.49*59

2021-08-13T22:29:10.286Z,1628893750.286 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.959997 m, bearing: 96.570569 deg, deltaT: 4.489673 s, approachRate: -0.280645 m/s, LOS rate: 0.012858 deg/s, posRepo size: 4
2021-08-13T22:29:10.287Z,1628893750.287 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 27.96 m.
2021-08-13T22:29:10.287Z,1628893750.287 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 27.96 m.
2021-08-13T22:29:10.287Z,1628893750.287 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-13T22:29:10.294Z,1628893750.294 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 27.959997 m,
      bearing: 96.570569 deg,
      approachRate: -0.280645 m/s,
      LOS rate: 0.012858 deg/s,
      cmd update: 0.038574 deg/s,
      cmd heading: 117.943621 deg,
      new cmd heading: 118.429061 deg.

2021-08-13T22:29:12.633Z,1628893752.633 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:29:12.989Z,1628893752.989 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:29:12.989Z,1628893752.989 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:29:12.989Z,1628893752.989 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:29:12.990Z,1628893752.990 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:29:13.397Z,1628893753.397 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C85,000,00443,189,80,80,A1,FF
2021-08-13T22:29:13.397Z,1628893753.397 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:29:13.397Z,1628893753.397 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:29:13.399Z,1628893753.399 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:29:13.818Z,1628893753.818 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:29:14.209Z,1628893754.209 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DCD,000,00427,189,80,80,7F,FF
2021-08-13T22:29:14.209Z,1628893754.209 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:29:14.229Z,1628893754.229 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:29:14.641Z,1628893754.641 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222914.93*5A

2021-08-13T22:29:14.685Z,1628893754.685 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.280003 m, bearing: 94.544585 deg, deltaT: 4.397094 s, approachRate: -0.382069 m/s, LOS rate: -0.460755 deg/s, posRepo size: 4
2021-08-13T22:29:14.687Z,1628893754.687 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 26.280003 m,
      bearing: 94.544585 deg,
      approachRate: -0.382069 m/s,
      LOS rate: -0.460755 deg/s,
      cmd update: -1.382266 deg/s,
      cmd heading: 118.113564 deg,
      new cmd heading: 118.131240 deg.

2021-08-13T22:29:17.082Z,1628893757.082 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:29:17.453Z,1628893757.453 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:29:17.454Z,1628893757.454 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:29:17.454Z,1628893757.454 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:29:17.455Z,1628893757.455 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:29:17.837Z,1628893757.837 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DCD,000,00427,189,80,80,7F,FF
2021-08-13T22:29:17.837Z,1628893757.837 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:29:17.837Z,1628893757.837 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:29:17.839Z,1628893757.839 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:29:18.252Z,1628893758.252 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:29:18.654Z,1628893758.654 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E66,000,00404,186,80,80,92,FF
2021-08-13T22:29:18.655Z,1628893758.655 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:29:18.701Z,1628893758.701 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:29:19.089Z,1628893759.089 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222919.37*59

2021-08-13T22:29:19.137Z,1628893759.137 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.180000 m, bearing: 105.934513 deg, deltaT: 4.471971 s, approachRate: -0.469592 m/s, LOS rate: 2.546959 deg/s, posRepo size: 4
2021-08-13T22:29:19.138Z,1628893759.138 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 24.180000 m,
      bearing: 105.934513 deg,
      approachRate: -0.469592 m/s,
      LOS rate: 2.546959 deg/s,
      cmd update: 7.640878 deg/s,
      cmd heading: 111.954473 deg,
      new cmd heading: 111.326894 deg.

2021-08-13T22:29:21.565Z,1628893761.565 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:29:21.886Z,1628893761.886 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:29:21.886Z,1628893761.886 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:29:21.886Z,1628893761.886 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:29:21.887Z,1628893761.887 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:29:22.285Z,1628893762.285 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E66,000,00404,186,80,80,92,FF
2021-08-13T22:29:22.285Z,1628893762.285 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:29:22.286Z,1628893762.286 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:29:22.287Z,1628893762.287 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:29:22.693Z,1628893762.693 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:29:23.093Z,1628893763.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F93,000,003E4,187,80,80,59,FF
2021-08-13T22:29:23.094Z,1628893763.094 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:29:23.173Z,1628893763.173 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:29:23.546Z,1628893763.546 [Micromodem](INFO): Nmea in: $SNTTA,0.056342,,,,222923.82*46

2021-08-13T22:29:23.572Z,1628893763.572 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.260002 m, bearing: 110.544597 deg, deltaT: 4.471303 s, approachRate: -0.429405 m/s, LOS rate: 1.031038 deg/s, posRepo size: 4
2021-08-13T22:29:23.574Z,1628893763.574 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 22.260002 m,
      bearing: 110.544597 deg,
      approachRate: -0.429405 m/s,
      LOS rate: 1.031038 deg/s,
      cmd update: 3.093115 deg/s,
      cmd heading: 146.211677 deg,
      new cmd heading: 149.315242 deg.

2021-08-13T22:29:25.967Z,1628893765.967 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:29:26.327Z,1628893766.327 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:29:26.327Z,1628893766.327 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:29:26.327Z,1628893766.327 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:29:26.328Z,1628893766.328 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:29:26.725Z,1628893766.725 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F93,000,003E4,187,80,80,59,FF
2021-08-13T22:29:26.725Z,1628893766.725 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:29:26.725Z,1628893766.725 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:29:26.727Z,1628893766.727 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:29:27.133Z,1628893767.133 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:29:27.533Z,1628893767.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0E6,000,003B3,185,80,80,AB,FF
2021-08-13T22:29:27.533Z,1628893767.533 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:29:27.613Z,1628893767.613 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:29:27.977Z,1628893767.977 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222928.26*5B

2021-08-13T22:29:28.000Z,1628893768.000 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.320000 m, bearing: 111.795587 deg, deltaT: 4.440067 s, approachRate: -0.662153 m/s, LOS rate: 0.281750 deg/s, posRepo size: 4
2021-08-13T22:29:28.002Z,1628893768.002 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.320000 m,
      bearing: 111.795587 deg,
      approachRate: -0.662153 m/s,
      LOS rate: 0.281750 deg/s,
      cmd update: 0.845251 deg/s,
      cmd heading: 159.945465 deg,
      new cmd heading: 161.164254 deg.

2021-08-13T22:29:30.390Z,1628893770.390 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:29:30.765Z,1628893770.765 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:29:30.765Z,1628893770.765 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:29:30.765Z,1628893770.765 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:29:30.766Z,1628893770.766 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:29:31.169Z,1628893771.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0E6,000,003B3,185,80,80,AB,FF
2021-08-13T22:29:31.169Z,1628893771.169 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:29:31.169Z,1628893771.169 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:29:31.171Z,1628893771.171 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:29:31.589Z,1628893771.589 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:29:31.977Z,1628893771.977 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2C1,000,00393,189,80,80,A8,FF
2021-08-13T22:29:31.977Z,1628893771.977 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:29:32.007Z,1628893772.007 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:29:32.421Z,1628893772.421 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222932.70*53

2021-08-13T22:29:32.459Z,1628893772.459 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.400002 m, bearing: 106.621876 deg, deltaT: 4.394970 s, approachRate: -0.436863 m/s, LOS rate: -1.177189 deg/s, posRepo size: 4
2021-08-13T22:29:32.462Z,1628893772.462 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.400002 m,
      bearing: 106.621876 deg,
      approachRate: -0.436863 m/s,
      LOS rate: -1.177189 deg/s,
      cmd update: -3.531568 deg/s,
      cmd heading: 163.663367 deg,
      new cmd heading: 164.047988 deg.

2021-08-13T22:29:34.907Z,1628893774.907 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:29:35.221Z,1628893775.221 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:29:35.221Z,1628893775.221 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:29:35.221Z,1628893775.221 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:29:35.222Z,1628893775.222 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:29:35.623Z,1628893775.623 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2C1,000,00393,189,80,80,A8,FF
2021-08-13T22:29:35.623Z,1628893775.623 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:29:35.623Z,1628893775.623 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:29:35.625Z,1628893775.625 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:29:36.035Z,1628893776.035 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:29:36.425Z,1628893776.425 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00378,189,80,80,AB,FF
2021-08-13T22:29:36.425Z,1628893776.425 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:29:36.466Z,1628893776.466 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:29:36.882Z,1628893776.882 [Micromodem](INFO): Nmea in: $SNTTA,0.035020,,,,222937.16*4C

2021-08-13T22:29:36.951Z,1628893776.951 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.779997 m, bearing: 95.311055 deg, deltaT: 4.458673 s, approachRate: -0.363338 m/s, LOS rate: -2.536813 deg/s, posRepo size: 4
2021-08-13T22:29:36.954Z,1628893776.954 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.779997 m,
      bearing: 95.311055 deg,
      approachRate: -0.363338 m/s,
      LOS rate: -2.536813 deg/s,
      cmd update: -7.610439 deg/s,
      cmd heading: 147.988921 deg,
      new cmd heading: 146.194931 deg.

2021-08-13T22:29:38.970Z,1628893778.970 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:29:39.253Z,1628893779.253 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:29:39.253Z,1628893779.253 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:29:39.253Z,1628893779.253 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:29:39.254Z,1628893779.254 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:29:39.661Z,1628893779.661 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00378,189,80,80,AB,FF
2021-08-13T22:29:39.661Z,1628893779.661 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:29:39.661Z,1628893779.661 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:29:39.663Z,1628893779.663 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:29:40.088Z,1628893780.088 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:29:40.926Z,1628893780.926 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222941.20*52

2021-08-13T22:29:41.707Z,1628893781.707 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:29:42.939Z,1628893782.939 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,802,000,00378,189,80,80,AB,FF
2021-08-13T22:29:42.940Z,1628893782.940 [DUSBL_Hydroid](INFO): No reply:!U1,N,802,000,00378,189,80,80,AB,FF
2021-08-13T22:29:42.941Z,1628893782.941 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T22:29:44.566Z,1628893784.566 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:29:44.945Z,1628893784.945 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:29:44.945Z,1628893784.945 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:29:44.945Z,1628893784.945 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:29:44.946Z,1628893784.946 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:29:45.325Z,1628893785.325 [DUSBL_Hydroid](INFO): DUSBL response received:,80,63,E4
!U1,P
378,189,80,80,AB,FF
2021-08-13T22:29:45.325Z,1628893785.325 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:29:45.326Z,1628893785.326 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:29:45.327Z,1628893785.327 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:29:45.737Z,1628893785.737 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:29:46.137Z,1628893786.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00350,189,80,80,96,FF
2021-08-13T22:29:46.138Z,1628893786.138 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:29:46.159Z,1628893786.159 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:29:46.581Z,1628893786.581 [Micromodem](INFO): Nmea in: $SNTTA,0.030848,,,,222946.86*40

2021-08-13T22:29:46.640Z,1628893786.640 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.380001 m, bearing: 75.498739 deg, deltaT: 9.692741 s, approachRate: -0.247608 m/s, LOS rate: -2.044037 deg/s, posRepo size: 4
2021-08-13T22:29:46.642Z,1628893786.642 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.380001 m,
      bearing: 75.498739 deg,
      approachRate: -0.247608 m/s,
      LOS rate: -2.044037 deg/s,
      cmd update: -6.132110 deg/s,
      cmd heading: 74.065635 deg,
      new cmd heading: 70.415950 deg.

2021-08-13T22:29:49.044Z,1628893789.044 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:29:49.373Z,1628893789.373 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:29:49.373Z,1628893789.373 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:29:49.373Z,1628893789.373 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:29:49.374Z,1628893789.374 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:29:49.793Z,1628893789.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00350,189,80,80,96,FF
2021-08-13T22:29:49.793Z,1628893789.793 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:29:49.793Z,1628893789.793 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:29:49.794Z,1628893789.794 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:29:50.177Z,1628893790.177 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:29:50.583Z,1628893790.583 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4CB,000,00337,189,80,80,65,FF
2021-08-13T22:29:50.583Z,1628893790.583 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:29:50.603Z,1628893790.603 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:29:51.001Z,1628893791.001 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222951.33*51

2021-08-13T22:29:51.070Z,1628893791.070 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.879998 m, bearing: 60.768371 deg, deltaT: 4.444380 s, approachRate: -0.337506 m/s, LOS rate: -3.314381 deg/s, posRepo size: 4
2021-08-13T22:29:51.073Z,1628893791.073 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.879998 m,
      bearing: 60.768371 deg,
      approachRate: -0.337506 m/s,
      LOS rate: -3.314381 deg/s,
      cmd update: -9.943143 deg/s,
      cmd heading: 46.813883 deg,
      new cmd heading: 43.931540 deg.

2021-08-13T22:29:53.438Z,1628893793.438 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:29:53.820Z,1628893793.820 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:29:53.820Z,1628893793.820 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:29:53.820Z,1628893793.820 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:29:53.821Z,1628893793.821 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:29:54.249Z,1628893794.249 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
4CB,000,00337,189,80,80,65,FF
2021-08-13T22:29:54.249Z,1628893794.249 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:29:54.249Z,1628893794.249 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:29:54.251Z,1628893794.251 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:29:54.633Z,1628893794.633 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:29:55.025Z,1628893795.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,22F,000,00330,189,80,80,38,FF
2021-08-13T22:29:55.026Z,1628893795.026 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:29:55.065Z,1628893795.065 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:29:55.447Z,1628893795.447 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222955.79*5B

2021-08-13T22:29:55.499Z,1628893795.499 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.459998 m, bearing: 76.847879 deg, deltaT: 4.461900 s, approachRate: -0.094130 m/s, LOS rate: 3.603736 deg/s, posRepo size: 4
2021-08-13T22:29:55.506Z,1628893795.506 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.459998 m,
      bearing: 76.847879 deg,
      approachRate: -0.094130 m/s,
      LOS rate: 3.603736 deg/s,
      cmd update: 10.811208 deg/s,
      cmd heading: 2.445651 deg,
      new cmd heading: 358.101005 deg.

2021-08-13T22:29:57.909Z,1628893797.909 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:29:58.253Z,1628893798.253 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:29:58.253Z,1628893798.253 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:29:58.253Z,1628893798.253 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:29:58.254Z,1628893798.254 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:29:58.665Z,1628893798.665 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
22F,000,00330,189,80,80,38,FF
2021-08-13T22:29:58.665Z,1628893798.665 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:29:58.665Z,1628893798.665 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:29:58.667Z,1628893798.667 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:29:59.069Z,1628893799.069 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:29:59.465Z,1628893799.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2A0,000,00307,188,80,80,81,FF
2021-08-13T22:29:59.466Z,1628893799.466 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:29:59.487Z,1628893799.487 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:29:59.915Z,1628893799.915 [Micromodem](INFO): Nmea in: $SNTTA,0.028459,,,,223000.20*43

2021-08-13T22:29:59.961Z,1628893799.961 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.999999 m, bearing: 53.440445 deg, deltaT: 4.421248 s, approachRate: -0.556404 m/s, LOS rate: -5.294305 deg/s, posRepo size: 4
2021-08-13T22:29:59.963Z,1628893799.963 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.999999 m,
      bearing: 53.440445 deg,
      approachRate: -0.556404 m/s,
      LOS rate: -5.294305 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 50.244541 deg,
      new cmd heading: 55.362394 deg.

2021-08-13T22:30:02.345Z,1628893802.345 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:30:02.705Z,1628893802.705 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:30:02.705Z,1628893802.705 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:30:02.705Z,1628893802.705 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:30:02.705Z,1628893802.705 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:30:03.112Z,1628893803.112 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2A0,000,00307,188,80,80,81,FF
2021-08-13T22:30:03.113Z,1628893803.113 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:30:03.113Z,1628893803.113 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:30:03.114Z,1628893803.114 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:30:03.513Z,1628893803.513 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:30:03.921Z,1628893803.921 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,085,000,002FE,187,80,80,48,FF
2021-08-13T22:30:03.921Z,1628893803.921 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:30:03.943Z,1628893803.943 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:30:04.341Z,1628893804.341 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223004.65*5A

2021-08-13T22:30:04.384Z,1628893804.384 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.460000 m, bearing: 63.547718 deg, deltaT: 4.456141 s, approachRate: -0.121181 m/s, LOS rate: 2.268167 deg/s, posRepo size: 4
2021-08-13T22:30:04.386Z,1628893804.386 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.460000 m,
      bearing: 63.547718 deg,
      approachRate: -0.121181 m/s,
      LOS rate: 2.268167 deg/s,
      cmd update: 6.804502 deg/s,
      cmd heading: 356.771003 deg,
      new cmd heading: 351.679247 deg.

2021-08-13T22:30:06.781Z,1628893806.781 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:30:07.153Z,1628893807.153 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:30:07.153Z,1628893807.153 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:30:07.153Z,1628893807.153 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:30:07.154Z,1628893807.154 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:30:07.549Z,1628893807.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
085,000,002FE,187,80,80,48,FF
2021-08-13T22:30:07.549Z,1628893807.549 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:30:07.549Z,1628893807.549 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:30:07.551Z,1628893807.551 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:30:07.965Z,1628893807.965 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:30:08.354Z,1628893808.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,225,000,002D5,189,80,80,8F,FF
2021-08-13T22:30:08.354Z,1628893808.354 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:30:08.428Z,1628893808.428 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:30:08.809Z,1628893808.809 [Micromodem](INFO): Nmea in: $SNTTA,0.035486,,,,223009.09*4F

2021-08-13T22:30:08.903Z,1628893808.903 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.999998 m, bearing: 28.359365 deg, deltaT: 4.485419 s, approachRate: -0.548444 m/s, LOS rate: -7.845054 deg/s, posRepo size: 4
2021-08-13T22:30:08.909Z,1628893808.909 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.999998 m,
      bearing: 28.359365 deg,
      approachRate: -0.548444 m/s,
      LOS rate: -7.845054 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 27.236159 deg,
      new cmd heading: 30.544154 deg.

2021-08-13T22:30:11.289Z,1628893811.289 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:30:11.593Z,1628893811.593 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:30:11.593Z,1628893811.593 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:30:11.593Z,1628893811.593 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:30:11.594Z,1628893811.594 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:30:12.001Z,1628893812.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
225,000,002D5,189,80,80,8F,FF
2021-08-13T22:30:12.001Z,1628893812.001 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:30:12.002Z,1628893812.002 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:30:12.003Z,1628893812.003 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:30:12.396Z,1628893812.396 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:30:12.802Z,1628893812.802 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,029,000,002C6,184,80,80,59,FF
2021-08-13T22:30:12.802Z,1628893812.802 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:30:12.903Z,1628893812.903 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:30:13.229Z,1628893813.229 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223013.54*5E

2021-08-13T22:30:13.292Z,1628893813.292 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.100000 m, bearing: 38.871454 deg, deltaT: 4.474753 s, approachRate: -0.201128 m/s, LOS rate: 2.349200 deg/s, posRepo size: 4
2021-08-13T22:30:13.294Z,1628893813.294 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.100000 m,
      bearing: 38.871454 deg,
      approachRate: -0.201128 m/s,
      LOS rate: 2.349200 deg/s,
      cmd update: 7.047599 deg/s,
      cmd heading: 333.505005 deg,
      new cmd heading: 328.785597 deg.

2021-08-13T22:30:15.689Z,1628893815.689 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:30:16.045Z,1628893816.045 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:30:16.045Z,1628893816.045 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:30:16.046Z,1628893816.046 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:30:16.047Z,1628893816.047 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:30:16.441Z,1628893816.441 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
029,000,002C6,184,80,80,59,FF
2021-08-13T22:30:16.441Z,1628893816.441 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:30:16.441Z,1628893816.441 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:30:16.443Z,1628893816.443 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:30:16.892Z,1628893816.892 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:30:17.241Z,1628893817.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0FD,000,002CC,186,80,80,B2,FF
2021-08-13T22:30:17.241Z,1628893817.241 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:30:17.262Z,1628893817.262 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:30:17.685Z,1628893817.685 [Micromodem](INFO): Nmea in: $SNTTA,0.036800,,,,223017.98*49

2021-08-13T22:30:17.722Z,1628893817.722 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.460000 m, bearing: 14.645701 deg, deltaT: 4.358622 s, approachRate: 0.082595 m/s, LOS rate: -5.558122 deg/s, posRepo size: 4
2021-08-13T22:30:17.728Z,1628893817.728 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.460000 m,
      bearing: 14.645701 deg,
      approachRate: 0.082595 m/s,
      LOS rate: -5.558122 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 4.260712 deg,
      new cmd heading: 7.528388 deg.

2021-08-13T22:30:20.134Z,1628893820.134 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:30:20.477Z,1628893820.477 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:30:20.478Z,1628893820.478 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:30:20.478Z,1628893820.478 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:30:20.479Z,1628893820.479 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:30:20.933Z,1628893820.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0FD,000,002CC,186,80,80,B2,FF
2021-08-13T22:30:20.933Z,1628893820.933 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:30:20.933Z,1628893820.933 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:30:20.935Z,1628893820.935 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:30:21.301Z,1628893821.301 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:30:21.713Z,1628893821.713 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1C3,000,002E3,187,80,80,92,FF
2021-08-13T22:30:21.714Z,1628893821.714 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:30:21.757Z,1628893821.757 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:30:22.128Z,1628893822.128 [Micromodem](INFO): Nmea in: $SNTTA,0.260883,,,,223022.47*47

2021-08-13T22:30:22.167Z,1628893822.167 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 6.839999 m, bearing: 350.229370 deg, deltaT: 4.495731 s, approachRate: 0.306958 m/s, LOS rate: -5.431004 deg/s, posRepo size: 4
2021-08-13T22:30:22.181Z,1628893822.181 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.839999 m,
      bearing: 350.229370 deg,
      approachRate: 0.306958 m/s,
      LOS rate: -5.431004 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 310.511450 deg,
      new cmd heading: 305.356310 deg.

2021-08-13T22:30:24.606Z,1628893824.606 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:30:24.950Z,1628893824.950 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:30:24.950Z,1628893824.950 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:30:24.950Z,1628893824.950 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:30:24.951Z,1628893824.951 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:30:25.337Z,1628893825.337 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1C3,000,002E3,187,80,80,92,FF
2021-08-13T22:30:25.337Z,1628893825.337 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:30:25.337Z,1628893825.337 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:30:25.339Z,1628893825.339 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:30:25.751Z,1628893825.751 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:30:26.145Z,1628893826.145 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,15E,000,0030E,185,80,80,59,FF
2021-08-13T22:30:26.145Z,1628893826.145 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:30:26.223Z,1628893826.223 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:30:26.587Z,1628893826.587 [Micromodem](INFO): Nmea in: $SNTTA,0.036707,,,,223026.87*4D

2021-08-13T22:30:26.623Z,1628893826.623 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.419999 m, bearing: 341.819139 deg, deltaT: 4.465221 s, approachRate: 0.577799 m/s, LOS rate: -1.883497 deg/s, posRepo size: 4
2021-08-13T22:30:26.625Z,1628893826.625 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.419999 m,
      bearing: 341.819139 deg,
      approachRate: 0.577799 m/s,
      LOS rate: -1.883497 deg/s,
      cmd update: -5.650491 deg/s,
      cmd heading: 256.729657 deg,
      new cmd heading: 251.883900 deg.

2021-08-13T22:30:27.382Z,1628893827.382 [PowerOnly](INFO): Powering down loadControl
2021-08-13T22:30:29.044Z,1628893829.044 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:30:29.377Z,1628893829.377 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:30:29.377Z,1628893829.377 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:30:29.377Z,1628893829.377 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:30:29.378Z,1628893829.378 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:30:29.781Z,1628893829.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
15E,000,0030E,185,80,80,59,FF
2021-08-13T22:30:29.781Z,1628893829.781 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:30:29.781Z,1628893829.781 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:30:29.783Z,1628893829.783 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:30:30.189Z,1628893830.189 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:30:30.603Z,1628893830.603 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,091,000,0031A,186,80,80,8D,FF
2021-08-13T22:30:30.604Z,1628893830.604 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:30:30.691Z,1628893830.691 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:30:31.029Z,1628893831.029 [Micromodem](INFO): Nmea in: $SNTTA,0.028362,,,,223031.32*4D

2021-08-13T22:30:31.077Z,1628893831.077 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.139999 m, bearing: 339.527310 deg, deltaT: 4.473035 s, approachRate: 0.160965 m/s, LOS rate: -0.512366 deg/s, posRepo size: 4
2021-08-13T22:30:31.079Z,1628893831.079 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.139999 m,
      bearing: 339.527310 deg,
      approachRate: 0.160965 m/s,
      LOS rate: -0.512366 deg/s,
      cmd update: -1.537097 deg/s,
      cmd heading: 231.543396 deg,
      new cmd heading: 229.286290 deg.

2021-08-13T22:30:33.443Z,1628893833.443 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:30:33.833Z,1628893833.833 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:30:33.833Z,1628893833.833 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:30:33.833Z,1628893833.833 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:30:33.834Z,1628893833.834 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:30:34.225Z,1628893834.225 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
091,000,0031A,186,80,80,8D,FF
2021-08-13T22:30:34.225Z,1628893834.225 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:30:34.225Z,1628893834.225 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:30:34.227Z,1628893834.227 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:30:34.632Z,1628893834.632 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:30:35.033Z,1628893835.033 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CD2,000,00349,18A,80,80,1F,FF
2021-08-13T22:30:35.033Z,1628893835.033 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:30:35.121Z,1628893835.121 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:30:35.476Z,1628893835.476 [Micromodem](INFO): Nmea in: $SNTTA,0.024643,,,,223035.76*43

2021-08-13T22:30:35.522Z,1628893835.522 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.960001 m, bearing: 9.263868 deg, deltaT: 4.425351 s, approachRate: 0.637238 m/s, LOS rate: 6.719593 deg/s, posRepo size: 4
2021-08-13T22:30:35.526Z,1628893835.526 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.960001 m,
      bearing: 9.263868 deg,
      approachRate: 0.637238 m/s,
      LOS rate: 6.719593 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 224.723231 deg,
      new cmd heading: 224.097759 deg.

2021-08-13T22:30:37.938Z,1628893837.938 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:30:38.269Z,1628893838.269 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:30:38.269Z,1628893838.269 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:30:38.269Z,1628893838.269 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:30:38.270Z,1628893838.270 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:30:38.669Z,1628893838.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CD2,000,00349,18A,80,80,1F,FF
2021-08-13T22:30:38.669Z,1628893838.669 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:30:38.669Z,1628893838.669 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:30:38.671Z,1628893838.671 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:30:39.080Z,1628893839.080 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:30:39.492Z,1628893839.492 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3A2,000,00357,189,80,80,6E,FF
2021-08-13T22:30:39.493Z,1628893839.493 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:30:39.513Z,1628893839.513 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:30:39.936Z,1628893839.936 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223040.20*5B

2021-08-13T22:30:39.980Z,1628893839.980 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.800002 m, bearing: 272.020316 deg, deltaT: 4.391624 s, approachRate: 0.191273 m/s, LOS rate: -22.142959 deg/s, posRepo size: 4
2021-08-13T22:30:39.981Z,1628893839.981 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -22.142959 deg/s. Setting heading cmd to target bearing of 272.020316deg and heading rate command to 0 deg/s.
2021-08-13T22:30:41.993Z,1628893841.993 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-13T22:30:42.018Z,1628893842.018 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:30:42.321Z,1628893842.321 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:30:42.321Z,1628893842.321 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:30:42.322Z,1628893842.322 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:30:42.323Z,1628893842.323 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:30:42.723Z,1628893842.723 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3A2,000,00357,189,80,80,6E,FF
2021-08-13T22:30:42.723Z,1628893842.723 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:30:42.723Z,1628893842.723 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:30:42.725Z,1628893842.725 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:30:43.132Z,1628893843.132 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:30:43.186Z,1628893843.186 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-13T22:30:43.525Z,1628893843.525 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD8,000,00374,185,80,80,7F,FF
2021-08-13T22:30:43.526Z,1628893843.526 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:30:43.546Z,1628893843.546 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:30:43.997Z,1628893843.997 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223044.26*59

2021-08-13T22:30:44.023Z,1628893844.023 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.540001 m, bearing: 304.687963 deg, deltaT: 4.033000 s, approachRate: 0.431440 m/s, LOS rate: 8.100086 deg/s, posRepo size: 4
2021-08-13T22:30:44.026Z,1628893844.026 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.540001 m,
      bearing: 304.687963 deg,
      approachRate: 0.431440 m/s,
      LOS rate: 8.100086 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 272.020316 deg,
      new cmd heading: 272.020316 deg.

2021-08-13T22:30:46.409Z,1628893846.409 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:30:46.757Z,1628893846.757 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:30:46.757Z,1628893846.757 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:30:46.757Z,1628893846.757 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:30:46.758Z,1628893846.758 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:30:47.169Z,1628893847.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD8,000,00374,185,80,80,7F,FF
2021-08-13T22:30:47.169Z,1628893847.169 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:30:47.170Z,1628893847.170 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:30:47.171Z,1628893847.171 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:30:47.568Z,1628893847.568 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:30:48.001Z,1628893848.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,22D,000,00392,188,80,80,88,FF
2021-08-13T22:30:48.001Z,1628893848.001 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:30:48.068Z,1628893848.068 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:30:48.409Z,1628893848.409 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223048.71*57

2021-08-13T22:30:48.444Z,1628893848.444 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.339998 m, bearing: 261.278450 deg, deltaT: 4.522344 s, approachRate: 0.398023 m/s, LOS rate: -9.598897 deg/s, posRepo size: 4
2021-08-13T22:30:48.446Z,1628893848.446 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.339998 m,
      bearing: 261.278450 deg,
      approachRate: 0.398023 m/s,
      LOS rate: -9.598897 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 326.146725 deg,
      new cmd heading: 330.838305 deg.

2021-08-13T22:30:50.819Z,1628893850.819 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:30:51.209Z,1628893851.209 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:30:51.209Z,1628893851.209 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:30:51.209Z,1628893851.209 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:30:51.210Z,1628893851.210 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:30:51.605Z,1628893851.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
22D,000,00392,188,80,80,88,FF
2021-08-13T22:30:51.605Z,1628893851.605 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:30:51.605Z,1628893851.605 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:30:51.607Z,1628893851.607 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:30:52.021Z,1628893852.021 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:30:52.418Z,1628893852.418 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,39C,000,003BA,189,80,80,B0,FF
2021-08-13T22:30:52.418Z,1628893852.418 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:30:52.438Z,1628893852.438 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:30:52.865Z,1628893852.865 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223053.14*5E

2021-08-13T22:30:52.959Z,1628893852.959 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.740000 m, bearing: 247.414887 deg, deltaT: 4.370306 s, approachRate: 0.549161 m/s, LOS rate: -3.172218 deg/s, posRepo size: 4
2021-08-13T22:30:52.965Z,1628893852.965 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.740000 m,
      bearing: 247.414887 deg,
      approachRate: 0.549161 m/s,
      LOS rate: -3.172218 deg/s,
      cmd update: -9.516654 deg/s,
      cmd heading: 273.556532 deg,
      new cmd heading: 267.373592 deg.

2021-08-13T22:30:55.019Z,1628893855.019 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:30:55.246Z,1628893855.246 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:30:55.247Z,1628893855.247 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:30:55.247Z,1628893855.247 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:30:55.248Z,1628893855.248 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:30:55.645Z,1628893855.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
39C,000,003BA,189,80,80,B0,FF
2021-08-13T22:30:55.645Z,1628893855.645 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:30:55.645Z,1628893855.645 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:30:55.647Z,1628893855.647 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:30:56.052Z,1628893856.052 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:30:56.454Z,1628893856.454 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FCD,000,003E6,184,80,80,7D,FF
2021-08-13T22:30:56.454Z,1628893856.454 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:30:56.474Z,1628893856.474 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:30:56.925Z,1628893856.925 [Micromodem](INFO): Nmea in: $SNTTA,0.034062,,,,223057.18*4B

2021-08-13T22:30:57.017Z,1628893857.017 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.379997 m, bearing: 310.368960 deg, deltaT: 4.035325 s, approachRate: 0.654222 m/s, LOS rate: 15.600745 deg/s, posRepo size: 4
2021-08-13T22:30:57.018Z,1628893857.018 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 22.38 m. Rolling out.
2021-08-13T22:30:57.018Z,1628893857.018 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-08-13T22:30:57.304Z,1628893857.304 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2021-08-13T22:30:57.304Z,1628893857.304 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-13T22:30:57.304Z,1628893857.304 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2021-08-13T22:30:57.304Z,1628893857.304 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2021-08-13T22:30:57.305Z,1628893857.305 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2021-08-13T22:30:57.305Z,1628893857.305 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2021-08-13T22:30:57.305Z,1628893857.305 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-08-13T22:30:59.013Z,1628893859.013 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:30:59.297Z,1628893859.297 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:30:59.297Z,1628893859.297 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:30:59.297Z,1628893859.297 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:30:59.298Z,1628893859.298 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:30:59.693Z,1628893859.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FCD,000,003E6,184,80,80,7D,FF
2021-08-13T22:30:59.693Z,1628893859.693 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:30:59.693Z,1628893859.693 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:30:59.695Z,1628893859.695 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:31:00.104Z,1628893860.104 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:31:00.494Z,1628893860.494 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3C5,000,0040B,189,80,80,3D,FF
2021-08-13T22:31:00.494Z,1628893860.494 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:31:00.558Z,1628893860.558 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:31:00.973Z,1628893860.973 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223101.23*5C

2021-08-13T22:31:01.044Z,1628893861.044 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.600000 m, bearing: 252.486166 deg, deltaT: 4.084580 s, approachRate: 0.543508 m/s, LOS rate: -14.171051 deg/s, posRepo size: 4
2021-08-13T22:31:03.363Z,1628893863.363 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:31:03.829Z,1628893863.829 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:31:03.829Z,1628893863.829 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:31:03.829Z,1628893863.829 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:31:03.830Z,1628893863.830 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:31:04.145Z,1628893864.145 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3C5,000,0040B,189,80,80,3D,FF
2021-08-13T22:31:04.145Z,1628893864.145 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:31:04.145Z,1628893864.145 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:31:04.147Z,1628893864.147 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:31:04.558Z,1628893864.558 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:31:04.997Z,1628893864.997 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,275,000,0041B,18A,80,80,70,FF
2021-08-13T22:31:04.998Z,1628893864.998 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:31:05.116Z,1628893865.116 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:31:05.390Z,1628893865.390 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223105.68*57

2021-08-13T22:31:05.405Z,1628893865.405 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.560001 m, bearing: 253.773903 deg, deltaT: 4.557623 s, approachRate: 0.210636 m/s, LOS rate: 0.282546 deg/s, posRepo size: 4
2021-08-13T22:31:07.809Z,1628893867.809 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:31:08.189Z,1628893868.189 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:31:08.189Z,1628893868.189 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:31:08.189Z,1628893868.189 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:31:08.190Z,1628893868.190 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:31:08.589Z,1628893868.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
275,000,0041B,18A,80,80,70,FF
2021-08-13T22:31:08.589Z,1628893868.589 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:31:08.589Z,1628893868.589 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:31:08.591Z,1628893868.591 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:31:09.006Z,1628893869.006 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:31:09.406Z,1628893869.406 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,319,000,0042F,189,80,80,65,FF
2021-08-13T22:31:09.407Z,1628893869.407 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:31:09.426Z,1628893869.426 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:31:09.830Z,1628893869.830 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223110.13*5F

2021-08-13T22:31:09.845Z,1628893869.845 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.760000 m, bearing: 237.330058 deg, deltaT: 4.310582 s, approachRate: 0.278384 m/s, LOS rate: -3.814762 deg/s, posRepo size: 4
2021-08-13T22:31:12.260Z,1628893872.260 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:31:12.629Z,1628893872.629 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:31:12.629Z,1628893872.629 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:31:12.629Z,1628893872.629 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:31:12.630Z,1628893872.630 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:31:13.041Z,1628893873.041 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
319,000,0042F,189,80,80,65,FF
2021-08-13T22:31:13.041Z,1628893873.041 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:31:13.041Z,1628893873.041 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:31:13.043Z,1628893873.043 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:31:13.445Z,1628893873.445 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:31:13.841Z,1628893873.841 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3CB,000,00448,188,80,80,98,FF
2021-08-13T22:31:13.842Z,1628893873.842 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:31:13.895Z,1628893873.895 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:31:14.285Z,1628893874.285 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223114.58*54

2021-08-13T22:31:14.311Z,1628893874.311 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.259996 m, bearing: 222.257552 deg, deltaT: 4.481299 s, approachRate: 0.334724 m/s, LOS rate: -3.363424 deg/s, posRepo size: 4
2021-08-13T22:31:16.697Z,1628893876.697 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:31:17.085Z,1628893877.085 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:31:17.086Z,1628893877.086 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:31:17.086Z,1628893877.086 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:31:17.087Z,1628893877.087 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:31:17.477Z,1628893877.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3CB,000,00448,188,80,80,98,FF
2021-08-13T22:31:17.477Z,1628893877.477 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:31:17.477Z,1628893877.477 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:31:17.479Z,1628893877.479 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:31:17.898Z,1628893877.898 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:31:18.282Z,1628893878.282 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,326,000,0044E,189,80,80,8C,FF
2021-08-13T22:31:18.282Z,1628893878.282 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:31:18.343Z,1628893878.343 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:31:18.726Z,1628893878.726 [Micromodem](INFO): Nmea in: $SNTTA,0.057001,,,,223119.01*48

2021-08-13T22:31:18.748Z,1628893878.748 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.620001 m, bearing: 224.730996 deg, deltaT: 4.435381 s, approachRate: 0.081167 m/s, LOS rate: 0.557662 deg/s, posRepo size: 4
2021-08-13T22:31:21.187Z,1628893881.187 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:31:21.517Z,1628893881.517 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:31:21.517Z,1628893881.517 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:31:21.517Z,1628893881.517 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:31:21.518Z,1628893881.518 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:31:21.928Z,1628893881.928 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
326,000,0044E,189,80,80,8C,FF
2021-08-13T22:31:21.929Z,1628893881.929 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:31:21.929Z,1628893881.929 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:31:21.934Z,1628893881.934 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:31:22.337Z,1628893882.337 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:31:22.733Z,1628893882.733 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2C4,000,0045B,188,80,80,82,FF
2021-08-13T22:31:22.733Z,1628893882.733 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:31:22.753Z,1628893882.753 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:31:23.165Z,1628893883.165 [Micromodem](INFO): Nmea in: $SNTTA,0.080573,,,,223123.47*49

2021-08-13T22:31:23.229Z,1628893883.229 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.399998 m, bearing: 225.698274 deg, deltaT: 4.410129 s, approachRate: 0.176865 m/s, LOS rate: 0.219331 deg/s, posRepo size: 4
2021-08-13T22:31:25.582Z,1628893885.582 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:31:25.984Z,1628893885.984 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:31:25.984Z,1628893885.984 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:31:25.985Z,1628893885.985 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:31:25.985Z,1628893885.985 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:31:26.369Z,1628893886.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2C4,000,0045B,188,80,80,82,FF
2021-08-13T22:31:26.369Z,1628893886.369 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:31:26.369Z,1628893886.369 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:31:26.371Z,1628893886.371 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:31:26.783Z,1628893886.783 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:31:27.173Z,1628893887.173 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2F5,000,00465,189,80,80,6A,FF
2021-08-13T22:31:27.173Z,1628893887.173 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:31:27.177Z,1628893887.177 [Micromodem](INFO): Nmea in: $SNTTA,0.040853,0.139371,,,223127.91*55

2021-08-13T22:31:27.269Z,1628893887.269 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:31:27.611Z,1628893887.611 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.000002 m, bearing: 220.302233 deg, deltaT: 4.515650 s, approachRate: 0.132872 m/s, LOS rate: -1.194964 deg/s, posRepo size: 4
2021-08-13T22:31:30.047Z,1628893890.047 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:31:30.405Z,1628893890.405 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:31:30.405Z,1628893890.405 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:31:30.405Z,1628893890.405 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:31:30.406Z,1628893890.406 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:31:30.813Z,1628893890.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2F5,000,00465,189,80,80,6A,FF
2021-08-13T22:31:30.813Z,1628893890.813 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:31:30.813Z,1628893890.813 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:31:30.815Z,1628893890.815 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:31:31.216Z,1628893891.216 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:31:31.626Z,1628893891.626 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2A0,000,00473,189,80,80,94,FF
2021-08-13T22:31:31.626Z,1628893891.626 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:31:31.645Z,1628893891.645 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:31:32.057Z,1628893892.057 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223132.35*5B

2021-08-13T22:31:32.082Z,1628893892.082 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.839998 m, bearing: 221.695728 deg, deltaT: 4.376208 s, approachRate: 0.191946 m/s, LOS rate: 0.318425 deg/s, posRepo size: 4
2021-08-13T22:31:34.462Z,1628893894.462 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:31:34.873Z,1628893894.873 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:31:34.873Z,1628893894.873 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:31:34.874Z,1628893894.874 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:31:34.875Z,1628893894.875 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:31:35.265Z,1628893895.265 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2A0,000,00473,189,80,80,94,FF
2021-08-13T22:31:35.266Z,1628893895.266 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:31:35.266Z,1628893895.266 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:31:35.267Z,1628893895.267 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:31:35.669Z,1628893895.669 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:31:36.065Z,1628893896.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,382,000,0047D,189,80,80,27,FF
2021-08-13T22:31:36.066Z,1628893896.066 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:31:36.133Z,1628893896.133 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:31:36.517Z,1628893896.517 [Micromodem](INFO): Nmea in: $SNTTA,0.043519,,,,223136.80*45

2021-08-13T22:31:36.539Z,1628893896.539 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.440002 m, bearing: 208.006185 deg, deltaT: 4.487948 s, approachRate: 0.133692 m/s, LOS rate: -3.050290 deg/s, posRepo size: 4
2021-08-13T22:31:39.028Z,1628893899.028 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:31:39.301Z,1628893899.301 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:31:39.301Z,1628893899.301 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:31:39.301Z,1628893899.301 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:31:39.302Z,1628893899.302 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:31:39.701Z,1628893899.701 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
382,000,0047D,189,80,80,27,FF
2021-08-13T22:31:39.701Z,1628893899.701 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:31:39.701Z,1628893899.701 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:31:39.703Z,1628893899.703 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:31:40.120Z,1628893900.120 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:31:40.517Z,1628893900.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,288,000,00486,18A,80,80,2A,FF
2021-08-13T22:31:40.517Z,1628893900.517 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:31:40.561Z,1628893900.561 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:31:40.973Z,1628893900.973 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223141.24*5F

2021-08-13T22:31:41.032Z,1628893901.032 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.979998 m, bearing: 218.437222 deg, deltaT: 4.427827 s, approachRate: 0.121955 m/s, LOS rate: 2.355792 deg/s, posRepo size: 4
2021-08-13T22:31:43.365Z,1628893903.365 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:31:43.745Z,1628893903.745 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:31:43.745Z,1628893903.745 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:31:43.745Z,1628893903.745 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:31:43.746Z,1628893903.746 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:31:44.138Z,1628893904.138 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
288,000,00486,18A,80,80,2A,FF
2021-08-13T22:31:44.139Z,1628893904.139 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:31:44.139Z,1628893904.139 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:31:44.140Z,1628893904.140 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:31:44.569Z,1628893904.569 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:31:45.370Z,1628893905.370 [Micromodem](INFO): Nmea in: $SNTTA,0.033277,,,,223145.68*4F

2021-08-13T22:31:46.210Z,1628893906.210 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:31:47.786Z,1628893907.786 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,18A,80,80,2A,FF
2021-08-13T22:31:47.786Z,1628893907.786 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,18A,80,80,2A,FF
2021-08-13T22:31:47.786Z,1628893907.786 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T22:31:49.072Z,1628893909.072 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:31:49.406Z,1628893909.406 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:31:49.406Z,1628893909.406 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:31:49.406Z,1628893909.406 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:31:49.407Z,1628893909.407 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:31:49.801Z,1628893909.801 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,18A,80,80,2A,FF
2021-08-13T22:31:49.801Z,1628893909.801 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:31:49.801Z,1628893909.801 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:31:49.803Z,1628893909.803 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:31:50.219Z,1628893910.219 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:31:50.609Z,1628893910.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB5,000,0049E,187,80,80,1B,FF
2021-08-13T22:31:50.610Z,1628893910.610 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:31:50.634Z,1628893910.634 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:31:51.058Z,1628893911.058 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223151.34*5F

2021-08-13T22:31:51.103Z,1628893911.103 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 33.419998 m, bearing: 263.837831 deg, deltaT: 10.072972 s, approachRate: 0.142957 m/s, LOS rate: 4.507171 deg/s, posRepo size: 4
2021-08-13T22:31:53.480Z,1628893913.480 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:31:53.837Z,1628893913.837 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:31:53.837Z,1628893913.837 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:31:53.837Z,1628893913.837 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:31:53.838Z,1628893913.838 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:31:54.250Z,1628893914.250 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EB5,000,0049E,187,80,80,1B,FF
2021-08-13T22:31:54.250Z,1628893914.250 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:31:54.250Z,1628893914.250 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:31:54.253Z,1628893914.253 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:31:54.648Z,1628893914.648 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:31:55.058Z,1628893915.058 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1CD,000,00498,185,80,80,69,FF
2021-08-13T22:31:55.059Z,1628893915.059 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:31:55.163Z,1628893915.163 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:31:55.489Z,1628893915.489 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223155.79*52

2021-08-13T22:31:55.512Z,1628893915.512 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 33.060001 m, bearing: 223.116681 deg, deltaT: 4.533704 s, approachRate: -0.079405 m/s, LOS rate: -8.981872 deg/s, posRepo size: 4
2021-08-13T22:31:57.917Z,1628893917.917 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:31:58.281Z,1628893918.281 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:31:58.281Z,1628893918.281 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:31:58.281Z,1628893918.281 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:31:58.282Z,1628893918.282 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:31:58.689Z,1628893918.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1CD,000,00498,185,80,80,69,FF
2021-08-13T22:31:58.689Z,1628893918.689 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:31:58.689Z,1628893918.689 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:31:58.691Z,1628893918.691 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:31:59.105Z,1628893919.105 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:31:59.493Z,1628893919.493 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,197,000,0049E,186,80,80,4E,FF
2021-08-13T22:31:59.493Z,1628893919.493 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:31:59.571Z,1628893919.571 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:31:59.963Z,1628893919.963 [Micromodem](INFO): Nmea in: $SNTTA,0.054784,,,,223200.23*4A

2021-08-13T22:32:00.001Z,1628893920.001 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 33.419998 m, bearing: 224.511146 deg, deltaT: 4.403177 s, approachRate: 0.081758 m/s, LOS rate: 0.316695 deg/s, posRepo size: 4
2021-08-13T22:32:02.343Z,1628893922.343 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:32:02.725Z,1628893922.725 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:32:02.725Z,1628893922.725 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:32:02.725Z,1628893922.725 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:32:02.726Z,1628893922.726 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:32:03.141Z,1628893923.141 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
197,000,0049E,186,80,80,4E,FF
2021-08-13T22:32:03.141Z,1628893923.141 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:32:03.141Z,1628893923.141 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:32:03.143Z,1628893923.143 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:32:03.565Z,1628893923.565 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:32:03.986Z,1628893923.986 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,14C,000,004AE,185,80,80,82,FF
2021-08-13T22:32:03.987Z,1628893923.987 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:32:04.062Z,1628893924.062 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:32:04.394Z,1628893924.394 [Micromodem](INFO): Nmea in: $SNTTA,0.057984,,,,223204.68*4C

2021-08-13T22:32:04.410Z,1628893924.410 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.379997 m, bearing: 227.117737 deg, deltaT: 4.491884 s, approachRate: 0.213719 m/s, LOS rate: 0.580289 deg/s, posRepo size: 4
2021-08-13T22:32:06.817Z,1628893926.817 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:32:07.197Z,1628893927.197 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:32:07.197Z,1628893927.197 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:32:07.197Z,1628893927.197 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:32:07.198Z,1628893927.198 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:32:07.593Z,1628893927.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
14C,000,004AE,185,80,80,82,FF
2021-08-13T22:32:07.593Z,1628893927.593 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:32:07.593Z,1628893927.593 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:32:07.595Z,1628893927.595 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:32:08.005Z,1628893928.005 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:32:08.401Z,1628893928.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,18C,000,004AD,186,80,80,9E,FF
2021-08-13T22:32:08.402Z,1628893928.402 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:32:08.420Z,1628893928.420 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:32:08.882Z,1628893928.882 [Micromodem](INFO): Nmea in: $SNTTA,0.041729,,,,223209.13*43

2021-08-13T22:32:08.995Z,1628893928.995 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.320000 m, bearing: 222.682158 deg, deltaT: 4.357959 s, approachRate: -0.013767 m/s, LOS rate: -1.017811 deg/s, posRepo size: 4
2021-08-13T22:32:11.385Z,1628893931.385 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:32:11.646Z,1628893931.646 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:32:11.646Z,1628893931.646 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:32:11.646Z,1628893931.646 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:32:11.647Z,1628893931.647 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:32:12.037Z,1628893932.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
18C,000,004AD,186,80,80,9E,FF
2021-08-13T22:32:12.037Z,1628893932.037 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:32:12.037Z,1628893932.037 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:32:12.039Z,1628893932.039 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:32:12.450Z,1628893932.450 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:32:12.857Z,1628893932.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,17E,000,004BA,185,80,80,99,FF
2021-08-13T22:32:12.858Z,1628893932.858 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:32:13.024Z,1628893933.024 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:32:13.298Z,1628893933.298 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223213.58*50

2021-08-13T22:32:13.319Z,1628893933.319 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.099998 m, bearing: 222.391670 deg, deltaT: 4.603725 s, approachRate: 0.169428 m/s, LOS rate: -0.063098 deg/s, posRepo size: 4
2021-08-13T22:32:15.705Z,1628893935.705 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:32:16.081Z,1628893936.081 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:32:16.081Z,1628893936.081 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:32:16.081Z,1628893936.081 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:32:16.082Z,1628893936.082 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:32:16.509Z,1628893936.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
17E,000,004BA,185,80,80,99,FF
2021-08-13T22:32:16.509Z,1628893936.509 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:32:16.509Z,1628893936.509 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:32:16.511Z,1628893936.511 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:32:16.959Z,1628893936.959 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:32:17.302Z,1628893937.302 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,19F,000,004BB,185,80,80,90,FF
2021-08-13T22:32:17.302Z,1628893937.302 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:32:17.341Z,1628893937.341 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:32:17.725Z,1628893937.725 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223218.04*52

2021-08-13T22:32:17.747Z,1628893937.747 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.159996 m, bearing: 219.940875 deg, deltaT: 4.316640 s, approachRate: 0.013899 m/s, LOS rate: -0.567755 deg/s, posRepo size: 4
2021-08-13T22:32:20.149Z,1628893940.149 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:32:20.521Z,1628893940.521 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:32:20.521Z,1628893940.521 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:32:20.521Z,1628893940.521 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:32:20.522Z,1628893940.522 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:32:20.961Z,1628893940.961 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
19F,000,004BB,185,80,80,90,FF
2021-08-13T22:32:20.961Z,1628893940.961 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:32:20.961Z,1628893940.961 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:32:20.963Z,1628893940.963 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:32:21.379Z,1628893941.379 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:32:21.773Z,1628893941.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,182,000,004C4,186,80,80,59,FF
2021-08-13T22:32:21.773Z,1628893941.773 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:32:21.824Z,1628893941.824 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:32:22.214Z,1628893942.214 [Micromodem](INFO): Nmea in: $SNTTA,0.030786,,,,223222.50*4E

2021-08-13T22:32:22.245Z,1628893942.245 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.699997 m, bearing: 220.619236 deg, deltaT: 4.483468 s, approachRate: 0.120443 m/s, LOS rate: 0.151303 deg/s, posRepo size: 4
2021-08-13T22:32:24.629Z,1628893944.629 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:32:25.020Z,1628893945.020 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:32:25.020Z,1628893945.020 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:32:25.020Z,1628893945.020 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:32:25.021Z,1628893945.021 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:32:25.409Z,1628893945.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
182,000,004C4,186,80,80,59,FF
2021-08-13T22:32:25.409Z,1628893945.409 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:32:25.409Z,1628893945.409 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:32:25.411Z,1628893945.411 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:32:25.823Z,1628893945.823 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:32:26.217Z,1628893946.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,18F,000,004C8,185,80,80,79,FF
2021-08-13T22:32:26.217Z,1628893946.217 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:32:26.275Z,1628893946.275 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:32:26.654Z,1628893946.654 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223226.94*56

2021-08-13T22:32:26.669Z,1628893946.669 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.939999 m, bearing: 219.531870 deg, deltaT: 4.450348 s, approachRate: 0.053929 m/s, LOS rate: -0.244333 deg/s, posRepo size: 4
2021-08-13T22:32:29.115Z,1628893949.115 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:32:29.449Z,1628893949.449 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:32:29.449Z,1628893949.449 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:32:29.449Z,1628893949.449 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:32:29.450Z,1628893949.450 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:32:29.857Z,1628893949.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
18F,000,004C8,185,80,80,79,FF
2021-08-13T22:32:29.857Z,1628893949.857 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:32:29.857Z,1628893949.857 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:32:29.859Z,1628893949.859 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:32:30.257Z,1628893950.257 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:32:30.661Z,1628893950.661 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1AA,000,004CE,185,80,80,97,FF
2021-08-13T22:32:30.662Z,1628893950.662 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:32:30.682Z,1628893950.682 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:32:31.108Z,1628893951.108 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223231.39*57

2021-08-13T22:32:31.169Z,1628893951.169 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.299995 m, bearing: 217.588790 deg, deltaT: 4.407115 s, approachRate: 0.081685 m/s, LOS rate: -0.440896 deg/s, posRepo size: 4
2021-08-13T22:32:33.517Z,1628893953.517 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:32:33.894Z,1628893953.894 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:32:33.894Z,1628893953.894 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:32:33.895Z,1628893953.895 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:32:33.895Z,1628893953.895 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:32:34.297Z,1628893954.297 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1AA,000,004CE,185,80,80,97,FF
2021-08-13T22:32:34.297Z,1628893954.297 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:32:34.297Z,1628893954.297 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:32:34.299Z,1628893954.299 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:32:34.714Z,1628893954.714 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:32:35.105Z,1628893955.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1B8,000,004DD,186,80,80,68,FF
2021-08-13T22:32:35.105Z,1628893955.105 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:32:35.198Z,1628893955.198 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:32:35.546Z,1628893955.546 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223235.83*52

2021-08-13T22:32:35.568Z,1628893955.568 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.200001 m, bearing: 216.394969 deg, deltaT: 4.516164 s, approachRate: 0.199285 m/s, LOS rate: -0.264344 deg/s, posRepo size: 4
2021-08-13T22:32:38.015Z,1628893958.015 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:32:38.341Z,1628893958.341 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:32:38.341Z,1628893958.341 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:32:38.341Z,1628893958.341 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:32:38.342Z,1628893958.342 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:32:38.741Z,1628893958.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1B8,000,004DD,186,80,80,68,FF
2021-08-13T22:32:38.741Z,1628893958.741 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:32:38.741Z,1628893958.741 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:32:38.743Z,1628893958.743 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:32:39.231Z,1628893959.231 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:32:39.625Z,1628893959.625 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,183,000,004D9,185,80,80,80,FF
2021-08-13T22:32:39.625Z,1628893959.625 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:32:39.677Z,1628893959.677 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:32:40.041Z,1628893960.041 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223240.28*51

2021-08-13T22:32:40.085Z,1628893960.085 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.959999 m, bearing: 219.023840 deg, deltaT: 4.478629 s, approachRate: -0.053588 m/s, LOS rate: 0.586981 deg/s, posRepo size: 4
2021-08-13T22:32:42.485Z,1628893962.485 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:32:42.890Z,1628893962.890 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:32:42.891Z,1628893962.891 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:32:42.891Z,1628893962.891 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:32:42.892Z,1628893962.892 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:32:43.261Z,1628893963.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
183,000,004D9,185,80,80,80,FF
2021-08-13T22:32:43.261Z,1628893963.261 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:32:43.261Z,1628893963.261 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:32:43.263Z,1628893963.263 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:32:43.669Z,1628893963.669 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:32:44.081Z,1628893964.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,151,000,004DF,186,80,80,98,FF
2021-08-13T22:32:44.081Z,1628893964.081 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:32:44.160Z,1628893964.160 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:32:44.501Z,1628893964.501 [Micromodem](INFO): Nmea in: $SNTTA,0.043873,,,,223244.80*42

2021-08-13T22:32:44.535Z,1628893964.535 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.320004 m, bearing: 221.761721 deg, deltaT: 4.483831 s, approachRate: 0.080289 m/s, LOS rate: 0.610612 deg/s, posRepo size: 4
2021-08-13T22:32:47.011Z,1628893967.011 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:32:47.301Z,1628893967.301 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:32:47.301Z,1628893967.301 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:32:47.301Z,1628893967.301 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:32:47.302Z,1628893967.302 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:32:47.709Z,1628893967.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
151,000,004DF,186,80,80,98,FF
2021-08-13T22:32:47.709Z,1628893967.709 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:32:47.709Z,1628893967.709 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:32:47.711Z,1628893967.711 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:32:48.113Z,1628893968.113 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:32:48.513Z,1628893968.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,16E,000,004E7,185,80,80,7D,FF
2021-08-13T22:32:48.513Z,1628893968.513 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:32:48.532Z,1628893968.532 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:32:48.985Z,1628893968.985 [Micromodem](INFO): Nmea in: $SNTTA,0.046851,,,,223249.24*44

2021-08-13T22:32:49.053Z,1628893969.053 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.799999 m, bearing: 220.970499 deg, deltaT: 4.372055 s, approachRate: 0.109787 m/s, LOS rate: -0.180973 deg/s, posRepo size: 4
2021-08-13T22:32:51.034Z,1628893971.034 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:32:51.345Z,1628893971.345 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:32:51.345Z,1628893971.345 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:32:51.345Z,1628893971.345 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:32:51.346Z,1628893971.346 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:32:51.745Z,1628893971.745 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
16E,000,004E7,185,80,80,7D,FF
2021-08-13T22:32:51.745Z,1628893971.745 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:32:51.745Z,1628893971.745 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:32:51.747Z,1628893971.747 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:32:52.148Z,1628893972.148 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:32:53.006Z,1628893973.006 [Micromodem](INFO): Nmea in: $SNTTA,0.056310,,,,223253.28*4C

2021-08-13T22:32:53.371Z,1628893973.371 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1CE,000,004E7,185,80,80,7D,FF
2021-08-13T22:32:53.371Z,1628893973.371 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:32:53.397Z,1628893973.397 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:32:53.794Z,1628893973.794 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.799999 m, bearing: 217.478346 deg, deltaT: 4.864873 s, approachRate: 0.000000 m/s, LOS rate: -0.717830 deg/s, posRepo size: 4
2021-08-13T22:32:56.241Z,1628893976.241 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:32:56.593Z,1628893976.593 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:32:56.593Z,1628893976.593 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:32:56.593Z,1628893976.593 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:32:56.594Z,1628893976.594 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:32:57.005Z,1628893977.005 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1CE,000,004E7,185,80,80,7D,FF
2021-08-13T22:32:57.005Z,1628893977.005 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:32:57.005Z,1628893977.005 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:32:57.007Z,1628893977.007 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:32:57.405Z,1628893977.405 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:32:57.813Z,1628893977.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE1,000,004F0,187,80,80,31,FF
2021-08-13T22:32:57.813Z,1628893977.813 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:32:57.833Z,1628893977.833 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:32:58.241Z,1628893978.241 [Micromodem](INFO): Nmea in: $SNTTA,0.035921,,,,223258.54*41

2021-08-13T22:32:58.287Z,1628893978.287 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.340000 m, bearing: 256.661707 deg, deltaT: 4.435372 s, approachRate: 0.121749 m/s, LOS rate: 8.834290 deg/s, posRepo size: 4
2021-08-13T22:33:00.650Z,1628893980.650 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:33:01.041Z,1628893981.041 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:33:01.041Z,1628893981.041 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:33:01.041Z,1628893981.041 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:33:01.042Z,1628893981.042 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:33:01.453Z,1628893981.453 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE1,000,004F0,187,80,80,31,FF
2021-08-13T22:33:01.454Z,1628893981.454 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:33:01.454Z,1628893981.454 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:33:01.455Z,1628893981.455 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:33:01.853Z,1628893981.853 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:33:02.257Z,1628893982.257 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2AF,000,004F8,189,80,80,98,FF
2021-08-13T22:33:02.258Z,1628893982.258 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:33:02.288Z,1628893982.288 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:33:02.679Z,1628893982.679 [Micromodem](INFO): Nmea in: $SNTTA,0.070622,,,,223302.99*43

2021-08-13T22:33:02.699Z,1628893982.699 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.820000 m, bearing: 209.792334 deg, deltaT: 4.455203 s, approachRate: 0.107739 m/s, LOS rate: -10.520143 deg/s, posRepo size: 4
2021-08-13T22:33:05.153Z,1628893985.153 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:33:05.489Z,1628893985.489 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:33:05.489Z,1628893985.489 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:33:05.489Z,1628893985.489 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:33:05.490Z,1628893985.490 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:33:05.886Z,1628893985.886 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2AF,000,004F8,189,80,80,98,FF
2021-08-13T22:33:05.886Z,1628893985.886 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:33:05.886Z,1628893985.886 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:33:05.889Z,1628893985.889 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:33:06.293Z,1628893986.293 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:33:06.701Z,1628893986.701 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,336,000,004F5,189,80,80,79,FF
2021-08-13T22:33:06.702Z,1628893986.702 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:33:06.721Z,1628893986.721 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:33:07.137Z,1628893987.137 [Micromodem](INFO): Nmea in: $SNTTA,0.065606,,,,223307.42*42

2021-08-13T22:33:07.210Z,1628893987.210 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.639999 m, bearing: 204.340682 deg, deltaT: 4.433116 s, approachRate: -0.040604 m/s, LOS rate: -1.229756 deg/s, posRepo size: 4
2021-08-13T22:33:09.554Z,1628893989.554 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:33:09.960Z,1628893989.960 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:33:09.960Z,1628893989.960 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:33:09.960Z,1628893989.960 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:33:09.961Z,1628893989.961 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:33:10.329Z,1628893990.329 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
336,000,004F5,189,80,80,79,FF
2021-08-13T22:33:10.329Z,1628893990.329 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:33:10.329Z,1628893990.329 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:33:10.331Z,1628893990.331 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:33:10.740Z,1628893990.740 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:33:11.145Z,1628893991.145 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,33D,000,004FB,189,80,80,72,FF
2021-08-13T22:33:11.145Z,1628893991.145 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:33:11.149Z,1628893991.149 [Micromodem](INFO): Nmea in: $SNTTA,0.038972,0.161964,,,223311.86*5A

2021-08-13T22:33:11.239Z,1628893991.239 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:33:11.619Z,1628893991.619 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.999996 m, bearing: 204.420937 deg, deltaT: 4.518051 s, approachRate: 0.079680 m/s, LOS rate: 0.017763 deg/s, posRepo size: 4
2021-08-13T22:33:14.040Z,1628893994.040 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:33:14.372Z,1628893994.372 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:33:14.372Z,1628893994.372 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:33:14.372Z,1628893994.372 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:33:14.373Z,1628893994.373 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:33:14.773Z,1628893994.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
33D,000,004FB,189,80,80,72,FF
2021-08-13T22:33:14.773Z,1628893994.773 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:33:14.773Z,1628893994.773 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:33:14.775Z,1628893994.775 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:33:15.181Z,1628893995.181 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:33:15.585Z,1628893995.585 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2CF,000,004FB,188,80,80,85,FF
2021-08-13T22:33:15.586Z,1628893995.586 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:33:15.605Z,1628893995.605 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:33:16.029Z,1628893996.029 [Micromodem](INFO): Nmea in: $SNTTA,0.048391,,,,223316.31*42

2021-08-13T22:33:16.066Z,1628893996.066 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.999996 m, bearing: 210.964067 deg, deltaT: 4.365948 s, approachRate: 0.000000 m/s, LOS rate: 1.498673 deg/s, posRepo size: 4
2021-08-13T22:33:18.430Z,1628893998.430 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:33:18.817Z,1628893998.817 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:33:18.817Z,1628893998.817 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:33:18.817Z,1628893998.817 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:33:18.818Z,1628893998.818 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:33:19.217Z,1628893999.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2CF,000,004FB,188,80,80,85,FF
2021-08-13T22:33:19.217Z,1628893999.217 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:33:19.217Z,1628893999.217 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:33:19.219Z,1628893999.219 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:33:19.624Z,1628893999.624 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:33:20.033Z,1628894000.033 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2E1,000,004FF,189,80,80,7C,FF
2021-08-13T22:33:20.034Z,1628894000.034 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:33:20.063Z,1628894000.063 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:33:20.469Z,1628894000.469 [Micromodem](INFO): Nmea in: $SNTTA,0.046886,,,,223320.75*44

2021-08-13T22:33:20.495Z,1628894000.495 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.240002 m, bearing: 211.649804 deg, deltaT: 4.458038 s, approachRate: 0.053837 m/s, LOS rate: 0.153820 deg/s, posRepo size: 4
2021-08-13T22:33:22.989Z,1628894002.989 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:33:23.265Z,1628894003.265 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:33:23.265Z,1628894003.265 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:33:23.265Z,1628894003.265 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:33:23.266Z,1628894003.266 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:33:23.665Z,1628894003.665 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2E1,000,004FF,189,80,80,7C,FF
2021-08-13T22:33:23.666Z,1628894003.666 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:33:23.666Z,1628894003.666 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:33:23.667Z,1628894003.667 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:33:24.068Z,1628894004.068 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:33:24.473Z,1628894004.473 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2F0,000,00504,189,80,80,80,FF
2021-08-13T22:33:24.473Z,1628894004.473 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:33:24.574Z,1628894004.574 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:33:24.956Z,1628894004.956 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223325.20*5B

2021-08-13T22:33:25.014Z,1628894005.014 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.540001 m, bearing: 211.628494 deg, deltaT: 4.510507 s, approachRate: 0.066511 m/s, LOS rate: -0.004725 deg/s, posRepo size: 4
2021-08-13T22:33:27.314Z,1628894007.314 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:33:27.709Z,1628894007.709 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:33:27.709Z,1628894007.709 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:33:27.709Z,1628894007.709 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:33:27.710Z,1628894007.710 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:33:28.109Z,1628894008.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2F0,000,00504,189,80,80,80,FF
2021-08-13T22:33:28.110Z,1628894008.110 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:33:28.110Z,1628894008.110 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:33:28.111Z,1628894008.111 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:33:28.517Z,1628894008.517 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:33:28.937Z,1628894008.937 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,347,000,0050A,189,80,80,65,FF
2021-08-13T22:33:28.938Z,1628894008.938 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:33:29.035Z,1628894009.035 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:33:29.345Z,1628894009.345 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223329.64*57

2021-08-13T22:33:29.364Z,1628894009.364 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.900002 m, bearing: 207.451273 deg, deltaT: 4.461012 s, approachRate: 0.080699 m/s, LOS rate: -0.936384 deg/s, posRepo size: 4
2021-08-13T22:33:31.786Z,1628894011.786 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:33:32.145Z,1628894012.145 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:33:32.145Z,1628894012.145 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:33:32.145Z,1628894012.145 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:33:32.146Z,1628894012.146 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:33:32.565Z,1628894012.565 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
347,000,0050A,189,80,80,65,FF
2021-08-13T22:33:32.565Z,1628894012.565 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:33:32.565Z,1628894012.565 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:33:32.567Z,1628894012.567 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:33:32.977Z,1628894012.977 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:33:33.361Z,1628894013.361 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,390,000,0050B,188,80,80,90,FF
2021-08-13T22:33:33.362Z,1628894013.362 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:33:33.381Z,1628894013.381 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:33:33.789Z,1628894013.789 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223334.10*58

2021-08-13T22:33:33.808Z,1628894013.808 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.959999 m, bearing: 203.882240 deg, deltaT: 4.346076 s, approachRate: 0.013805 m/s, LOS rate: -0.821208 deg/s, posRepo size: 4
2021-08-13T22:33:36.229Z,1628894016.229 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:33:36.602Z,1628894016.602 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:33:36.602Z,1628894016.602 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:33:36.603Z,1628894016.603 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:33:36.604Z,1628894016.604 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:33:37.001Z,1628894017.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
390,000,0050B,188,80,80,90,FF
2021-08-13T22:33:37.001Z,1628894017.001 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:33:37.001Z,1628894017.001 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:33:37.003Z,1628894017.003 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:33:37.410Z,1628894017.410 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:33:37.806Z,1628894017.806 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,388,000,00511,188,80,80,9A,FF
2021-08-13T22:33:37.806Z,1628894017.806 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:33:37.825Z,1628894017.825 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:33:38.237Z,1628894018.237 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223338.54*54

2021-08-13T22:33:38.275Z,1628894018.275 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.319996 m, bearing: 204.505085 deg, deltaT: 4.444440 s, approachRate: 0.080999 m/s, LOS rate: 0.140140 deg/s, posRepo size: 4
2021-08-13T22:33:38.637Z,1628894018.637 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-13T22:33:38.637Z,1628894018.637 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T22:33:38.637Z,1628894018.637 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-13T22:33:38.638Z,1628894018.638 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-13T22:33:38.638Z,1628894018.638 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-13T22:33:38.638Z,1628894018.638 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-13T22:33:39.098Z,1628894019.098 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-13T22:33:39.099Z,1628894019.099 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T22:33:39.099Z,1628894019.099 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-13T22:33:39.099Z,1628894019.099 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T22:33:40.671Z,1628894020.671 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:33:41.037Z,1628894021.037 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:33:41.037Z,1628894021.037 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:33:41.037Z,1628894021.037 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:33:41.038Z,1628894021.038 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:33:41.450Z,1628894021.450 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
388,000,00511,188,80,80,9A,FF
2021-08-13T22:33:41.450Z,1628894021.450 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:33:41.450Z,1628894021.450 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:33:41.453Z,1628894021.453 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:33:41.838Z,1628894021.838 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:33:42.253Z,1628894022.253 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3BE,000,00516,189,80,80,78,FF
2021-08-13T22:33:42.254Z,1628894022.254 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:33:42.689Z,1628894022.689 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223342.99*58

2021-08-13T22:33:42.733Z,1628894022.733 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.620003 m, bearing: 202.425142 deg, deltaT: 4.487385 s, approachRate: 0.066856 m/s, LOS rate: -0.463509 deg/s, posRepo size: 4
2021-08-13T22:33:45.144Z,1628894025.144 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:33:45.478Z,1628894025.478 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:33:45.478Z,1628894025.478 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:33:45.478Z,1628894025.478 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:33:45.479Z,1628894025.479 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:33:45.886Z,1628894025.886 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3BE,000,00516,189,80,80,78,FF
2021-08-13T22:33:45.886Z,1628894025.886 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:33:45.886Z,1628894025.886 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:33:45.889Z,1628894025.889 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:33:46.303Z,1628894026.303 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:33:46.697Z,1628894026.697 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3D5,000,00511,189,80,80,B1,FF
2021-08-13T22:33:46.697Z,1628894026.697 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:33:47.138Z,1628894027.138 [Micromodem](INFO): Nmea in: $SNTTA,0.044309,,,,223347.43*4E

2021-08-13T22:33:47.213Z,1628894027.213 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.319996 m, bearing: 201.412812 deg, deltaT: 4.439447 s, approachRate: -0.067578 m/s, LOS rate: -0.228031 deg/s, posRepo size: 4
2021-08-13T22:33:49.558Z,1628894029.558 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:33:49.952Z,1628894029.952 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:33:49.952Z,1628894029.952 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:33:49.953Z,1628894029.953 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:33:49.954Z,1628894029.954 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:33:50.329Z,1628894030.329 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3D5,000,00511,189,80,80,B1,FF
2021-08-13T22:33:50.329Z,1628894030.329 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:33:50.329Z,1628894030.329 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:33:50.331Z,1628894030.331 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:33:50.740Z,1628894030.740 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:33:51.133Z,1628894031.133 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,39A,000,00515,188,80,80,88,FF
2021-08-13T22:33:51.134Z,1628894031.134 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:33:51.137Z,1628894031.137 [Micromodem](INFO): Nmea in: $SNTTA,0.160904,0.161041,,,223351.87*5C

2021-08-13T22:33:51.593Z,1628894031.593 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.559998 m, bearing: 204.780423 deg, deltaT: 4.504494 s, approachRate: 0.053280 m/s, LOS rate: 0.747611 deg/s, posRepo size: 4
2021-08-13T22:33:54.016Z,1628894034.016 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:33:54.369Z,1628894034.369 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:33:54.369Z,1628894034.369 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:33:54.369Z,1628894034.369 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:33:54.370Z,1628894034.370 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:33:54.777Z,1628894034.777 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
39A,000,00515,188,80,80,88,FF
2021-08-13T22:33:54.778Z,1628894034.778 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:33:54.778Z,1628894034.778 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:33:54.779Z,1628894034.779 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:33:55.185Z,1628894035.185 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:33:55.577Z,1628894035.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3D1,000,0051B,188,80,80,96,FF
2021-08-13T22:33:55.577Z,1628894035.577 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:33:56.035Z,1628894036.035 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223356.38*56

2021-08-13T22:33:56.091Z,1628894036.091 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.920002 m, bearing: 202.046380 deg, deltaT: 4.375671 s, approachRate: 0.082274 m/s, LOS rate: -0.624828 deg/s, posRepo size: 4
2021-08-13T22:33:58.430Z,1628894038.430 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:33:58.809Z,1628894038.809 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:33:58.809Z,1628894038.809 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:33:58.810Z,1628894038.810 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:33:58.811Z,1628894038.811 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:33:59.218Z,1628894039.218 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3D1,000,0051B,188,80,80,96,FF
2021-08-13T22:33:59.219Z,1628894039.219 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:33:59.219Z,1628894039.219 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:33:59.221Z,1628894039.221 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:33:59.621Z,1628894039.621 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:34:00.025Z,1628894040.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,395,000,00520,18A,80,80,A7,FF
2021-08-13T22:34:00.025Z,1628894040.025 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:34:00.461Z,1628894040.461 [Micromodem](INFO): Nmea in: $SNTTA,0.074231,,,,223400.75*46

2021-08-13T22:34:00.493Z,1628894040.493 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 41.220001 m, bearing: 205.360866 deg, deltaT: 4.441917 s, approachRate: 0.067538 m/s, LOS rate: 0.746184 deg/s, posRepo size: 4
2021-08-13T22:34:02.925Z,1628894042.925 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:34:03.249Z,1628894043.249 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:34:03.249Z,1628894043.249 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:34:03.249Z,1628894043.249 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:34:03.250Z,1628894043.250 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:34:03.675Z,1628894043.675 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
395,000,00520,18A,80,80,A7,FF
2021-08-13T22:34:03.676Z,1628894043.676 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:34:03.676Z,1628894043.676 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:34:03.677Z,1628894043.677 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:34:04.064Z,1628894044.064 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:34:04.465Z,1628894044.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,377,000,0052B,189,80,80,6B,FF
2021-08-13T22:34:04.465Z,1628894044.465 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:34:04.936Z,1628894044.936 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223405.21*5F

2021-08-13T22:34:05.048Z,1628894045.048 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 41.879997 m, bearing: 207.296282 deg, deltaT: 4.410490 s, approachRate: 0.149642 m/s, LOS rate: 0.438821 deg/s, posRepo size: 4
2021-08-13T22:34:07.006Z,1628894047.006 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:34:07.297Z,1628894047.297 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:34:07.297Z,1628894047.297 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:34:07.297Z,1628894047.297 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:34:07.298Z,1628894047.298 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:34:07.701Z,1628894047.701 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
377,000,0052B,189,80,80,6B,FF
2021-08-13T22:34:07.701Z,1628894047.701 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:34:07.702Z,1628894047.702 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:34:07.703Z,1628894047.703 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:34:08.104Z,1628894048.104 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:34:08.509Z,1628894048.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,314,000,0052C,188,80,80,8A,FF
2021-08-13T22:34:08.510Z,1628894048.510 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:34:08.965Z,1628894048.965 [Micromodem](INFO): Nmea in: $SNTTA,0.063297,,,,223409.24*41

2021-08-13T22:34:09.049Z,1628894049.049 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 41.940002 m, bearing: 212.900876 deg, deltaT: 4.043499 s, approachRate: 0.014840 m/s, LOS rate: 1.386075 deg/s, posRepo size: 4
2021-08-13T22:34:11.368Z,1628894051.368 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:34:11.749Z,1628894051.749 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:34:11.749Z,1628894051.749 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:34:11.749Z,1628894051.749 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:34:11.750Z,1628894051.750 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:34:12.145Z,1628894052.145 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
314,000,0052C,188,80,80,8A,FF
2021-08-13T22:34:12.145Z,1628894052.145 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:34:12.146Z,1628894052.146 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:34:12.147Z,1628894052.147 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:34:12.548Z,1628894052.548 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:34:12.965Z,1628894052.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,356,000,00527,189,80,80,7E,FF
2021-08-13T22:34:12.965Z,1628894052.965 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:34:12.969Z,1628894052.969 [Micromodem](INFO): Nmea in: $SNTTA,0.072083,0.253702,,,223413.68*5A

2021-08-13T22:34:13.383Z,1628894053.383 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 41.640003 m, bearing: 210.003810 deg, deltaT: 4.524889 s, approachRate: -0.066300 m/s, LOS rate: -0.640251 deg/s, posRepo size: 4
2021-08-13T22:34:15.810Z,1628894055.810 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:34:16.181Z,1628894056.181 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:34:16.181Z,1628894056.181 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:34:16.181Z,1628894056.181 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:34:16.182Z,1628894056.182 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:34:16.645Z,1628894056.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
356,000,00527,189,80,80,7E,FF
2021-08-13T22:34:16.645Z,1628894056.645 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:34:16.645Z,1628894056.645 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:34:16.647Z,1628894056.647 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:34:17.012Z,1628894057.012 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:34:17.393Z,1628894057.393 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,394,000,0052E,189,80,80,BE,FF
2021-08-13T22:34:17.393Z,1628894057.393 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:34:17.818Z,1628894057.818 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223418.18*59

2021-08-13T22:34:17.877Z,1628894057.877 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.060001 m, bearing: 207.408584 deg, deltaT: 4.379786 s, approachRate: 0.095895 m/s, LOS rate: -0.592546 deg/s, posRepo size: 4
2021-08-13T22:34:20.273Z,1628894060.273 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:34:20.629Z,1628894060.629 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:34:20.630Z,1628894060.630 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:34:20.630Z,1628894060.630 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:34:20.631Z,1628894060.631 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:34:21.025Z,1628894061.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
394,000,0052E,189,80,80,BE,FF
2021-08-13T22:34:21.025Z,1628894061.025 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:34:21.026Z,1628894061.026 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:34:21.028Z,1628894061.028 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:34:21.437Z,1628894061.437 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:34:21.841Z,1628894061.841 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,277,000,0053A,18A,80,80,50,FF
2021-08-13T22:34:21.841Z,1628894061.841 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:34:22.273Z,1628894062.273 [Micromodem](INFO): Nmea in: $SNTTA,0.046932,,,,223422.56*4E

2021-08-13T22:34:22.317Z,1628894062.317 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.780003 m, bearing: 222.341481 deg, deltaT: 4.427811 s, approachRate: 0.162609 m/s, LOS rate: 3.372524 deg/s, posRepo size: 4
2021-08-13T22:34:24.704Z,1628894064.704 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:34:25.069Z,1628894065.069 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:34:25.069Z,1628894065.069 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:34:25.069Z,1628894065.069 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:34:25.070Z,1628894065.070 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:34:25.477Z,1628894065.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
277,000,0053A,18A,80,80,50,FF
2021-08-13T22:34:25.477Z,1628894065.477 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:34:25.477Z,1628894065.477 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:34:25.479Z,1628894065.479 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:34:25.890Z,1628894065.890 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:34:26.287Z,1628894066.287 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,368,000,0053D,189,80,80,6E,FF
2021-08-13T22:34:26.287Z,1628894066.287 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:34:26.725Z,1628894066.725 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223427.01*5D

2021-08-13T22:34:26.752Z,1628894066.752 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.959999 m, bearing: 211.237930 deg, deltaT: 4.496267 s, approachRate: 0.040032 m/s, LOS rate: -2.469504 deg/s, posRepo size: 4
2021-08-13T22:34:29.185Z,1628894069.185 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:34:29.521Z,1628894069.521 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:34:29.521Z,1628894069.521 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:34:29.521Z,1628894069.521 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:34:29.522Z,1628894069.522 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:34:29.954Z,1628894069.954 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
368,000,0053D,189,80,80,6E,FF
2021-08-13T22:34:29.954Z,1628894069.954 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:34:29.954Z,1628894069.954 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:34:29.956Z,1628894069.956 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:34:30.337Z,1628894070.337 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:34:30.734Z,1628894070.734 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,265,000,00543,18A,80,80,5F,FF
2021-08-13T22:34:30.734Z,1628894070.734 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:34:31.156Z,1628894071.156 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223431.49*56

2021-08-13T22:34:31.226Z,1628894071.226 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.319996 m, bearing: 224.967949 deg, deltaT: 4.396217 s, approachRate: 0.081888 m/s, LOS rate: 3.123144 deg/s, posRepo size: 4
2021-08-13T22:34:33.578Z,1628894073.578 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:34:33.985Z,1628894073.985 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:34:33.985Z,1628894073.985 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:34:33.985Z,1628894073.985 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:34:33.986Z,1628894073.986 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:34:34.361Z,1628894074.361 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
265,000,00543,18A,80,80,5F,FF
2021-08-13T22:34:34.361Z,1628894074.361 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:34:34.361Z,1628894074.361 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:34:34.363Z,1628894074.363 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:34:34.776Z,1628894074.776 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:34:35.169Z,1628894075.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,330,000,00546,189,80,80,79,FF
2021-08-13T22:34:35.170Z,1628894075.170 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:34:35.173Z,1628894075.173 [Micromodem](INFO): Nmea in: $SNTTA,0.184874,0.184955,,,223435.90*54

2021-08-13T22:34:35.626Z,1628894075.626 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.500000 m, bearing: 215.484422 deg, deltaT: 4.513045 s, approachRate: 0.039885 m/s, LOS rate: -2.101359 deg/s, posRepo size: 4
2021-08-13T22:34:38.041Z,1628894078.041 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:34:38.401Z,1628894078.401 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:34:38.401Z,1628894078.401 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:34:38.401Z,1628894078.401 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:34:38.402Z,1628894078.402 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:34:38.809Z,1628894078.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
330,000,00546,189,80,80,79,FF
2021-08-13T22:34:38.809Z,1628894078.809 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:34:38.809Z,1628894078.809 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:34:38.810Z,1628894078.810 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:34:39.212Z,1628894079.212 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:34:40.038Z,1628894080.038 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223440.35*5B

2021-08-13T22:34:40.942Z,1628894080.942 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:34:42.441Z,1628894082.441 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,189,80,80,79,FF
2021-08-13T22:34:42.441Z,1628894082.441 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,189,80,80,79,FF
2021-08-13T22:34:42.441Z,1628894082.441 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T22:34:43.670Z,1628894083.670 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:34:44.057Z,1628894084.057 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:34:44.057Z,1628894084.057 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:34:44.057Z,1628894084.057 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:34:44.058Z,1628894084.058 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:34:44.470Z,1628894084.470 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,189,80,80,79,FF
2021-08-13T22:34:44.470Z,1628894084.470 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:34:44.470Z,1628894084.470 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:34:44.472Z,1628894084.472 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:34:44.935Z,1628894084.935 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:34:45.690Z,1628894085.690 [Micromodem](INFO): Nmea in: $SNTTA,,0.092227,,,223446.01*48

2021-08-13T22:34:46.506Z,1628894086.506 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:34:48.098Z,1628894088.098 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,189,80,80,79,FF
2021-08-13T22:34:48.098Z,1628894088.098 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,189,80,80,79,FF
2021-08-13T22:34:48.098Z,1628894088.098 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T22:34:49.326Z,1628894089.326 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:34:49.725Z,1628894089.725 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:34:49.725Z,1628894089.725 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:34:49.725Z,1628894089.725 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:34:49.726Z,1628894089.726 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:34:50.127Z,1628894090.127 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,189,80,80,79,FF
2021-08-13T22:34:50.127Z,1628894090.127 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:34:50.127Z,1628894090.127 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:34:50.129Z,1628894090.129 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:34:50.543Z,1628894090.543 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:34:51.351Z,1628894091.351 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223451.66*5D

2021-08-13T22:34:52.182Z,1628894092.182 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:34:53.761Z,1628894093.761 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,189,80,80,79,FF
2021-08-13T22:34:53.762Z,1628894093.762 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,189,80,80,79,FF
2021-08-13T22:34:53.762Z,1628894093.762 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T22:34:55.063Z,1628894095.063 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:34:55.377Z,1628894095.377 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:34:55.377Z,1628894095.377 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:34:55.377Z,1628894095.377 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:34:55.378Z,1628894095.378 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:34:55.773Z,1628894095.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,189,80,80,79,FF
2021-08-13T22:34:55.773Z,1628894095.773 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:34:55.773Z,1628894095.773 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:34:55.775Z,1628894095.775 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:34:56.192Z,1628894096.192 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:34:57.019Z,1628894097.019 [Micromodem](INFO): Nmea in: $SNTTA,0.480346,0.479846,,,223457.31*54

2021-08-13T22:34:57.818Z,1628894097.818 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:34:59.421Z,1628894099.421 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,189,80,80,79,FF
2021-08-13T22:34:59.421Z,1628894099.421 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,189,80,80,79,FF
2021-08-13T22:34:59.421Z,1628894099.421 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T22:35:00.665Z,1628894100.665 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:35:01.030Z,1628894101.030 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:35:01.030Z,1628894101.030 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:35:01.031Z,1628894101.031 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:35:01.031Z,1628894101.031 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:35:01.429Z,1628894101.429 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,189,80,80,79,FF
2021-08-13T22:35:01.429Z,1628894101.429 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:35:01.429Z,1628894101.429 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:35:01.431Z,1628894101.431 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:35:01.848Z,1628894101.848 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:35:02.667Z,1628894102.667 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223502.97*54

2021-08-13T22:35:03.500Z,1628894103.500 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:35:05.070Z,1628894105.070 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,189,80,80,79,FF
2021-08-13T22:35:05.070Z,1628894105.070 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,189,80,80,79,FF
2021-08-13T22:35:05.071Z,1628894105.071 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T22:35:06.336Z,1628894106.336 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:35:06.694Z,1628894106.694 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:35:06.694Z,1628894106.694 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:35:06.694Z,1628894106.694 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:35:06.695Z,1628894106.695 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:35:07.093Z,1628894107.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,189,80,80,79,FF
2021-08-13T22:35:07.093Z,1628894107.093 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:35:07.093Z,1628894107.093 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:35:07.095Z,1628894107.095 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:35:07.502Z,1628894107.502 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:35:07.894Z,1628894107.894 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,434,000,00555,189,80,80,4A,FF
2021-08-13T22:35:07.894Z,1628894107.894 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:35:08.334Z,1628894108.334 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223508.63*55

2021-08-13T22:35:08.366Z,1628894108.366 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 44.400002 m, bearing: 208.912647 deg, deltaT: 32.717743 s, approachRate: 0.027508 m/s, LOS rate: -0.200863 deg/s, posRepo size: 4
2021-08-13T22:35:10.759Z,1628894110.759 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:35:11.125Z,1628894111.125 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:35:11.125Z,1628894111.125 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:35:11.125Z,1628894111.125 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:35:11.126Z,1628894111.126 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:35:11.533Z,1628894111.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
434,000,00555,189,80,80,4A,FF
2021-08-13T22:35:11.533Z,1628894111.533 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:35:11.533Z,1628894111.533 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:35:11.535Z,1628894111.535 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:35:11.969Z,1628894111.969 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:35:12.337Z,1628894112.337 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3EE,000,0055E,18A,80,80,5C,FF
2021-08-13T22:35:12.338Z,1628894112.338 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:35:12.777Z,1628894112.777 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223513.07*5D

2021-08-13T22:35:12.799Z,1628894112.799 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 44.940002 m, bearing: 212.840620 deg, deltaT: 4.440682 s, approachRate: 0.121603 m/s, LOS rate: 0.884543 deg/s, posRepo size: 4
2021-08-13T22:35:15.245Z,1628894115.245 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:35:15.573Z,1628894115.573 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:35:15.573Z,1628894115.573 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:35:15.573Z,1628894115.573 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:35:15.574Z,1628894115.574 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:35:16.012Z,1628894116.012 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3EE,000,0055E,18A,80,80,5C,FF
2021-08-13T22:35:16.013Z,1628894116.013 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:35:16.013Z,1628894116.013 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:35:16.014Z,1628894116.014 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:35:16.389Z,1628894116.389 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:35:16.785Z,1628894116.785 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0CA,000,00565,187,80,80,64,FF
2021-08-13T22:35:16.786Z,1628894116.786 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:35:17.207Z,1628894117.207 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223517.55*5E

2021-08-13T22:35:17.313Z,1628894117.313 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.360001 m, bearing: 253.153066 deg, deltaT: 4.467691 s, approachRate: 0.094008 m/s, LOS rate: 9.023105 deg/s, posRepo size: 4
2021-08-13T22:35:19.626Z,1628894119.626 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:35:20.021Z,1628894120.021 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:35:20.021Z,1628894120.021 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:35:20.021Z,1628894120.021 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:35:20.021Z,1628894120.021 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:35:20.425Z,1628894120.425 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0CA,000,00565,187,80,80,64,FF
2021-08-13T22:35:20.426Z,1628894120.426 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:35:20.426Z,1628894120.426 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:35:20.427Z,1628894120.427 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:35:20.832Z,1628894120.832 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:35:21.230Z,1628894121.230 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FED,000,0056B,183,80,80,50,FF
2021-08-13T22:35:21.231Z,1628894121.231 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:35:21.698Z,1628894121.698 [Micromodem](INFO): Nmea in: $SNTTA,0.090286,,,,223521.96*4F

2021-08-13T22:35:21.719Z,1628894121.719 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.719997 m, bearing: 264.209038 deg, deltaT: 4.420117 s, approachRate: 0.081445 m/s, LOS rate: 2.501285 deg/s, posRepo size: 4
2021-08-13T22:35:24.090Z,1628894124.090 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:35:24.457Z,1628894124.457 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:35:24.457Z,1628894124.457 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:35:24.457Z,1628894124.457 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:35:24.458Z,1628894124.458 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:35:24.890Z,1628894124.890 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FED,000,0056B,183,80,80,50,FF
2021-08-13T22:35:24.890Z,1628894124.890 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:35:24.890Z,1628894124.890 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:35:24.893Z,1628894124.893 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:35:25.273Z,1628894125.273 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:35:25.689Z,1628894125.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D19,000,00573,18A,80,80,25,FF
2021-08-13T22:35:25.690Z,1628894125.690 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:35:26.091Z,1628894126.091 [Micromodem](INFO): Nmea in: $SNTTA,0.053370,,,,223526.43*47

2021-08-13T22:35:26.131Z,1628894126.131 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.199997 m, bearing: 300.066657 deg, deltaT: 4.454565 s, approachRate: 0.107755 m/s, LOS rate: 8.049634 deg/s, posRepo size: 4
2021-08-13T22:35:28.523Z,1628894128.523 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:35:28.952Z,1628894128.952 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:35:28.953Z,1628894128.953 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:35:28.953Z,1628894128.953 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:35:28.954Z,1628894128.954 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:35:29.301Z,1628894129.301 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D19,000,00573,18A,80,80,25,FF
2021-08-13T22:35:29.301Z,1628894129.301 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:35:29.302Z,1628894129.302 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:35:29.303Z,1628894129.303 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:35:29.713Z,1628894129.713 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:35:30.121Z,1628894130.121 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,406,000,00572,188,80,80,64,FF
2021-08-13T22:35:30.122Z,1628894130.122 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:35:30.545Z,1628894130.545 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223530.84*57

2021-08-13T22:35:30.579Z,1628894130.579 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.139999 m, bearing: 210.816944 deg, deltaT: 4.411181 s, approachRate: -0.013601 m/s, LOS rate: -20.232612 deg/s, posRepo size: 4
2021-08-13T22:35:33.017Z,1628894133.017 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:35:33.350Z,1628894133.350 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:35:33.351Z,1628894133.351 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:35:33.351Z,1628894133.351 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:35:33.362Z,1628894133.362 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:35:33.761Z,1628894133.761 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
406,000,00572,188,80,80,64,FF
2021-08-13T22:35:33.761Z,1628894133.761 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:35:33.761Z,1628894133.761 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:35:33.763Z,1628894133.763 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:35:34.156Z,1628894134.156 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:35:34.561Z,1628894134.561 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,43B,000,0057E,18A,80,80,24,FF
2021-08-13T22:35:34.562Z,1628894134.562 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:35:34.997Z,1628894134.997 [Micromodem](INFO): Nmea in: $SNTTA,0.443224,0.443368,,,223535.30*54

2021-08-13T22:35:35.086Z,1628894135.086 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.860001 m, bearing: 206.981629 deg, deltaT: 4.401963 s, approachRate: 0.163564 m/s, LOS rate: -0.871274 deg/s, posRepo size: 4
2021-08-13T22:35:37.422Z,1628894137.422 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:35:37.793Z,1628894137.793 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:35:37.793Z,1628894137.793 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:35:37.793Z,1628894137.793 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:35:37.794Z,1628894137.794 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:35:38.201Z,1628894138.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
43B,000,0057E,18A,80,80,24,FF
2021-08-13T22:35:38.201Z,1628894138.201 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:35:38.201Z,1628894138.201 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:35:38.203Z,1628894138.203 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:35:38.603Z,1628894138.603 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:35:39.009Z,1628894139.009 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3FB,000,00576,189,80,80,4E,FF
2021-08-13T22:35:39.010Z,1628894139.010 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:35:39.433Z,1628894139.433 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223539.74*51

2021-08-13T22:35:39.475Z,1628894139.475 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.380001 m, bearing: 209.319630 deg, deltaT: 4.542126 s, approachRate: -0.105677 m/s, LOS rate: 0.514737 deg/s, posRepo size: 4
2021-08-13T22:35:41.881Z,1628894141.881 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:35:42.233Z,1628894142.233 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:35:42.233Z,1628894142.233 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:35:42.233Z,1628894142.233 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:35:42.234Z,1628894142.234 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:35:42.649Z,1628894142.649 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3FB,000,00576,189,80,80,4E,FF
2021-08-13T22:35:42.649Z,1628894142.649 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:35:42.650Z,1628894142.650 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:35:42.651Z,1628894142.651 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:35:43.045Z,1628894143.045 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:35:43.449Z,1628894143.449 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,140,000,00582,186,80,80,80,FF
2021-08-13T22:35:43.450Z,1628894143.450 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:35:43.886Z,1628894143.886 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223544.19*50

2021-08-13T22:35:43.909Z,1628894143.909 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.100002 m, bearing: 243.330134 deg, deltaT: 4.351615 s, approachRate: 0.165456 m/s, LOS rate: 7.815605 deg/s, posRepo size: 4
2021-08-13T22:35:46.311Z,1628894146.311 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:35:46.689Z,1628894146.689 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:35:46.689Z,1628894146.689 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:35:46.689Z,1628894146.689 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:35:46.690Z,1628894146.690 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:35:47.081Z,1628894147.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
140,000,00582,186,80,80,80,FF
2021-08-13T22:35:47.081Z,1628894147.081 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:35:47.081Z,1628894147.081 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:35:47.083Z,1628894147.083 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:35:47.489Z,1628894147.489 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:35:47.894Z,1628894147.894 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,369,000,00583,18A,80,80,3D,FF
2021-08-13T22:35:47.894Z,1628894147.894 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:35:48.325Z,1628894148.325 [Micromodem](INFO): Nmea in: $SNTTA,0.046159,,,,223548.62*41

2021-08-13T22:35:48.366Z,1628894148.366 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.159996 m, bearing: 215.234875 deg, deltaT: 4.490402 s, approachRate: 0.013360 m/s, LOS rate: -6.256736 deg/s, posRepo size: 4
2021-08-13T22:35:50.767Z,1628894150.767 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:35:51.125Z,1628894151.125 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:35:51.125Z,1628894151.125 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:35:51.125Z,1628894151.125 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:35:51.126Z,1628894151.126 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:35:51.529Z,1628894151.529 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
369,000,00583,18A,80,80,3D,FF
2021-08-13T22:35:51.529Z,1628894151.529 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:35:51.529Z,1628894151.529 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:35:51.531Z,1628894151.531 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:35:51.960Z,1628894151.960 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:35:52.333Z,1628894152.333 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,382,000,00589,189,80,80,32,FF
2021-08-13T22:35:52.333Z,1628894152.333 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:35:52.774Z,1628894152.774 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223553.07*59

2021-08-13T22:35:52.796Z,1628894152.796 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.520004 m, bearing: 213.588799 deg, deltaT: 4.412365 s, approachRate: 0.081591 m/s, LOS rate: -0.373060 deg/s, posRepo size: 4
2021-08-13T22:35:55.218Z,1628894155.218 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:35:55.565Z,1628894155.565 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:35:55.565Z,1628894155.565 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:35:55.565Z,1628894155.565 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:35:55.566Z,1628894155.566 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:35:55.997Z,1628894155.997 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
382,000,00589,189,80,80,32,FF
2021-08-13T22:35:55.997Z,1628894155.997 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:35:55.997Z,1628894155.997 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:35:55.999Z,1628894155.999 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:35:56.377Z,1628894156.377 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:35:56.781Z,1628894156.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,49A,000,0058C,189,80,80,51,FF
2021-08-13T22:35:56.781Z,1628894156.781 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:35:57.199Z,1628894157.199 [Micromodem](INFO): Nmea in: $SNTTA,0.053374,,,,223557.54*43

2021-08-13T22:35:57.289Z,1628894157.289 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.700005 m, bearing: 199.155667 deg, deltaT: 4.424664 s, approachRate: 0.040681 m/s, LOS rate: -3.261972 deg/s, posRepo size: 4
2021-08-13T22:35:59.633Z,1628894159.633 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:36:00.009Z,1628894160.009 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:36:00.009Z,1628894160.009 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:36:00.009Z,1628894160.009 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:36:00.010Z,1628894160.010 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:36:00.413Z,1628894160.413 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
49A,000,0058C,189,80,80,51,FF
2021-08-13T22:36:00.413Z,1628894160.413 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:36:00.413Z,1628894160.413 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:36:00.415Z,1628894160.415 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:36:00.839Z,1628894160.839 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:36:01.221Z,1628894161.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,22F,000,00597,188,80,80,87,FF
2021-08-13T22:36:01.221Z,1628894161.221 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:36:01.677Z,1628894161.677 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223601.95*56

2021-08-13T22:36:01.693Z,1628894161.693 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 48.360004 m, bearing: 229.576318 deg, deltaT: 4.518406 s, approachRate: 0.146069 m/s, LOS rate: 6.732607 deg/s, posRepo size: 4
2021-08-13T22:36:04.087Z,1628894164.087 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:36:04.453Z,1628894164.453 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:36:04.453Z,1628894164.453 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:36:04.453Z,1628894164.453 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:36:04.454Z,1628894164.454 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:36:04.865Z,1628894164.865 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
22F,000,00597,188,80,80,87,FF
2021-08-13T22:36:04.866Z,1628894164.866 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:36:04.866Z,1628894164.866 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:36:04.871Z,1628894164.871 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:36:05.258Z,1628894165.258 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:36:05.666Z,1628894165.666 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2AF,000,0059E,18A,80,80,96,FF
2021-08-13T22:36:05.666Z,1628894165.666 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:36:06.097Z,1628894166.097 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223606.41*58

2021-08-13T22:36:06.142Z,1628894166.142 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 48.779995 m, bearing: 222.888279 deg, deltaT: 4.370125 s, approachRate: 0.096105 m/s, LOS rate: -1.530400 deg/s, posRepo size: 4
2021-08-13T22:36:08.514Z,1628894168.514 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:36:08.935Z,1628894168.935 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:36:08.950Z,1628894168.950 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:36:08.950Z,1628894168.950 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:36:08.951Z,1628894168.951 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:36:09.309Z,1628894169.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2AF,000,0059E,18A,80,80,96,FF
2021-08-13T22:36:09.309Z,1628894169.309 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:36:09.309Z,1628894169.309 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:36:09.311Z,1628894169.311 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:36:09.709Z,1628894169.709 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:36:10.113Z,1628894170.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3AE,000,0059D,188,80,80,A0,FF
2021-08-13T22:36:10.113Z,1628894170.113 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:36:10.549Z,1628894170.549 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223610.84*56

2021-08-13T22:36:10.583Z,1628894170.583 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 48.720001 m, bearing: 209.982896 deg, deltaT: 4.479109 s, approachRate: -0.013394 m/s, LOS rate: -2.881239 deg/s, posRepo size: 4
2021-08-13T22:36:13.033Z,1628894173.033 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:36:13.341Z,1628894173.341 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:36:13.341Z,1628894173.341 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:36:13.342Z,1628894173.342 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:36:13.343Z,1628894173.343 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:36:13.749Z,1628894173.749 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3AE,000,0059D,188,80,80,A0,FF
2021-08-13T22:36:13.750Z,1628894173.750 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:36:13.750Z,1628894173.750 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:36:13.757Z,1628894173.757 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:36:14.161Z,1628894174.161 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:36:14.176Z,1628894174.176 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T22:36:15.006Z,1628894175.006 [Micromodem](INFO): Nmea in: $SNTTA,0.066278,,,,223615.29*47

2021-08-13T22:36:15.798Z,1628894175.798 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:36:17.397Z,1628894177.397 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,188,80,80,A0,FF
2021-08-13T22:36:17.397Z,1628894177.397 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,188,80,80,A0,FF
2021-08-13T22:36:17.397Z,1628894177.397 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T22:36:18.614Z,1628894178.614 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:36:19.005Z,1628894179.005 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:36:19.005Z,1628894179.005 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:36:19.005Z,1628894179.005 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:36:19.006Z,1628894179.006 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:36:19.409Z,1628894179.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,188,80,80,A0,FF
2021-08-13T22:36:19.409Z,1628894179.409 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:36:19.409Z,1628894179.409 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:36:19.411Z,1628894179.411 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:36:19.816Z,1628894179.816 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:36:20.229Z,1628894180.229 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2A0,000,005AA,18A,80,80,5F,FF
2021-08-13T22:36:20.230Z,1628894180.230 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:36:20.649Z,1628894180.649 [Micromodem](INFO): Nmea in: $SNTTA,0.065804,,,,223620.95*44

2021-08-13T22:36:20.671Z,1628894180.671 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.500000 m, bearing: 222.680641 deg, deltaT: 10.122836 s, approachRate: 0.077053 m/s, LOS rate: 1.254366 deg/s, posRepo size: 4
2021-08-13T22:36:23.095Z,1628894183.095 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:36:23.450Z,1628894183.450 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:36:23.450Z,1628894183.450 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:36:23.451Z,1628894183.451 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:36:23.451Z,1628894183.451 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:36:23.854Z,1628894183.854 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2A0,000,005AA,18A,80,80,5F,FF
2021-08-13T22:36:23.855Z,1628894183.855 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:36:23.855Z,1628894183.855 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:36:23.881Z,1628894183.881 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:36:24.260Z,1628894184.260 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:36:24.670Z,1628894184.670 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,34C,000,005B0,188,80,80,80,FF
2021-08-13T22:36:24.671Z,1628894184.671 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:36:25.075Z,1628894185.075 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223625.42*5A

2021-08-13T22:36:25.126Z,1628894185.126 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.859997 m, bearing: 213.560194 deg, deltaT: 4.415425 s, approachRate: 0.081532 m/s, LOS rate: -2.065588 deg/s, posRepo size: 4
2021-08-13T22:36:27.507Z,1628894187.507 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:36:27.886Z,1628894187.886 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:36:27.887Z,1628894187.887 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:36:27.887Z,1628894187.887 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:36:27.889Z,1628894187.889 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:36:28.297Z,1628894188.297 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
34C,000,005B0,188,80,80,80,FF
2021-08-13T22:36:28.297Z,1628894188.297 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:36:28.297Z,1628894188.297 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:36:28.299Z,1628894188.299 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:36:28.315Z,1628894188.315 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T22:36:28.711Z,1628894188.711 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:36:29.097Z,1628894189.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2F4,000,005B4,189,80,80,78,FF
2021-08-13T22:36:29.097Z,1628894189.097 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:36:29.101Z,1628894189.101 [Micromodem](INFO): Nmea in: $SNTTA,0.086202,0.176322,,,223629.83*56

2021-08-13T22:36:29.557Z,1628894189.557 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 50.099998 m, bearing: 217.305720 deg, deltaT: 4.478635 s, approachRate: 0.053588 m/s, LOS rate: 0.836310 deg/s, posRepo size: 4
2021-08-13T22:36:31.977Z,1628894191.977 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:36:32.341Z,1628894192.341 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:36:32.341Z,1628894192.341 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:36:32.341Z,1628894192.341 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:36:32.342Z,1628894192.342 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:36:32.743Z,1628894192.743 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2F4,000,005B4,189,80,80,78,FF
2021-08-13T22:36:32.743Z,1628894192.743 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:36:32.743Z,1628894192.743 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:36:32.746Z,1628894192.746 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:36:33.144Z,1628894193.144 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:36:33.549Z,1628894193.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D63,000,005B9,18A,80,80,44,FF
2021-08-13T22:36:33.549Z,1628894193.549 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:36:33.985Z,1628894193.985 [Micromodem](INFO): Nmea in: $SNTTA,0.087101,,,,223634.28*47

2021-08-13T22:36:34.017Z,1628894194.017 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 50.400005 m, bearing: 287.528479 deg, deltaT: 4.446014 s, approachRate: 0.067478 m/s, LOS rate: 15.794543 deg/s, posRepo size: 4
2021-08-13T22:36:36.414Z,1628894196.414 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:36:36.781Z,1628894196.781 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:36:36.781Z,1628894196.781 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:36:36.781Z,1628894196.781 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:36:36.782Z,1628894196.782 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:36:37.185Z,1628894197.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D63,000,005B9,18A,80,80,44,FF
2021-08-13T22:36:37.185Z,1628894197.185 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:36:37.185Z,1628894197.185 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:36:37.187Z,1628894197.187 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:36:37.593Z,1628894197.593 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:36:37.989Z,1628894197.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3A9,000,005B4,188,80,80,8A,FF
2021-08-13T22:36:37.990Z,1628894197.990 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:36:38.434Z,1628894198.434 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223638.72*55

2021-08-13T22:36:38.480Z,1628894198.480 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 50.099998 m, bearing: 206.107447 deg, deltaT: 4.387011 s, approachRate: -0.068385 m/s, LOS rate: -18.559569 deg/s, posRepo size: 4
2021-08-13T22:36:40.907Z,1628894200.907 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:36:41.221Z,1628894201.221 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:36:41.221Z,1628894201.221 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:36:41.221Z,1628894201.221 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:36:41.222Z,1628894201.222 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:36:41.805Z,1628894201.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3A9,000,005B4,188,80,80,8A,FF
2021-08-13T22:36:41.805Z,1628894201.805 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:36:41.805Z,1628894201.805 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:36:41.807Z,1628894201.807 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:36:42.064Z,1628894202.064 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:36:42.487Z,1628894202.487 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,344,000,005BB,189,80,80,6A,FF
2021-08-13T22:36:42.487Z,1628894202.487 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:36:42.942Z,1628894202.942 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 50.520000 m, bearing: 209.749181 deg, deltaT: 4.556378 s, approachRate: 0.092179 m/s, LOS rate: 0.799261 deg/s, posRepo size: 4
2021-08-13T22:36:43.277Z,1628894203.277 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223643.34*5B

2021-08-13T22:36:45.306Z,1628894205.306 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:36:45.689Z,1628894205.689 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:36:45.689Z,1628894205.689 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:36:45.689Z,1628894205.689 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:36:45.690Z,1628894205.690 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:36:46.089Z,1628894206.089 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
344,000,005BB,189,80,80,6A,FF
2021-08-13T22:36:46.089Z,1628894206.089 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:36:46.089Z,1628894206.089 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:36:46.091Z,1628894206.091 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:36:46.508Z,1628894206.508 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:36:46.948Z,1628894206.948 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,341,000,005C1,189,80,80,5B,FF
2021-08-13T22:36:46.949Z,1628894206.949 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:36:47.337Z,1628894207.337 [Micromodem](INFO): Nmea in: $SNTTA,0.053882,,,,223647.63*47

2021-08-13T22:36:47.392Z,1628894207.392 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 50.879997 m, bearing: 208.628593 deg, deltaT: 4.450751 s, approachRate: 0.080885 m/s, LOS rate: -0.251775 deg/s, posRepo size: 4
2021-08-13T22:36:49.750Z,1628894209.750 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:36:50.148Z,1628894210.148 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:36:50.148Z,1628894210.148 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:36:50.149Z,1628894210.149 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:36:50.150Z,1628894210.150 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:36:50.546Z,1628894210.546 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
341,000,005C1,189,80,80,5B,FF
2021-08-13T22:36:50.546Z,1628894210.546 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:36:50.546Z,1628894210.546 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:36:50.548Z,1628894210.548 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:36:50.949Z,1628894210.949 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:36:51.349Z,1628894211.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,37A,000,005C3,189,80,80,B2,FF
2021-08-13T22:36:51.349Z,1628894211.349 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:36:51.793Z,1628894211.793 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223652.08*54

2021-08-13T22:36:51.819Z,1628894211.819 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.000004 m, bearing: 204.957188 deg, deltaT: 4.343837 s, approachRate: 0.027627 m/s, LOS rate: -0.845198 deg/s, posRepo size: 4
2021-08-13T22:36:54.221Z,1628894214.221 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:36:54.581Z,1628894214.581 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:36:54.581Z,1628894214.581 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:36:54.581Z,1628894214.581 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:36:54.582Z,1628894214.582 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:36:54.997Z,1628894214.997 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
37A,000,005C3,189,80,80,B2,FF
2021-08-13T22:36:54.997Z,1628894214.997 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:36:54.997Z,1628894214.997 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:36:54.999Z,1628894214.999 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:36:55.389Z,1628894215.389 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:36:55.785Z,1628894215.785 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,392,000,005C8,189,80,80,A3,FF
2021-08-13T22:36:55.786Z,1628894215.786 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:36:56.217Z,1628894216.217 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223656.53*5E

2021-08-13T22:36:56.257Z,1628894216.257 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.299995 m, bearing: 202.770681 deg, deltaT: 4.440010 s, approachRate: 0.067566 m/s, LOS rate: -0.492456 deg/s, posRepo size: 4
2021-08-13T22:36:58.668Z,1628894218.668 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:36:59.021Z,1628894219.021 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:36:59.021Z,1628894219.021 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:36:59.021Z,1628894219.021 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:36:59.022Z,1628894219.022 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:36:59.425Z,1628894219.425 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
392,000,005C8,189,80,80,A3,FF
2021-08-13T22:36:59.425Z,1628894219.425 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:36:59.425Z,1628894219.425 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:36:59.427Z,1628894219.427 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:36:59.836Z,1628894219.836 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:37:00.233Z,1628894220.233 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,378,000,005CC,189,80,80,A9,FF
2021-08-13T22:37:00.233Z,1628894220.233 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:37:00.665Z,1628894220.665 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223700.96*55

2021-08-13T22:37:00.702Z,1628894220.702 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.539997 m, bearing: 203.048588 deg, deltaT: 4.442742 s, approachRate: 0.054021 m/s, LOS rate: 0.062553 deg/s, posRepo size: 4
2021-08-13T22:37:03.118Z,1628894223.118 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:37:03.469Z,1628894223.469 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:37:03.469Z,1628894223.469 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:37:03.469Z,1628894223.469 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:37:03.470Z,1628894223.470 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:37:03.870Z,1628894223.870 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
378,000,005CC,189,80,80,A9,FF
2021-08-13T22:37:03.870Z,1628894223.870 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:37:03.870Z,1628894223.870 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:37:03.873Z,1628894223.873 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:37:04.277Z,1628894224.277 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:37:04.673Z,1628894224.673 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,385,000,005CF,188,80,80,B4,FF
2021-08-13T22:37:04.674Z,1628894224.674 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:37:05.093Z,1628894225.093 [Micromodem](INFO): Nmea in: $SNTTA,0.044830,0.430391,,,223705.41*5D

2021-08-13T22:37:05.159Z,1628894225.159 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.719997 m, bearing: 201.923942 deg, deltaT: 4.445094 s, approachRate: 0.040494 m/s, LOS rate: -0.253008 deg/s, posRepo size: 4
2021-08-13T22:37:07.522Z,1628894227.522 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:37:07.925Z,1628894227.925 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:37:07.925Z,1628894227.925 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:37:07.925Z,1628894227.925 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:37:07.926Z,1628894227.926 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:37:08.318Z,1628894228.318 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
385,000,005CF,188,80,80,B4,FF
2021-08-13T22:37:08.319Z,1628894228.319 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:37:08.319Z,1628894228.319 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:37:08.321Z,1628894228.321 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:37:08.729Z,1628894228.729 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:37:09.125Z,1628894229.125 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,377,000,005D2,189,80,80,C2,FF
2021-08-13T22:37:09.126Z,1628894229.126 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:37:09.557Z,1628894229.557 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223709.85*5E

2021-08-13T22:37:09.597Z,1628894229.597 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.899994 m, bearing: 202.390881 deg, deltaT: 4.498488 s, approachRate: 0.040013 m/s, LOS rate: 0.103799 deg/s, posRepo size: 4
2021-08-13T22:37:12.005Z,1628894232.005 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:37:12.353Z,1628894232.353 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:37:12.354Z,1628894232.354 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:37:12.354Z,1628894232.354 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:37:12.355Z,1628894232.355 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:37:12.762Z,1628894232.762 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
377,000,005D2,189,80,80,C2,FF
2021-08-13T22:37:12.762Z,1628894232.762 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:37:12.762Z,1628894232.762 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:37:12.764Z,1628894232.764 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:37:13.172Z,1628894233.172 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:37:13.565Z,1628894233.565 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,392,000,005DA,188,80,80,B3,FF
2021-08-13T22:37:13.565Z,1628894233.565 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:37:14.022Z,1628894234.022 [Micromodem](INFO): Nmea in: $SNTTA,0.048599,,,,223714.30*4B

2021-08-13T22:37:14.051Z,1628894234.051 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.380001 m, bearing: 200.998001 deg, deltaT: 4.388171 s, approachRate: 0.109387 m/s, LOS rate: -0.317417 deg/s, posRepo size: 4
2021-08-13T22:37:16.438Z,1628894236.438 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:37:16.808Z,1628894236.808 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:37:16.808Z,1628894236.808 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:37:16.808Z,1628894236.808 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:37:16.809Z,1628894236.809 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:37:17.216Z,1628894237.216 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
392,000,005DA,188,80,80,B3,FF
2021-08-13T22:37:17.216Z,1628894237.216 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:37:17.217Z,1628894237.217 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:37:17.218Z,1628894237.218 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:37:17.651Z,1628894237.651 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:37:18.056Z,1628894238.056 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,382,000,005DC,189,80,80,8D,FF
2021-08-13T22:37:18.057Z,1628894238.057 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:37:18.497Z,1628894238.497 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223718.75*51

2021-08-13T22:37:18.541Z,1628894238.541 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.499996 m, bearing: 201.473245 deg, deltaT: 4.506381 s, approachRate: 0.026628 m/s, LOS rate: 0.105460 deg/s, posRepo size: 4
2021-08-13T22:37:21.004Z,1628894241.004 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:37:21.284Z,1628894241.284 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:37:21.284Z,1628894241.284 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:37:21.284Z,1628894241.284 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:37:21.285Z,1628894241.285 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:37:21.685Z,1628894241.685 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
382,000,005DC,189,80,80,8D,FF
2021-08-13T22:37:21.685Z,1628894241.685 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:37:21.686Z,1628894241.686 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:37:21.692Z,1628894241.692 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:37:22.089Z,1628894242.089 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:37:22.489Z,1628894242.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D98,000,005E6,189,80,80,26,FF
2021-08-13T22:37:22.489Z,1628894242.489 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:37:22.961Z,1628894242.961 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223723.23*5A

2021-08-13T22:37:23.045Z,1628894243.045 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.100006 m, bearing: 276.935539 deg, deltaT: 4.417534 s, approachRate: 0.135825 m/s, LOS rate: 17.082448 deg/s, posRepo size: 4
2021-08-13T22:37:25.033Z,1628894245.033 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:37:25.321Z,1628894245.321 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:37:25.321Z,1628894245.321 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:37:25.321Z,1628894245.321 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:37:25.322Z,1628894245.322 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:37:25.733Z,1628894245.733 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D98,000,005E6,189,80,80,26,FF
2021-08-13T22:37:25.733Z,1628894245.733 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:37:25.734Z,1628894245.734 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:37:25.735Z,1628894245.735 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:37:26.124Z,1628894246.124 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:37:26.529Z,1628894246.529 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,34F,000,005E6,189,80,80,88,FF
2021-08-13T22:37:26.529Z,1628894246.529 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:37:26.974Z,1628894246.974 [Micromodem](INFO): Nmea in: $SNTTA,0.067655,0.457391,,,223727.27*50

2021-08-13T22:37:27.019Z,1628894247.019 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.100006 m, bearing: 204.341515 deg, deltaT: 4.064649 s, approachRate: 0.000000 m/s, LOS rate: -17.859850 deg/s, posRepo size: 4
2021-08-13T22:37:29.383Z,1628894249.383 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:37:29.761Z,1628894249.761 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:37:29.762Z,1628894249.762 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:37:29.762Z,1628894249.762 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:37:29.763Z,1628894249.763 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:37:30.165Z,1628894250.165 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
34F,000,005E6,189,80,80,88,FF
2021-08-13T22:37:30.165Z,1628894250.165 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:37:30.166Z,1628894250.166 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:37:30.167Z,1628894250.167 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:37:30.580Z,1628894250.580 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:37:31.001Z,1628894251.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,372,000,005EB,189,80,80,BA,FF
2021-08-13T22:37:31.001Z,1628894251.001 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:37:31.421Z,1628894251.421 [Micromodem](INFO): Nmea in: $SNTTA,0.076810,,,,223731.70*49

2021-08-13T22:37:31.444Z,1628894251.444 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.399998 m, bearing: 203.298436 deg, deltaT: 4.509336 s, approachRate: 0.066527 m/s, LOS rate: -0.231315 deg/s, posRepo size: 4
2021-08-13T22:37:33.843Z,1628894253.843 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:37:34.213Z,1628894254.213 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:37:34.213Z,1628894254.213 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:37:34.213Z,1628894254.213 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:37:34.214Z,1628894254.214 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:37:34.614Z,1628894254.614 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
372,000,005EB,189,80,80,BA,FF
2021-08-13T22:37:34.614Z,1628894254.614 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:37:34.614Z,1628894254.614 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:37:34.615Z,1628894254.615 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:37:35.041Z,1628894255.041 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:37:35.417Z,1628894255.417 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,34F,000,005F0,189,80,80,AF,FF
2021-08-13T22:37:35.418Z,1628894255.418 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:37:35.851Z,1628894255.851 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.700005 m, bearing: 205.846698 deg, deltaT: 4.394511 s, approachRate: 0.068269 m/s, LOS rate: 0.579874 deg/s, posRepo size: 4
2021-08-13T22:37:38.282Z,1628894258.282 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:37:38.649Z,1628894258.649 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:37:38.649Z,1628894258.649 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:37:38.649Z,1628894258.649 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:37:38.650Z,1628894258.650 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:37:39.053Z,1628894259.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
34F,000,005F0,189,80,80,AF,FF
2021-08-13T22:37:39.053Z,1628894259.053 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:37:39.053Z,1628894259.053 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:37:39.055Z,1628894259.055 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:37:39.526Z,1628894259.526 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:37:39.925Z,1628894259.925 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,38F,000,005F1,188,80,80,85,FF
2021-08-13T22:37:39.926Z,1628894259.926 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:37:40.337Z,1628894260.337 [Micromodem](INFO): Nmea in: $SNTTA,0.052803,,,,223740.59*40

2021-08-13T22:37:40.371Z,1628894260.371 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.759995 m, bearing: 203.333748 deg, deltaT: 4.540433 s, approachRate: 0.013212 m/s, LOS rate: -0.553460 deg/s, posRepo size: 4
2021-08-13T22:37:42.766Z,1628894262.766 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:37:43.153Z,1628894263.153 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:37:43.153Z,1628894263.153 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:37:43.153Z,1628894263.153 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:37:43.154Z,1628894263.154 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:37:43.553Z,1628894263.553 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
38F,000,005F1,188,80,80,85,FF
2021-08-13T22:37:43.553Z,1628894263.553 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:37:43.553Z,1628894263.553 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:37:43.555Z,1628894263.555 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:37:43.985Z,1628894263.985 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:37:44.361Z,1628894264.361 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,35A,000,005F7,189,80,80,9A,FF
2021-08-13T22:37:44.362Z,1628894264.362 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:37:44.789Z,1628894264.789 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223745.09*52

2021-08-13T22:37:44.889Z,1628894264.889 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 54.120003 m, bearing: 206.970277 deg, deltaT: 4.363094 s, approachRate: 0.082512 m/s, LOS rate: 0.833475 deg/s, posRepo size: 4
2021-08-13T22:37:46.897Z,1628894266.897 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:37:47.185Z,1628894267.185 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:37:47.185Z,1628894267.185 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:37:47.185Z,1628894267.185 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:37:47.186Z,1628894267.186 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:37:47.593Z,1628894267.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
35A,000,005F7,189,80,80,9A,FF
2021-08-13T22:37:47.593Z,1628894267.593 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:37:47.594Z,1628894267.594 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:37:47.595Z,1628894267.595 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:37:48.004Z,1628894268.004 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:37:48.401Z,1628894268.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3B7,000,0016D,189,80,80,74,FF
2021-08-13T22:37:48.401Z,1628894268.401 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2021-08-13T22:37:48.847Z,1628894268.847 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223749.13*55

2021-08-13T22:37:49.665Z,1628894269.665 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:37:52.466Z,1628894272.466 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:37:52.859Z,1628894272.859 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:37:52.864Z,1628894272.864 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:37:52.865Z,1628894272.865 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:37:52.866Z,1628894272.866 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:37:53.257Z,1628894273.257 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3B7,000,0016D,189,80,80,74,FF
2021-08-13T22:37:53.257Z,1628894273.257 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:37:53.257Z,1628894273.257 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:37:53.259Z,1628894273.259 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:37:53.667Z,1628894273.667 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:37:54.053Z,1628894274.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3D4,000,005FD,189,80,80,8B,FF
2021-08-13T22:37:54.053Z,1628894274.053 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:37:54.501Z,1628894274.501 [Micromodem](INFO): Nmea in: $SNTTA,0.044309,,,,223754.79*41

2021-08-13T22:37:54.525Z,1628894274.525 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 54.480000 m, bearing: 203.375959 deg, deltaT: 9.747458 s, approachRate: 0.036932 m/s, LOS rate: -0.368744 deg/s, posRepo size: 4
2021-08-13T22:37:57.010Z,1628894277.010 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:37:57.293Z,1628894277.293 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:37:57.293Z,1628894277.293 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:37:57.293Z,1628894277.293 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:37:57.294Z,1628894277.294 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:37:57.716Z,1628894277.716 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3D4,000,005FD,189,80,80,8B,FF
2021-08-13T22:37:57.716Z,1628894277.716 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:37:57.717Z,1628894277.717 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:37:57.718Z,1628894277.718 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:37:58.112Z,1628894278.112 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:37:58.509Z,1628894278.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3F6,000,00603,189,80,80,7F,FF
2021-08-13T22:37:58.509Z,1628894278.509 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:37:58.969Z,1628894278.969 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223759.25*51

2021-08-13T22:37:59.045Z,1628894279.045 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 54.840000 m, bearing: 203.336876 deg, deltaT: 4.430544 s, approachRate: 0.081254 m/s, LOS rate: -0.008821 deg/s, posRepo size: 4
2021-08-13T22:38:01.444Z,1628894281.444 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:38:01.754Z,1628894281.754 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:38:01.754Z,1628894281.754 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:38:01.757Z,1628894281.757 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:38:01.766Z,1628894281.766 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:38:02.149Z,1628894282.149 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3F6,000,00603,189,80,80,7F,FF
2021-08-13T22:38:02.149Z,1628894282.149 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:38:02.149Z,1628894282.149 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:38:02.151Z,1628894282.151 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:38:02.557Z,1628894282.557 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:38:02.981Z,1628894282.981 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3CF,000,00608,189,80,80,90,FF
2021-08-13T22:38:02.981Z,1628894282.981 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:38:03.381Z,1628894283.381 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223803.69*59

2021-08-13T22:38:03.404Z,1628894283.404 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 55.140003 m, bearing: 206.584085 deg, deltaT: 4.524905 s, approachRate: 0.066300 m/s, LOS rate: 0.717630 deg/s, posRepo size: 4
2021-08-13T22:38:05.797Z,1628894285.797 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:38:06.193Z,1628894286.193 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:38:06.193Z,1628894286.193 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:38:06.193Z,1628894286.193 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:38:06.194Z,1628894286.194 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:38:06.590Z,1628894286.590 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3CF,000,00608,189,80,80,90,FF
2021-08-13T22:38:06.591Z,1628894286.591 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:38:06.591Z,1628894286.591 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:38:06.593Z,1628894286.593 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:38:07.010Z,1628894287.010 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:38:07.389Z,1628894287.389 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,241,000,00610,188,80,80,50,FF
2021-08-13T22:38:07.390Z,1628894287.390 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:38:07.841Z,1628894287.841 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223808.13*5F

2021-08-13T22:38:07.857Z,1628894287.857 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 55.619995 m, bearing: 227.591930 deg, deltaT: 4.355854 s, approachRate: 0.110195 m/s, LOS rate: 4.822899 deg/s, posRepo size: 4
2021-08-13T22:38:10.274Z,1628894290.274 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:38:10.629Z,1628894290.629 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:38:10.629Z,1628894290.629 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:38:10.629Z,1628894290.629 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:38:10.630Z,1628894290.630 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:38:11.037Z,1628894291.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
241,000,00610,188,80,80,50,FF
2021-08-13T22:38:11.038Z,1628894291.038 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:38:11.038Z,1628894291.038 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:38:11.040Z,1628894291.040 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:38:11.444Z,1628894291.444 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:38:11.836Z,1628894291.836 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,352,000,00611,189,80,80,55,FF
2021-08-13T22:38:11.837Z,1628894291.837 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:38:12.273Z,1628894292.273 [Micromodem](INFO): Nmea in: $SNTTA,0.078436,,,,223812.58*4B

2021-08-13T22:38:12.311Z,1628894292.311 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 55.680000 m, bearing: 214.535422 deg, deltaT: 4.426703 s, approachRate: 0.013555 m/s, LOS rate: -2.949488 deg/s, posRepo size: 4
2021-08-13T22:38:14.707Z,1628894294.707 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:38:15.073Z,1628894295.073 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:38:15.074Z,1628894295.074 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:38:15.074Z,1628894295.074 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:38:15.075Z,1628894295.075 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:38:15.473Z,1628894295.473 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
352,000,00611,189,80,80,55,FF
2021-08-13T22:38:15.473Z,1628894295.473 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:38:15.473Z,1628894295.473 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:38:15.475Z,1628894295.475 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:38:15.884Z,1628894295.884 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:38:16.289Z,1628894296.289 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,31B,000,00615,189,80,80,5F,FF
2021-08-13T22:38:16.289Z,1628894296.289 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:38:16.721Z,1628894296.721 [Micromodem](INFO): Nmea in: $SNTTA,0.048506,,,,223817.01*43

2021-08-13T22:38:16.801Z,1628894296.801 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 55.920002 m, bearing: 217.879797 deg, deltaT: 4.477440 s, approachRate: 0.053602 m/s, LOS rate: 0.746939 deg/s, posRepo size: 4
2021-08-13T22:38:19.219Z,1628894299.219 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:38:19.517Z,1628894299.517 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:38:19.517Z,1628894299.517 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:38:19.518Z,1628894299.518 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:38:19.519Z,1628894299.519 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:38:19.938Z,1628894299.938 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
31B,000,00615,189,80,80,5F,FF
2021-08-13T22:38:19.938Z,1628894299.938 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:38:19.939Z,1628894299.939 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:38:19.956Z,1628894299.956 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:38:20.329Z,1628894300.329 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:38:20.730Z,1628894300.730 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,408,000,00617,189,80,80,92,FF
2021-08-13T22:38:20.730Z,1628894300.730 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:38:21.155Z,1628894301.155 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223821.49*5B

2021-08-13T22:38:21.236Z,1628894301.236 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 56.039997 m, bearing: 206.398386 deg, deltaT: 4.414005 s, approachRate: 0.027185 m/s, LOS rate: -2.601132 deg/s, posRepo size: 4
2021-08-13T22:38:23.586Z,1628894303.586 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:38:23.961Z,1628894303.961 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:38:23.961Z,1628894303.961 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:38:23.961Z,1628894303.961 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:38:23.962Z,1628894303.962 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:38:24.369Z,1628894304.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
408,000,00617,189,80,80,92,FF
2021-08-13T22:38:24.369Z,1628894304.369 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:38:24.369Z,1628894304.369 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:38:24.371Z,1628894304.371 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:38:24.764Z,1628894304.764 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:38:25.169Z,1628894305.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C0E,000,0061B,189,80,80,72,FF
2021-08-13T22:38:25.170Z,1628894305.170 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:38:25.601Z,1628894305.601 [Micromodem](INFO): Nmea in: $SNTTA,0.061042,,,,223825.91*45

2021-08-13T22:38:25.663Z,1628894305.663 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 56.279999 m, bearing: 309.051225 deg, deltaT: 4.500931 s, approachRate: 0.053323 m/s, LOS rate: 22.807023 deg/s, posRepo size: 4
2021-08-13T22:38:28.062Z,1628894308.062 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:38:28.409Z,1628894308.409 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:38:28.409Z,1628894308.409 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:38:28.409Z,1628894308.409 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:38:28.410Z,1628894308.410 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:38:28.829Z,1628894308.829 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C0E,000,0061B,189,80,80,72,FF
2021-08-13T22:38:28.829Z,1628894308.829 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:38:28.829Z,1628894308.829 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:38:28.839Z,1628894308.839 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:38:29.213Z,1628894309.213 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:38:29.621Z,1628894309.621 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4D2,000,00623,189,80,80,76,FF
2021-08-13T22:38:29.622Z,1628894309.622 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:38:30.038Z,1628894310.038 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223830.37*52

2021-08-13T22:38:30.085Z,1628894310.085 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 56.760002 m, bearing: 197.105982 deg, deltaT: 4.382620 s, approachRate: 0.109524 m/s, LOS rate: -25.542995 deg/s, posRepo size: 4
2021-08-13T22:38:32.474Z,1628894312.474 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:38:32.860Z,1628894312.860 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:38:32.861Z,1628894312.861 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:38:32.861Z,1628894312.861 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:38:32.862Z,1628894312.862 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:38:33.253Z,1628894313.253 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
4D2,000,00623,189,80,80,76,FF
2021-08-13T22:38:33.253Z,1628894313.253 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:38:33.254Z,1628894313.254 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:38:33.256Z,1628894313.256 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:38:33.665Z,1628894313.665 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:38:34.077Z,1628894314.077 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,068,000,00628,187,80,80,60,FF
2021-08-13T22:38:34.077Z,1628894314.077 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:38:34.494Z,1628894314.494 [Micromodem](INFO): Nmea in: $SNTTA,0.069944,,,,223834.79*44

2021-08-13T22:38:34.516Z,1628894314.516 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 57.060005 m, bearing: 253.971514 deg, deltaT: 4.465747 s, approachRate: 0.067179 m/s, LOS rate: 12.733711 deg/s, posRepo size: 4
2021-08-13T22:38:36.972Z,1628894316.972 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:38:37.289Z,1628894317.289 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:38:37.289Z,1628894317.289 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:38:37.289Z,1628894317.289 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:38:37.290Z,1628894317.290 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:38:37.701Z,1628894317.701 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
068,000,00628,187,80,80,60,FF
2021-08-13T22:38:37.701Z,1628894317.701 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:38:37.701Z,1628894317.701 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:38:37.703Z,1628894317.703 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:38:38.111Z,1628894318.111 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:38:38.501Z,1628894318.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0062B,189,80,80,57,FF
2021-08-13T22:38:38.502Z,1628894318.501 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:38:38.969Z,1628894318.969 [Micromodem](INFO): Nmea in: $SNTTA,0.043803,,,,223839.24*4B

2021-08-13T22:38:39.023Z,1628894319.023 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 57.240005 m, bearing: 195.925657 deg, deltaT: 4.478019 s, approachRate: 0.040196 m/s, LOS rate: -12.962396 deg/s, posRepo size: 4
2021-08-13T22:38:41.507Z,1628894321.507 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:38:41.737Z,1628894321.737 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:38:41.737Z,1628894321.737 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:38:41.737Z,1628894321.737 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:38:41.738Z,1628894321.738 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:38:42.141Z,1628894322.141 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0062B,189,80,80,57,FF
2021-08-13T22:38:42.141Z,1628894322.141 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:38:42.141Z,1628894322.141 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:38:42.143Z,1628894322.143 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:38:42.545Z,1628894322.545 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:38:42.945Z,1628894322.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CE9,000,0062F,189,80,80,68,FF
2021-08-13T22:38:42.946Z,1628894322.946 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:38:43.397Z,1628894323.397 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 57.480007 m, bearing: 300.544197 deg, deltaT: 4.449812 s, approachRate: 0.053935 m/s, LOS rate: 23.510778 deg/s, posRepo size: 4
2021-08-13T22:38:45.821Z,1628894325.821 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:38:46.177Z,1628894326.177 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:38:46.177Z,1628894326.177 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:38:46.177Z,1628894326.177 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:38:46.178Z,1628894326.178 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:38:46.597Z,1628894326.597 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CE9,000,0062F,189,80,80,68,FF
2021-08-13T22:38:46.597Z,1628894326.597 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:38:46.597Z,1628894326.597 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:38:46.599Z,1628894326.599 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:38:47.021Z,1628894327.021 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:38:47.393Z,1628894327.393 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D1E,000,00633,189,80,80,6F,FF
2021-08-13T22:38:47.394Z,1628894327.394 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:38:47.817Z,1628894327.817 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223848.13*5B

2021-08-13T22:38:47.869Z,1628894327.869 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 57.719997 m, bearing: 298.845966 deg, deltaT: 4.378468 s, approachRate: 0.054811 m/s, LOS rate: -0.387860 deg/s, posRepo size: 4
2021-08-13T22:38:50.250Z,1628894330.250 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:38:50.621Z,1628894330.621 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:38:50.621Z,1628894330.621 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:38:50.621Z,1628894330.621 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:38:50.622Z,1628894330.622 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:38:51.025Z,1628894331.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D1E,000,00633,189,80,80,6F,FF
2021-08-13T22:38:51.025Z,1628894331.025 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:38:51.025Z,1628894331.025 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:38:51.027Z,1628894331.027 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:38:51.432Z,1628894331.432 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:38:51.862Z,1628894331.862 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF2,000,00639,186,80,80,82,FF
2021-08-13T22:38:51.862Z,1628894331.862 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:38:52.273Z,1628894332.273 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223852.56*51

2021-08-13T22:38:52.310Z,1628894332.310 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.080006 m, bearing: 276.636049 deg, deltaT: 4.480378 s, approachRate: 0.080352 m/s, LOS rate: -4.957152 deg/s, posRepo size: 4
2021-08-13T22:38:54.716Z,1628894334.716 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:38:55.065Z,1628894335.065 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:38:55.065Z,1628894335.065 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:38:55.065Z,1628894335.065 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:38:55.066Z,1628894335.066 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:38:55.475Z,1628894335.475 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF2,000,00639,186,80,80,82,FF
2021-08-13T22:38:55.475Z,1628894335.475 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:38:55.475Z,1628894335.475 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:38:55.477Z,1628894335.477 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:38:55.879Z,1628894335.879 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:38:56.285Z,1628894336.285 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DE4,000,0063B,188,80,80,46,FF
2021-08-13T22:38:56.285Z,1628894336.285 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:38:56.717Z,1628894336.717 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223857.01*56

2021-08-13T22:38:56.740Z,1628894336.740 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.200001 m, bearing: 291.264593 deg, deltaT: 4.411491 s, approachRate: 0.027201 m/s, LOS rate: 3.316009 deg/s, posRepo size: 4
2021-08-13T22:38:59.175Z,1628894339.175 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:38:59.517Z,1628894339.517 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:38:59.517Z,1628894339.517 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:38:59.517Z,1628894339.517 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:38:59.518Z,1628894339.518 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:38:59.953Z,1628894339.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DE4,000,0063B,188,80,80,46,FF
2021-08-13T22:38:59.953Z,1628894339.953 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:38:59.953Z,1628894339.953 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:38:59.959Z,1628894339.959 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:39:00.325Z,1628894340.325 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:39:00.721Z,1628894340.721 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E41,000,00646,186,80,80,28,FF
2021-08-13T22:39:00.722Z,1628894340.722 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:39:01.159Z,1628894341.159 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223901.50*50

2021-08-13T22:39:01.218Z,1628894341.218 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.860004 m, bearing: 288.030744 deg, deltaT: 4.467280 s, approachRate: 0.147742 m/s, LOS rate: -0.723897 deg/s, posRepo size: 4
2021-08-13T22:39:03.584Z,1628894343.584 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:39:03.955Z,1628894343.955 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:39:03.955Z,1628894343.955 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:39:03.955Z,1628894343.955 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:39:03.976Z,1628894343.976 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:39:04.361Z,1628894344.361 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E41,000,00646,186,80,80,28,FF
2021-08-13T22:39:04.361Z,1628894344.361 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:39:04.361Z,1628894344.361 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:39:04.363Z,1628894344.363 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:39:04.771Z,1628894344.771 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:39:05.594Z,1628894345.594 [Micromodem](INFO): Nmea in: $SNTTA,0.048852,,,,223905.90*45

2021-08-13T22:39:06.402Z,1628894346.402 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:39:08.001Z,1628894348.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA4,000,08D2F,186,80,80,88,FF
2021-08-13T22:39:08.002Z,1628894348.002 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:39:08.439Z,1628894348.439 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 2131.080078 m, bearing: 285.055131 deg, deltaT: 7.297897 s, approachRate: 283.947540 m/s, LOS rate: -0.407736 deg/s, posRepo size: 4
2021-08-13T22:39:08.440Z,1628894348.440 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 2131.08 m. Resuming terminal guidance.
2021-08-13T22:39:08.440Z,1628894348.440 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-13T22:39:08.889Z,1628894348.889 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-08-13T22:39:08.889Z,1628894348.889 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-13T22:39:08.889Z,1628894348.889 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-08-13T22:39:08.889Z,1628894348.889 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-08-13T22:39:08.890Z,1628894348.890 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2021-08-13T22:39:08.890Z,1628894348.890 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-08-13T22:39:08.890Z,1628894348.890 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-08-13T22:39:10.951Z,1628894350.951 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:39:11.255Z,1628894351.255 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:39:11.255Z,1628894351.255 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:39:11.255Z,1628894351.255 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:39:11.256Z,1628894351.256 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:39:11.664Z,1628894351.664 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EA4,000,08D2F,186,80,80,88,FF
2021-08-13T22:39:11.665Z,1628894351.665 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:39:11.665Z,1628894351.665 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:39:11.666Z,1628894351.666 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:39:12.060Z,1628894352.060 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:39:12.461Z,1628894352.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E85,000,00653,186,80,80,7E,FF
2021-08-13T22:39:12.462Z,1628894352.462 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:39:12.948Z,1628894352.948 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223913.20*54

2021-08-13T22:39:13.047Z,1628894353.047 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 59.640003 m, bearing: 288.524457 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-13T22:39:13.052Z,1628894353.052 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 288.524457deg and heading rate command to 0 deg/s.
2021-08-13T22:39:15.044Z,1628894355.044 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:39:15.289Z,1628894355.289 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:39:15.289Z,1628894355.289 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:39:15.289Z,1628894355.289 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:39:15.290Z,1628894355.290 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:39:15.693Z,1628894355.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E85,000,00653,186,80,80,7E,FF
2021-08-13T22:39:15.693Z,1628894355.693 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:39:15.693Z,1628894355.693 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:39:15.695Z,1628894355.695 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:39:16.100Z,1628894356.100 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:39:16.501Z,1628894356.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E61,000,00664,186,80,80,51,FF
2021-08-13T22:39:16.502Z,1628894356.502 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:39:16.962Z,1628894356.962 [Micromodem](INFO): Nmea in: $SNTTA,0.048498,,,,223917.23*44

2021-08-13T22:39:17.038Z,1628894357.038 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 60.660000 m, bearing: 289.164665 deg, deltaT: 3.993361 s, approachRate: 0.255423 m/s, LOS rate: 0.160318 deg/s, posRepo size: 2
2021-08-13T22:39:17.044Z,1628894357.044 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 60.660000 m,
      bearing: 289.164665 deg,
      approachRate: 0.255423 m/s,
      LOS rate: 0.160318 deg/s,
      cmd update: 0.480954 deg/s,
      cmd heading: 288.524457 deg,
      new cmd heading: 288.524457 deg.

2021-08-13T22:39:19.039Z,1628894359.039 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:39:19.337Z,1628894359.337 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:39:19.337Z,1628894359.337 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:39:19.337Z,1628894359.337 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:39:19.338Z,1628894359.338 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:39:19.739Z,1628894359.739 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E61,000,00664,186,80,80,51,FF
2021-08-13T22:39:19.739Z,1628894359.739 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:39:19.739Z,1628894359.739 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:39:19.741Z,1628894359.741 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:39:20.141Z,1628894360.141 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:39:20.545Z,1628894360.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E6E,000,00684,185,80,80,74,FF
2021-08-13T22:39:20.545Z,1628894360.545 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:39:20.981Z,1628894360.981 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223921.28*5D

2021-08-13T22:39:21.049Z,1628894361.049 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 62.580006 m, bearing: 287.402011 deg, deltaT: 4.044437 s, approachRate: 0.474728 m/s, LOS rate: -0.435822 deg/s, posRepo size: 3
2021-08-13T22:39:21.051Z,1628894361.051 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 62.580006 m,
      bearing: 287.402011 deg,
      approachRate: 0.474728 m/s,
      LOS rate: -0.435822 deg/s,
      cmd update: -1.307465 deg/s,
      cmd heading: 290.469597 deg,
      new cmd heading: 290.699463 deg.

2021-08-13T22:39:23.399Z,1628894363.399 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:39:23.781Z,1628894363.781 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:39:23.781Z,1628894363.781 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:39:23.781Z,1628894363.781 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:39:23.782Z,1628894363.782 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:39:24.181Z,1628894364.181 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E6E,000,00684,185,80,80,74,FF
2021-08-13T22:39:24.181Z,1628894364.181 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:39:24.182Z,1628894364.182 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:39:24.183Z,1628894364.183 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:39:24.585Z,1628894364.585 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:39:24.997Z,1628894364.997 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,18A,000,006AD,186,80,80,67,FF
2021-08-13T22:39:24.998Z,1628894364.998 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:39:25.429Z,1628894365.429 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223925.72*56

2021-08-13T22:39:25.455Z,1628894365.455 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 65.040001 m, bearing: 260.571334 deg, deltaT: 4.518461 s, approachRate: 0.544432 m/s, LOS rate: -5.938012 deg/s, posRepo size: 4
2021-08-13T22:39:25.477Z,1628894365.477 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 65.040001 m,
      bearing: 260.571334 deg,
      approachRate: 0.544432 m/s,
      LOS rate: -5.938012 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 284.572517 deg,
      new cmd heading: 284.073180 deg.

2021-08-13T22:39:27.847Z,1628894367.847 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:39:28.225Z,1628894368.225 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:39:28.225Z,1628894368.225 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:39:28.225Z,1628894368.225 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:39:28.226Z,1628894368.226 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:39:28.625Z,1628894368.625 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
18A,000,006AD,186,80,80,67,FF
2021-08-13T22:39:28.626Z,1628894368.626 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:39:28.626Z,1628894368.626 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:39:28.627Z,1628894368.627 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:39:29.065Z,1628894369.065 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:39:29.433Z,1628894369.433 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E78,000,006E0,186,80,80,B0,FF
2021-08-13T22:39:29.433Z,1628894369.433 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:39:29.870Z,1628894369.870 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223930.16*50

2021-08-13T22:39:29.908Z,1628894369.908 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 68.099998 m, bearing: 311.056295 deg, deltaT: 4.369004 s, approachRate: 0.700388 m/s, LOS rate: 11.555256 deg/s, posRepo size: 4
2021-08-13T22:39:29.909Z,1628894369.909 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 11.555256 deg/s. Setting heading cmd to target bearing of 311.056295deg and heading rate command to 0 deg/s.
2021-08-13T22:39:32.295Z,1628894372.295 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:39:32.661Z,1628894372.661 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:39:32.661Z,1628894372.661 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:39:32.661Z,1628894372.661 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:39:32.662Z,1628894372.662 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:39:33.085Z,1628894373.085 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E78,000,006E0,186,80,80,B0,FF
2021-08-13T22:39:33.085Z,1628894373.085 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:39:33.085Z,1628894373.085 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:39:33.087Z,1628894373.087 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:39:33.581Z,1628894373.581 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:39:34.382Z,1628894374.382 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223934.62*57

2021-08-13T22:39:34.819Z,1628894374.819 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:39:36.411Z,1628894376.411 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
0,186,80,80,B0,FF
2021-08-13T22:39:36.411Z,1628894376.411 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
0,186,80,80,B0,FF
2021-08-13T22:39:36.411Z,1628894376.411 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T22:39:37.631Z,1628894377.631 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:39:38.033Z,1628894378.033 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:39:38.033Z,1628894378.033 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:39:38.033Z,1628894378.033 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:39:38.034Z,1628894378.034 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:39:38.421Z,1628894378.421 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
0,186,80,80,B0,FF
2021-08-13T22:39:38.421Z,1628894378.421 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:39:38.421Z,1628894378.421 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:39:38.423Z,1628894378.423 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:39:38.844Z,1628894378.844 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:39:39.662Z,1628894379.662 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223939.96*51

2021-08-13T22:39:40.459Z,1628894380.459 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:39:42.065Z,1628894382.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
0,186,80,80,B0,FF
2021-08-13T22:39:42.066Z,1628894382.066 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
0,186,80,80,B0,FF
2021-08-13T22:39:42.066Z,1628894382.066 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T22:39:43.014Z,1628894383.014 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:39:43.269Z,1628894383.269 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:39:43.269Z,1628894383.269 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:39:43.269Z,1628894383.269 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:39:43.270Z,1628894383.270 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:39:43.673Z,1628894383.673 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
0,186,80,80,B0,FF
2021-08-13T22:39:43.673Z,1628894383.673 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:39:43.673Z,1628894383.673 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:39:43.675Z,1628894383.675 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:39:44.085Z,1628894384.085 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:39:44.486Z,1628894384.486 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED9,000,00791,186,80,80,9C,FF
2021-08-13T22:39:44.486Z,1628894384.486 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:39:44.955Z,1628894384.955 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223945.21*56

2021-08-13T22:39:45.029Z,1628894385.029 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 78.720009 m, bearing: 305.768772 deg, deltaT: 15.085143 s, approachRate: 0.704005 m/s, LOS rate: -0.350512 deg/s, posRepo size: 4
2021-08-13T22:39:45.031Z,1628894385.031 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 78.720009 m,
      bearing: 305.768772 deg,
      approachRate: 0.704005 m/s,
      LOS rate: -0.350512 deg/s,
      cmd update: -1.051536 deg/s,
      cmd heading: 311.056295 deg,
      new cmd heading: 311.056295 deg.

2021-08-13T22:39:46.966Z,1628894386.966 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T22:39:47.331Z,1628894387.331 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:39:47.721Z,1628894387.721 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:39:47.721Z,1628894387.721 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:39:47.721Z,1628894387.721 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:39:47.722Z,1628894387.722 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:39:48.117Z,1628894388.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ED9,000,00791,186,80,80,9C,FF
2021-08-13T22:39:48.117Z,1628894388.117 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:39:48.117Z,1628894388.117 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:39:48.119Z,1628894388.119 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:39:48.533Z,1628894388.533 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:39:48.938Z,1628894388.938 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F88,000,007BF,187,80,80,9F,FF
2021-08-13T22:39:48.938Z,1628894388.938 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:39:49.357Z,1628894389.357 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223949.65*5A

2021-08-13T22:39:49.412Z,1628894389.412 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 81.480003 m, bearing: 315.287215 deg, deltaT: 4.468033 s, approachRate: 0.617720 m/s, LOS rate: 2.130343 deg/s, posRepo size: 4
2021-08-13T22:39:49.414Z,1628894389.414 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 81.480003 m,
      bearing: 315.287215 deg,
      approachRate: 0.617720 m/s,
      LOS rate: 2.130343 deg/s,
      cmd update: 6.391028 deg/s,
      cmd heading: 306.358031 deg,
      new cmd heading: 305.928539 deg.

2021-08-13T22:39:51.805Z,1628894391.805 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:39:52.158Z,1628894392.158 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:39:52.158Z,1628894392.158 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:39:52.159Z,1628894392.159 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:39:52.160Z,1628894392.160 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:39:52.577Z,1628894392.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F88,000,007BF,187,80,80,9F,FF
2021-08-13T22:39:52.577Z,1628894392.577 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:39:52.577Z,1628894392.577 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:39:52.579Z,1628894392.579 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:39:53.005Z,1628894393.005 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:39:53.382Z,1628894393.382 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF5,000,007EE,186,80,80,95,FF
2021-08-13T22:39:53.382Z,1628894393.382 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:39:53.811Z,1628894393.811 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 84.300011 m, bearing: 333.011911 deg, deltaT: 4.396960 s, approachRate: 0.641354 m/s, LOS rate: 4.031125 deg/s, posRepo size: 4
2021-08-13T22:39:53.814Z,1628894393.814 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 84.300011 m,
      bearing: 333.011911 deg,
      approachRate: 0.641354 m/s,
      LOS rate: 4.031125 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 334.485165 deg,
      new cmd heading: 337.113584 deg.

2021-08-13T22:39:56.238Z,1628894396.238 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:39:56.613Z,1628894396.613 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:39:56.613Z,1628894396.613 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:39:56.614Z,1628894396.614 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:39:56.615Z,1628894396.615 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:39:57.013Z,1628894397.013 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF5,000,007EE,186,80,80,95,FF
2021-08-13T22:39:57.014Z,1628894397.014 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:39:57.014Z,1628894397.014 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:39:57.015Z,1628894397.015 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:39:57.051Z,1628894397.051 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-13T22:39:57.441Z,1628894397.441 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:39:57.821Z,1628894397.821 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C3C,000,00816,188,80,80,76,FF
2021-08-13T22:39:57.822Z,1628894397.822 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:39:58.265Z,1628894398.265 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223958.55*59

2021-08-13T22:39:58.302Z,1628894398.302 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 86.700005 m, bearing: 23.231442 deg, deltaT: 4.439351 s, approachRate: 0.540618 m/s, LOS rate: 11.312358 deg/s, posRepo size: 4
2021-08-13T22:39:58.307Z,1628894398.307 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 86.700005 m,
      bearing: 23.231442 deg,
      approachRate: 0.540618 m/s,
      LOS rate: 11.312358 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 27.750047 deg,
      new cmd heading: 33.303551 deg.

2021-08-13T22:40:00.693Z,1628894400.693 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:40:01.049Z,1628894401.049 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:40:01.049Z,1628894401.049 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:40:01.049Z,1628894401.049 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:40:01.050Z,1628894401.050 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:40:01.451Z,1628894401.451 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C3C,000,00816,188,80,80,76,FF
2021-08-13T22:40:01.451Z,1628894401.451 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:40:01.451Z,1628894401.451 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:40:01.455Z,1628894401.455 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:40:01.897Z,1628894401.897 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:40:02.262Z,1628894402.262 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D02,000,00838,189,80,80,B0,FF
2021-08-13T22:40:02.263Z,1628894402.263 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:40:02.705Z,1628894402.705 [Micromodem](INFO): Nmea in: $SNTTA,0.058749,,,,224002.99*41

2021-08-13T22:40:02.722Z,1628894402.722 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 88.740005 m, bearing: 34.256291 deg, deltaT: 4.496390 s, approachRate: 0.453698 m/s, LOS rate: 2.451934 deg/s, posRepo size: 4
2021-08-13T22:40:02.724Z,1628894402.724 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 88.740005 m,
      bearing: 34.256291 deg,
      approachRate: 0.453698 m/s,
      LOS rate: 2.451934 deg/s,
      cmd update: 7.355800 deg/s,
      cmd heading: 81.666048 deg,
      new cmd heading: 86.346048 deg.

2021-08-13T22:40:05.153Z,1628894405.153 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:40:05.498Z,1628894405.498 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:40:05.498Z,1628894405.498 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:40:05.498Z,1628894405.498 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:40:05.499Z,1628894405.499 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:40:05.905Z,1628894405.905 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D02,000,00838,189,80,80,B0,FF
2021-08-13T22:40:05.905Z,1628894405.905 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:40:05.905Z,1628894405.905 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:40:05.907Z,1628894405.907 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:40:06.323Z,1628894406.323 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:40:06.705Z,1628894406.705 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DDD,000,00842,188,80,80,91,FF
2021-08-13T22:40:06.705Z,1628894406.705 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:40:07.161Z,1628894407.161 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224007.44*5D

2021-08-13T22:40:07.172Z,1628894407.172 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-13T22:40:07.238Z,1628894407.238 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 89.340004 m, bearing: 44.477079 deg, deltaT: 4.414328 s, approachRate: 0.135921 m/s, LOS rate: 2.315366 deg/s, posRepo size: 4
2021-08-13T22:40:07.248Z,1628894407.248 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 89.340004 m,
      bearing: 44.477079 deg,
      approachRate: 0.135921 m/s,
      LOS rate: 2.315366 deg/s,
      cmd update: 6.946099 deg/s,
      cmd heading: 114.137045 deg,
      new cmd heading: 117.754009 deg.

2021-08-13T22:40:09.574Z,1628894409.574 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:40:09.955Z,1628894409.955 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:40:09.955Z,1628894409.955 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:40:09.955Z,1628894409.955 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:40:09.957Z,1628894409.957 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:40:10.346Z,1628894410.346 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DDD,000,00842,188,80,80,91,FF
2021-08-13T22:40:10.346Z,1628894410.346 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:40:10.346Z,1628894410.346 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:40:10.347Z,1628894410.347 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:40:10.749Z,1628894410.749 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:40:11.153Z,1628894411.153 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DA7,000,00845,189,80,80,A2,FF
2021-08-13T22:40:11.153Z,1628894411.153 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:40:11.589Z,1628894411.589 [Micromodem](INFO): Nmea in: $SNTTA,0.059361,,,,224011.88*4C

2021-08-13T22:40:11.612Z,1628894411.612 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 89.519997 m, bearing: 70.426224 deg, deltaT: 4.518968 s, approachRate: 0.039830 m/s, LOS rate: 5.742272 deg/s, posRepo size: 4
2021-08-13T22:40:11.614Z,1628894411.614 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 89.519997 m,
      bearing: 70.426224 deg,
      approachRate: 0.039830 m/s,
      LOS rate: 5.742272 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 145.496897 deg,
      new cmd heading: 147.936228 deg.

2021-08-13T22:40:14.036Z,1628894414.036 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:40:14.381Z,1628894414.381 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:40:14.381Z,1628894414.381 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:40:14.381Z,1628894414.381 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:40:14.382Z,1628894414.382 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:40:14.789Z,1628894414.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DA7,000,00845,189,80,80,A2,FF
2021-08-13T22:40:14.789Z,1628894414.789 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:40:14.789Z,1628894414.789 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:40:14.791Z,1628894414.791 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:40:15.189Z,1628894415.189 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:40:15.594Z,1628894415.594 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B14,000,00837,189,80,80,C0,FF
2021-08-13T22:40:15.594Z,1628894415.594 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:40:16.044Z,1628894416.044 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224016.33*5D

2021-08-13T22:40:16.083Z,1628894416.083 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 88.680000 m, bearing: 124.608947 deg, deltaT: 4.341372 s, approachRate: -0.193486 m/s, LOS rate: 12.480553 deg/s, posRepo size: 4
2021-08-13T22:40:16.112Z,1628894416.112 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.480553 deg/s. Setting heading cmd to target bearing of 124.608947deg and heading rate command to 0 deg/s.
2021-08-13T22:40:18.446Z,1628894418.446 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:40:18.836Z,1628894418.836 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:40:18.836Z,1628894418.836 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:40:18.837Z,1628894418.837 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:40:18.838Z,1628894418.838 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:40:19.233Z,1628894419.233 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B14,000,00837,189,80,80,C0,FF
2021-08-13T22:40:19.233Z,1628894419.233 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:40:19.233Z,1628894419.233 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:40:19.235Z,1628894419.235 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:40:19.640Z,1628894419.640 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:40:20.041Z,1628894420.041 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CF0,000,00821,189,80,80,B0,FF
2021-08-13T22:40:20.041Z,1628894420.041 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:40:20.469Z,1628894420.469 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224020.77*58

2021-08-13T22:40:20.505Z,1628894420.505 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 87.360008 m, bearing: 120.171345 deg, deltaT: 4.490666 s, approachRate: -0.293941 m/s, LOS rate: -0.988183 deg/s, posRepo size: 4
2021-08-13T22:40:20.507Z,1628894420.507 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 87.360008 m,
      bearing: 120.171345 deg,
      approachRate: -0.293941 m/s,
      LOS rate: -0.988183 deg/s,
      cmd update: -2.964550 deg/s,
      cmd heading: 124.608947 deg,
      new cmd heading: 124.608947 deg.

2021-08-13T22:40:23.002Z,1628894423.002 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:40:23.273Z,1628894423.273 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:40:23.273Z,1628894423.273 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:40:23.273Z,1628894423.273 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:40:23.274Z,1628894423.274 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:40:23.682Z,1628894423.682 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CF0,000,00821,189,80,80,B0,FF
2021-08-13T22:40:23.682Z,1628894423.682 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:40:23.682Z,1628894423.682 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:40:23.687Z,1628894423.687 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:40:24.081Z,1628894424.081 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:40:24.485Z,1628894424.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D81,000,00800,18A,80,80,7E,FF
2021-08-13T22:40:24.486Z,1628894424.486 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:40:25.051Z,1628894425.051 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 85.379997 m, bearing: 131.622636 deg, deltaT: 4.401394 s, approachRate: -0.449860 m/s, LOS rate: 2.601742 deg/s, posRepo size: 4
2021-08-13T22:40:25.058Z,1628894425.058 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 85.379997 m,
      bearing: 131.622636 deg,
      approachRate: -0.449860 m/s,
      LOS rate: 2.601742 deg/s,
      cmd update: 7.805225 deg/s,
      cmd heading: 111.527104 deg,
      new cmd heading: 109.902822 deg.

2021-08-13T22:40:26.987Z,1628894426.987 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-13T22:40:27.013Z,1628894427.013 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:40:27.313Z,1628894427.313 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:40:27.313Z,1628894427.313 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:40:27.314Z,1628894427.314 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:40:27.315Z,1628894427.315 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:40:27.713Z,1628894427.713 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D81,000,00800,18A,80,80,7E,FF
2021-08-13T22:40:27.713Z,1628894427.713 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:40:27.713Z,1628894427.713 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:40:27.715Z,1628894427.715 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:40:28.124Z,1628894428.124 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:40:28.521Z,1628894428.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F1D,000,007DD,186,80,80,CA,FF
2021-08-13T22:40:28.521Z,1628894428.521 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:40:28.981Z,1628894428.981 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224029.25*56

2021-08-13T22:40:29.085Z,1628894429.085 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 83.279999 m, bearing: 124.333772 deg, deltaT: 4.036055 s, approachRate: -0.520310 m/s, LOS rate: -1.805938 deg/s, posRepo size: 4
2021-08-13T22:40:29.093Z,1628894429.093 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 83.279999 m,
      bearing: 124.333772 deg,
      approachRate: -0.520310 m/s,
      LOS rate: -1.805938 deg/s,
      cmd update: -5.417813 deg/s,
      cmd heading: 143.029493 deg,
      new cmd heading: 147.244775 deg.

2021-08-13T22:40:31.055Z,1628894431.055 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:40:31.346Z,1628894431.346 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:40:31.346Z,1628894431.346 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:40:31.347Z,1628894431.347 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:40:31.348Z,1628894431.348 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:40:31.755Z,1628894431.755 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F1D,000,007DD,186,80,80,CA,FF
2021-08-13T22:40:31.755Z,1628894431.755 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:40:31.755Z,1628894431.755 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:40:31.757Z,1628894431.757 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:40:32.188Z,1628894432.188 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:40:32.561Z,1628894432.561 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,015,000,007B6,183,80,80,AA,FF
2021-08-13T22:40:32.561Z,1628894432.561 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:40:33.002Z,1628894433.002 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224033.29*51

2021-08-13T22:40:33.037Z,1628894433.037 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 80.940002 m, bearing: 123.563573 deg, deltaT: 4.071850 s, approachRate: -0.574676 m/s, LOS rate: -0.189152 deg/s, posRepo size: 4
2021-08-13T22:40:33.039Z,1628894433.039 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 80.940002 m,
      bearing: 123.563573 deg,
      approachRate: -0.574676 m/s,
      LOS rate: -0.189152 deg/s,
      cmd update: -0.567457 deg/s,
      cmd heading: 120.990784 deg,
      new cmd heading: 118.656335 deg.

2021-08-13T22:40:35.422Z,1628894435.422 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:40:35.793Z,1628894435.793 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:40:35.793Z,1628894435.793 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:40:35.793Z,1628894435.793 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:40:35.794Z,1628894435.794 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:40:36.205Z,1628894436.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
015,000,007B6,183,80,80,AA,FF
2021-08-13T22:40:36.205Z,1628894436.205 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:40:36.205Z,1628894436.205 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:40:36.207Z,1628894436.207 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:40:36.605Z,1628894436.605 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:40:37.005Z,1628894437.005 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0D6,000,00787,186,80,80,BF,FF
2021-08-13T22:40:37.005Z,1628894437.005 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:40:37.453Z,1628894437.453 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224037.74*5D

2021-08-13T22:40:37.472Z,1628894437.472 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 78.119995 m, bearing: 120.277159 deg, deltaT: 4.468171 s, approachRate: -0.631132 m/s, LOS rate: -0.735517 deg/s, posRepo size: 4
2021-08-13T22:40:37.474Z,1628894437.474 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 78.119995 m,
      bearing: 120.277159 deg,
      approachRate: -0.631132 m/s,
      LOS rate: -0.735517 deg/s,
      cmd update: -2.206550 deg/s,
      cmd heading: 118.453008 deg,
      new cmd heading: 118.229842 deg.

2021-08-13T22:40:39.869Z,1628894439.869 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:40:40.249Z,1628894440.249 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:40:40.249Z,1628894440.249 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:40:40.249Z,1628894440.249 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:40:40.250Z,1628894440.250 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:40:40.652Z,1628894440.652 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0D6,000,00787,186,80,80,BF,FF
2021-08-13T22:40:40.652Z,1628894440.652 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:40:40.653Z,1628894440.653 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:40:40.654Z,1628894440.654 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:40:41.049Z,1628894441.049 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:40:41.550Z,1628894441.550 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F3F,000,0075A,186,80,80,78,FF
2021-08-13T22:40:41.550Z,1628894441.550 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:40:41.907Z,1628894441.907 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224042.19*54

2021-08-13T22:40:41.973Z,1628894441.973 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 75.420006 m, bearing: 122.333988 deg, deltaT: 4.495013 s, approachRate: -0.600663 m/s, LOS rate: 0.457580 deg/s, posRepo size: 4
2021-08-13T22:40:41.975Z,1628894441.975 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 75.420006 m,
      bearing: 122.333988 deg,
      approachRate: -0.600663 m/s,
      LOS rate: 0.457580 deg/s,
      cmd update: 1.372741 deg/s,
      cmd heading: 108.534494 deg,
      new cmd heading: 107.662181 deg.

2021-08-13T22:40:44.333Z,1628894444.333 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:40:44.685Z,1628894444.685 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:40:44.685Z,1628894444.685 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:40:44.685Z,1628894444.685 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:40:44.686Z,1628894444.686 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:40:45.085Z,1628894445.085 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F3F,000,0075A,186,80,80,78,FF
2021-08-13T22:40:45.085Z,1628894445.085 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:40:45.085Z,1628894445.085 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:40:45.087Z,1628894445.087 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:40:45.492Z,1628894445.492 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:40:45.890Z,1628894445.890 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E3E,000,00731,186,80,80,A9,FF
2021-08-13T22:40:45.891Z,1628894445.891 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:40:46.409Z,1628894446.409 [Micromodem](INFO): Nmea in: $SNTTA,0.048376,,,,224046.62*4C

2021-08-13T22:40:46.441Z,1628894446.441 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 72.959999 m, bearing: 127.697463 deg, deltaT: 4.360914 s, approachRate: -0.564103 m/s, LOS rate: 1.229897 deg/s, posRepo size: 4
2021-08-13T22:40:46.443Z,1628894446.443 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 72.959999 m,
      bearing: 127.697463 deg,
      approachRate: -0.564103 m/s,
      LOS rate: 1.229897 deg/s,
      cmd update: 3.689690 deg/s,
      cmd heading: 114.515334 deg,
      new cmd heading: 115.215060 deg.

2021-08-13T22:40:48.749Z,1628894448.749 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:40:49.129Z,1628894449.129 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:40:49.130Z,1628894449.130 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:40:49.130Z,1628894449.130 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:40:49.131Z,1628894449.131 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:40:49.529Z,1628894449.529 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E3E,000,00731,186,80,80,A9,FF
2021-08-13T22:40:49.529Z,1628894449.529 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:40:49.529Z,1628894449.529 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:40:49.531Z,1628894449.531 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:40:49.958Z,1628894449.958 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:40:50.342Z,1628894450.342 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE4,000,00702,186,80,80,8B,FF
2021-08-13T22:40:50.342Z,1628894450.342 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:40:50.773Z,1628894450.773 [Micromodem](INFO): Nmea in: $SNTTA,0.050666,,,,224051.07*44

2021-08-13T22:40:50.796Z,1628894450.796 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 70.139999 m, bearing: 126.076099 deg, deltaT: 4.430381 s, approachRate: -0.636514 m/s, LOS rate: -0.365965 deg/s, posRepo size: 4
2021-08-13T22:40:50.798Z,1628894450.798 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 70.139999 m,
      bearing: 126.076099 deg,
      approachRate: -0.636514 m/s,
      LOS rate: -0.365965 deg/s,
      cmd update: -1.097895 deg/s,
      cmd heading: 130.860176 deg,
      new cmd heading: 132.465578 deg.

2021-08-13T22:40:53.243Z,1628894453.243 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:40:53.586Z,1628894453.586 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:40:53.586Z,1628894453.586 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:40:53.587Z,1628894453.587 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:40:53.588Z,1628894453.588 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:40:54.001Z,1628894454.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE4,000,00702,186,80,80,8B,FF
2021-08-13T22:40:54.002Z,1628894454.002 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:40:54.002Z,1628894454.002 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:40:54.003Z,1628894454.003 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:40:54.396Z,1628894454.397 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:40:54.799Z,1628894454.799 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FBE,000,006D4,185,80,80,B3,FF
2021-08-13T22:40:54.799Z,1628894454.799 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:40:55.226Z,1628894455.226 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224055.54*5B

2021-08-13T22:40:55.295Z,1628894455.295 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 67.380005 m, bearing: 124.758842 deg, deltaT: 4.469582 s, approachRate: -0.617506 m/s, LOS rate: -0.294716 deg/s, posRepo size: 4
2021-08-13T22:40:55.302Z,1628894455.302 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 67.380005 m,
      bearing: 124.758842 deg,
      approachRate: -0.617506 m/s,
      LOS rate: -0.294716 deg/s,
      cmd update: -0.884147 deg/s,
      cmd heading: 125.961304 deg,
      new cmd heading: 125.442175 deg.

2021-08-13T22:40:57.639Z,1628894457.639 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:40:58.053Z,1628894458.053 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:40:58.053Z,1628894458.053 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:40:58.053Z,1628894458.053 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:40:58.054Z,1628894458.054 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:40:58.433Z,1628894458.433 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FBE,000,006D4,185,80,80,B3,FF
2021-08-13T22:40:58.433Z,1628894458.433 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:40:58.433Z,1628894458.433 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:40:58.435Z,1628894458.435 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:40:58.860Z,1628894458.860 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:40:59.243Z,1628894459.243 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F9D,000,006A7,186,80,80,66,FF
2021-08-13T22:40:59.243Z,1628894459.243 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:40:59.681Z,1628894459.681 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224059.97*58

2021-08-13T22:40:59.721Z,1628894459.721 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 64.680008 m, bearing: 123.783177 deg, deltaT: 4.435329 s, approachRate: -0.608748 m/s, LOS rate: -0.219976 deg/s, posRepo size: 4
2021-08-13T22:40:59.723Z,1628894459.723 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 64.680008 m,
      bearing: 123.783177 deg,
      approachRate: -0.608748 m/s,
      LOS rate: -0.219976 deg/s,
      cmd update: -0.659927 deg/s,
      cmd heading: 122.029228 deg,
      new cmd heading: 121.631426 deg.

2021-08-13T22:41:02.105Z,1628894462.105 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:41:02.473Z,1628894462.473 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:41:02.473Z,1628894462.473 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:41:02.473Z,1628894462.473 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:41:02.474Z,1628894462.474 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:41:02.921Z,1628894462.921 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F9D,000,006A7,186,80,80,66,FF
2021-08-13T22:41:02.921Z,1628894462.921 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:41:02.922Z,1628894462.922 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:41:02.927Z,1628894462.927 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:41:03.328Z,1628894463.328 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:41:03.729Z,1628894463.729 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F30,000,00676,186,80,80,6A,FF
2021-08-13T22:41:03.730Z,1628894463.730 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:41:04.161Z,1628894464.161 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224104.46*5D

2021-08-13T22:41:04.201Z,1628894464.201 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 61.740002 m, bearing: 125.979561 deg, deltaT: 4.518952 s, approachRate: -0.650595 m/s, LOS rate: 0.486038 deg/s, posRepo size: 4
2021-08-13T22:41:04.203Z,1628894464.203 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 61.740002 m,
      bearing: 125.979561 deg,
      approachRate: -0.650595 m/s,
      LOS rate: 0.486038 deg/s,
      cmd update: 1.458115 deg/s,
      cmd heading: 119.048383 deg,
      new cmd heading: 118.775382 deg.

2021-08-13T22:41:06.586Z,1628894466.586 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:41:06.965Z,1628894466.965 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:41:06.965Z,1628894466.965 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:41:06.966Z,1628894466.966 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:41:06.967Z,1628894466.967 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:41:07.373Z,1628894467.373 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F30,000,00676,186,80,80,6A,FF
2021-08-13T22:41:07.373Z,1628894467.373 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:41:07.373Z,1628894467.373 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:41:07.375Z,1628894467.375 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:41:07.777Z,1628894467.777 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:41:08.197Z,1628894468.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF0,000,00647,186,80,80,8B,FF
2021-08-13T22:41:08.197Z,1628894468.197 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:41:08.606Z,1628894468.606 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224108.91*5B

2021-08-13T22:41:08.646Z,1628894468.646 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.920006 m, bearing: 128.692963 deg, deltaT: 4.484307 s, approachRate: -0.628859 m/s, LOS rate: 0.605088 deg/s, posRepo size: 4
2021-08-13T22:41:08.648Z,1628894468.648 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 58.920006 m,
      bearing: 128.692963 deg,
      approachRate: -0.628859 m/s,
      LOS rate: 0.605088 deg/s,
      cmd update: 1.815265 deg/s,
      cmd heading: 125.583949 deg,
      new cmd heading: 126.133187 deg.

2021-08-13T22:41:11.093Z,1628894471.093 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:41:11.409Z,1628894471.409 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:41:11.409Z,1628894471.409 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:41:11.409Z,1628894471.409 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:41:11.410Z,1628894471.410 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:41:11.813Z,1628894471.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF0,000,00647,186,80,80,8B,FF
2021-08-13T22:41:11.813Z,1628894471.813 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:41:11.814Z,1628894471.814 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:41:11.815Z,1628894471.815 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:41:12.213Z,1628894472.213 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:41:12.621Z,1628894472.621 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA9,000,00616,185,80,80,94,FF
2021-08-13T22:41:12.622Z,1628894472.622 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:41:13.065Z,1628894473.065 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224113.35*5F

2021-08-13T22:41:13.152Z,1628894473.152 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 55.980003 m, bearing: 124.074116 deg, deltaT: 4.381292 s, approachRate: -0.671035 m/s, LOS rate: -1.054220 deg/s, posRepo size: 4
2021-08-13T22:41:13.154Z,1628894473.154 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 55.980003 m,
      bearing: 124.074116 deg,
      approachRate: -0.671035 m/s,
      LOS rate: -1.054220 deg/s,
      cmd update: -3.162661 deg/s,
      cmd heading: 133.515582 deg,
      new cmd heading: 134.439856 deg.

2021-08-13T22:41:15.467Z,1628894475.467 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:41:15.845Z,1628894475.845 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:41:15.845Z,1628894475.845 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:41:15.845Z,1628894475.845 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:41:15.846Z,1628894475.846 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:41:16.258Z,1628894476.258 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA9,000,00616,185,80,80,94,FF
2021-08-13T22:41:16.258Z,1628894476.258 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:41:16.258Z,1628894476.258 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:41:16.259Z,1628894476.259 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:41:16.660Z,1628894476.660 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:41:17.057Z,1628894477.057 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,01A,000,005E7,185,80,80,86,FF
2021-08-13T22:41:17.057Z,1628894477.057 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:41:17.501Z,1628894477.501 [Micromodem](INFO): Nmea in: $SNTTA,0.148431,,,,224117.79*46

2021-08-13T22:41:17.543Z,1628894477.543 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.159996 m, bearing: 123.225519 deg, deltaT: 4.520650 s, approachRate: -0.623806 m/s, LOS rate: -0.187716 deg/s, posRepo size: 4
2021-08-13T22:41:17.545Z,1628894477.545 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 53.159996 m,
      bearing: 123.225519 deg,
      approachRate: -0.623806 m/s,
      LOS rate: -0.187716 deg/s,
      cmd update: -0.563147 deg/s,
      cmd heading: 119.179963 deg,
      new cmd heading: 118.005262 deg.

2021-08-13T22:41:19.952Z,1628894479.952 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:41:20.295Z,1628894480.295 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:41:20.296Z,1628894480.296 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:41:20.296Z,1628894480.296 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:41:20.297Z,1628894480.297 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:41:20.693Z,1628894480.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
01A,000,005E7,185,80,80,86,FF
2021-08-13T22:41:20.693Z,1628894480.693 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:41:20.693Z,1628894480.693 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:41:20.695Z,1628894480.695 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:41:21.113Z,1628894481.113 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:41:21.505Z,1628894481.505 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F11,000,005BA,186,80,80,AC,FF
2021-08-13T22:41:21.506Z,1628894481.506 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:41:21.989Z,1628894481.989 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224122.23*5A

2021-08-13T22:41:22.038Z,1628894482.038 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 50.459995 m, bearing: 127.648395 deg, deltaT: 4.347498 s, approachRate: -0.621047 m/s, LOS rate: 1.017338 deg/s, posRepo size: 4
2021-08-13T22:41:22.040Z,1628894482.040 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 50.459995 m,
      bearing: 127.648395 deg,
      approachRate: -0.621047 m/s,
      LOS rate: 1.017338 deg/s,
      cmd update: 3.052014 deg/s,
      cmd heading: 116.729536 deg,
      new cmd heading: 116.439405 deg.

2021-08-13T22:41:24.359Z,1628894484.359 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:41:24.733Z,1628894484.733 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:41:24.733Z,1628894484.733 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:41:24.733Z,1628894484.733 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:41:24.734Z,1628894484.734 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:41:25.149Z,1628894485.149 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F11,000,005BA,186,80,80,AC,FF
2021-08-13T22:41:25.149Z,1628894485.149 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:41:25.149Z,1628894485.149 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:41:25.151Z,1628894485.151 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:41:25.562Z,1628894485.562 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:41:25.957Z,1628894485.957 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ECD,000,0058D,186,80,80,6B,FF
2021-08-13T22:41:25.957Z,1628894485.957 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:41:26.393Z,1628894486.393 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224126.68*51

2021-08-13T22:41:26.420Z,1628894486.420 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.759995 m, bearing: 129.830599 deg, deltaT: 4.528234 s, approachRate: -0.596259 m/s, LOS rate: 0.481911 deg/s, posRepo size: 4
2021-08-13T22:41:26.422Z,1628894486.422 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 47.759995 m,
      bearing: 129.830599 deg,
      approachRate: -0.596259 m/s,
      LOS rate: 0.481911 deg/s,
      cmd update: 1.445732 deg/s,
      cmd heading: 130.515717 deg,
      new cmd heading: 131.675898 deg.

2021-08-13T22:41:27.201Z,1628894487.201 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T22:41:28.800Z,1628894488.800 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:41:29.193Z,1628894489.193 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:41:29.193Z,1628894489.193 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:41:29.193Z,1628894489.193 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:41:29.194Z,1628894489.194 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:41:29.589Z,1628894489.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ECD,000,0058D,186,80,80,6B,FF
2021-08-13T22:41:29.589Z,1628894489.589 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:41:29.589Z,1628894489.589 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:41:29.591Z,1628894489.591 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:41:30.016Z,1628894490.016 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:41:30.397Z,1628894490.397 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD3,000,0055D,185,80,80,8B,FF
2021-08-13T22:41:30.397Z,1628894490.397 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:41:30.869Z,1628894490.869 [Micromodem](INFO): Nmea in: $SNTTA,0.043952,,,,224131.12*4D

2021-08-13T22:41:30.993Z,1628894490.993 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 44.879997 m, bearing: 126.091781 deg, deltaT: 4.363148 s, approachRate: -0.660073 m/s, LOS rate: -0.856908 deg/s, posRepo size: 4
2021-08-13T22:41:30.995Z,1628894490.995 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 44.879997 m,
      bearing: 126.091781 deg,
      approachRate: -0.660073 m/s,
      LOS rate: -0.856908 deg/s,
      cmd update: -2.570725 deg/s,
      cmd heading: 136.840120 deg,
      new cmd heading: 137.671269 deg.

2021-08-13T22:41:32.030Z,1628894492.030 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T22:41:33.294Z,1628894493.294 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:41:33.636Z,1628894493.636 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:41:33.637Z,1628894493.637 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:41:33.637Z,1628894493.637 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:41:33.638Z,1628894493.638 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:41:34.037Z,1628894494.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD3,000,0055D,185,80,80,8B,FF
2021-08-13T22:41:34.037Z,1628894494.037 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:41:34.038Z,1628894494.038 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:41:34.093Z,1628894494.093 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:41:34.437Z,1628894494.437 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:41:34.866Z,1628894494.866 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,032,000,0052C,184,80,80,BA,FF
2021-08-13T22:41:34.867Z,1628894494.867 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:41:35.267Z,1628894495.267 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224135.63*58

2021-08-13T22:41:35.315Z,1628894495.315 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 41.940002 m, bearing: 125.629732 deg, deltaT: 4.610895 s, approachRate: -0.637619 m/s, LOS rate: -0.100208 deg/s, posRepo size: 4
2021-08-13T22:41:35.318Z,1628894495.318 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 41.940002 m,
      bearing: 125.629732 deg,
      approachRate: -0.637619 m/s,
      LOS rate: -0.100208 deg/s,
      cmd update: -0.300624 deg/s,
      cmd heading: 125.008023 deg,
      new cmd heading: 124.239990 deg.

2021-08-13T22:41:36.999Z,1628894496.999 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T22:41:37.700Z,1628894497.700 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:41:38.070Z,1628894498.070 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:41:38.070Z,1628894498.070 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:41:38.070Z,1628894498.070 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:41:38.071Z,1628894498.071 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:41:38.477Z,1628894498.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
032,000,0052C,184,80,80,BA,FF
2021-08-13T22:41:38.477Z,1628894498.477 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:41:38.477Z,1628894498.477 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:41:38.479Z,1628894498.479 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:41:38.962Z,1628894498.962 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:41:39.281Z,1628894499.281 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F73,000,00500,187,80,80,B1,FF
2021-08-13T22:41:39.281Z,1628894499.281 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:41:39.733Z,1628894499.733 [Micromodem](INFO): Nmea in: $SNTTA,0.044235,,,,224140.01*44

2021-08-13T22:41:39.755Z,1628894499.755 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.299999 m, bearing: 128.179483 deg, deltaT: 4.273300 s, approachRate: -0.617790 m/s, LOS rate: 0.596670 deg/s, posRepo size: 4
2021-08-13T22:41:39.756Z,1628894499.756 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 39.30 m.
2021-08-13T22:41:39.758Z,1628894499.758 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 39.299999 m,
      bearing: 128.179483 deg,
      approachRate: -0.617790 m/s,
      LOS rate: 0.596670 deg/s,
      cmd update: 1.790011 deg/s,
      cmd heading: 123.720905 deg,
      new cmd heading: 123.583441 deg.

2021-08-13T22:41:40.138Z,1628894500.138 [PowerOnly](INFO): Powering up loadControl
2021-08-13T22:41:40.194Z,1628894500.194 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-13T22:41:40.194Z,1628894500.194 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T22:41:40.195Z,1628894500.195 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-13T22:41:40.195Z,1628894500.195 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-13T22:41:40.195Z,1628894500.195 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-13T22:41:40.195Z,1628894500.195 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-13T22:41:40.549Z,1628894500.549 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-13T22:41:40.549Z,1628894500.549 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T22:41:40.549Z,1628894500.549 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-13T22:41:40.550Z,1628894500.550 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T22:41:42.187Z,1628894502.187 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:41:42.521Z,1628894502.521 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:41:42.521Z,1628894502.521 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:41:42.521Z,1628894502.521 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:41:42.522Z,1628894502.522 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:41:42.958Z,1628894502.958 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F73,000,00500,187,80,80,B1,FF
2021-08-13T22:41:42.958Z,1628894502.958 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:41:42.959Z,1628894502.959 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:41:42.968Z,1628894502.968 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:41:43.335Z,1628894503.335 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:41:43.727Z,1628894503.727 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F6C,000,004CE,186,80,80,6C,FF
2021-08-13T22:41:43.727Z,1628894503.727 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:41:43.797Z,1628894503.797 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:41:44.151Z,1628894504.151 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224144.50*5E

2021-08-13T22:41:44.201Z,1628894504.201 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.299995 m, bearing: 124.339496 deg, deltaT: 4.496068 s, approachRate: -0.667251 m/s, LOS rate: -0.854077 deg/s, posRepo size: 4
2021-08-13T22:41:44.202Z,1628894504.202 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 36.30 m.
2021-08-13T22:41:44.204Z,1628894504.204 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 36.299995 m,
      bearing: 124.339496 deg,
      approachRate: -0.667251 m/s,
      LOS rate: -0.854077 deg/s,
      cmd update: -2.562230 deg/s,
      cmd heading: 131.760946 deg,
      new cmd heading: 132.496950 deg.

2021-08-13T22:41:46.579Z,1628894506.579 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:41:47.030Z,1628894507.030 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:41:47.030Z,1628894507.030 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:41:47.031Z,1628894507.031 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:41:47.032Z,1628894507.032 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:41:47.103Z,1628894507.103 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T22:41:47.369Z,1628894507.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F6C,000,004CE,186,80,80,6C,FF
2021-08-13T22:41:47.369Z,1628894507.369 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:41:47.369Z,1628894507.369 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:41:47.371Z,1628894507.371 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:41:47.777Z,1628894507.777 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:41:48.253Z,1628894508.253 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE5,000,0049F,183,80,80,93,FF
2021-08-13T22:41:48.253Z,1628894508.253 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:41:48.307Z,1628894508.307 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:41:48.617Z,1628894508.617 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224148.91*5F

2021-08-13T22:41:48.667Z,1628894508.667 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 33.480000 m, bearing: 122.942708 deg, deltaT: 4.509937 s, approachRate: -0.625285 m/s, LOS rate: -0.309713 deg/s, posRepo size: 4
2021-08-13T22:41:48.667Z,1628894508.667 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 33.48 m.
2021-08-13T22:41:48.669Z,1628894508.669 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 33.480000 m,
      bearing: 122.942708 deg,
      approachRate: -0.625285 m/s,
      LOS rate: -0.309713 deg/s,
      cmd update: -0.929140 deg/s,
      cmd heading: 120.195126 deg,
      new cmd heading: 119.265493 deg.

2021-08-13T22:41:51.102Z,1628894511.102 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:41:51.405Z,1628894511.405 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:41:51.405Z,1628894511.405 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:41:51.405Z,1628894511.405 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:41:51.406Z,1628894511.406 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:41:51.805Z,1628894511.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE5,000,0049F,183,80,80,93,FF
2021-08-13T22:41:51.805Z,1628894511.805 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:41:51.805Z,1628894511.805 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:41:51.807Z,1628894511.807 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:41:52.221Z,1628894512.221 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:41:52.617Z,1628894512.617 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F4D,000,00476,186,80,80,93,FF
2021-08-13T22:41:52.617Z,1628894512.617 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:41:52.699Z,1628894512.699 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:41:53.061Z,1628894513.061 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224153.34*5A

2021-08-13T22:41:53.091Z,1628894513.091 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T22:41:53.138Z,1628894513.138 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.020002 m, bearing: 124.505005 deg, deltaT: 4.391789 s, approachRate: -0.560136 m/s, LOS rate: 0.355731 deg/s, posRepo size: 4
2021-08-13T22:41:53.138Z,1628894513.138 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 31.02 m.
2021-08-13T22:41:53.146Z,1628894513.146 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 31.020002 m,
      bearing: 124.505005 deg,
      approachRate: -0.560136 m/s,
      LOS rate: 0.355731 deg/s,
      cmd update: 1.067194 deg/s,
      cmd heading: 116.125225 deg,
      new cmd heading: 115.703829 deg.

2021-08-13T22:41:55.459Z,1628894515.459 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:41:55.849Z,1628894515.849 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:41:55.849Z,1628894515.849 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:41:55.849Z,1628894515.849 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:41:55.850Z,1628894515.850 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:41:56.249Z,1628894516.249 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F4D,000,00476,186,80,80,93,FF
2021-08-13T22:41:56.249Z,1628894516.249 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:41:56.249Z,1628894516.249 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:41:56.251Z,1628894516.251 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:41:56.658Z,1628894516.658 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:41:57.089Z,1628894517.089 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF3,000,0044B,187,80,80,8F,FF
2021-08-13T22:41:57.089Z,1628894517.089 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:41:57.188Z,1628894517.188 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:41:57.497Z,1628894517.497 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224157.79*57

2021-08-13T22:41:57.520Z,1628894517.520 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.440001 m, bearing: 125.660864 deg, deltaT: 4.489649 s, approachRate: -0.574656 m/s, LOS rate: 0.257450 deg/s, posRepo size: 4
2021-08-13T22:41:57.520Z,1628894517.520 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 28.44 m.
2021-08-13T22:41:57.521Z,1628894517.521 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 28.44 m.
2021-08-13T22:41:57.521Z,1628894517.521 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-13T22:41:57.550Z,1628894517.550 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 28.440001 m,
      bearing: 125.660864 deg,
      approachRate: -0.574656 m/s,
      LOS rate: 0.257450 deg/s,
      cmd update: 0.772349 deg/s,
      cmd heading: 120.926867 deg,
      new cmd heading: 121.285686 deg.

2021-08-13T22:41:59.961Z,1628894519.961 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:42:00.293Z,1628894520.293 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:42:00.293Z,1628894520.293 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:42:00.293Z,1628894520.293 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:42:00.294Z,1628894520.294 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:42:00.697Z,1628894520.697 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF3,000,0044B,187,80,80,8F,FF
2021-08-13T22:42:00.697Z,1628894520.697 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:42:00.698Z,1628894520.698 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:42:00.699Z,1628894520.699 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:42:01.112Z,1628894521.112 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:42:01.501Z,1628894521.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F7D,000,0041F,186,80,80,88,FF
2021-08-13T22:42:01.502Z,1628894521.502 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:42:01.546Z,1628894521.546 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:42:01.985Z,1628894521.985 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224202.23*5B

2021-08-13T22:42:02.043Z,1628894522.043 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.799997 m, bearing: 120.969986 deg, deltaT: 4.357543 s, approachRate: -0.605847 m/s, LOS rate: -1.076496 deg/s, posRepo size: 4
2021-08-13T22:42:02.051Z,1628894522.051 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 25.799997 m,
      bearing: 120.969986 deg,
      approachRate: -0.605847 m/s,
      LOS rate: -1.076496 deg/s,
      cmd update: -3.229488 deg/s,
      cmd heading: 124.275389 deg,
      new cmd heading: 124.680145 deg.

2021-08-13T22:42:04.347Z,1628894524.347 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:42:04.736Z,1628894524.736 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:42:04.736Z,1628894524.736 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:42:04.736Z,1628894524.736 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:42:04.737Z,1628894524.737 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:42:05.145Z,1628894525.145 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F7D,000,0041F,186,80,80,88,FF
2021-08-13T22:42:05.145Z,1628894525.145 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:42:05.145Z,1628894525.145 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:42:05.147Z,1628894525.147 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:42:05.552Z,1628894525.552 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:42:05.965Z,1628894525.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FEE,000,003F1,183,80,80,63,FF
2021-08-13T22:42:05.966Z,1628894525.966 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:42:05.995Z,1628894525.995 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:42:06.393Z,1628894526.393 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224206.68*50

2021-08-13T22:42:06.416Z,1628894526.416 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.039999 m, bearing: 122.468420 deg, deltaT: 4.465824 s, approachRate: -0.618027 m/s, LOS rate: 0.335534 deg/s, posRepo size: 4
2021-08-13T22:42:06.418Z,1628894526.418 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 23.039999 m,
      bearing: 122.468420 deg,
      approachRate: -0.618027 m/s,
      LOS rate: 0.335534 deg/s,
      cmd update: 1.006601 deg/s,
      cmd heading: 109.828353 deg,
      new cmd heading: 108.461426 deg.

2021-08-13T22:42:08.791Z,1628894528.791 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:42:09.185Z,1628894529.185 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:42:09.186Z,1628894529.186 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:42:09.186Z,1628894529.186 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:42:09.187Z,1628894529.187 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:42:09.581Z,1628894529.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FEE,000,003F1,183,80,80,63,FF
2021-08-13T22:42:09.581Z,1628894529.581 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:42:09.581Z,1628894529.581 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:42:09.583Z,1628894529.583 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:42:10.005Z,1628894530.005 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:42:10.394Z,1628894530.394 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E2F,000,003C2,187,80,80,70,FF
2021-08-13T22:42:10.394Z,1628894530.394 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:42:10.415Z,1628894530.415 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:42:10.825Z,1628894530.825 [Micromodem](INFO): Nmea in: $SNTTA,0.042676,,,,224211.12*44

2021-08-13T22:42:10.935Z,1628894530.935 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.219997 m, bearing: 132.240071 deg, deltaT: 4.402949 s, approachRate: -0.640480 m/s, LOS rate: 2.219342 deg/s, posRepo size: 4
2021-08-13T22:42:10.958Z,1628894530.958 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 20.219997 m,
      bearing: 132.240071 deg,
      approachRate: -0.640480 m/s,
      LOS rate: 2.219342 deg/s,
      cmd update: 6.658027 deg/s,
      cmd heading: 114.276830 deg,
      new cmd heading: 114.794435 deg.

2021-08-13T22:42:12.050Z,1628894532.050 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-13T22:42:13.286Z,1628894533.286 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:42:13.621Z,1628894533.621 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:42:13.621Z,1628894533.621 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:42:13.621Z,1628894533.621 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:42:13.622Z,1628894533.622 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:42:14.025Z,1628894534.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E2F,000,003C2,187,80,80,70,FF
2021-08-13T22:42:14.025Z,1628894534.025 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:42:14.025Z,1628894534.025 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:42:14.027Z,1628894534.027 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:42:14.441Z,1628894534.441 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:42:14.873Z,1628894534.873 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E11,000,0039C,187,80,80,87,FF
2021-08-13T22:42:14.875Z,1628894534.875 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:42:15.006Z,1628894535.006 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:42:15.269Z,1628894535.269 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224215.56*5F

2021-08-13T22:42:15.300Z,1628894535.300 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.939997 m, bearing: 132.611142 deg, deltaT: 4.591360 s, approachRate: -0.496585 m/s, LOS rate: 0.080819 deg/s, posRepo size: 4
2021-08-13T22:42:15.302Z,1628894535.302 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.939997 m,
      bearing: 132.611142 deg,
      approachRate: -0.496585 m/s,
      LOS rate: 0.080819 deg/s,
      cmd update: 0.242458 deg/s,
      cmd heading: 144.846415 deg,
      new cmd heading: 146.822664 deg.

2021-08-13T22:42:17.679Z,1628894537.679 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:42:18.065Z,1628894538.065 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:42:18.065Z,1628894538.065 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:42:18.065Z,1628894538.065 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:42:18.066Z,1628894538.066 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:42:18.477Z,1628894538.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E11,000,0039C,187,80,80,87,FF
2021-08-13T22:42:18.477Z,1628894538.477 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:42:18.477Z,1628894538.477 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:42:18.479Z,1628894538.479 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:42:18.959Z,1628894538.959 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:42:19.288Z,1628894539.288 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F5F,000,00381,186,80,80,56,FF
2021-08-13T22:42:19.289Z,1628894539.289 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:42:19.309Z,1628894539.309 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:42:19.726Z,1628894539.726 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224220.02*58

2021-08-13T22:42:19.766Z,1628894539.766 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.319998 m, bearing: 127.740110 deg, deltaT: 4.302444 s, approachRate: -0.376530 m/s, LOS rate: -1.132155 deg/s, posRepo size: 4
2021-08-13T22:42:19.773Z,1628894539.773 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.319998 m,
      bearing: 127.740110 deg,
      approachRate: -0.376530 m/s,
      LOS rate: -1.132155 deg/s,
      cmd update: -3.396464 deg/s,
      cmd heading: 145.889583 deg,
      new cmd heading: 146.001296 deg.

2021-08-13T22:42:22.144Z,1628894542.144 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:42:22.509Z,1628894542.509 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:42:22.509Z,1628894542.509 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:42:22.509Z,1628894542.509 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:42:22.510Z,1628894542.510 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:42:22.957Z,1628894542.957 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F5F,000,00381,186,80,80,56,FF
2021-08-13T22:42:22.957Z,1628894542.957 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:42:22.958Z,1628894542.958 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:42:22.959Z,1628894542.959 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:42:23.364Z,1628894543.364 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:42:23.761Z,1628894543.761 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,031,000,00348,185,80,80,80,FF
2021-08-13T22:42:23.762Z,1628894543.762 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:42:23.827Z,1628894543.827 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:42:24.185Z,1628894544.185 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224224.49*53

2021-08-13T22:42:24.231Z,1628894544.231 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.899998 m, bearing: 132.387999 deg, deltaT: 4.518190 s, approachRate: -0.756940 m/s, LOS rate: 1.028706 deg/s, posRepo size: 4
2021-08-13T22:42:24.237Z,1628894544.237 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.899998 m,
      bearing: 132.387999 deg,
      approachRate: -0.756940 m/s,
      LOS rate: 1.028706 deg/s,
      cmd update: 3.086118 deg/s,
      cmd heading: 130.543735 deg,
      new cmd heading: 129.160498 deg.

2021-08-13T22:42:26.587Z,1628894546.587 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:42:27.017Z,1628894547.017 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:42:27.017Z,1628894547.017 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:42:27.017Z,1628894547.017 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:42:27.018Z,1628894547.018 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:42:27.120Z,1628894547.120 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-13T22:42:27.377Z,1628894547.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
031,000,00348,185,80,80,80,FF
2021-08-13T22:42:27.377Z,1628894547.377 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:42:27.378Z,1628894547.378 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:42:27.379Z,1628894547.379 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:42:27.797Z,1628894547.797 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:42:28.185Z,1628894548.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,034,000,00320,184,80,80,B7,FF
2021-08-13T22:42:28.186Z,1628894548.186 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:42:28.257Z,1628894548.257 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:42:28.629Z,1628894548.629 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224228.91*5A

2021-08-13T22:42:28.652Z,1628894548.652 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.500002 m, bearing: 129.104072 deg, deltaT: 4.430458 s, approachRate: -0.541704 m/s, LOS rate: -0.741216 deg/s, posRepo size: 4
2021-08-13T22:42:28.654Z,1628894548.654 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.500002 m,
      bearing: 129.104072 deg,
      approachRate: -0.541704 m/s,
      LOS rate: -0.741216 deg/s,
      cmd update: -2.223649 deg/s,
      cmd heading: 144.204196 deg,
      new cmd heading: 145.443263 deg.

2021-08-13T22:42:31.098Z,1628894551.098 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:42:31.509Z,1628894551.509 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:42:31.509Z,1628894551.509 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:42:31.509Z,1628894551.509 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:42:31.510Z,1628894551.510 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:42:31.833Z,1628894551.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
034,000,00320,184,80,80,B7,FF
2021-08-13T22:42:31.833Z,1628894551.833 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:42:31.833Z,1628894551.833 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:42:31.835Z,1628894551.835 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:42:32.233Z,1628894552.233 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:42:32.637Z,1628894552.637 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FED,000,002F4,183,80,80,C4,FF
2021-08-13T22:42:32.637Z,1628894552.637 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:42:32.657Z,1628894552.657 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:42:33.078Z,1628894553.078 [Micromodem](INFO): Nmea in: $SNTTA,0.009555,,,,224233.37*4E

2021-08-13T22:42:33.149Z,1628894553.149 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.859998 m, bearing: 127.652411 deg, deltaT: 4.400136 s, approachRate: -0.599982 m/s, LOS rate: -0.329913 deg/s, posRepo size: 4
2021-08-13T22:42:33.151Z,1628894553.151 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.859998 m,
      bearing: 127.652411 deg,
      approachRate: -0.599982 m/s,
      LOS rate: -0.329913 deg/s,
      cmd update: -0.989738 deg/s,
      cmd heading: 134.410871 deg,
      new cmd heading: 133.365203 deg.

2021-08-13T22:42:35.483Z,1628894555.483 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:42:35.877Z,1628894555.877 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:42:35.878Z,1628894555.878 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:42:35.878Z,1628894555.878 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:42:35.879Z,1628894555.879 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:42:36.269Z,1628894556.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FED,000,002F4,183,80,80,C4,FF
2021-08-13T22:42:36.269Z,1628894556.269 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:42:36.269Z,1628894556.269 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:42:36.271Z,1628894556.271 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:42:36.681Z,1628894556.681 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:42:37.077Z,1628894557.077 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0C9,000,002D3,186,80,80,A8,FF
2021-08-13T22:42:37.078Z,1628894557.078 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:42:37.195Z,1628894557.195 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:42:37.509Z,1628894557.509 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224237.81*55

2021-08-13T22:42:37.531Z,1628894557.531 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.880000 m, bearing: 122.983635 deg, deltaT: 4.537226 s, approachRate: -0.436390 m/s, LOS rate: -1.028993 deg/s, posRepo size: 4
2021-08-13T22:42:37.550Z,1628894557.550 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.880000 m,
      bearing: 122.983635 deg,
      approachRate: -0.436390 m/s,
      LOS rate: -1.028993 deg/s,
      cmd update: -3.086980 deg/s,
      cmd heading: 129.942402 deg,
      new cmd heading: 129.583791 deg.

2021-08-13T22:42:39.980Z,1628894559.980 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:42:40.309Z,1628894560.309 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:42:40.309Z,1628894560.309 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:42:40.309Z,1628894560.309 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:42:40.310Z,1628894560.310 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:42:40.717Z,1628894560.717 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0C9,000,002D3,186,80,80,A8,FF
2021-08-13T22:42:40.717Z,1628894560.717 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:42:40.717Z,1628894560.717 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:42:40.719Z,1628894560.719 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:42:41.125Z,1628894561.125 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:42:41.525Z,1628894561.525 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E49,000,002C5,187,80,80,82,FF
2021-08-13T22:42:41.525Z,1628894561.525 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:42:41.547Z,1628894561.547 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:42:42.001Z,1628894562.001 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224242.25*59

2021-08-13T22:42:42.050Z,1628894562.050 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.039999 m, bearing: 146.309824 deg, deltaT: 4.352052 s, approachRate: -0.193013 m/s, LOS rate: 5.359814 deg/s, posRepo size: 4
2021-08-13T22:42:42.052Z,1628894562.052 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.039999 m,
      bearing: 146.309824 deg,
      approachRate: -0.193013 m/s,
      LOS rate: 5.359814 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 116.438469 deg,
      new cmd heading: 114.874389 deg.

2021-08-13T22:42:44.398Z,1628894564.398 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:42:44.749Z,1628894564.749 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:42:44.749Z,1628894564.749 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:42:44.750Z,1628894564.750 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:42:44.751Z,1628894564.751 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:42:45.161Z,1628894565.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E49,000,002C5,187,80,80,82,FF
2021-08-13T22:42:45.161Z,1628894565.161 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:42:45.161Z,1628894565.161 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:42:45.163Z,1628894565.163 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:42:45.565Z,1628894565.565 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:42:45.965Z,1628894565.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FCE,000,002C9,184,80,80,C7,FF
2021-08-13T22:42:45.966Z,1628894565.966 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:42:45.997Z,1628894565.997 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:42:46.405Z,1628894566.405 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224246.70*5D

2021-08-13T22:42:46.440Z,1628894566.440 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.279998 m, bearing: 118.438950 deg, deltaT: 4.449980 s, approachRate: 0.053933 m/s, LOS rate: -6.263146 deg/s, posRepo size: 4
2021-08-13T22:42:46.442Z,1628894566.442 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.279998 m,
      bearing: 118.438950 deg,
      approachRate: 0.053933 m/s,
      LOS rate: -6.263146 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 169.838183 deg,
      new cmd heading: 175.190435 deg.

2021-08-13T22:42:47.229Z,1628894567.229 [RDI_PathfinderUp](ERROR): only read 1 of 4 data items
2021-08-13T22:42:48.833Z,1628894568.833 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:42:49.212Z,1628894569.212 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:42:49.212Z,1628894569.212 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:42:49.212Z,1628894569.212 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:42:49.213Z,1628894569.213 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:42:49.601Z,1628894569.601 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FCE,000,002C9,184,80,80,C7,FF
2021-08-13T22:42:49.601Z,1628894569.601 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:42:49.601Z,1628894569.601 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:42:49.603Z,1628894569.603 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:42:50.018Z,1628894570.018 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:42:50.414Z,1628894570.414 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0FB,000,002DE,186,80,80,8C,FF
2021-08-13T22:42:50.414Z,1628894570.414 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:42:50.500Z,1628894570.500 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:42:50.901Z,1628894570.901 [Micromodem](INFO): Nmea in: $SNTTA,0.003973,,,,224251.14*49

2021-08-13T22:42:50.973Z,1628894570.973 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 6.539999 m, bearing: 111.779768 deg, deltaT: 4.503664 s, approachRate: 0.279772 m/s, LOS rate: -1.478614 deg/s, posRepo size: 4
2021-08-13T22:42:50.975Z,1628894570.975 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.539999 m,
      bearing: 111.779768 deg,
      approachRate: 0.279772 m/s,
      LOS rate: -1.478614 deg/s,
      cmd update: -4.435843 deg/s,
      cmd heading: 115.892613 deg,
      new cmd heading: 110.134713 deg.

2021-08-13T22:42:53.287Z,1628894573.287 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:42:53.645Z,1628894573.645 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:42:53.645Z,1628894573.645 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:42:53.645Z,1628894573.645 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:42:53.646Z,1628894573.646 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:42:54.049Z,1628894574.049 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0FB,000,002DE,186,80,80,8C,FF
2021-08-13T22:42:54.050Z,1628894574.050 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:42:54.050Z,1628894574.050 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:42:54.051Z,1628894574.051 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:42:54.460Z,1628894574.460 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:42:54.920Z,1628894574.920 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F32,000,00316,187,80,80,74,FF
2021-08-13T22:42:54.920Z,1628894574.920 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:42:55.015Z,1628894575.015 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:42:55.301Z,1628894575.301 [Micromodem](INFO): Nmea in: $SNTTA,0.030709,,,,224255.59*47

2021-08-13T22:42:55.331Z,1628894575.331 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.899997 m, bearing: 145.681952 deg, deltaT: 4.514873 s, approachRate: 0.744206 m/s, LOS rate: 7.509001 deg/s, posRepo size: 4
2021-08-13T22:42:55.334Z,1628894575.334 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.899997 m,
      bearing: 145.681952 deg,
      approachRate: 0.744206 m/s,
      LOS rate: 7.509001 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 95.830463 deg,
      new cmd heading: 94.412120 deg.

2021-08-13T22:42:57.049Z,1628894577.049 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-13T22:42:57.707Z,1628894577.707 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:42:58.101Z,1628894578.101 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:42:58.101Z,1628894578.101 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:42:58.101Z,1628894578.101 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:42:58.102Z,1628894578.102 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:42:58.501Z,1628894578.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F32,000,00316,187,80,80,74,FF
2021-08-13T22:42:58.501Z,1628894578.501 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:42:58.501Z,1628894578.501 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:42:58.503Z,1628894578.503 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:42:58.941Z,1628894578.941 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:42:59.337Z,1628894579.337 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA1,000,0033E,186,80,80,72,FF
2021-08-13T22:42:59.338Z,1628894579.338 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:42:59.368Z,1628894579.368 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:42:59.741Z,1628894579.741 [Micromodem](INFO): Nmea in: $SNTTA,0.030557,,,,224300.04*47

2021-08-13T22:42:59.776Z,1628894579.776 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.299998 m, bearing: 130.793956 deg, deltaT: 4.353283 s, approachRate: 0.551308 m/s, LOS rate: -3.419947 deg/s, posRepo size: 4
2021-08-13T22:42:59.778Z,1628894579.778 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.299998 m,
      bearing: 130.793956 deg,
      approachRate: 0.551308 m/s,
      LOS rate: -3.419947 deg/s,
      cmd update: -10.259840 deg/s,
      cmd heading: 148.068996 deg,
      new cmd heading: 152.998740 deg.

2021-08-13T22:43:02.143Z,1628894582.143 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:43:02.541Z,1628894582.541 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:43:02.541Z,1628894582.541 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:43:02.541Z,1628894582.541 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:43:02.542Z,1628894582.542 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:43:02.949Z,1628894582.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA1,000,0033E,186,80,80,72,FF
2021-08-13T22:43:02.949Z,1628894582.949 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:43:02.949Z,1628894582.949 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:43:02.951Z,1628894582.951 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:43:03.351Z,1628894583.351 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:43:04.175Z,1628894584.175 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224304.48*51

2021-08-13T22:43:05.030Z,1628894585.030 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:43:06.577Z,1628894586.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
E,186,80,80,72,FF
2021-08-13T22:43:06.578Z,1628894586.578 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
E,186,80,80,72,FF
2021-08-13T22:43:06.578Z,1628894586.578 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T22:43:07.075Z,1628894587.075 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T22:43:07.827Z,1628894587.827 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:43:08.186Z,1628894588.186 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:43:08.186Z,1628894588.186 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:43:08.187Z,1628894588.187 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:43:08.187Z,1628894588.187 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:43:08.589Z,1628894588.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
E,186,80,80,72,FF
2021-08-13T22:43:08.589Z,1628894588.589 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:43:08.589Z,1628894588.589 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:43:08.591Z,1628894588.591 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:43:09.014Z,1628894589.014 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:43:09.406Z,1628894589.406 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,054,000,00399,184,80,80,74,FF
2021-08-13T22:43:09.407Z,1628894589.407 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:43:09.438Z,1628894589.438 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:43:09.846Z,1628894589.846 [Micromodem](INFO): Nmea in: $SNTTA,0.030851,,,,224310.12*4A

2021-08-13T22:43:09.900Z,1628894589.900 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.759998 m, bearing: 118.809474 deg, deltaT: 10.069446 s, approachRate: 0.542234 m/s, LOS rate: -1.190183 deg/s, posRepo size: 4
2021-08-13T22:43:09.901Z,1628894589.901 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 17.76 m. Rolling out.
2021-08-13T22:43:09.901Z,1628894589.901 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-08-13T22:43:10.262Z,1628894590.262 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2021-08-13T22:43:10.262Z,1628894590.262 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-13T22:43:10.262Z,1628894590.262 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2021-08-13T22:43:10.262Z,1628894590.262 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2021-08-13T22:43:10.262Z,1628894590.262 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2021-08-13T22:43:10.262Z,1628894590.262 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2021-08-13T22:43:10.262Z,1628894590.262 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-08-13T22:43:12.270Z,1628894592.270 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:43:12.633Z,1628894592.633 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:43:12.633Z,1628894592.633 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:43:12.633Z,1628894592.633 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:43:12.634Z,1628894592.634 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:43:13.046Z,1628894593.046 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
054,000,00399,184,80,80,74,FF
2021-08-13T22:43:13.046Z,1628894593.046 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:43:13.046Z,1628894593.046 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:43:13.050Z,1628894593.050 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:43:13.513Z,1628894593.513 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:43:13.912Z,1628894593.912 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EBC,000,003B8,187,80,80,39,FF
2021-08-13T22:43:13.913Z,1628894593.913 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:43:13.943Z,1628894593.943 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:43:14.322Z,1628894594.322 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224314.59*50

2021-08-13T22:43:14.344Z,1628894594.344 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.619999 m, bearing: 126.003972 deg, deltaT: 4.504916 s, approachRate: 0.412882 m/s, LOS rate: 1.597033 deg/s, posRepo size: 4
2021-08-13T22:43:14.751Z,1628894594.751 [PowerOnly](INFO): Powering down loadControl
2021-08-13T22:43:16.766Z,1628894596.766 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:43:17.138Z,1628894597.138 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:43:17.138Z,1628894597.138 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:43:17.138Z,1628894597.138 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:43:17.139Z,1628894597.139 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:43:17.549Z,1628894597.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EBC,000,003B8,187,80,80,39,FF
2021-08-13T22:43:17.549Z,1628894597.549 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:43:17.549Z,1628894597.549 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:43:17.551Z,1628894597.551 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:43:17.958Z,1628894597.958 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:43:18.345Z,1628894598.345 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F81,000,003E4,187,80,80,3D,FF
2021-08-13T22:43:18.345Z,1628894598.345 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:43:18.401Z,1628894598.401 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:43:18.789Z,1628894598.789 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224319.09*58

2021-08-13T22:43:18.896Z,1628894598.896 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.260002 m, bearing: 105.556954 deg, deltaT: 4.458621 s, approachRate: 0.592112 m/s, LOS rate: -4.585951 deg/s, posRepo size: 4
2021-08-13T22:43:21.264Z,1628894601.264 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:43:21.577Z,1628894601.577 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:43:21.577Z,1628894601.577 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:43:21.577Z,1628894601.577 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:43:21.578Z,1628894601.578 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:43:21.990Z,1628894601.990 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F81,000,003E4,187,80,80,3D,FF
2021-08-13T22:43:21.990Z,1628894601.990 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:43:21.991Z,1628894601.991 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:43:22.026Z,1628894602.026 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:43:22.396Z,1628894602.396 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:43:22.790Z,1628894602.790 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,227,000,003E2,188,80,80,99,FF
2021-08-13T22:43:22.790Z,1628894602.790 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:43:22.901Z,1628894602.901 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:43:23.228Z,1628894603.228 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224323.56*5B

2021-08-13T22:43:23.299Z,1628894603.299 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.140001 m, bearing: 63.576972 deg, deltaT: 4.500585 s, approachRate: -0.026663 m/s, LOS rate: -9.327673 deg/s, posRepo size: 4
2021-08-13T22:43:25.650Z,1628894605.650 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:43:26.017Z,1628894606.017 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:43:26.017Z,1628894606.017 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:43:26.018Z,1628894606.018 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:43:26.018Z,1628894606.018 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:43:26.433Z,1628894606.433 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
227,000,003E2,188,80,80,99,FF
2021-08-13T22:43:26.433Z,1628894606.433 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:43:26.433Z,1628894606.433 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:43:26.438Z,1628894606.438 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:43:26.887Z,1628894606.887 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:43:27.241Z,1628894607.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,488,000,003EE,18A,80,80,3B,FF
2021-08-13T22:43:27.241Z,1628894607.241 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:43:27.289Z,1628894607.289 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:43:27.662Z,1628894607.662 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224327.97*52

2021-08-13T22:43:27.713Z,1628894607.713 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.860001 m, bearing: 26.635721 deg, deltaT: 4.386819 s, approachRate: 0.164128 m/s, LOS rate: -8.420965 deg/s, posRepo size: 4
2021-08-13T22:43:30.148Z,1628894610.148 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:43:30.473Z,1628894610.473 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:43:30.473Z,1628894610.473 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:43:30.473Z,1628894610.473 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:43:30.474Z,1628894610.474 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:43:30.922Z,1628894610.922 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
488,000,003EE,18A,80,80,3B,FF
2021-08-13T22:43:30.922Z,1628894610.922 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:43:30.922Z,1628894610.922 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:43:30.925Z,1628894610.925 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:43:31.289Z,1628894611.289 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:43:31.717Z,1628894611.717 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3D1,000,003F6,188,80,80,B4,FF
2021-08-13T22:43:31.717Z,1628894611.717 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:43:31.799Z,1628894611.799 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:43:32.123Z,1628894612.123 [Micromodem](INFO): Nmea in: $SNTTA,0.057803,,,,224332.46*4D

2021-08-13T22:43:32.180Z,1628894612.180 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.339998 m, bearing: 28.830413 deg, deltaT: 4.514736 s, approachRate: 0.106318 m/s, LOS rate: 0.486117 deg/s, posRepo size: 4
2021-08-13T22:43:34.534Z,1628894614.534 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:43:34.941Z,1628894614.941 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:43:34.941Z,1628894614.941 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:43:34.941Z,1628894614.941 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:43:34.942Z,1628894614.942 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:43:35.309Z,1628894615.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3D1,000,003F6,188,80,80,B4,FF
2021-08-13T22:43:35.309Z,1628894615.309 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:43:35.309Z,1628894615.309 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:43:35.311Z,1628894615.311 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:43:35.717Z,1628894615.717 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:43:36.117Z,1628894616.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,312,000,003FB,189,80,80,9A,FF
2021-08-13T22:43:36.117Z,1628894616.117 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:43:36.179Z,1628894616.179 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:43:36.549Z,1628894616.549 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224336.85*51

2021-08-13T22:43:36.584Z,1628894616.584 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.639997 m, bearing: 32.538823 deg, deltaT: 4.375175 s, approachRate: 0.068569 m/s, LOS rate: 0.847603 deg/s, posRepo size: 4
2021-08-13T22:43:39.006Z,1628894619.006 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:43:39.349Z,1628894619.349 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:43:39.349Z,1628894619.349 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:43:39.350Z,1628894619.350 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:43:39.351Z,1628894619.351 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:43:39.761Z,1628894619.761 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
312,000,003FB,189,80,80,9A,FF
2021-08-13T22:43:39.762Z,1628894619.762 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:43:39.762Z,1628894619.762 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:43:39.763Z,1628894619.763 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:43:40.161Z,1628894620.161 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:43:40.561Z,1628894620.561 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2DB,000,00401,189,80,80,AF,FF
2021-08-13T22:43:40.562Z,1628894620.562 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:43:40.581Z,1628894620.581 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:43:40.993Z,1628894620.993 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224341.30*5F

2021-08-13T22:43:41.061Z,1628894621.061 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.000002 m, bearing: 30.824797 deg, deltaT: 4.402011 s, approachRate: 0.081782 m/s, LOS rate: -0.389373 deg/s, posRepo size: 4
2021-08-13T22:43:43.406Z,1628894623.406 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:43:43.793Z,1628894623.793 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:43:43.793Z,1628894623.793 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:43:43.793Z,1628894623.793 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:43:43.794Z,1628894623.794 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:43:44.205Z,1628894624.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2DB,000,00401,189,80,80,AF,FF
2021-08-13T22:43:44.206Z,1628894624.206 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:43:44.206Z,1628894624.206 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:43:44.207Z,1628894624.207 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:43:44.608Z,1628894624.608 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:43:45.010Z,1628894625.010 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,152,000,0040A,185,80,80,60,FF
2021-08-13T22:43:45.010Z,1628894625.010 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:43:45.087Z,1628894625.087 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:43:45.441Z,1628894625.441 [Micromodem](INFO): Nmea in: $SNTTA,0.040272,,,,224345.74*46

2021-08-13T22:43:45.460Z,1628894625.460 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.539997 m, bearing: 46.056348 deg, deltaT: 4.506324 s, approachRate: 0.119831 m/s, LOS rate: 3.380039 deg/s, posRepo size: 4
2021-08-13T22:43:47.858Z,1628894627.858 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:43:48.241Z,1628894628.241 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:43:48.242Z,1628894628.242 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:43:48.242Z,1628894628.242 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:43:48.243Z,1628894628.243 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:43:48.641Z,1628894628.641 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
152,000,0040A,185,80,80,60,FF
2021-08-13T22:43:48.641Z,1628894628.641 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:43:48.641Z,1628894628.641 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:43:48.643Z,1628894628.643 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:43:49.053Z,1628894629.053 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:43:49.449Z,1628894629.449 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1F9,000,00403,186,80,80,A5,FF
2021-08-13T22:43:49.449Z,1628894629.449 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:43:49.505Z,1628894629.505 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:43:49.904Z,1628894629.904 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224350.18*55

2021-08-13T22:43:49.943Z,1628894629.943 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.120003 m, bearing: 33.746353 deg, deltaT: 4.418159 s, approachRate: -0.095061 m/s, LOS rate: -2.786227 deg/s, posRepo size: 4
2021-08-13T22:43:52.306Z,1628894632.306 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:43:52.681Z,1628894632.681 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:43:52.681Z,1628894632.681 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:43:52.682Z,1628894632.682 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:43:52.682Z,1628894632.682 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:43:53.097Z,1628894633.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1F9,000,00403,186,80,80,A5,FF
2021-08-13T22:43:53.097Z,1628894633.097 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:43:53.097Z,1628894633.097 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:43:53.099Z,1628894633.099 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:43:53.503Z,1628894633.503 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:43:53.921Z,1628894633.921 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1EA,000,00404,186,80,80,60,FF
2021-08-13T22:43:53.921Z,1628894633.921 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:43:53.951Z,1628894633.951 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:43:54.330Z,1628894634.330 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224354.64*5A

2021-08-13T22:43:54.351Z,1628894634.351 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.180000 m, bearing: 31.124079 deg, deltaT: 4.445543 s, approachRate: 0.013496 m/s, LOS rate: -0.589866 deg/s, posRepo size: 4
2021-08-13T22:43:56.748Z,1628894636.748 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:43:57.133Z,1628894637.133 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:43:57.133Z,1628894637.133 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:43:57.133Z,1628894637.133 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:43:57.134Z,1628894637.134 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:43:57.533Z,1628894637.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1EA,000,00404,186,80,80,60,FF
2021-08-13T22:43:57.533Z,1628894637.533 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:43:57.533Z,1628894637.533 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:43:57.535Z,1628894637.535 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:43:57.952Z,1628894637.952 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:43:58.342Z,1628894638.342 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1F2,000,0040D,186,80,80,4B,FF
2021-08-13T22:43:58.342Z,1628894638.342 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:43:58.366Z,1628894638.366 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:43:58.769Z,1628894638.769 [Micromodem](INFO): Nmea in: $SNTTA,0.040310,,,,224359.07*4A

2021-08-13T22:43:58.791Z,1628894638.791 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.720001 m, bearing: 27.716588 deg, deltaT: 4.415759 s, approachRate: 0.122289 m/s, LOS rate: -0.771666 deg/s, posRepo size: 4
2021-08-13T22:44:01.243Z,1628894641.243 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:44:01.573Z,1628894641.573 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:44:01.573Z,1628894641.573 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:44:01.573Z,1628894641.573 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:44:01.574Z,1628894641.574 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:44:01.977Z,1628894641.977 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1F2,000,0040D,186,80,80,4B,FF
2021-08-13T22:44:01.978Z,1628894641.978 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:44:01.978Z,1628894641.978 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:44:01.979Z,1628894641.979 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:44:02.381Z,1628894642.381 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:44:02.785Z,1628894642.785 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2B4,000,00402,189,80,80,71,FF
2021-08-13T22:44:02.785Z,1628894642.785 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:44:02.814Z,1628894642.814 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:44:03.229Z,1628894643.229 [Micromodem](INFO): Nmea in: $SNTTA,0.046796,,,,224403.52*4E

2021-08-13T22:44:03.286Z,1628894643.286 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.059999 m, bearing: 16.180401 deg, deltaT: 4.447605 s, approachRate: -0.148395 m/s, LOS rate: -2.593798 deg/s, posRepo size: 4
2021-08-13T22:44:05.630Z,1628894645.630 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:44:06.009Z,1628894646.009 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:44:06.009Z,1628894646.009 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:44:06.009Z,1628894646.009 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:44:06.010Z,1628894646.010 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:44:06.426Z,1628894646.426 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2B4,000,00402,189,80,80,71,FF
2021-08-13T22:44:06.426Z,1628894646.426 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:44:06.426Z,1628894646.426 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:44:06.428Z,1628894646.428 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:44:06.870Z,1628894646.870 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:44:07.241Z,1628894647.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1CD,000,0040D,186,80,80,64,FF
2021-08-13T22:44:07.242Z,1628894647.242 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:44:07.290Z,1628894647.290 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:44:07.661Z,1628894647.661 [Micromodem](INFO): Nmea in: $SNTTA,0.257525,,,,224407.96*4A

2021-08-13T22:44:07.703Z,1628894647.703 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.720001 m, bearing: 26.379104 deg, deltaT: 4.475799 s, approachRate: 0.147460 m/s, LOS rate: 2.278633 deg/s, posRepo size: 4
2021-08-13T22:44:10.113Z,1628894650.113 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:44:10.461Z,1628894650.461 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:44:10.461Z,1628894650.461 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:44:10.462Z,1628894650.462 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:44:10.462Z,1628894650.462 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:44:10.904Z,1628894650.904 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1CD,000,0040D,186,80,80,64,FF
2021-08-13T22:44:10.904Z,1628894650.904 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:44:10.904Z,1628894650.904 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:44:10.906Z,1628894650.906 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:44:11.329Z,1628894651.329 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:44:11.709Z,1628894651.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1AC,000,0040A,185,80,80,33,FF
2021-08-13T22:44:11.709Z,1628894651.709 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:44:11.798Z,1628894651.798 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:44:12.165Z,1628894652.165 [Micromodem](INFO): Nmea in: $SNTTA,0.028516,,,,224412.44*4B

2021-08-13T22:44:12.194Z,1628894652.194 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.539997 m, bearing: 27.325958 deg, deltaT: 4.508137 s, approachRate: -0.039929 m/s, LOS rate: 0.210032 deg/s, posRepo size: 4
2021-08-13T22:44:14.565Z,1628894654.565 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:44:14.953Z,1628894654.953 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:44:14.953Z,1628894654.953 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:44:14.953Z,1628894654.953 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:44:14.954Z,1628894654.954 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:44:15.354Z,1628894655.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1AC,000,0040A,185,80,80,33,FF
2021-08-13T22:44:15.354Z,1628894655.354 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:44:15.354Z,1628894655.354 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:44:15.355Z,1628894655.355 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:44:15.761Z,1628894655.761 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:44:16.578Z,1628894656.578 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224416.89*58

2021-08-13T22:44:17.401Z,1628894657.401 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:44:18.981Z,1628894658.981 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
A,185,80,80,33,FF
2021-08-13T22:44:18.981Z,1628894658.981 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
A,185,80,80,33,FF
2021-08-13T22:44:18.982Z,1628894658.982 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T22:44:20.224Z,1628894660.224 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:44:20.597Z,1628894660.597 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:44:20.597Z,1628894660.597 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:44:20.597Z,1628894660.597 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:44:20.598Z,1628894660.598 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:44:21.001Z,1628894661.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
A,185,80,80,33,FF
2021-08-13T22:44:21.001Z,1628894661.001 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:44:21.001Z,1628894661.001 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:44:21.003Z,1628894661.003 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:44:21.408Z,1628894661.408 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:44:21.814Z,1628894661.814 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,199,000,00409,186,80,80,77,FF
2021-08-13T22:44:21.814Z,1628894661.814 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:44:21.838Z,1628894661.838 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:44:22.254Z,1628894662.254 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224422.54*5F

2021-08-13T22:44:22.311Z,1628894662.311 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.480000 m, bearing: 26.172388 deg, deltaT: 10.039751 s, approachRate: -0.005976 m/s, LOS rate: -0.114900 deg/s, posRepo size: 4
2021-08-13T22:44:24.662Z,1628894664.662 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:44:25.049Z,1628894665.049 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:44:25.050Z,1628894665.050 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:44:25.050Z,1628894665.050 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:44:25.051Z,1628894665.051 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:44:25.445Z,1628894665.445 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
199,000,00409,186,80,80,77,FF
2021-08-13T22:44:25.445Z,1628894665.445 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:44:25.446Z,1628894665.446 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:44:25.447Z,1628894665.447 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:44:25.852Z,1628894665.852 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:44:26.257Z,1628894666.257 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1AB,000,00406,186,80,80,3D,FF
2021-08-13T22:44:26.258Z,1628894666.258 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:44:26.291Z,1628894666.291 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:44:26.697Z,1628894666.697 [Micromodem](INFO): Nmea in: $SNTTA,0.048681,,,,224426.98*46

2021-08-13T22:44:26.723Z,1628894666.723 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.300001 m, bearing: 24.600011 deg, deltaT: 4.453857 s, approachRate: -0.040414 m/s, LOS rate: -0.353037 deg/s, posRepo size: 4
2021-08-13T22:44:29.152Z,1628894669.152 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:44:29.495Z,1628894669.495 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:44:29.495Z,1628894669.495 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:44:29.495Z,1628894669.495 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:44:29.496Z,1628894669.496 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:44:29.901Z,1628894669.901 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1AB,000,00406,186,80,80,3D,FF
2021-08-13T22:44:29.901Z,1628894669.901 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:44:29.902Z,1628894669.902 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:44:29.932Z,1628894669.932 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:44:30.282Z,1628894670.282 [CTD_Seabird](ERROR): Failed to parse device response: 6.57,24.1944,4.778712
2021-08-13T22:44:30.293Z,1628894670.293 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:44:30.701Z,1628894670.701 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1F1,000,00408,186,80,80,48,FF
2021-08-13T22:44:30.701Z,1628894670.701 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:44:30.752Z,1628894670.752 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:44:31.119Z,1628894671.119 [Micromodem](INFO): Nmea in: $SNTTA,,0.356329,,,224431.47*49

2021-08-13T22:44:31.209Z,1628894671.209 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.420002 m, bearing: 20.639035 deg, deltaT: 4.460798 s, approachRate: 0.026901 m/s, LOS rate: -0.887952 deg/s, posRepo size: 4
2021-08-13T22:44:33.562Z,1628894673.562 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:44:33.961Z,1628894673.961 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:44:33.961Z,1628894673.961 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:44:33.961Z,1628894673.961 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:44:33.962Z,1628894673.962 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:44:34.341Z,1628894674.341 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1F1,000,00408,186,80,80,48,FF
2021-08-13T22:44:34.341Z,1628894674.341 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:44:34.341Z,1628894674.341 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:44:34.343Z,1628894674.343 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:44:34.741Z,1628894674.741 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:44:35.145Z,1628894675.145 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1D0,000,00401,187,80,80,50,FF
2021-08-13T22:44:35.145Z,1628894675.145 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:44:35.227Z,1628894675.227 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:44:35.581Z,1628894675.581 [Micromodem](INFO): Nmea in: $SNTTA,,0.151576,,,224435.88*47

2021-08-13T22:44:35.623Z,1628894675.623 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.000002 m, bearing: 22.028718 deg, deltaT: 4.474310 s, approachRate: -0.093869 m/s, LOS rate: 0.310591 deg/s, posRepo size: 4
2021-08-13T22:44:38.028Z,1628894678.028 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:44:38.397Z,1628894678.397 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:44:38.397Z,1628894678.397 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:44:38.397Z,1628894678.397 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:44:38.398Z,1628894678.398 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:44:38.792Z,1628894678.792 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1D0,000,00401,187,80,80,50,FF
2021-08-13T22:44:38.792Z,1628894678.792 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:44:38.793Z,1628894678.793 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:44:38.794Z,1628894678.794 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:44:39.205Z,1628894679.205 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:44:39.597Z,1628894679.597 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,225,000,003FF,188,80,80,87,FF
2021-08-13T22:44:39.598Z,1628894679.598 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:44:39.617Z,1628894679.617 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:44:40.037Z,1628894680.037 [Micromodem](INFO): Nmea in: $SNTTA,0.071511,,,,224440.33*47

2021-08-13T22:44:40.082Z,1628894680.082 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.880001 m, bearing: 17.503528 deg, deltaT: 4.390036 s, approachRate: -0.027335 m/s, LOS rate: -1.030787 deg/s, posRepo size: 4
2021-08-13T22:44:42.454Z,1628894682.454 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:44:42.844Z,1628894682.844 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:44:42.845Z,1628894682.845 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:44:42.845Z,1628894682.845 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:44:42.846Z,1628894682.846 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:44:43.233Z,1628894683.233 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
225,000,003FF,188,80,80,87,FF
2021-08-13T22:44:43.233Z,1628894683.233 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:44:43.233Z,1628894683.233 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:44:43.235Z,1628894683.235 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:44:43.653Z,1628894683.653 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:44:44.061Z,1628894684.061 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1AA,000,00403,185,80,80,54,FF
2021-08-13T22:44:44.062Z,1628894684.062 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:44:44.092Z,1628894684.092 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:44:44.489Z,1628894684.489 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224444.77*5E

2021-08-13T22:44:44.511Z,1628894684.511 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.120003 m, bearing: 23.122014 deg, deltaT: 4.475060 s, approachRate: 0.053631 m/s, LOS rate: 1.255511 deg/s, posRepo size: 4
2021-08-13T22:44:47.001Z,1628894687.001 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:44:47.293Z,1628894687.293 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:44:47.293Z,1628894687.293 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:44:47.293Z,1628894687.293 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:44:47.294Z,1628894687.294 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:44:47.681Z,1628894687.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1AA,000,00403,185,80,80,54,FF
2021-08-13T22:44:47.681Z,1628894687.681 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:44:47.681Z,1628894687.681 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:44:47.683Z,1628894687.683 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:44:48.106Z,1628894688.106 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:44:48.493Z,1628894688.493 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1AC,000,00400,187,80,80,29,FF
2021-08-13T22:44:48.493Z,1628894688.493 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:44:48.512Z,1628894688.512 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:44:48.965Z,1628894688.965 [Micromodem](INFO): Nmea in: $SNTTA,0.045124,,,,224449.22*4B

2021-08-13T22:44:49.048Z,1628894689.048 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.939999 m, bearing: 22.344358 deg, deltaT: 4.420470 s, approachRate: -0.040721 m/s, LOS rate: -0.175922 deg/s, posRepo size: 4
2021-08-13T22:44:51.018Z,1628894691.018 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:44:51.380Z,1628894691.380 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:44:51.380Z,1628894691.380 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:44:51.380Z,1628894691.380 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:44:51.381Z,1628894691.381 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:44:51.729Z,1628894691.729 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1AC,000,00400,187,80,80,29,FF
2021-08-13T22:44:51.729Z,1628894691.729 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:44:51.730Z,1628894691.730 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:44:51.731Z,1628894691.731 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:44:52.177Z,1628894692.177 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:44:52.534Z,1628894692.534 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,227,000,003FD,189,80,80,2D,FF
2021-08-13T22:44:52.534Z,1628894692.534 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:44:52.553Z,1628894692.553 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:44:52.989Z,1628894692.989 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224453.27*5D

2021-08-13T22:44:53.063Z,1628894693.063 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.760000 m, bearing: 15.733498 deg, deltaT: 4.040536 s, approachRate: -0.044548 m/s, LOS rate: -1.636134 deg/s, posRepo size: 4
2021-08-13T22:44:55.425Z,1628894695.425 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:44:55.773Z,1628894695.773 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:44:55.773Z,1628894695.773 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:44:55.773Z,1628894695.773 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:44:55.774Z,1628894695.774 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:44:56.187Z,1628894696.187 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
227,000,003FD,189,80,80,2D,FF
2021-08-13T22:44:56.187Z,1628894696.187 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:44:56.187Z,1628894696.187 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:44:56.190Z,1628894696.190 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:44:56.576Z,1628894696.576 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:44:57.416Z,1628894697.416 [Micromodem](INFO): Nmea in: $SNTTA,0.043597,,,,224457.73*4A

2021-08-13T22:44:58.235Z,1628894698.235 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:44:59.801Z,1628894699.801 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,189,80,80,2D,FF
2021-08-13T22:44:59.802Z,1628894699.802 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,189,80,80,2D,FF
2021-08-13T22:44:59.802Z,1628894699.802 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T22:45:01.115Z,1628894701.115 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:45:01.421Z,1628894701.421 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:45:01.421Z,1628894701.421 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:45:01.421Z,1628894701.421 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:45:01.422Z,1628894701.422 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:45:01.833Z,1628894701.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,189,80,80,2D,FF
2021-08-13T22:45:01.833Z,1628894701.833 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:45:01.833Z,1628894701.833 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:45:01.835Z,1628894701.835 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:45:02.233Z,1628894702.233 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:45:02.633Z,1628894702.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,178,000,00400,185,80,80,84,FF
2021-08-13T22:45:02.633Z,1628894702.633 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:45:02.733Z,1628894702.733 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:45:03.065Z,1628894703.065 [Micromodem](INFO): Nmea in: $SNTTA,0.407434,,,,224503.37*46

2021-08-13T22:45:03.127Z,1628894703.127 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.939999 m, bearing: 23.379862 deg, deltaT: 10.180089 s, approachRate: 0.017681 m/s, LOS rate: 0.751110 deg/s, posRepo size: 4
2021-08-13T22:45:05.506Z,1628894705.506 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:45:05.876Z,1628894705.876 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:45:05.876Z,1628894705.876 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:45:05.877Z,1628894705.877 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:45:05.879Z,1628894705.879 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:45:06.273Z,1628894706.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
178,000,00400,185,80,80,84,FF
2021-08-13T22:45:06.274Z,1628894706.274 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:45:06.274Z,1628894706.274 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:45:06.275Z,1628894706.275 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:45:06.693Z,1628894706.693 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:45:07.093Z,1628894707.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1A5,000,003F4,186,80,80,54,FF
2021-08-13T22:45:07.093Z,1628894707.093 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:45:07.206Z,1628894707.206 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:45:07.521Z,1628894707.521 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224507.84*54

2021-08-13T22:45:07.565Z,1628894707.565 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.219997 m, bearing: 21.186518 deg, deltaT: 4.473177 s, approachRate: -0.160960 m/s, LOS rate: -0.490333 deg/s, posRepo size: 4
2021-08-13T22:45:10.034Z,1628894710.034 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:45:10.329Z,1628894710.329 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:45:10.329Z,1628894710.329 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:45:10.329Z,1628894710.329 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:45:10.330Z,1628894710.330 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:45:10.723Z,1628894710.723 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1A5,000,003F4,186,80,80,54,FF
2021-08-13T22:45:10.723Z,1628894710.723 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:45:10.723Z,1628894710.723 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:45:10.725Z,1628894710.725 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:45:11.145Z,1628894711.145 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:45:11.545Z,1628894711.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,135,000,003F3,186,80,80,8B,FF
2021-08-13T22:45:11.545Z,1628894711.545 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:45:11.565Z,1628894711.565 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:45:11.977Z,1628894711.977 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224512.26*58

2021-08-13T22:45:12.015Z,1628894712.015 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.160000 m, bearing: 27.071571 deg, deltaT: 4.358491 s, approachRate: -0.013766 m/s, LOS rate: 1.350250 deg/s, posRepo size: 4
2021-08-13T22:45:14.386Z,1628894714.386 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:45:14.765Z,1628894714.765 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:45:14.765Z,1628894714.765 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:45:14.765Z,1628894714.765 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:45:14.766Z,1628894714.766 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:45:15.177Z,1628894715.177 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
135,000,003F3,186,80,80,8B,FF
2021-08-13T22:45:15.178Z,1628894715.178 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:45:15.178Z,1628894715.178 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:45:15.179Z,1628894715.179 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:45:15.576Z,1628894715.576 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:45:15.981Z,1628894715.981 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,174,000,003F2,185,80,80,88,FF
2021-08-13T22:45:15.981Z,1628894715.981 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:45:16.055Z,1628894716.055 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:45:16.413Z,1628894716.413 [Micromodem](INFO): Nmea in: $SNTTA,0.072491,,,,224516.72*4A

2021-08-13T22:45:16.435Z,1628894716.435 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.099997 m, bearing: 25.368996 deg, deltaT: 4.490071 s, approachRate: -0.013364 m/s, LOS rate: -0.379187 deg/s, posRepo size: 4
2021-08-13T22:45:18.838Z,1628894718.838 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:45:19.209Z,1628894719.209 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:45:19.209Z,1628894719.209 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:45:19.209Z,1628894719.209 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:45:19.210Z,1628894719.210 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:45:19.609Z,1628894719.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
174,000,003F2,185,80,80,88,FF
2021-08-13T22:45:19.609Z,1628894719.609 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:45:19.609Z,1628894719.609 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:45:19.611Z,1628894719.611 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:45:20.025Z,1628894720.025 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:45:20.417Z,1628894720.417 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,274,000,003E9,189,80,80,9A,FF
2021-08-13T22:45:20.417Z,1628894720.417 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:45:20.457Z,1628894720.457 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:45:20.879Z,1628894720.879 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224521.14*59

2021-08-13T22:45:20.973Z,1628894720.973 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.560001 m, bearing: 13.906432 deg, deltaT: 4.402402 s, approachRate: -0.122659 m/s, LOS rate: -2.603707 deg/s, posRepo size: 4
2021-08-13T22:45:22.983Z,1628894722.983 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:45:23.245Z,1628894723.245 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:45:23.245Z,1628894723.245 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:45:23.245Z,1628894723.245 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:45:23.246Z,1628894723.246 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:45:23.653Z,1628894723.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
274,000,003E9,189,80,80,9A,FF
2021-08-13T22:45:23.653Z,1628894723.653 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:45:23.653Z,1628894723.653 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:45:23.655Z,1628894723.655 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:45:24.080Z,1628894724.080 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:45:24.465Z,1628894724.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1D2,000,003EE,186,80,80,74,FF
2021-08-13T22:45:24.465Z,1628894724.465 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:45:24.517Z,1628894724.517 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:45:24.941Z,1628894724.941 [Micromodem](INFO): Nmea in: $SNTTA,0.045292,,,,224525.19*46

2021-08-13T22:45:25.019Z,1628894725.019 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.860001 m, bearing: 23.349087 deg, deltaT: 4.059652 s, approachRate: 0.073898 m/s, LOS rate: 2.325976 deg/s, posRepo size: 4
2021-08-13T22:45:27.319Z,1628894727.319 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:45:27.697Z,1628894727.697 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:45:27.697Z,1628894727.697 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:45:27.697Z,1628894727.697 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:45:27.698Z,1628894727.698 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:45:28.106Z,1628894728.106 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1D2,000,003EE,186,80,80,74,FF
2021-08-13T22:45:28.106Z,1628894728.106 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:45:28.106Z,1628894728.106 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:45:28.108Z,1628894728.108 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:45:28.513Z,1628894728.513 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:45:28.945Z,1628894728.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1FE,000,003EB,186,80,80,80,FF
2021-08-13T22:45:28.945Z,1628894728.945 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:45:28.972Z,1628894728.972 [Micromodem](INFO): Nmea in: $SNTTA,0.036959,0.272862,,,224529.64*5D

2021-08-13T22:45:29.066Z,1628894729.066 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:45:29.337Z,1628894729.337 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.679996 m, bearing: 22.595470 deg, deltaT: 4.549232 s, approachRate: -0.039568 m/s, LOS rate: -0.165658 deg/s, posRepo size: 4
2021-08-13T22:45:31.754Z,1628894731.754 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:45:32.152Z,1628894732.152 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:45:32.152Z,1628894732.152 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:45:32.152Z,1628894732.152 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:45:32.153Z,1628894732.153 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:45:32.557Z,1628894732.557 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1FE,000,003EB,186,80,80,80,FF
2021-08-13T22:45:32.557Z,1628894732.557 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:45:32.557Z,1628894732.557 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:45:32.559Z,1628894732.559 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:45:32.969Z,1628894732.969 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:45:33.369Z,1628894733.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1EA,000,003DF,186,80,80,68,FF
2021-08-13T22:45:33.369Z,1628894733.369 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:45:33.389Z,1628894733.389 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:45:33.809Z,1628894733.809 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224534.09*51

2021-08-13T22:45:33.845Z,1628894733.845 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.959997 m, bearing: 23.999260 deg, deltaT: 4.322787 s, approachRate: -0.166559 m/s, LOS rate: 0.324742 deg/s, posRepo size: 4
2021-08-13T22:45:36.225Z,1628894736.225 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:45:36.613Z,1628894736.613 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:45:36.613Z,1628894736.613 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:45:36.613Z,1628894736.613 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:45:36.614Z,1628894736.614 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:45:37.009Z,1628894737.009 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1EA,000,003DF,186,80,80,68,FF
2021-08-13T22:45:37.009Z,1628894737.009 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:45:37.009Z,1628894737.009 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:45:37.011Z,1628894737.011 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:45:37.417Z,1628894737.417 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:45:37.813Z,1628894737.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1D3,000,003E3,186,80,80,AC,FF
2021-08-13T22:45:37.813Z,1628894737.813 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:45:37.926Z,1628894737.926 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:45:38.261Z,1628894738.261 [Micromodem](INFO): Nmea in: $SNTTA,0.030332,,,,224538.54*4A

2021-08-13T22:45:38.289Z,1628894738.289 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.199999 m, bearing: 26.131764 deg, deltaT: 4.537029 s, approachRate: 0.052898 m/s, LOS rate: 0.470022 deg/s, posRepo size: 4
2021-08-13T22:45:38.565Z,1628894738.565 [CTD_Seabird](ERROR): Failed to parse device response: ,24.1875,4.77696,4904.74
2021-08-13T22:45:40.667Z,1628894740.667 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:45:41.041Z,1628894741.041 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:45:41.041Z,1628894741.041 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:45:41.041Z,1628894741.041 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:45:41.042Z,1628894741.042 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:45:41.449Z,1628894741.449 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1D3,000,003E3,186,80,80,AC,FF
2021-08-13T22:45:41.449Z,1628894741.449 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:45:41.449Z,1628894741.449 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:45:41.451Z,1628894741.451 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:45:41.858Z,1628894741.858 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:45:42.265Z,1628894742.265 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1E1,000,003DC,186,80,80,74,FF
2021-08-13T22:45:42.266Z,1628894742.266 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:45:42.320Z,1628894742.320 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:45:42.689Z,1628894742.689 [Micromodem](INFO): Nmea in: $SNTTA,0.044545,,,,224542.99*43

2021-08-13T22:45:42.719Z,1628894742.719 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.779999 m, bearing: 26.359360 deg, deltaT: 4.394703 s, approachRate: -0.095570 m/s, LOS rate: 0.051789 deg/s, posRepo size: 4
2021-08-13T22:45:45.146Z,1628894745.146 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:45:45.485Z,1628894745.485 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:45:45.485Z,1628894745.485 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:45:45.485Z,1628894745.485 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:45:45.486Z,1628894745.486 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:45:45.913Z,1628894745.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1E1,000,003DC,186,80,80,74,FF
2021-08-13T22:45:45.913Z,1628894745.913 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:45:45.913Z,1628894745.913 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:45:45.915Z,1628894745.915 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:45:46.308Z,1628894746.308 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:45:46.697Z,1628894746.697 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1AA,000,003D9,185,80,80,61,FF
2021-08-13T22:45:46.697Z,1628894746.697 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:45:46.748Z,1628894746.748 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:45:47.113Z,1628894747.113 [Micromodem](INFO): Nmea in: $SNTTA,0.045194,0.364862,,,224547.45*5D

2021-08-13T22:45:47.210Z,1628894747.210 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.600000 m, bearing: 29.097658 deg, deltaT: 4.427962 s, approachRate: -0.040650 m/s, LOS rate: 0.618410 deg/s, posRepo size: 4
2021-08-13T22:45:49.566Z,1628894749.566 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:45:49.953Z,1628894749.953 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:45:49.953Z,1628894749.953 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:45:49.953Z,1628894749.953 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:45:49.954Z,1628894749.954 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:45:50.333Z,1628894750.333 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1AA,000,003D9,185,80,80,61,FF
2021-08-13T22:45:50.333Z,1628894750.333 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:45:50.333Z,1628894750.333 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:45:50.335Z,1628894750.335 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:45:50.741Z,1628894750.741 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:45:51.141Z,1628894751.141 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,178,000,003E1,186,80,80,82,FF
2021-08-13T22:45:51.141Z,1628894751.141 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:45:51.227Z,1628894751.227 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:45:51.577Z,1628894751.577 [Micromodem](INFO): Nmea in: $SNTTA,0.032610,,,,224551.87*4C

2021-08-13T22:45:51.608Z,1628894751.608 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.079998 m, bearing: 32.209362 deg, deltaT: 4.478148 s, approachRate: 0.107187 m/s, LOS rate: 0.694864 deg/s, posRepo size: 4
2021-08-13T22:45:54.011Z,1628894754.011 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:45:54.381Z,1628894754.381 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:45:54.381Z,1628894754.381 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:45:54.381Z,1628894754.381 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:45:54.382Z,1628894754.382 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:45:54.781Z,1628894754.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
178,000,003E1,186,80,80,82,FF
2021-08-13T22:45:54.782Z,1628894754.782 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:45:54.782Z,1628894754.782 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:45:54.784Z,1628894754.784 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:45:55.193Z,1628894755.193 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:45:55.589Z,1628894755.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1AE,000,003DE,185,80,80,69,FF
2021-08-13T22:45:55.590Z,1628894755.590 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:45:55.637Z,1628894755.637 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:45:56.021Z,1628894756.021 [Micromodem](INFO): Nmea in: $SNTTA,0.078652,,,,224556.32*4D

2021-08-13T22:45:56.058Z,1628894756.058 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.900000 m, bearing: 29.826623 deg, deltaT: 4.410704 s, approachRate: -0.040809 m/s, LOS rate: -0.540217 deg/s, posRepo size: 4
2021-08-13T22:45:58.450Z,1628894758.450 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:45:58.817Z,1628894758.817 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:45:58.817Z,1628894758.817 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:45:58.818Z,1628894758.818 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:45:58.819Z,1628894758.819 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:45:59.221Z,1628894759.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1AE,000,003DE,185,80,80,69,FF
2021-08-13T22:45:59.221Z,1628894759.221 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:45:59.221Z,1628894759.221 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:45:59.223Z,1628894759.223 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:45:59.629Z,1628894759.629 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:46:00.033Z,1628894760.033 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1B1,000,003D5,185,80,80,7C,FF
2021-08-13T22:46:00.033Z,1628894760.033 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:46:00.093Z,1628894760.093 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:46:00.465Z,1628894760.465 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224600.76*5D

2021-08-13T22:46:00.487Z,1628894760.487 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.359999 m, bearing: 29.614833 deg, deltaT: 4.455603 s, approachRate: -0.121196 m/s, LOS rate: -0.047534 deg/s, posRepo size: 4
2021-08-13T22:46:02.962Z,1628894762.962 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:46:03.261Z,1628894763.261 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:46:03.261Z,1628894763.261 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:46:03.261Z,1628894763.261 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:46:03.262Z,1628894763.262 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:46:03.673Z,1628894763.673 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1B1,000,003D5,185,80,80,7C,FF
2021-08-13T22:46:03.674Z,1628894763.674 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:46:03.674Z,1628894763.674 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:46:03.675Z,1628894763.675 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:46:04.072Z,1628894764.072 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:46:04.501Z,1628894764.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1B8,000,003D6,186,80,80,67,FF
2021-08-13T22:46:04.502Z,1628894764.502 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:46:04.543Z,1628894764.543 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:46:04.946Z,1628894764.946 [Micromodem](INFO): Nmea in: $SNTTA,0.049472,,,,224605.21*48

2021-08-13T22:46:04.965Z,1628894764.965 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-13T22:46:05.014Z,1628894765.014 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.420002 m, bearing: 29.419237 deg, deltaT: 4.454682 s, approachRate: 0.013470 m/s, LOS rate: -0.043908 deg/s, posRepo size: 4
2021-08-13T22:46:07.323Z,1628894767.323 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:46:07.725Z,1628894767.725 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:46:07.725Z,1628894767.725 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:46:07.725Z,1628894767.725 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:46:07.726Z,1628894767.726 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:46:08.118Z,1628894768.118 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1B8,000,003D6,186,80,80,67,FF
2021-08-13T22:46:08.118Z,1628894768.118 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:46:08.118Z,1628894768.118 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:46:08.120Z,1628894768.120 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:46:08.537Z,1628894768.537 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:46:08.953Z,1628894768.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,17A,000,003DB,185,80,80,78,FF
2021-08-13T22:46:08.953Z,1628894768.953 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:46:09.027Z,1628894769.027 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:46:09.366Z,1628894769.366 [Micromodem](INFO): Nmea in: $SNTTA,0.060026,,,,224609.65*4A

2021-08-13T22:46:09.387Z,1628894769.387 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.720001 m, bearing: 32.505393 deg, deltaT: 4.483884 s, approachRate: 0.066906 m/s, LOS rate: 0.688277 deg/s, posRepo size: 4
2021-08-13T22:46:11.793Z,1628894771.793 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:46:12.159Z,1628894772.159 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:46:12.159Z,1628894772.159 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:46:12.162Z,1628894772.162 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:46:12.208Z,1628894772.208 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:46:12.208Z,1628894772.208 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
17A,000,003DB,185,80,80,78,FF
2021-08-13T22:46:12.209Z,1628894772.209 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:46:12.209Z,1628894772.209 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:46:12.210Z,1628894772.210 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:46:12.592Z,1628894772.592 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:46:12.978Z,1628894772.978 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1AE,000,003D2,186,80,80,AE,FF
2021-08-13T22:46:12.978Z,1628894772.978 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:46:13.077Z,1628894773.077 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:46:13.418Z,1628894773.418 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224613.75*5C

2021-08-13T22:46:13.445Z,1628894773.445 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.179998 m, bearing: 29.874769 deg, deltaT: 4.045855 s, approachRate: -0.133471 m/s, LOS rate: -0.650202 deg/s, posRepo size: 4
2021-08-13T22:46:15.843Z,1628894775.843 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:46:16.213Z,1628894776.213 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:46:16.213Z,1628894776.213 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:46:16.213Z,1628894776.213 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:46:16.214Z,1628894776.214 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:46:16.621Z,1628894776.621 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1AE,000,003D2,186,80,80,AE,FF
2021-08-13T22:46:16.621Z,1628894776.621 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:46:16.622Z,1628894776.622 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:46:16.623Z,1628894776.623 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:46:17.024Z,1628894777.024 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:46:17.429Z,1628894777.429 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1A2,000,003CF,186,80,80,9E,FF
2021-08-13T22:46:17.430Z,1628894777.430 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:46:17.475Z,1628894777.475 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:46:17.866Z,1628894777.866 [Micromodem](INFO): Nmea in: $SNTTA,0.102710,,,,224618.16*49

2021-08-13T22:46:17.940Z,1628894777.940 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.000000 m, bearing: 30.081509 deg, deltaT: 4.397369 s, approachRate: -0.040933 m/s, LOS rate: 0.047014 deg/s, posRepo size: 4
2021-08-13T22:46:20.284Z,1628894780.284 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:46:20.674Z,1628894780.674 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:46:20.674Z,1628894780.674 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:46:20.674Z,1628894780.674 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:46:20.675Z,1628894780.675 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:46:21.069Z,1628894781.069 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1A2,000,003CF,186,80,80,9E,FF
2021-08-13T22:46:21.069Z,1628894781.069 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:46:21.069Z,1628894781.069 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:46:21.071Z,1628894781.071 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:46:21.501Z,1628894781.501 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:46:21.909Z,1628894781.909 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1BE,000,003CB,185,80,80,AF,FF
2021-08-13T22:46:21.910Z,1628894781.910 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:46:21.988Z,1628894781.988 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:46:22.329Z,1628894782.329 [Micromodem](INFO): Nmea in: $SNTTA,0.034254,,,,224622.61*41

2021-08-13T22:46:22.348Z,1628894782.348 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.759998 m, bearing: 28.358401 deg, deltaT: 4.513498 s, approachRate: -0.053174 m/s, LOS rate: -0.381768 deg/s, posRepo size: 4
2021-08-13T22:46:24.770Z,1628894784.770 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:46:25.121Z,1628894785.121 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:46:25.121Z,1628894785.121 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:46:25.122Z,1628894785.122 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:46:25.122Z,1628894785.122 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:46:25.542Z,1628894785.542 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1BE,000,003CB,185,80,80,AF,FF
2021-08-13T22:46:25.542Z,1628894785.542 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:46:25.542Z,1628894785.542 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:46:25.544Z,1628894785.544 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:46:25.952Z,1628894785.952 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:46:26.338Z,1628894786.338 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,163,000,003D2,186,80,80,65,FF
2021-08-13T22:46:26.338Z,1628894786.338 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:46:26.365Z,1628894786.365 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:46:26.765Z,1628894786.765 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224627.08*51

2021-08-13T22:46:26.787Z,1628894786.787 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.179998 m, bearing: 32.609031 deg, deltaT: 4.377154 s, approachRate: 0.095953 m/s, LOS rate: 0.971094 deg/s, posRepo size: 4
2021-08-13T22:46:29.231Z,1628894789.231 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:46:29.562Z,1628894789.562 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:46:29.562Z,1628894789.562 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:46:29.563Z,1628894789.563 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:46:29.563Z,1628894789.563 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:46:29.969Z,1628894789.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
163,000,003D2,186,80,80,65,FF
2021-08-13T22:46:29.969Z,1628894789.969 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:46:29.969Z,1628894789.969 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:46:29.971Z,1628894789.971 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:46:30.386Z,1628894790.386 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:46:30.773Z,1628894790.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1B3,000,003C6,185,80,80,98,FF
2021-08-13T22:46:30.773Z,1628894790.773 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:46:30.890Z,1628894790.890 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:46:31.226Z,1628894791.226 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224631.51*5A

2021-08-13T22:46:31.290Z,1628894791.290 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.459999 m, bearing: 28.368653 deg, deltaT: 4.525088 s, approachRate: -0.159113 m/s, LOS rate: -0.937082 deg/s, posRepo size: 4
2021-08-13T22:46:33.641Z,1628894793.641 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:46:34.009Z,1628894794.009 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:46:34.009Z,1628894794.009 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:46:34.009Z,1628894794.009 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:46:34.010Z,1628894794.010 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:46:34.409Z,1628894794.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1B3,000,003C6,185,80,80,98,FF
2021-08-13T22:46:34.409Z,1628894794.409 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:46:34.409Z,1628894794.409 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:46:34.411Z,1628894794.411 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:46:34.855Z,1628894794.855 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:46:35.235Z,1628894795.235 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,19C,000,003CB,185,80,80,86,FF
2021-08-13T22:46:35.236Z,1628894795.236 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:46:35.241Z,1628894795.241 [Micromodem](INFO): Nmea in: 6,COPROC,0.20.0.39330*7C

2021-08-13T22:46:35.242Z,1628894795.242 [Micromodem](ERROR): Response from modem failed NMEA checksum: 6,COPROC,0.20.0.39330*7C
 expected 0
2021-08-13T22:46:35.269Z,1628894795.269 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:46:35.666Z,1628894795.666 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.759998 m, bearing: 29.385035 deg, deltaT: 4.378362 s, approachRate: 0.068519 m/s, LOS rate: 0.232137 deg/s, posRepo size: 4
2021-08-13T22:46:38.089Z,1628894798.089 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:46:38.453Z,1628894798.453 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:46:38.453Z,1628894798.453 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:46:38.453Z,1628894798.453 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:46:38.454Z,1628894798.454 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:46:38.917Z,1628894798.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
19C,000,003CB,185,80,80,86,FF
2021-08-13T22:46:38.917Z,1628894798.917 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:46:38.917Z,1628894798.917 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:46:38.919Z,1628894798.919 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:46:39.304Z,1628894799.304 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:46:39.689Z,1628894799.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1C1,000,003BE,186,80,80,B3,FF
2021-08-13T22:46:39.689Z,1628894799.689 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:46:39.745Z,1628894799.745 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:46:40.123Z,1628894800.123 [Micromodem](INFO): Nmea in: $SNTTA,0.082900,,,,224640.45*44

2021-08-13T22:46:40.185Z,1628894800.185 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.980001 m, bearing: 27.508568 deg, deltaT: 4.475870 s, approachRate: -0.174267 m/s, LOS rate: -0.419241 deg/s, posRepo size: 4
2021-08-13T22:46:42.555Z,1628894802.555 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:46:42.961Z,1628894802.961 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:46:42.961Z,1628894802.961 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:46:42.961Z,1628894802.961 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:46:42.962Z,1628894802.962 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:46:43.329Z,1628894803.329 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1C1,000,003BE,186,80,80,B3,FF
2021-08-13T22:46:43.329Z,1628894803.329 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:46:43.329Z,1628894803.329 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:46:43.331Z,1628894803.331 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:46:43.728Z,1628894803.728 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:46:44.129Z,1628894804.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,17D,000,003BD,186,80,80,50,FF
2021-08-13T22:46:44.129Z,1628894804.129 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:46:44.188Z,1628894804.188 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:46:44.569Z,1628894804.569 [Micromodem](INFO): Nmea in: $SNTTA,0.060126,,,,224644.87*4E

2021-08-13T22:46:44.605Z,1628894804.605 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.919998 m, bearing: 30.763800 deg, deltaT: 4.443231 s, approachRate: -0.013504 m/s, LOS rate: 0.732627 deg/s, posRepo size: 4
2021-08-13T22:46:47.023Z,1628894807.023 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:46:47.361Z,1628894807.361 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:46:47.361Z,1628894807.361 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:46:47.361Z,1628894807.361 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:46:47.362Z,1628894807.362 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:46:47.775Z,1628894807.775 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
17D,000,003BD,186,80,80,50,FF
2021-08-13T22:46:47.775Z,1628894807.775 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:46:47.775Z,1628894807.775 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:46:47.777Z,1628894807.777 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:46:48.172Z,1628894808.172 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:46:48.573Z,1628894808.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1B4,000,003BB,185,80,80,86,FF
2021-08-13T22:46:48.573Z,1628894808.573 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:46:48.627Z,1628894808.627 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:46:49.029Z,1628894809.029 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224649.31*53

2021-08-13T22:46:49.131Z,1628894809.131 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.799997 m, bearing: 28.116573 deg, deltaT: 4.439037 s, approachRate: -0.027033 m/s, LOS rate: -0.596352 deg/s, posRepo size: 4
2021-08-13T22:46:51.432Z,1628894811.432 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:46:51.805Z,1628894811.805 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:46:51.805Z,1628894811.805 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:46:51.806Z,1628894811.806 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:46:51.807Z,1628894811.807 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:46:52.221Z,1628894812.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1B4,000,003BB,185,80,80,86,FF
2021-08-13T22:46:52.222Z,1628894812.222 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:46:52.222Z,1628894812.222 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:46:52.226Z,1628894812.226 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:46:52.681Z,1628894812.681 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:46:53.071Z,1628894813.071 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1A4,000,003BB,186,80,80,56,FF
2021-08-13T22:46:53.071Z,1628894813.071 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:46:53.183Z,1628894813.183 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:46:53.497Z,1628894813.497 [Micromodem](INFO): Nmea in: $SNTTA,0.031087,,,,224653.76*48

2021-08-13T22:46:53.522Z,1628894813.522 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.799997 m, bearing: 28.773828 deg, deltaT: 4.560411 s, approachRate: 0.000000 m/s, LOS rate: 0.144122 deg/s, posRepo size: 4
2021-08-13T22:46:55.993Z,1628894815.993 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:46:56.305Z,1628894816.305 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:46:56.305Z,1628894816.305 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:46:56.305Z,1628894816.305 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:46:56.306Z,1628894816.306 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:46:56.709Z,1628894816.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1A4,000,003BB,186,80,80,56,FF
2021-08-13T22:46:56.710Z,1628894816.710 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:46:56.710Z,1628894816.710 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:46:56.711Z,1628894816.711 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:46:57.117Z,1628894817.117 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:46:57.521Z,1628894817.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1BD,000,003B5,186,80,80,A3,FF
2021-08-13T22:46:57.521Z,1628894817.521 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:46:57.541Z,1628894817.541 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:46:57.991Z,1628894817.991 [Micromodem](INFO): Nmea in: $SNTTA,0.058283,,,,224658.25*4C

2021-08-13T22:46:58.048Z,1628894818.048 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.440001 m, bearing: 27.757991 deg, deltaT: 4.353619 s, approachRate: -0.082689 m/s, LOS rate: -0.233332 deg/s, posRepo size: 4
2021-08-13T22:47:00.366Z,1628894820.366 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:47:00.749Z,1628894820.749 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:47:00.749Z,1628894820.749 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:47:00.749Z,1628894820.749 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:47:00.750Z,1628894820.750 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:47:01.163Z,1628894821.163 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1BD,000,003B5,186,80,80,A3,FF
2021-08-13T22:47:01.163Z,1628894821.163 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:47:01.163Z,1628894821.163 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:47:01.165Z,1628894821.165 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:47:01.565Z,1628894821.565 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:47:01.973Z,1628894821.973 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1BE,000,003B0,185,80,80,90,FF
2021-08-13T22:47:01.974Z,1628894821.974 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:47:02.043Z,1628894822.043 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:47:02.413Z,1628894822.413 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224702.70*58

2021-08-13T22:47:02.435Z,1628894822.435 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.140001 m, bearing: 27.442088 deg, deltaT: 4.506680 s, approachRate: -0.066568 m/s, LOS rate: -0.070097 deg/s, posRepo size: 4
2021-08-13T22:47:04.912Z,1628894824.912 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:47:05.193Z,1628894825.193 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:47:05.194Z,1628894825.194 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:47:05.194Z,1628894825.194 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:47:05.195Z,1628894825.195 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:47:05.601Z,1628894825.601 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1BE,000,003B0,185,80,80,90,FF
2021-08-13T22:47:05.601Z,1628894825.601 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:47:05.601Z,1628894825.601 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:47:05.603Z,1628894825.603 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:47:06.020Z,1628894826.020 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:47:06.409Z,1628894826.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1CE,000,003AD,186,80,80,B0,FF
2021-08-13T22:47:06.410Z,1628894826.410 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:47:06.457Z,1628894826.457 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:47:06.894Z,1628894826.894 [Micromodem](INFO): Nmea in: $SNTTA,0.045494,,,,224707.14*49

2021-08-13T22:47:07.011Z,1628894827.011 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.960001 m, bearing: 26.830892 deg, deltaT: 4.409050 s, approachRate: -0.040825 m/s, LOS rate: -0.138623 deg/s, posRepo size: 4
2021-08-13T22:47:09.307Z,1628894829.307 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:47:09.645Z,1628894829.645 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:47:09.645Z,1628894829.645 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:47:09.645Z,1628894829.645 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:47:09.646Z,1628894829.646 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:47:10.045Z,1628894830.045 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1CE,000,003AD,186,80,80,B0,FF
2021-08-13T22:47:10.045Z,1628894830.045 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:47:10.045Z,1628894830.045 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:47:10.047Z,1628894830.047 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:47:10.453Z,1628894830.453 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:47:10.897Z,1628894830.897 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1BE,000,003AB,186,80,80,5C,FF
2021-08-13T22:47:10.899Z,1628894830.899 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:47:10.918Z,1628894830.918 [Micromodem](INFO): Nmea in: $SNTTA,0.049696,0.301745,,,224711.58*50

2021-08-13T22:47:11.045Z,1628894831.045 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:47:11.287Z,1628894831.287 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.840000 m, bearing: 27.377760 deg, deltaT: 4.588637 s, approachRate: -0.026152 m/s, LOS rate: 0.119179 deg/s, posRepo size: 4
2021-08-13T22:47:13.718Z,1628894833.718 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:47:14.089Z,1628894834.089 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:47:14.089Z,1628894834.089 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:47:14.089Z,1628894834.089 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:47:14.090Z,1628894834.090 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:47:14.497Z,1628894834.497 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1BE,000,003AB,186,80,80,5C,FF
2021-08-13T22:47:14.498Z,1628894834.498 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:47:14.498Z,1628894834.498 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:47:14.499Z,1628894834.499 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:47:14.949Z,1628894834.949 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:47:15.726Z,1628894835.726 [Micromodem](INFO): Nmea in: $SNTTA,0.075590,,,,224716.03*49

2021-08-13T22:47:16.550Z,1628894836.550 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:47:18.144Z,1628894838.144 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
B,186,80,80,5C,FF
2021-08-13T22:47:18.145Z,1628894838.145 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
B,186,80,80,5C,FF
2021-08-13T22:47:18.145Z,1628894838.145 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T22:47:19.371Z,1628894839.371 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:47:19.745Z,1628894839.745 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:47:19.745Z,1628894839.745 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:47:19.745Z,1628894839.745 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:47:19.746Z,1628894839.746 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:47:20.149Z,1628894840.149 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
B,186,80,80,5C,FF
2021-08-13T22:47:20.149Z,1628894840.149 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:47:20.150Z,1628894840.150 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:47:20.151Z,1628894840.151 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:47:20.571Z,1628894840.571 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:47:20.965Z,1628894840.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1C0,000,003A4,186,80,80,69,FF
2021-08-13T22:47:20.966Z,1628894840.966 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:47:20.969Z,1628894840.969 [Micromodem](INFO): Nmea in: $SNTTA,0.164485,0.247661,,,224721.69*5B

2021-08-13T22:47:21.128Z,1628894841.128 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:47:21.431Z,1628894841.431 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.420000 m, bearing: 26.713321 deg, deltaT: 10.082823 s, approachRate: -0.041655 m/s, LOS rate: -0.065898 deg/s, posRepo size: 4
2021-08-13T22:47:23.912Z,1628894843.912 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:47:24.221Z,1628894844.221 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:47:24.221Z,1628894844.221 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:47:24.221Z,1628894844.221 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:47:24.222Z,1628894844.222 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:47:24.625Z,1628894844.625 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1C0,000,003A4,186,80,80,69,FF
2021-08-13T22:47:24.626Z,1628894844.626 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:47:24.626Z,1628894844.626 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:47:24.627Z,1628894844.627 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:47:25.032Z,1628894845.032 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:47:25.433Z,1628894845.433 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1CD,000,003A1,185,80,80,AE,FF
2021-08-13T22:47:25.434Z,1628894845.434 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:47:25.505Z,1628894845.505 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:47:25.878Z,1628894845.878 [Micromodem](INFO): Nmea in: $SNTTA,,0.056763,,,224726.16*41

2021-08-13T22:47:25.979Z,1628894845.979 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.240002 m, bearing: 25.250021 deg, deltaT: 4.376362 s, approachRate: -0.041130 m/s, LOS rate: -0.334364 deg/s, posRepo size: 4
2021-08-13T22:47:28.334Z,1628894848.334 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:47:28.673Z,1628894848.673 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:47:28.673Z,1628894848.673 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:47:28.673Z,1628894848.673 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:47:28.674Z,1628894848.674 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:47:29.081Z,1628894849.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1CD,000,003A1,185,80,80,AE,FF
2021-08-13T22:47:29.081Z,1628894849.081 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:47:29.081Z,1628894849.081 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:47:29.083Z,1628894849.083 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:47:29.505Z,1628894849.505 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:47:30.318Z,1628894850.318 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224730.62*5A

2021-08-13T22:47:31.301Z,1628894851.301 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:47:32.730Z,1628894852.730 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
1,185,80,80,AE,FF
2021-08-13T22:47:32.730Z,1628894852.730 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
1,185,80,80,AE,FF
2021-08-13T22:47:32.730Z,1628894852.730 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T22:47:34.007Z,1628894854.007 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:47:34.337Z,1628894854.337 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:47:34.337Z,1628894854.337 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:47:34.337Z,1628894854.337 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:47:34.338Z,1628894854.338 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:47:34.749Z,1628894854.749 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
1,185,80,80,AE,FF
2021-08-13T22:47:34.749Z,1628894854.749 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:47:34.749Z,1628894854.749 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:47:34.751Z,1628894854.751 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:47:35.148Z,1628894855.148 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:47:35.549Z,1628894855.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1A2,000,003A6,186,80,80,53,FF
2021-08-13T22:47:35.550Z,1628894855.550 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:47:35.569Z,1628894855.569 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:47:35.981Z,1628894855.981 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224736.29*53

2021-08-13T22:47:36.027Z,1628894856.027 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.540001 m, bearing: 26.124919 deg, deltaT: 10.064107 s, approachRate: 0.029809 m/s, LOS rate: 0.086932 deg/s, posRepo size: 4
2021-08-13T22:47:38.403Z,1628894858.403 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:47:38.787Z,1628894858.787 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:47:38.787Z,1628894858.787 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:47:38.787Z,1628894858.787 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:47:38.788Z,1628894858.788 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:47:39.185Z,1628894859.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1A2,000,003A6,186,80,80,53,FF
2021-08-13T22:47:39.185Z,1628894859.185 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:47:39.186Z,1628894859.186 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:47:39.187Z,1628894859.187 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:47:39.597Z,1628894859.597 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:47:39.993Z,1628894859.993 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1E8,000,0039A,187,80,80,A4,FF
2021-08-13T22:47:39.993Z,1628894859.993 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:47:40.050Z,1628894860.050 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:47:40.440Z,1628894860.440 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224740.72*5C

2021-08-13T22:47:40.461Z,1628894860.461 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.820002 m, bearing: 22.213377 deg, deltaT: 4.481405 s, approachRate: -0.160664 m/s, LOS rate: -0.872838 deg/s, posRepo size: 4
2021-08-13T22:47:42.922Z,1628894862.922 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:47:43.225Z,1628894863.225 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:47:43.225Z,1628894863.225 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:47:43.225Z,1628894863.225 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:47:43.226Z,1628894863.226 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:47:43.633Z,1628894863.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1E8,000,0039A,187,80,80,A4,FF
2021-08-13T22:47:43.633Z,1628894863.633 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:47:43.634Z,1628894863.634 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:47:43.635Z,1628894863.635 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:47:44.037Z,1628894864.037 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:47:44.437Z,1628894864.437 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1FB,000,00394,186,80,80,9E,FF
2021-08-13T22:47:44.438Z,1628894864.438 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:47:44.457Z,1628894864.457 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:47:44.917Z,1628894864.917 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224745.17*5A

2021-08-13T22:47:44.977Z,1628894864.977 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.459999 m, bearing: 21.107124 deg, deltaT: 4.407132 s, approachRate: -0.081686 m/s, LOS rate: -0.251014 deg/s, posRepo size: 4
2021-08-13T22:47:46.992Z,1628894866.992 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:47:47.290Z,1628894867.290 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:47:47.290Z,1628894867.290 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:47:47.290Z,1628894867.290 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:47:47.291Z,1628894867.291 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:47:47.669Z,1628894867.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1FB,000,00394,186,80,80,9E,FF
2021-08-13T22:47:47.669Z,1628894867.669 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:47:47.669Z,1628894867.669 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:47:47.671Z,1628894867.671 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:47:48.085Z,1628894868.085 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:47:48.493Z,1628894868.493 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1F9,000,00396,186,80,80,7D,FF
2021-08-13T22:47:48.493Z,1628894868.493 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:47:48.512Z,1628894868.512 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:47:48.953Z,1628894868.953 [Micromodem](INFO): Nmea in: $SNTTA,0.037301,,,,224749.21*4B

2021-08-13T22:47:49.010Z,1628894869.010 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.580000 m, bearing: 20.981166 deg, deltaT: 4.054997 s, approachRate: 0.029593 m/s, LOS rate: -0.031062 deg/s, posRepo size: 4
2021-08-13T22:47:51.021Z,1628894871.021 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:47:51.313Z,1628894871.313 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:47:51.314Z,1628894871.314 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:47:51.314Z,1628894871.314 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:47:51.315Z,1628894871.315 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:47:51.709Z,1628894871.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1F9,000,00396,186,80,80,7D,FF
2021-08-13T22:47:51.709Z,1628894871.709 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:47:51.709Z,1628894871.709 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:47:51.711Z,1628894871.711 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:47:52.129Z,1628894872.129 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:47:52.517Z,1628894872.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1B4,000,0039C,185,80,80,65,FF
2021-08-13T22:47:52.519Z,1628894872.519 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:47:52.568Z,1628894872.568 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:47:52.969Z,1628894872.969 [Micromodem](INFO): Nmea in: $SNTTA,0.050678,,,,224753.24*4F

2021-08-13T22:47:53.045Z,1628894873.045 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.939997 m, bearing: 24.439008 deg, deltaT: 4.055923 s, approachRate: 0.088758 m/s, LOS rate: 0.852541 deg/s, posRepo size: 4
2021-08-13T22:47:55.371Z,1628894875.371 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:47:55.766Z,1628894875.766 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:47:55.766Z,1628894875.766 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:47:55.766Z,1628894875.766 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:47:55.767Z,1628894875.767 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:47:56.153Z,1628894876.153 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1B4,000,0039C,185,80,80,65,FF
2021-08-13T22:47:56.153Z,1628894876.153 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:47:56.153Z,1628894876.153 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:47:56.155Z,1628894876.155 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:47:56.561Z,1628894876.561 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:47:56.966Z,1628894876.966 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,19A,000,0039B,186,80,80,5F,FF
2021-08-13T22:47:56.966Z,1628894876.966 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:47:57.039Z,1628894877.039 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:47:57.401Z,1628894877.401 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224757.69*50

2021-08-13T22:47:57.426Z,1628894877.426 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.879999 m, bearing: 25.535545 deg, deltaT: 4.475438 s, approachRate: -0.013406 m/s, LOS rate: 0.245012 deg/s, posRepo size: 4
2021-08-13T22:47:59.810Z,1628894879.810 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:48:00.193Z,1628894880.193 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:48:00.193Z,1628894880.193 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:48:00.193Z,1628894880.193 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:48:00.194Z,1628894880.194 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:48:00.605Z,1628894880.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
19A,000,0039B,186,80,80,5F,FF
2021-08-13T22:48:00.605Z,1628894880.605 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:48:00.605Z,1628894880.605 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:48:00.607Z,1628894880.607 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:48:01.013Z,1628894881.013 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:48:01.417Z,1628894881.417 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,199,000,00391,185,80,80,75,FF
2021-08-13T22:48:01.417Z,1628894881.417 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:48:01.437Z,1628894881.437 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:48:01.845Z,1628894881.845 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224802.14*55

2021-08-13T22:48:01.929Z,1628894881.929 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.280001 m, bearing: 25.203171 deg, deltaT: 4.393511 s, approachRate: -0.136565 m/s, LOS rate: -0.075651 deg/s, posRepo size: 4
2021-08-13T22:48:04.285Z,1628894884.285 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:48:04.653Z,1628894884.653 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:48:04.653Z,1628894884.653 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:48:04.653Z,1628894884.653 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:48:04.654Z,1628894884.654 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:48:05.049Z,1628894885.049 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
199,000,00391,185,80,80,75,FF
2021-08-13T22:48:05.049Z,1628894885.049 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:48:05.049Z,1628894885.049 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:48:05.051Z,1628894885.051 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:48:05.460Z,1628894885.460 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:48:05.858Z,1628894885.858 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,180,000,00390,185,80,80,53,FF
2021-08-13T22:48:05.859Z,1628894885.859 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:48:05.925Z,1628894885.925 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:48:06.285Z,1628894886.285 [Micromodem](INFO): Nmea in: $SNTTA,0.080682,,,,224806.59*42

2021-08-13T22:48:06.329Z,1628894886.329 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.219997 m, bearing: 26.378387 deg, deltaT: 4.487910 s, approachRate: -0.013370 m/s, LOS rate: 0.261863 deg/s, posRepo size: 4
2021-08-13T22:48:08.716Z,1628894888.716 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:48:09.081Z,1628894889.081 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:48:09.081Z,1628894889.081 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:48:09.081Z,1628894889.081 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:48:09.082Z,1628894889.082 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:48:09.501Z,1628894889.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
180,000,00390,185,80,80,53,FF
2021-08-13T22:48:09.502Z,1628894889.502 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:48:09.502Z,1628894889.502 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:48:09.503Z,1628894889.503 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:48:09.921Z,1628894889.921 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:48:10.722Z,1628894890.722 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224811.04*56

2021-08-13T22:48:11.221Z,1628894891.221 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:48:11.505Z,1628894891.505 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,187,000,036CB,186,80,80,68,FF
2021-08-13T22:48:11.505Z,1628894891.505 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:48:11.598Z,1628894891.598 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:48:11.990Z,1628894891.990 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 804.119995 m, bearing: 25.780204 deg, deltaT: 5.673137 s, approachRate: 138.706329 m/s, LOS rate: -0.105441 deg/s, posRepo size: 4
2021-08-13T22:48:12.353Z,1628894892.353 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-13T22:48:12.354Z,1628894892.354 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T22:48:12.354Z,1628894892.354 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-13T22:48:12.355Z,1628894892.355 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-13T22:48:12.355Z,1628894892.355 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-13T22:48:12.355Z,1628894892.355 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-13T22:48:12.753Z,1628894892.753 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-13T22:48:12.753Z,1628894892.753 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T22:48:12.753Z,1628894892.753 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-13T22:48:12.753Z,1628894892.753 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T22:48:14.377Z,1628894894.377 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:48:14.737Z,1628894894.737 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:48:14.737Z,1628894894.737 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:48:14.737Z,1628894894.737 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:48:14.738Z,1628894894.738 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:48:15.151Z,1628894895.151 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
187,000,036CB,186,80,80,68,FF
2021-08-13T22:48:15.151Z,1628894895.151 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:48:15.151Z,1628894895.151 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:48:15.155Z,1628894895.155 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:48:15.573Z,1628894895.573 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:48:15.967Z,1628894895.967 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,160,000,00389,185,80,80,7E,FF
2021-08-13T22:48:15.967Z,1628894895.967 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:48:16.473Z,1628894896.473 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224816.69*5A

2021-08-13T22:48:16.519Z,1628894896.519 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.800003 m, bearing: 27.480481 deg, deltaT: 4.456948 s, approachRate: -176.650040 m/s, LOS rate: 0.381489 deg/s, posRepo size: 4
2021-08-13T22:48:16.894Z,1628894896.894 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-13T22:48:16.895Z,1628894896.895 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T22:48:16.901Z,1628894896.901 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-13T22:48:16.903Z,1628894896.903 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-13T22:48:16.903Z,1628894896.903 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-13T22:48:16.903Z,1628894896.903 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-13T22:48:17.262Z,1628894897.262 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-13T22:48:17.263Z,1628894897.263 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T22:48:17.265Z,1628894897.265 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-13T22:48:17.266Z,1628894897.266 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T22:48:18.882Z,1628894898.882 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:48:19.214Z,1628894899.214 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:48:19.214Z,1628894899.214 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:48:19.214Z,1628894899.214 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:48:19.215Z,1628894899.215 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:48:19.601Z,1628894899.601 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
160,000,00389,185,80,80,7E,FF
2021-08-13T22:48:19.601Z,1628894899.601 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:48:19.602Z,1628894899.602 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:48:19.603Z,1628894899.603 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:48:20.027Z,1628894900.027 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:48:20.413Z,1628894900.413 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,16B,000,00384,185,80,80,84,FF
2021-08-13T22:48:20.414Z,1628894900.414 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:48:20.433Z,1628894900.433 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:48:20.867Z,1628894900.867 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224821.14*54

2021-08-13T22:48:20.967Z,1628894900.967 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.499996 m, bearing: 26.787671 deg, deltaT: 4.377687 s, approachRate: -0.068531 m/s, LOS rate: -0.158259 deg/s, posRepo size: 4
2021-08-13T22:48:22.956Z,1628894902.956 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:48:23.253Z,1628894903.253 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:48:23.253Z,1628894903.253 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:48:23.254Z,1628894903.254 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:48:23.255Z,1628894903.255 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:48:23.645Z,1628894903.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
16B,000,00384,185,80,80,84,FF
2021-08-13T22:48:23.645Z,1628894903.645 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:48:23.645Z,1628894903.645 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:48:23.647Z,1628894903.647 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:48:24.060Z,1628894904.060 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:48:24.453Z,1628894904.453 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,13F,000,00383,186,80,80,9B,FF
2021-08-13T22:48:24.454Z,1628894904.454 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:48:24.473Z,1628894904.473 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:48:24.937Z,1628894904.937 [Micromodem](INFO): Nmea in: $SNTTA,0.061962,,,,224825.18*48

2021-08-13T22:48:24.999Z,1628894904.999 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.439999 m, bearing: 28.524904 deg, deltaT: 4.040172 s, approachRate: -0.014850 m/s, LOS rate: 0.429990 deg/s, posRepo size: 4
2021-08-13T22:48:27.015Z,1628894907.015 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:48:27.330Z,1628894907.330 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:48:27.331Z,1628894907.331 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:48:27.331Z,1628894907.331 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:48:27.332Z,1628894907.332 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:48:27.697Z,1628894907.697 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
13F,000,00383,186,80,80,9B,FF
2021-08-13T22:48:27.697Z,1628894907.697 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:48:27.697Z,1628894907.697 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:48:27.699Z,1628894907.699 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:48:28.097Z,1628894908.097 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:48:28.505Z,1628894908.505 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,135,000,0038D,185,80,80,50,FF
2021-08-13T22:48:28.505Z,1628894908.505 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:48:28.553Z,1628894908.553 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:48:28.969Z,1628894908.969 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224829.23*58

2021-08-13T22:48:29.047Z,1628894909.047 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.039999 m, bearing: 28.858072 deg, deltaT: 4.080553 s, approachRate: 0.147039 m/s, LOS rate: 0.081648 deg/s, posRepo size: 4
2021-08-13T22:48:31.526Z,1628894911.526 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:48:31.769Z,1628894911.769 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:48:31.769Z,1628894911.769 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:48:31.769Z,1628894911.769 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:48:31.770Z,1628894911.770 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:48:32.137Z,1628894912.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
135,000,0038D,185,80,80,50,FF
2021-08-13T22:48:32.137Z,1628894912.137 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:48:32.137Z,1628894912.137 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:48:32.139Z,1628894912.139 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:48:32.545Z,1628894912.545 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:48:32.965Z,1628894912.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,208,000,00387,187,80,80,62,FF
2021-08-13T22:48:32.965Z,1628894912.965 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:48:33.072Z,1628894913.072 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:48:33.385Z,1628894913.385 [Micromodem](INFO): Nmea in: $SNTTA,0.068728,,,,224833.67*4E

2021-08-13T22:48:33.418Z,1628894913.418 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.680002 m, bearing: 18.007688 deg, deltaT: 4.518460 s, approachRate: -0.079672 m/s, LOS rate: -2.401346 deg/s, posRepo size: 4
2021-08-13T22:48:35.822Z,1628894915.822 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:48:36.181Z,1628894916.181 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:48:36.181Z,1628894916.181 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:48:36.181Z,1628894916.181 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:48:36.182Z,1628894916.182 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:48:36.587Z,1628894916.587 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
208,000,00387,187,80,80,62,FF
2021-08-13T22:48:36.587Z,1628894916.587 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:48:36.587Z,1628894916.587 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:48:36.589Z,1628894916.589 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:48:36.996Z,1628894916.996 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:48:37.397Z,1628894917.397 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1EC,000,00383,186,80,80,48,FF
2021-08-13T22:48:37.398Z,1628894917.398 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:48:37.417Z,1628894917.417 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:48:37.867Z,1628894917.867 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224838.12*5A

2021-08-13T22:48:37.935Z,1628894917.935 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.439999 m, bearing: 19.296372 deg, deltaT: 4.345571 s, approachRate: -0.055229 m/s, LOS rate: 0.296551 deg/s, posRepo size: 4
2021-08-13T22:48:40.262Z,1628894920.262 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:48:40.625Z,1628894920.625 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:48:40.625Z,1628894920.625 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:48:40.625Z,1628894920.625 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:48:40.626Z,1628894920.626 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:48:41.033Z,1628894921.033 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1EC,000,00383,186,80,80,48,FF
2021-08-13T22:48:41.033Z,1628894921.033 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:48:41.033Z,1628894921.033 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:48:41.035Z,1628894921.035 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:48:41.433Z,1628894921.433 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:48:41.833Z,1628894921.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2C9,000,0037F,189,80,80,4E,FF
2021-08-13T22:48:41.833Z,1628894921.833 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:48:41.950Z,1628894921.950 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:48:42.279Z,1628894922.279 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224842.57*56

2021-08-13T22:48:42.337Z,1628894922.337 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.199997 m, bearing: 8.047582 deg, deltaT: 4.532906 s, approachRate: -0.052947 m/s, LOS rate: -2.481585 deg/s, posRepo size: 4
2021-08-13T22:48:44.691Z,1628894924.691 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:48:45.073Z,1628894925.073 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:48:45.073Z,1628894925.073 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:48:45.073Z,1628894925.073 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:48:45.074Z,1628894925.074 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:48:45.469Z,1628894925.469 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2C9,000,0037F,189,80,80,4E,FF
2021-08-13T22:48:45.469Z,1628894925.469 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:48:45.469Z,1628894925.469 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:48:45.471Z,1628894925.471 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:48:45.903Z,1628894925.903 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:48:46.283Z,1628894926.283 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,06C,000,00374,186,80,80,7A,FF
2021-08-13T22:48:46.283Z,1628894926.283 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:48:46.302Z,1628894926.302 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:48:46.717Z,1628894926.717 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224847.00*51

2021-08-13T22:48:46.739Z,1628894926.739 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.540001 m, bearing: 38.194291 deg, deltaT: 4.351716 s, approachRate: -0.151663 m/s, LOS rate: 6.927545 deg/s, posRepo size: 4
2021-08-13T22:48:49.189Z,1628894929.189 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:48:49.517Z,1628894929.517 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:48:49.517Z,1628894929.517 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:48:49.517Z,1628894929.517 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:48:49.518Z,1628894929.518 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:48:49.953Z,1628894929.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
06C,000,00374,186,80,80,7A,FF
2021-08-13T22:48:49.953Z,1628894929.953 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:48:49.953Z,1628894929.953 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:48:49.955Z,1628894929.955 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:48:50.325Z,1628894930.325 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:48:50.725Z,1628894930.725 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1DC,000,00378,187,80,80,5A,FF
2021-08-13T22:48:50.726Z,1628894930.726 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:48:50.750Z,1628894930.750 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:48:51.162Z,1628894931.162 [Micromodem](INFO): Nmea in: $SNTTA,0.051787,,,,224851.49*49

2021-08-13T22:48:51.228Z,1628894931.228 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.779997 m, bearing: 20.202238 deg, deltaT: 4.447583 s, approachRate: 0.053961 m/s, LOS rate: -4.045355 deg/s, posRepo size: 4
2021-08-13T22:48:53.571Z,1628894933.571 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:48:53.946Z,1628894933.946 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:48:53.946Z,1628894933.946 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:48:53.947Z,1628894933.947 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:48:53.947Z,1628894933.947 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:48:54.354Z,1628894934.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1DC,000,00378,187,80,80,5A,FF
2021-08-13T22:48:54.354Z,1628894934.354 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:48:54.354Z,1628894934.354 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:48:54.356Z,1628894934.356 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:48:54.769Z,1628894934.769 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:48:55.173Z,1628894935.173 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,072,000,0036A,187,80,80,7D,FF
2021-08-13T22:48:55.174Z,1628894935.174 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:48:55.177Z,1628894935.177 [Micromodem](INFO): Nmea in: $SNTTA,0.147379,0.145798,,,224855.89*5A

2021-08-13T22:48:55.294Z,1628894935.294 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:48:55.610Z,1628894935.610 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.940002 m, bearing: 39.013402 deg, deltaT: 4.544326 s, approachRate: -0.184845 m/s, LOS rate: 4.139484 deg/s, posRepo size: 4
2021-08-13T22:48:58.027Z,1628894938.027 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:48:58.397Z,1628894938.397 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:48:58.397Z,1628894938.397 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:48:58.397Z,1628894938.397 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:48:58.398Z,1628894938.398 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:48:58.804Z,1628894938.804 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
072,000,0036A,187,80,80,7D,FF
2021-08-13T22:48:58.805Z,1628894938.805 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:48:58.805Z,1628894938.805 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:48:58.806Z,1628894938.806 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:48:59.216Z,1628894939.216 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:48:59.613Z,1628894939.613 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,093,000,00368,186,80,80,89,FF
2021-08-13T22:48:59.613Z,1628894939.613 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:48:59.633Z,1628894939.633 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:49:00.045Z,1628894940.045 [Micromodem](INFO): Nmea in: $SNTTA,0.029649,,,,224900.35*4B

2021-08-13T22:49:00.084Z,1628894940.084 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.820001 m, bearing: 38.624863 deg, deltaT: 4.338691 s, approachRate: -0.027659 m/s, LOS rate: -0.089552 deg/s, posRepo size: 4
2021-08-13T22:49:02.477Z,1628894942.477 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:49:02.869Z,1628894942.869 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:49:02.869Z,1628894942.869 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:49:02.870Z,1628894942.870 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:49:02.876Z,1628894942.876 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:49:03.245Z,1628894943.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
093,000,00368,186,80,80,89,FF
2021-08-13T22:49:03.245Z,1628894943.245 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:49:03.245Z,1628894943.245 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:49:03.247Z,1628894943.247 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:49:03.660Z,1628894943.660 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:49:04.053Z,1628894944.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0F8,000,00366,186,80,80,71,FF
2021-08-13T22:49:04.053Z,1628894944.053 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:49:04.120Z,1628894944.120 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:49:04.505Z,1628894944.505 [Micromodem](INFO): Nmea in: $SNTTA,0.035321,,,,224904.78*40

2021-08-13T22:49:04.552Z,1628894944.552 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.700000 m, bearing: 34.779736 deg, deltaT: 4.487461 s, approachRate: -0.026741 m/s, LOS rate: -0.856860 deg/s, posRepo size: 4
2021-08-13T22:49:07.009Z,1628894947.009 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:49:07.312Z,1628894947.312 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:49:07.313Z,1628894947.313 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:49:07.315Z,1628894947.315 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:49:07.323Z,1628894947.323 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:49:07.698Z,1628894947.698 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0F8,000,00366,186,80,80,71,FF
2021-08-13T22:49:07.698Z,1628894947.698 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:49:07.698Z,1628894947.698 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:49:07.713Z,1628894947.713 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:49:08.105Z,1628894948.105 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:49:08.503Z,1628894948.503 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1D4,000,0036D,187,80,80,28,FF
2021-08-13T22:49:08.504Z,1628894948.504 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:49:08.523Z,1628894948.523 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:49:08.973Z,1628894948.973 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224909.25*5D

2021-08-13T22:49:09.047Z,1628894949.047 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.120001 m, bearing: 25.055265 deg, deltaT: 4.403247 s, approachRate: 0.095384 m/s, LOS rate: -2.208477 deg/s, posRepo size: 4
2021-08-13T22:49:11.590Z,1628894951.590 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:49:11.729Z,1628894951.729 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:49:11.729Z,1628894951.729 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:49:11.729Z,1628894951.729 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:49:11.730Z,1628894951.730 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:49:12.138Z,1628894952.138 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1D4,000,0036D,187,80,80,28,FF
2021-08-13T22:49:12.139Z,1628894952.139 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:49:12.139Z,1628894952.139 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:49:12.141Z,1628894952.141 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:49:12.557Z,1628894952.557 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:49:12.953Z,1628894952.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,22A,000,0036A,188,80,80,73,FF
2021-08-13T22:49:12.953Z,1628894952.953 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:49:13.049Z,1628894953.049 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:49:13.386Z,1628894953.386 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224913.67*50

2021-08-13T22:49:13.408Z,1628894953.408 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.940002 m, bearing: 22.242421 deg, deltaT: 4.525618 s, approachRate: -0.039773 m/s, LOS rate: -0.621538 deg/s, posRepo size: 4
2021-08-13T22:49:15.796Z,1628894955.796 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:49:16.173Z,1628894956.173 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:49:16.173Z,1628894956.173 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:49:16.173Z,1628894956.173 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:49:16.174Z,1628894956.174 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:49:16.585Z,1628894956.585 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
22A,000,0036A,188,80,80,73,FF
2021-08-13T22:49:16.585Z,1628894956.585 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:49:16.585Z,1628894956.585 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:49:16.587Z,1628894956.587 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:49:16.997Z,1628894956.997 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:49:17.389Z,1628894957.389 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,14C,000,0035F,185,80,80,A0,FF
2021-08-13T22:49:17.389Z,1628894957.389 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:49:17.441Z,1628894957.441 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:49:17.826Z,1628894957.826 [Micromodem](INFO): Nmea in: $SNTTA,0.036829,,,,224918.12*41

2021-08-13T22:49:17.842Z,1628894957.842 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.280000 m, bearing: 34.290183 deg, deltaT: 4.391567 s, approachRate: -0.150289 m/s, LOS rate: 2.743386 deg/s, posRepo size: 4
2021-08-13T22:49:20.248Z,1628894960.248 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:49:20.621Z,1628894960.621 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:49:20.621Z,1628894960.621 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:49:20.621Z,1628894960.621 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:49:20.622Z,1628894960.622 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:49:21.033Z,1628894961.033 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
14C,000,0035F,185,80,80,A0,FF
2021-08-13T22:49:21.033Z,1628894961.033 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:49:21.033Z,1628894961.033 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:49:21.035Z,1628894961.035 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:49:21.433Z,1628894961.433 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:49:21.829Z,1628894961.829 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,15C,000,0035F,186,80,80,7D,FF
2021-08-13T22:49:21.829Z,1628894961.829 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:49:21.913Z,1628894961.913 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:49:22.266Z,1628894962.266 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224922.57*51

2021-08-13T22:49:22.291Z,1628894962.291 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.280000 m, bearing: 34.662845 deg, deltaT: 4.472724 s, approachRate: 0.000000 m/s, LOS rate: 0.083319 deg/s, posRepo size: 4
2021-08-13T22:49:24.679Z,1628894964.679 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:49:25.073Z,1628894965.073 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:49:25.073Z,1628894965.073 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:49:25.073Z,1628894965.073 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:49:25.074Z,1628894965.074 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:49:25.477Z,1628894965.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
15C,000,0035F,186,80,80,7D,FF
2021-08-13T22:49:25.477Z,1628894965.477 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:49:25.477Z,1628894965.477 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:49:25.479Z,1628894965.479 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:49:25.906Z,1628894965.906 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:49:26.273Z,1628894966.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,15E,000,0035D,185,80,80,8A,FF
2021-08-13T22:49:26.273Z,1628894966.273 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:49:26.293Z,1628894966.293 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:49:26.721Z,1628894966.721 [Micromodem](INFO): Nmea in: $SNTTA,0.033280,,,,224927.01*43

2021-08-13T22:49:26.743Z,1628894966.743 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.159999 m, bearing: 35.296348 deg, deltaT: 4.379381 s, approachRate: -0.027401 m/s, LOS rate: 0.144656 deg/s, posRepo size: 4
2021-08-13T22:49:29.167Z,1628894969.167 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:49:29.501Z,1628894969.501 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:49:29.501Z,1628894969.501 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:49:29.502Z,1628894969.502 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:49:29.503Z,1628894969.503 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:49:29.941Z,1628894969.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
15E,000,0035D,185,80,80,8A,FF
2021-08-13T22:49:29.941Z,1628894969.941 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:49:29.941Z,1628894969.941 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:49:29.943Z,1628894969.943 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:49:30.323Z,1628894970.323 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:49:30.730Z,1628894970.730 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,13D,000,0035C,185,80,80,83,FF
2021-08-13T22:49:30.730Z,1628894970.730 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:49:30.754Z,1628894970.754 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:49:31.149Z,1628894971.149 [Micromodem](INFO): Nmea in: $SNTTA,0.085064,,,,224931.48*4C

2021-08-13T22:49:31.211Z,1628894971.211 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.100001 m, bearing: 37.768214 deg, deltaT: 4.461251 s, approachRate: -0.013449 m/s, LOS rate: 0.554075 deg/s, posRepo size: 4
2021-08-13T22:49:33.566Z,1628894973.566 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:49:33.969Z,1628894973.969 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:49:33.969Z,1628894973.969 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:49:33.969Z,1628894973.969 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:49:33.970Z,1628894973.970 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:49:34.362Z,1628894974.362 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
13D,000,0035C,185,80,80,83,FF
2021-08-13T22:49:34.362Z,1628894974.362 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:49:34.362Z,1628894974.362 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:49:34.364Z,1628894974.364 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:49:34.773Z,1628894974.773 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:49:35.169Z,1628894975.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,123,000,00359,186,80,80,83,FF
2021-08-13T22:49:35.169Z,1628894975.169 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:49:35.255Z,1628894975.255 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:49:35.629Z,1628894975.629 [Micromodem](INFO): Nmea in: $SNTTA,0.033844,,,,224935.90*4A

2021-08-13T22:49:35.645Z,1628894975.645 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.919997 m, bearing: 39.136373 deg, deltaT: 4.505522 s, approachRate: -0.039952 m/s, LOS rate: 0.303663 deg/s, posRepo size: 4
2021-08-13T22:49:38.049Z,1628894978.049 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:49:38.405Z,1628894978.405 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:49:38.405Z,1628894978.405 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:49:38.405Z,1628894978.405 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:49:38.406Z,1628894978.406 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:49:38.822Z,1628894978.822 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
123,000,00359,186,80,80,83,FF
2021-08-13T22:49:38.822Z,1628894978.822 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:49:38.823Z,1628894978.823 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:49:38.830Z,1628894978.830 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:49:39.212Z,1628894979.212 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:49:39.261Z,1628894979.261 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T22:49:39.626Z,1628894979.626 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0F8,000,00356,186,80,80,86,FF
2021-08-13T22:49:39.627Z,1628894979.627 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:49:39.669Z,1628894979.669 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:49:40.043Z,1628894980.043 [Micromodem](INFO): Nmea in: $SNTTA,0.109689,,,,224940.37*42

2021-08-13T22:49:40.093Z,1628894980.093 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.739999 m, bearing: 41.524907 deg, deltaT: 4.409739 s, approachRate: -0.040818 m/s, LOS rate: 0.541650 deg/s, posRepo size: 4
2021-08-13T22:49:42.454Z,1628894982.454 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:49:42.870Z,1628894982.870 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:49:42.870Z,1628894982.870 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:49:42.871Z,1628894982.871 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:49:42.873Z,1628894982.873 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:49:43.256Z,1628894983.256 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0F8,000,00356,186,80,80,86,FF
2021-08-13T22:49:43.256Z,1628894983.256 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:49:43.257Z,1628894983.257 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:49:43.258Z,1628894983.258 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:49:43.651Z,1628894983.651 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:49:44.049Z,1628894984.049 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,120,000,00355,186,80,80,79,FF
2021-08-13T22:49:44.049Z,1628894984.049 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:49:44.079Z,1628894984.079 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:49:44.486Z,1628894984.486 [Micromodem](INFO): Nmea in: $SNTTA,0.034915,,,,224944.79*49

2021-08-13T22:49:44.537Z,1628894984.537 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.680001 m, bearing: 40.043767 deg, deltaT: 4.409317 s, approachRate: -0.013607 m/s, LOS rate: -0.335911 deg/s, posRepo size: 4
2021-08-13T22:49:47.025Z,1628894987.025 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:49:47.281Z,1628894987.281 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:49:47.281Z,1628894987.281 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:49:47.281Z,1628894987.281 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:49:47.282Z,1628894987.282 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:49:47.685Z,1628894987.685 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
120,000,00355,186,80,80,79,FF
2021-08-13T22:49:47.685Z,1628894987.685 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:49:47.685Z,1628894987.685 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:49:47.687Z,1628894987.687 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:49:48.098Z,1628894988.098 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:49:48.493Z,1628894988.493 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,14D,000,00353,185,80,80,95,FF
2021-08-13T22:49:48.493Z,1628894988.493 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:49:48.571Z,1628894988.571 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:49:48.957Z,1628894988.957 [Micromodem](INFO): Nmea in: $SNTTA,0.043212,,,,224949.22*46

2021-08-13T22:49:49.015Z,1628894989.015 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.559999 m, bearing: 37.925332 deg, deltaT: 4.492537 s, approachRate: -0.026711 m/s, LOS rate: -0.471545 deg/s, posRepo size: 4
2021-08-13T22:49:51.342Z,1628894991.342 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:49:51.725Z,1628894991.725 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:49:51.725Z,1628894991.725 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:49:51.725Z,1628894991.725 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:49:51.726Z,1628894991.726 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:49:52.129Z,1628894992.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
14D,000,00353,185,80,80,95,FF
2021-08-13T22:49:52.129Z,1628894992.129 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:49:52.129Z,1628894992.129 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:49:52.131Z,1628894992.131 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:49:52.548Z,1628894992.548 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:49:52.949Z,1628894992.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,121,000,00352,186,80,80,86,FF
2021-08-13T22:49:52.950Z,1628894992.950 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:49:52.953Z,1628894992.953 [Micromodem](INFO): Nmea in: $SNTTA,0.258910,0.258723,,,224953.66*5B

2021-08-13T22:49:53.045Z,1628894993.045 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:49:53.392Z,1628894993.392 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.500002 m, bearing: 40.522778 deg, deltaT: 4.473734 s, approachRate: -0.013411 m/s, LOS rate: 0.580599 deg/s, posRepo size: 4
2021-08-13T22:49:55.793Z,1628894995.793 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:49:56.169Z,1628894996.169 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:49:56.169Z,1628894996.169 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:49:56.169Z,1628894996.169 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:49:56.170Z,1628894996.170 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:49:56.581Z,1628894996.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
121,000,00352,186,80,80,86,FF
2021-08-13T22:49:56.581Z,1628894996.581 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:49:56.581Z,1628894996.581 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:49:56.583Z,1628894996.583 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:49:56.991Z,1628894996.991 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:49:57.413Z,1628894997.413 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0B3,000,0034E,186,80,80,8F,FF
2021-08-13T22:49:57.414Z,1628894997.414 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:49:57.433Z,1628894997.433 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:49:57.829Z,1628894997.829 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224958.12*5D

2021-08-13T22:49:57.851Z,1628894997.851 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.260000 m, bearing: 45.423814 deg, deltaT: 4.387818 s, approachRate: -0.054697 m/s, LOS rate: 1.116964 deg/s, posRepo size: 4
2021-08-13T22:50:00.244Z,1628895000.244 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:50:00.617Z,1628895000.617 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:50:00.617Z,1628895000.617 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:50:00.617Z,1628895000.617 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:50:00.618Z,1628895000.618 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:50:01.017Z,1628895001.017 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0B3,000,0034E,186,80,80,8F,FF
2021-08-13T22:50:01.017Z,1628895001.017 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:50:01.018Z,1628895001.018 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:50:01.019Z,1628895001.019 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:50:01.433Z,1628895001.433 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:50:01.829Z,1628895001.829 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,091,000,0034A,186,80,80,7D,FF
2021-08-13T22:50:01.829Z,1628895001.829 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:50:01.915Z,1628895001.915 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:50:02.266Z,1628895002.266 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225002.55*59

2021-08-13T22:50:02.291Z,1628895002.291 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.019999 m, bearing: 46.455614 deg, deltaT: 4.487029 s, approachRate: -0.053488 m/s, LOS rate: 0.229952 deg/s, posRepo size: 4
2021-08-13T22:50:04.682Z,1628895004.682 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:50:05.061Z,1628895005.061 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:50:05.061Z,1628895005.061 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:50:05.061Z,1628895005.061 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:50:05.061Z,1628895005.061 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:50:05.461Z,1628895005.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
091,000,0034A,186,80,80,7D,FF
2021-08-13T22:50:05.462Z,1628895005.462 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:50:05.462Z,1628895005.462 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:50:05.463Z,1628895005.463 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:50:05.889Z,1628895005.889 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:50:06.269Z,1628895006.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0D3,000,00349,187,80,80,2D,FF
2021-08-13T22:50:06.269Z,1628895006.269 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:50:06.310Z,1628895006.310 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:50:06.725Z,1628895006.725 [Micromodem](INFO): Nmea in: $SNTTA,0.031329,,,,225007.00*48

2021-08-13T22:50:06.744Z,1628895006.744 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.960001 m, bearing: 42.683051 deg, deltaT: 4.390612 s, approachRate: -0.013665 m/s, LOS rate: -0.859234 deg/s, posRepo size: 4
2021-08-13T22:50:09.176Z,1628895009.176 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:50:09.501Z,1628895009.501 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:50:09.501Z,1628895009.501 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:50:09.501Z,1628895009.501 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:50:09.502Z,1628895009.502 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:50:09.929Z,1628895009.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0D3,000,00349,187,80,80,2D,FF
2021-08-13T22:50:09.929Z,1628895009.929 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:50:09.929Z,1628895009.929 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:50:09.931Z,1628895009.931 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:50:10.313Z,1628895010.313 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:50:10.717Z,1628895010.717 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0B0,000,00343,186,80,80,79,FF
2021-08-13T22:50:10.718Z,1628895010.718 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:50:10.737Z,1628895010.737 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:50:11.137Z,1628895011.137 [Micromodem](INFO): Nmea in: $SNTTA,0.081353,0.355653,,,225011.47*57

2021-08-13T22:50:11.215Z,1628895011.215 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.599998 m, bearing: 44.173897 deg, deltaT: 4.426320 s, approachRate: -0.081332 m/s, LOS rate: 0.336814 deg/s, posRepo size: 4
2021-08-13T22:50:13.567Z,1628895013.567 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:50:13.955Z,1628895013.955 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:50:13.955Z,1628895013.955 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:50:13.955Z,1628895013.955 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:50:13.957Z,1628895013.957 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:50:14.363Z,1628895014.363 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0B0,000,00343,186,80,80,79,FF
2021-08-13T22:50:14.363Z,1628895014.363 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:50:14.363Z,1628895014.363 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:50:14.365Z,1628895014.365 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:50:14.764Z,1628895014.764 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:50:15.161Z,1628895015.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D26,000,00342,188,80,80,A1,FF
2021-08-13T22:50:15.161Z,1628895015.161 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:50:15.258Z,1628895015.258 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:50:15.598Z,1628895015.598 [Micromodem](INFO): Nmea in: $SNTTA,0.059638,,,,225015.90*49

2021-08-13T22:50:15.620Z,1628895015.620 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.540001 m, bearing: 88.709698 deg, deltaT: 4.521536 s, approachRate: -0.013269 m/s, LOS rate: 9.849707 deg/s, posRepo size: 4
2021-08-13T22:50:18.021Z,1628895018.021 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:50:18.393Z,1628895018.393 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:50:18.393Z,1628895018.393 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:50:18.394Z,1628895018.394 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:50:18.395Z,1628895018.395 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:50:18.797Z,1628895018.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D26,000,00342,188,80,80,A1,FF
2021-08-13T22:50:18.797Z,1628895018.797 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:50:18.797Z,1628895018.797 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:50:18.802Z,1628895018.802 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:50:19.205Z,1628895019.205 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:50:19.609Z,1628895019.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D43,000,0033D,18A,80,80,64,FF
2021-08-13T22:50:19.609Z,1628895019.609 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:50:19.629Z,1628895019.629 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:50:20.037Z,1628895020.037 [Micromodem](INFO): Nmea in: $SNTTA,0.024415,,,,225020.34*46

2021-08-13T22:50:20.076Z,1628895020.076 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.240001 m, bearing: 86.967487 deg, deltaT: 4.370732 s, approachRate: -0.068638 m/s, LOS rate: -0.398608 deg/s, posRepo size: 4
2021-08-13T22:50:22.478Z,1628895022.478 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:50:22.844Z,1628895022.844 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:50:22.844Z,1628895022.844 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:50:22.845Z,1628895022.845 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:50:22.846Z,1628895022.846 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:50:23.237Z,1628895023.237 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D43,000,0033D,18A,80,80,64,FF
2021-08-13T22:50:23.237Z,1628895023.237 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:50:23.237Z,1628895023.237 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:50:23.239Z,1628895023.239 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:50:23.644Z,1628895023.644 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:50:24.053Z,1628895024.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D6C,000,00338,189,80,80,7B,FF
2021-08-13T22:50:24.053Z,1628895024.053 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:50:24.103Z,1628895024.103 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:50:24.477Z,1628895024.477 [Micromodem](INFO): Nmea in: $SNTTA,0.058497,,,,225024.77*44

2021-08-13T22:50:24.525Z,1628895024.525 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.940001 m, bearing: 84.490266 deg, deltaT: 4.473809 s, approachRate: -0.067057 m/s, LOS rate: -0.553716 deg/s, posRepo size: 4
2021-08-13T22:50:26.988Z,1628895026.988 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:50:27.277Z,1628895027.277 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:50:27.277Z,1628895027.277 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:50:27.277Z,1628895027.277 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:50:27.278Z,1628895027.278 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:50:27.685Z,1628895027.685 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D6C,000,00338,189,80,80,7B,FF
2021-08-13T22:50:27.686Z,1628895027.686 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:50:27.686Z,1628895027.686 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:50:27.687Z,1628895027.687 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:50:28.089Z,1628895028.089 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:50:28.489Z,1628895028.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D45,000,00338,189,80,80,87,FF
2021-08-13T22:50:28.489Z,1628895028.489 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:50:28.509Z,1628895028.509 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:50:28.961Z,1628895028.961 [Micromodem](INFO): Nmea in: $SNTTA,0.069262,,,,225029.22*47

2021-08-13T22:50:29.044Z,1628895029.044 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.940001 m, bearing: 85.730485 deg, deltaT: 4.406664 s, approachRate: 0.000000 m/s, LOS rate: 0.281442 deg/s, posRepo size: 4
2021-08-13T22:50:31.033Z,1628895031.033 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:50:31.362Z,1628895031.362 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:50:31.363Z,1628895031.363 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:50:31.363Z,1628895031.363 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:50:31.374Z,1628895031.374 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:50:31.424Z,1628895031.424 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D45,000,00338,189,80,80,87,FF
2021-08-13T22:50:31.424Z,1628895031.424 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:50:31.425Z,1628895031.425 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:50:31.426Z,1628895031.426 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:50:31.736Z,1628895031.736 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:50:32.143Z,1628895032.143 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D02,000,00335,188,80,80,78,FF
2021-08-13T22:50:32.143Z,1628895032.143 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:50:32.173Z,1628895032.173 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:50:32.569Z,1628895032.569 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.759997 m, bearing: 88.893567 deg, deltaT: 3.663436 s, approachRate: -0.049135 m/s, LOS rate: 0.863419 deg/s, posRepo size: 4
2021-08-13T22:50:32.974Z,1628895032.974 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225032.96*55

2021-08-13T22:50:35.030Z,1628895035.030 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:50:35.374Z,1628895035.374 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:50:35.374Z,1628895035.374 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:50:35.374Z,1628895035.374 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:50:35.375Z,1628895035.375 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:50:35.773Z,1628895035.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D02,000,00335,188,80,80,78,FF
2021-08-13T22:50:35.774Z,1628895035.774 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:50:35.774Z,1628895035.774 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:50:35.775Z,1628895035.775 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:50:36.189Z,1628895036.189 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:50:36.581Z,1628895036.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C7D,000,00333,188,80,80,85,FF
2021-08-13T22:50:36.581Z,1628895036.581 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:50:36.637Z,1628895036.637 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:50:37.003Z,1628895037.003 [Micromodem](INFO): Nmea in: $SNTTA,0.073721,,,,225037.34*46

2021-08-13T22:50:37.083Z,1628895037.083 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.640002 m, bearing: 95.678984 deg, deltaT: 4.464695 s, approachRate: -0.026876 m/s, LOS rate: 1.519794 deg/s, posRepo size: 4
2021-08-13T22:50:39.439Z,1628895039.439 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:50:39.813Z,1628895039.813 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:50:39.813Z,1628895039.813 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:50:39.813Z,1628895039.813 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:50:39.814Z,1628895039.814 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:50:40.221Z,1628895040.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C7D,000,00333,188,80,80,85,FF
2021-08-13T22:50:40.222Z,1628895040.222 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:50:40.222Z,1628895040.222 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:50:40.224Z,1628895040.224 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:50:40.633Z,1628895040.633 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:50:41.025Z,1628895041.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00332,189,80,80,B8,FF
2021-08-13T22:50:41.025Z,1628895041.025 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:50:41.111Z,1628895041.111 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:50:41.465Z,1628895041.465 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225041.76*5F

2021-08-13T22:50:41.500Z,1628895041.500 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.579999 m, bearing: 346.573279 deg, deltaT: 4.473167 s, approachRate: -0.013414 m/s, LOS rate: -24.391154 deg/s, posRepo size: 4
2021-08-13T22:50:43.928Z,1628895043.928 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:50:44.262Z,1628895044.262 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:50:44.263Z,1628895044.263 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:50:44.263Z,1628895044.263 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:50:44.264Z,1628895044.264 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:50:44.661Z,1628895044.661 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00332,189,80,80,B8,FF
2021-08-13T22:50:44.661Z,1628895044.661 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:50:44.661Z,1628895044.661 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:50:44.663Z,1628895044.663 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:50:45.077Z,1628895045.077 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:50:45.928Z,1628895045.928 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225046.20*5B

2021-08-13T22:50:46.681Z,1628895046.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0386E,189,80,80,A1,FF
2021-08-13T22:50:46.682Z,1628895046.682 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:50:46.739Z,1628895046.739 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:50:47.137Z,1628895047.137 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-13T22:50:47.160Z,1628895047.160 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 829.260010 m, bearing: 346.446674 deg, deltaT: 5.629417 s, approachRate: 145.251282 m/s, LOS rate: -0.022490 deg/s, posRepo size: 4
2021-08-13T22:50:47.523Z,1628895047.523 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-13T22:50:47.523Z,1628895047.523 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T22:50:47.524Z,1628895047.524 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-13T22:50:47.525Z,1628895047.525 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-13T22:50:47.525Z,1628895047.525 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-13T22:50:47.525Z,1628895047.525 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-13T22:50:47.979Z,1628895047.979 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-13T22:50:47.979Z,1628895047.979 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T22:50:47.979Z,1628895047.979 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-13T22:50:47.979Z,1628895047.979 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T22:50:49.546Z,1628895049.546 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:50:49.965Z,1628895049.965 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:50:49.965Z,1628895049.965 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:50:49.965Z,1628895049.965 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:50:49.966Z,1628895049.966 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:50:50.337Z,1628895050.337 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0386E,189,80,80,A1,FF
2021-08-13T22:50:50.337Z,1628895050.337 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:50:50.337Z,1628895050.337 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:50:50.339Z,1628895050.339 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:50:50.734Z,1628895050.734 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:50:51.133Z,1628895051.133 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0021F,189,80,80,AB,FF
2021-08-13T22:50:51.134Z,1628895051.134 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2021-08-13T22:50:51.549Z,1628895051.549 [Micromodem](INFO): Nmea in: $SNTTA,,0.154331,,,225051.87*4F

2021-08-13T22:50:52.377Z,1628895052.377 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:50:55.239Z,1628895055.239 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:50:55.569Z,1628895055.569 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:50:55.569Z,1628895055.569 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:50:55.569Z,1628895055.569 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:50:55.570Z,1628895055.570 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:50:56.005Z,1628895056.005 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0021F,189,80,80,AB,FF
2021-08-13T22:50:56.005Z,1628895056.005 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:50:56.005Z,1628895056.005 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:50:56.008Z,1628895056.008 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:50:56.390Z,1628895056.390 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:50:56.806Z,1628895056.806 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0032B,189,80,80,AD,FF
2021-08-13T22:50:56.807Z,1628895056.807 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:50:57.203Z,1628895057.203 [Micromodem](INFO): Nmea in: $SNTTA,0.036676,,,,225057.54*44

2021-08-13T22:50:57.267Z,1628895057.267 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.159998 m, bearing: 345.994844 deg, deltaT: 10.162126 s, approachRate: -80.504814 m/s, LOS rate: -0.044462 deg/s, posRepo size: 4
2021-08-13T22:50:57.629Z,1628895057.629 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-13T22:50:57.629Z,1628895057.629 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T22:50:57.629Z,1628895057.629 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-13T22:50:57.630Z,1628895057.630 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-13T22:50:57.630Z,1628895057.630 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-13T22:50:57.630Z,1628895057.630 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-13T22:50:58.042Z,1628895058.042 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-13T22:50:58.042Z,1628895058.042 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T22:50:58.043Z,1628895058.043 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-13T22:50:58.043Z,1628895058.043 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T22:50:59.646Z,1628895059.646 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:51:00.034Z,1628895060.034 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:51:00.034Z,1628895060.034 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:51:00.035Z,1628895060.035 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:51:00.036Z,1628895060.036 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:51:00.421Z,1628895060.421 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0032B,189,80,80,AD,FF
2021-08-13T22:51:00.421Z,1628895060.421 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:51:00.421Z,1628895060.421 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:51:00.423Z,1628895060.423 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:51:00.885Z,1628895060.885 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:51:01.229Z,1628895061.229 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0032A,189,80,80,AC,FF
2021-08-13T22:51:01.229Z,1628895061.229 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:51:01.298Z,1628895061.298 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:51:01.677Z,1628895061.677 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225101.96*54

2021-08-13T22:51:01.699Z,1628895061.699 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.100000 m, bearing: 346.093417 deg, deltaT: 4.395936 s, approachRate: -0.013648 m/s, LOS rate: 0.022424 deg/s, posRepo size: 4
2021-08-13T22:51:04.119Z,1628895064.119 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:51:04.457Z,1628895064.457 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:51:04.457Z,1628895064.457 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:51:04.457Z,1628895064.457 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:51:04.458Z,1628895064.458 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:51:04.916Z,1628895064.916 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0032A,189,80,80,AC,FF
2021-08-13T22:51:04.916Z,1628895064.916 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:51:04.917Z,1628895064.917 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:51:04.919Z,1628895064.919 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:51:05.334Z,1628895065.334 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:51:05.737Z,1628895065.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00344,18A,80,80,37,FF
2021-08-13T22:51:05.738Z,1628895065.738 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:51:05.781Z,1628895065.781 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:51:06.173Z,1628895066.173 [Micromodem](INFO): Nmea in: $SNTTA,0.049558,,,,225106.45*46

2021-08-13T22:51:06.199Z,1628895066.199 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.660002 m, bearing: 345.718330 deg, deltaT: 4.482815 s, approachRate: 0.347996 m/s, LOS rate: -0.083672 deg/s, posRepo size: 4
2021-08-13T22:51:08.584Z,1628895068.584 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:51:08.992Z,1628895068.992 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:51:08.992Z,1628895068.992 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:51:08.993Z,1628895068.993 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:51:08.993Z,1628895068.993 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:51:09.369Z,1628895069.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00344,18A,80,80,37,FF
2021-08-13T22:51:09.369Z,1628895069.369 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:51:09.369Z,1628895069.369 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:51:09.371Z,1628895069.371 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:51:09.790Z,1628895069.790 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:51:10.173Z,1628895070.173 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00328,189,80,80,A6,FF
2021-08-13T22:51:10.173Z,1628895070.173 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:51:10.231Z,1628895070.231 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:51:10.618Z,1628895070.618 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225110.91*53

2021-08-13T22:51:10.639Z,1628895070.639 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.980000 m, bearing: 345.891189 deg, deltaT: 4.454692 s, approachRate: -0.377131 m/s, LOS rate: 0.038804 deg/s, posRepo size: 4
2021-08-13T22:51:13.090Z,1628895073.090 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:51:13.401Z,1628895073.401 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:51:13.401Z,1628895073.401 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:51:13.402Z,1628895073.402 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:51:13.403Z,1628895073.403 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:51:13.820Z,1628895073.820 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00328,189,80,80,A6,FF
2021-08-13T22:51:13.820Z,1628895073.820 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:51:13.821Z,1628895073.821 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:51:13.823Z,1628895073.823 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:51:14.221Z,1628895074.221 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:51:14.626Z,1628895074.626 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00325,188,80,80,A2,FF
2021-08-13T22:51:14.627Z,1628895074.627 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:51:14.692Z,1628895074.692 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:51:15.045Z,1628895075.045 [Micromodem](INFO): Nmea in: $SNTTA,0.063478,,,,225115.36*4B

2021-08-13T22:51:15.103Z,1628895075.103 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.800001 m, bearing: 345.855590 deg, deltaT: 4.456815 s, approachRate: -0.040387 m/s, LOS rate: -0.007988 deg/s, posRepo size: 4
2021-08-13T22:51:17.493Z,1628895077.493 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:51:17.858Z,1628895077.858 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:51:17.858Z,1628895077.858 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:51:17.859Z,1628895077.859 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:51:17.859Z,1628895077.859 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:51:18.261Z,1628895078.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00325,188,80,80,A2,FF
2021-08-13T22:51:18.261Z,1628895078.261 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:51:18.261Z,1628895078.261 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:51:18.263Z,1628895078.263 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:51:18.683Z,1628895078.683 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:51:19.061Z,1628895079.061 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00328,18A,80,80,A3,FF
2021-08-13T22:51:19.061Z,1628895079.061 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:51:19.151Z,1628895079.151 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:51:19.510Z,1628895079.510 [Micromodem](INFO): Nmea in: $SNTTA,0.031156,,,,225119.80*44

2021-08-13T22:51:19.539Z,1628895079.539 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.980000 m, bearing: 345.236693 deg, deltaT: 4.458243 s, approachRate: 0.040374 m/s, LOS rate: -0.138821 deg/s, posRepo size: 4
2021-08-13T22:51:21.975Z,1628895081.975 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:51:22.297Z,1628895082.297 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:51:22.297Z,1628895082.297 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:51:22.297Z,1628895082.297 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:51:22.298Z,1628895082.298 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:51:22.697Z,1628895082.697 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00328,18A,80,80,A3,FF
2021-08-13T22:51:22.697Z,1628895082.697 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:51:22.697Z,1628895082.697 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:51:22.699Z,1628895082.699 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:51:23.109Z,1628895083.109 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:51:23.509Z,1628895083.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00324,188,80,80,97,FF
2021-08-13T22:51:23.509Z,1628895083.509 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:51:23.528Z,1628895083.528 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:51:23.966Z,1628895083.966 [Micromodem](INFO): Nmea in: $SNTTA,0.032980,,,,225124.23*43

2021-08-13T22:51:23.992Z,1628895083.992 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.739998 m, bearing: 345.102029 deg, deltaT: 4.377658 s, approachRate: -0.054824 m/s, LOS rate: -0.030762 deg/s, posRepo size: 4
2021-08-13T22:51:26.350Z,1628895086.350 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:51:26.742Z,1628895086.742 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:51:26.743Z,1628895086.743 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:51:26.743Z,1628895086.743 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:51:26.744Z,1628895086.744 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:51:27.145Z,1628895087.145 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00324,188,80,80,97,FF
2021-08-13T22:51:27.145Z,1628895087.145 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:51:27.145Z,1628895087.145 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:51:27.147Z,1628895087.147 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:51:27.549Z,1628895087.549 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:51:27.957Z,1628895087.957 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4F6,000,00324,189,80,80,B7,FF
2021-08-13T22:51:27.958Z,1628895087.958 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:51:28.015Z,1628895088.015 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:51:28.385Z,1628895088.385 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225128.68*5E

2021-08-13T22:51:28.434Z,1628895088.434 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.739998 m, bearing: 345.358598 deg, deltaT: 4.486436 s, approachRate: 0.000000 m/s, LOS rate: 0.057188 deg/s, posRepo size: 4
2021-08-13T22:51:30.806Z,1628895090.806 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:51:31.177Z,1628895091.177 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:51:31.177Z,1628895091.177 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:51:31.178Z,1628895091.178 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:51:31.179Z,1628895091.179 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:51:31.585Z,1628895091.585 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
4F6,000,00324,189,80,80,B7,FF
2021-08-13T22:51:31.586Z,1628895091.586 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:51:31.586Z,1628895091.586 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:51:31.587Z,1628895091.587 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:51:32.001Z,1628895092.001 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:51:32.397Z,1628895092.397 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,457,000,00333,189,80,80,92,FF
2021-08-13T22:51:32.397Z,1628895092.397 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:51:32.476Z,1628895092.476 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:51:32.828Z,1628895092.828 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225133.12*59

2021-08-13T22:51:32.919Z,1628895092.919 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.640002 m, bearing: 353.263422 deg, deltaT: 4.462181 s, approachRate: 0.201696 m/s, LOS rate: 1.771516 deg/s, posRepo size: 4
2021-08-13T22:51:35.287Z,1628895095.287 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:51:35.633Z,1628895095.633 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:51:35.633Z,1628895095.633 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:51:35.633Z,1628895095.633 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:51:35.634Z,1628895095.634 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:51:36.038Z,1628895096.038 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
457,000,00333,189,80,80,92,FF
2021-08-13T22:51:36.038Z,1628895096.038 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:51:36.038Z,1628895096.038 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:51:36.040Z,1628895096.040 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:51:36.523Z,1628895096.523 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:51:36.853Z,1628895096.853 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,460,000,00327,189,80,80,9D,FF
2021-08-13T22:51:36.855Z,1628895096.855 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:51:36.994Z,1628895096.994 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:51:37.281Z,1628895097.281 [Micromodem](INFO): Nmea in: $SNTTA,0.036400,,,,225137.58*4C

2021-08-13T22:51:37.312Z,1628895097.312 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.920002 m, bearing: 352.672310 deg, deltaT: 4.516779 s, approachRate: -0.159406 m/s, LOS rate: -0.130870 deg/s, posRepo size: 4
2021-08-13T22:51:39.695Z,1628895099.695 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:51:40.069Z,1628895100.069 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:51:40.069Z,1628895100.069 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:51:40.069Z,1628895100.069 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:51:40.070Z,1628895100.070 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:51:40.469Z,1628895100.469 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
460,000,00327,189,80,80,9D,FF
2021-08-13T22:51:40.469Z,1628895100.469 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:51:40.469Z,1628895100.469 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:51:40.471Z,1628895100.471 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:51:40.944Z,1628895100.944 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:51:41.277Z,1628895101.277 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,45A,000,00325,18A,80,80,CF,FF
2021-08-13T22:51:41.277Z,1628895101.277 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:51:41.296Z,1628895101.296 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:51:41.723Z,1628895101.723 [Micromodem](INFO): Nmea in: $SNTTA,0.035598,,,,225142.00*40

2021-08-13T22:51:41.744Z,1628895101.744 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.800001 m, bearing: 352.896367 deg, deltaT: 4.302728 s, approachRate: -0.027889 m/s, LOS rate: 0.052073 deg/s, posRepo size: 4
2021-08-13T22:51:44.152Z,1628895104.152 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:51:44.509Z,1628895104.509 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:51:44.509Z,1628895104.509 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:51:44.509Z,1628895104.509 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:51:44.510Z,1628895104.510 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:51:44.954Z,1628895104.954 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
45A,000,00325,18A,80,80,CF,FF
2021-08-13T22:51:44.954Z,1628895104.954 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:51:44.954Z,1628895104.954 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:51:44.956Z,1628895104.956 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:51:45.369Z,1628895105.369 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:51:45.765Z,1628895105.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,425,000,00342,189,80,80,62,FF
2021-08-13T22:51:45.766Z,1628895105.766 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:51:45.785Z,1628895105.785 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:51:46.209Z,1628895106.209 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225146.49*55

2021-08-13T22:51:46.258Z,1628895106.258 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.540001 m, bearing: 355.348679 deg, deltaT: 4.488541 s, approachRate: 0.387654 m/s, LOS rate: 0.546349 deg/s, posRepo size: 4
2021-08-13T22:51:48.610Z,1628895108.610 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:51:49.001Z,1628895109.001 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:51:49.001Z,1628895109.001 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:51:49.001Z,1628895109.001 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:51:49.002Z,1628895109.002 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:51:49.405Z,1628895109.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
425,000,00342,189,80,80,62,FF
2021-08-13T22:51:49.405Z,1628895109.405 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:51:49.405Z,1628895109.405 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:51:49.407Z,1628895109.407 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:51:49.809Z,1628895109.809 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:51:50.221Z,1628895110.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,412,000,00328,189,80,80,CD,FF
2021-08-13T22:51:50.222Z,1628895110.222 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:51:50.275Z,1628895110.275 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:51:50.645Z,1628895110.645 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225150.94*52

2021-08-13T22:51:50.677Z,1628895110.677 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.980000 m, bearing: 356.322882 deg, deltaT: 4.490480 s, approachRate: -0.347402 m/s, LOS rate: 0.216949 deg/s, posRepo size: 4
2021-08-13T22:51:53.095Z,1628895113.095 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:51:53.445Z,1628895113.445 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:51:53.445Z,1628895113.445 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:51:53.445Z,1628895113.445 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:51:53.446Z,1628895113.446 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:51:53.845Z,1628895113.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
412,000,00328,189,80,80,CD,FF
2021-08-13T22:51:53.846Z,1628895113.846 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:51:53.846Z,1628895113.846 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:51:53.847Z,1628895113.847 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:51:54.261Z,1628895114.261 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:51:54.657Z,1628895114.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3F2,000,00327,189,80,80,AD,FF
2021-08-13T22:51:54.658Z,1628895114.658 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:51:54.716Z,1628895114.716 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:51:55.101Z,1628895115.101 [Micromodem](INFO): Nmea in: $SNTTA,0.061467,,,,225155.38*4D

2021-08-13T22:51:55.127Z,1628895115.127 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T22:51:55.184Z,1628895115.184 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.920002 m, bearing: 358.080727 deg, deltaT: 4.440794 s, approachRate: -0.013511 m/s, LOS rate: 0.395840 deg/s, posRepo size: 4
2021-08-13T22:51:57.528Z,1628895117.528 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:51:57.904Z,1628895117.904 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:51:57.905Z,1628895117.905 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:51:57.905Z,1628895117.905 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:51:57.907Z,1628895117.907 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:51:58.301Z,1628895118.301 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3F2,000,00327,189,80,80,AD,FF
2021-08-13T22:51:58.301Z,1628895118.301 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:51:58.301Z,1628895118.301 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:51:58.303Z,1628895118.303 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:51:58.696Z,1628895118.696 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:51:59.109Z,1628895119.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,408,000,00325,189,80,80,A4,FF
2021-08-13T22:51:59.109Z,1628895119.109 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:51:59.113Z,1628895119.113 [Micromodem](INFO): Nmea in: $SNTTA,0.038606,0.172205,,,225159.84*52

2021-08-13T22:51:59.205Z,1628895119.205 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:51:59.559Z,1628895119.559 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.800001 m, bearing: 357.246788 deg, deltaT: 4.488785 s, approachRate: -0.026733 m/s, LOS rate: -0.185783 deg/s, posRepo size: 4
2021-08-13T22:52:01.977Z,1628895121.977 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:52:02.333Z,1628895122.333 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:52:02.333Z,1628895122.333 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:52:02.333Z,1628895122.333 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:52:02.334Z,1628895122.334 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:52:02.741Z,1628895122.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
408,000,00325,189,80,80,A4,FF
2021-08-13T22:52:02.741Z,1628895122.741 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:52:02.741Z,1628895122.741 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:52:02.743Z,1628895122.743 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:52:03.153Z,1628895123.153 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:52:03.545Z,1628895123.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3CD,000,00325,188,80,80,A2,FF
2021-08-13T22:52:03.545Z,1628895123.545 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:52:03.601Z,1628895123.601 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:52:03.993Z,1628895123.993 [Micromodem](INFO): Nmea in: $SNTTA,0.047537,,,,225204.28*4B

2021-08-13T22:52:04.019Z,1628895124.019 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.800001 m, bearing: 0.176101 deg, deltaT: 4.395854 s, approachRate: 0.000000 m/s, LOS rate: 0.666383 deg/s, posRepo size: 4
2021-08-13T22:52:06.401Z,1628895126.401 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:52:06.777Z,1628895126.777 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:52:06.777Z,1628895126.777 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:52:06.777Z,1628895126.777 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:52:06.778Z,1628895126.778 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:52:07.185Z,1628895127.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3CD,000,00325,188,80,80,A2,FF
2021-08-13T22:52:07.186Z,1628895127.186 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:52:07.186Z,1628895127.186 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:52:07.187Z,1628895127.187 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:52:07.588Z,1628895127.588 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:52:07.993Z,1628895127.993 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3EC,000,00326,189,80,80,9C,FF
2021-08-13T22:52:07.993Z,1628895127.993 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:52:08.073Z,1628895128.073 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:52:08.425Z,1628895128.425 [Micromodem](INFO): Nmea in: $SNTTA,0.028102,,,,225208.72*43

2021-08-13T22:52:08.470Z,1628895128.470 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.859999 m, bearing: 358.598045 deg, deltaT: 4.472550 s, approachRate: 0.013415 m/s, LOS rate: -0.352833 deg/s, posRepo size: 4
2021-08-13T22:52:10.929Z,1628895130.929 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:52:11.227Z,1628895131.227 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:52:11.227Z,1628895131.227 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:52:11.227Z,1628895131.227 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:52:11.228Z,1628895131.228 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:52:11.660Z,1628895131.660 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3EC,000,00326,189,80,80,9C,FF
2021-08-13T22:52:11.660Z,1628895131.660 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:52:11.660Z,1628895131.660 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:52:11.662Z,1628895131.662 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:52:12.052Z,1628895132.052 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:52:12.453Z,1628895132.453 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3EB,000,00327,189,80,80,84,FF
2021-08-13T22:52:12.454Z,1628895132.454 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:52:12.483Z,1628895132.483 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:52:12.933Z,1628895132.933 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225213.20*59

2021-08-13T22:52:13.003Z,1628895133.003 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.920002 m, bearing: 358.498379 deg, deltaT: 4.411639 s, approachRate: 0.013601 m/s, LOS rate: -0.022592 deg/s, posRepo size: 4
2021-08-13T22:52:15.044Z,1628895135.044 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:52:15.289Z,1628895135.289 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:52:15.289Z,1628895135.289 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:52:15.289Z,1628895135.289 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:52:15.290Z,1628895135.290 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:52:15.689Z,1628895135.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3EB,000,00327,189,80,80,84,FF
2021-08-13T22:52:15.689Z,1628895135.689 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:52:15.689Z,1628895135.689 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:52:15.691Z,1628895135.691 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:52:16.113Z,1628895136.113 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:52:16.505Z,1628895136.505 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3C8,000,00327,188,80,80,AA,FF
2021-08-13T22:52:16.506Z,1628895136.506 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:52:16.545Z,1628895136.545 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:52:16.961Z,1628895136.961 [Micromodem](INFO): Nmea in: $SNTTA,0.050730,,,,225217.22*40

2021-08-13T22:52:16.981Z,1628895136.981 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-13T22:52:17.033Z,1628895137.033 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.920002 m, bearing: 0.056113 deg, deltaT: 4.060302 s, approachRate: 0.000000 m/s, LOS rate: 0.383651 deg/s, posRepo size: 4
2021-08-13T22:52:19.359Z,1628895139.359 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:52:19.729Z,1628895139.729 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:52:19.729Z,1628895139.729 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:52:19.729Z,1628895139.729 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:52:19.730Z,1628895139.730 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:52:20.141Z,1628895140.141 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3C8,000,00327,188,80,80,AA,FF
2021-08-13T22:52:20.141Z,1628895140.141 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:52:20.142Z,1628895140.142 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:52:20.143Z,1628895140.143 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:52:20.540Z,1628895140.540 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:52:20.953Z,1628895140.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3D4,000,00327,189,80,80,AA,FF
2021-08-13T22:52:20.953Z,1628895140.953 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:52:21.055Z,1628895141.055 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:52:21.403Z,1628895141.403 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225221.68*54

2021-08-13T22:52:21.427Z,1628895141.427 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.920002 m, bearing: 359.409936 deg, deltaT: 4.514330 s, approachRate: 0.000000 m/s, LOS rate: -0.143140 deg/s, posRepo size: 4
2021-08-13T22:52:23.791Z,1628895143.791 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:52:24.177Z,1628895144.177 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:52:24.177Z,1628895144.177 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:52:24.178Z,1628895144.178 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:52:24.178Z,1628895144.178 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:52:24.577Z,1628895144.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3D4,000,00327,189,80,80,AA,FF
2021-08-13T22:52:24.577Z,1628895144.577 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:52:24.577Z,1628895144.577 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:52:24.579Z,1628895144.579 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:52:24.994Z,1628895144.994 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:52:25.407Z,1628895145.407 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3B6,000,00325,189,80,80,AF,FF
2021-08-13T22:52:25.407Z,1628895145.407 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:52:25.426Z,1628895145.426 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:52:25.833Z,1628895145.833 [Micromodem](INFO): Nmea in: $SNTTA,0.038449,,,,225226.12*42

2021-08-13T22:52:25.859Z,1628895145.859 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.800001 m, bearing: 0.991994 deg, deltaT: 4.366566 s, approachRate: -0.027482 m/s, LOS rate: 0.362311 deg/s, posRepo size: 4
2021-08-13T22:52:28.248Z,1628895148.248 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:52:28.625Z,1628895148.625 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:52:28.625Z,1628895148.625 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:52:28.625Z,1628895148.625 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:52:28.626Z,1628895148.626 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:52:29.025Z,1628895149.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3B6,000,00325,189,80,80,AF,FF
2021-08-13T22:52:29.025Z,1628895149.025 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:52:29.025Z,1628895149.025 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:52:29.027Z,1628895149.027 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:52:29.444Z,1628895149.444 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:52:29.916Z,1628895149.916 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3EC,000,00324,189,80,80,A4,FF
2021-08-13T22:52:29.916Z,1628895149.916 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:52:29.973Z,1628895149.973 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:52:30.301Z,1628895150.301 [Micromodem](INFO): Nmea in: $SNTTA,0.032432,,,,225230.56*43

2021-08-13T22:52:30.360Z,1628895150.360 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.739998 m, bearing: 358.530727 deg, deltaT: 4.546434 s, approachRate: -0.013198 m/s, LOS rate: -0.541361 deg/s, posRepo size: 4
2021-08-13T22:52:32.746Z,1628895152.746 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:52:33.117Z,1628895153.117 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:52:33.117Z,1628895153.117 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:52:33.117Z,1628895153.117 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:52:33.118Z,1628895153.118 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:52:33.529Z,1628895153.529 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3EC,000,00324,189,80,80,A4,FF
2021-08-13T22:52:33.529Z,1628895153.529 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:52:33.529Z,1628895153.529 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:52:33.531Z,1628895153.531 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:52:33.953Z,1628895153.953 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:52:34.326Z,1628895154.326 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,397,000,00325,189,80,80,B2,FF
2021-08-13T22:52:34.326Z,1628895154.326 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:52:34.386Z,1628895154.386 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:52:34.763Z,1628895154.763 [Micromodem](INFO): Nmea in: $SNTTA,0.069857,,,,225235.07*43

2021-08-13T22:52:34.780Z,1628895154.780 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.800001 m, bearing: 2.826115 deg, deltaT: 4.412975 s, approachRate: 0.013597 m/s, LOS rate: 0.973354 deg/s, posRepo size: 4
2021-08-13T22:52:37.233Z,1628895157.233 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:52:37.569Z,1628895157.569 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:52:37.569Z,1628895157.569 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:52:37.569Z,1628895157.569 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:52:37.570Z,1628895157.570 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:52:37.965Z,1628895157.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
397,000,00325,189,80,80,B2,FF
2021-08-13T22:52:37.965Z,1628895157.965 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:52:37.965Z,1628895157.965 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:52:37.967Z,1628895157.967 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:52:38.396Z,1628895158.396 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:52:38.773Z,1628895158.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,39C,000,00330,189,80,80,92,FF
2021-08-13T22:52:38.773Z,1628895158.773 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:52:38.792Z,1628895158.792 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:52:39.205Z,1628895159.205 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225239.50*56

2021-08-13T22:52:39.298Z,1628895159.298 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.459998 m, bearing: 2.904249 deg, deltaT: 4.406676 s, approachRate: 0.149772 m/s, LOS rate: 0.017731 deg/s, posRepo size: 4
2021-08-13T22:52:41.645Z,1628895161.645 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:52:42.005Z,1628895162.005 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:52:42.005Z,1628895162.005 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:52:42.005Z,1628895162.005 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:52:42.006Z,1628895162.006 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:52:42.413Z,1628895162.413 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
39C,000,00330,189,80,80,92,FF
2021-08-13T22:52:42.413Z,1628895162.413 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:52:42.413Z,1628895162.413 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:52:42.415Z,1628895162.415 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:52:42.813Z,1628895162.813 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:52:43.221Z,1628895163.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,214,000,00332,187,80,80,74,FF
2021-08-13T22:52:43.221Z,1628895163.221 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:52:43.314Z,1628895163.314 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:52:43.654Z,1628895163.654 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225243.95*52

2021-08-13T22:52:43.676Z,1628895163.676 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.579999 m, bearing: 22.943871 deg, deltaT: 4.521494 s, approachRate: 0.026540 m/s, LOS rate: 4.432079 deg/s, posRepo size: 4
2021-08-13T22:52:46.075Z,1628895166.075 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:52:46.468Z,1628895166.468 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:52:46.469Z,1628895166.469 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:52:46.469Z,1628895166.469 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:52:46.470Z,1628895166.470 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:52:46.869Z,1628895166.869 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
214,000,00332,187,80,80,74,FF
2021-08-13T22:52:46.870Z,1628895166.870 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:52:46.871Z,1628895166.871 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:52:46.904Z,1628895166.904 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:52:47.265Z,1628895167.265 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:52:47.657Z,1628895167.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,342,000,00330,189,80,80,B1,FF
2021-08-13T22:52:47.657Z,1628895167.657 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:52:47.677Z,1628895167.677 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:52:48.087Z,1628895168.087 [Micromodem](INFO): Nmea in: $SNTTA,0.052048,,,,225248.44*40

2021-08-13T22:52:48.144Z,1628895168.144 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.459998 m, bearing: 8.341425 deg, deltaT: 4.364934 s, approachRate: -0.027492 m/s, LOS rate: -3.345399 deg/s, posRepo size: 4
2021-08-13T22:52:50.521Z,1628895170.521 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:52:50.938Z,1628895170.938 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:52:50.938Z,1628895170.938 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:52:50.938Z,1628895170.938 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:52:50.939Z,1628895170.939 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:52:51.302Z,1628895171.302 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
342,000,00330,189,80,80,B1,FF
2021-08-13T22:52:51.302Z,1628895171.302 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:52:51.302Z,1628895171.302 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:52:51.305Z,1628895171.305 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:52:51.701Z,1628895171.701 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:52:52.112Z,1628895172.112 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,332,000,00330,189,80,80,AD,FF
2021-08-13T22:52:52.113Z,1628895172.113 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:52:52.168Z,1628895172.168 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:52:52.549Z,1628895172.549 [Micromodem](INFO): Nmea in: $SNTTA,0.028302,,,,225252.84*47

2021-08-13T22:52:52.587Z,1628895172.587 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.459998 m, bearing: 9.061042 deg, deltaT: 4.489273 s, approachRate: 0.000000 m/s, LOS rate: 0.160297 deg/s, posRepo size: 4
2021-08-13T22:52:55.017Z,1628895175.017 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:52:55.329Z,1628895175.329 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:52:55.329Z,1628895175.329 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:52:55.330Z,1628895175.330 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:52:55.331Z,1628895175.331 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:52:55.737Z,1628895175.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
332,000,00330,189,80,80,AD,FF
2021-08-13T22:52:55.737Z,1628895175.737 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:52:55.737Z,1628895175.737 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:52:55.739Z,1628895175.739 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:52:56.165Z,1628895176.165 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:52:56.553Z,1628895176.553 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,325,000,00322,188,80,80,BD,FF
2021-08-13T22:52:56.553Z,1628895176.553 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:52:56.597Z,1628895176.597 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:52:56.987Z,1628895176.987 [Micromodem](INFO): Nmea in: $SNTTA,0.028442,,,,225257.27*48

2021-08-13T22:52:57.064Z,1628895177.064 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.619997 m, bearing: 9.515213 deg, deltaT: 4.429403 s, approachRate: -0.189642 m/s, LOS rate: 0.102535 deg/s, posRepo size: 4
2021-08-13T22:52:59.405Z,1628895179.405 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:52:59.788Z,1628895179.788 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:52:59.788Z,1628895179.788 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:52:59.788Z,1628895179.788 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:52:59.789Z,1628895179.789 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:53:00.191Z,1628895180.191 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
325,000,00322,188,80,80,BD,FF
2021-08-13T22:53:00.191Z,1628895180.191 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:53:00.191Z,1628895180.191 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:53:00.195Z,1628895180.195 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:53:00.584Z,1628895180.584 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:53:00.993Z,1628895180.993 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,30C,000,00329,189,80,80,96,FF
2021-08-13T22:53:00.993Z,1628895180.993 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:53:01.096Z,1628895181.096 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:53:01.430Z,1628895181.430 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225301.73*5D

2021-08-13T22:53:01.450Z,1628895181.450 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.039997 m, bearing: 10.779074 deg, deltaT: 4.498658 s, approachRate: 0.093361 m/s, LOS rate: 0.280942 deg/s, posRepo size: 4
2021-08-13T22:53:03.856Z,1628895183.856 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:53:04.221Z,1628895184.221 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:53:04.221Z,1628895184.221 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:53:04.221Z,1628895184.221 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:53:04.222Z,1628895184.222 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:53:04.621Z,1628895184.621 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
30C,000,00329,189,80,80,96,FF
2021-08-13T22:53:04.621Z,1628895184.621 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:53:04.621Z,1628895184.621 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:53:04.623Z,1628895184.623 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:53:05.029Z,1628895185.029 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:53:05.434Z,1628895185.434 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2E1,000,00327,189,80,80,AF,FF
2021-08-13T22:53:05.434Z,1628895185.434 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:53:05.462Z,1628895185.462 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:53:05.874Z,1628895185.874 [Micromodem](INFO): Nmea in: $SNTTA,0.095351,,,,225306.16*4C

2021-08-13T22:53:05.960Z,1628895185.960 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.920002 m, bearing: 12.932521 deg, deltaT: 4.365561 s, approachRate: -0.027487 m/s, LOS rate: 0.493281 deg/s, posRepo size: 4
2021-08-13T22:53:08.314Z,1628895188.314 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:53:08.666Z,1628895188.666 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:53:08.667Z,1628895188.667 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:53:08.667Z,1628895188.667 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:53:08.668Z,1628895188.668 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:53:09.062Z,1628895189.062 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2E1,000,00327,189,80,80,AF,FF
2021-08-13T22:53:09.062Z,1628895189.062 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:53:09.062Z,1628895189.062 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:53:09.063Z,1628895189.063 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:53:09.493Z,1628895189.493 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:53:09.883Z,1628895189.883 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,276,000,00336,188,80,80,88,FF
2021-08-13T22:53:09.885Z,1628895189.885 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:53:09.981Z,1628895189.981 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:53:10.309Z,1628895190.309 [Micromodem](INFO): Nmea in: $SNTTA,0.029379,,,,225310.60*47

2021-08-13T22:53:10.338Z,1628895190.338 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.820001 m, bearing: 17.903449 deg, deltaT: 4.519365 s, approachRate: 0.199143 m/s, LOS rate: 1.099917 deg/s, posRepo size: 4
2021-08-13T22:53:12.727Z,1628895192.727 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:53:13.105Z,1628895193.105 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:53:13.105Z,1628895193.105 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:53:13.105Z,1628895193.105 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:53:13.106Z,1628895193.106 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:53:13.513Z,1628895193.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
276,000,00336,188,80,80,88,FF
2021-08-13T22:53:13.513Z,1628895193.513 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:53:13.514Z,1628895193.514 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:53:13.515Z,1628895193.515 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:53:13.952Z,1628895193.952 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:53:14.321Z,1628895194.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2A8,000,0033B,18A,80,80,9B,FF
2021-08-13T22:53:14.322Z,1628895194.322 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:53:14.346Z,1628895194.346 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:53:14.765Z,1628895194.765 [Micromodem](INFO): Nmea in: $SNTTA,0.035748,,,,225315.05*4A

2021-08-13T22:53:14.803Z,1628895194.803 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.120000 m, bearing: 14.516976 deg, deltaT: 4.364575 s, approachRate: 0.068735 m/s, LOS rate: -0.775900 deg/s, posRepo size: 4
2021-08-13T22:53:17.210Z,1628895197.210 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:53:17.569Z,1628895197.569 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:53:17.569Z,1628895197.569 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:53:17.569Z,1628895197.569 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:53:17.570Z,1628895197.570 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:53:17.957Z,1628895197.957 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2A8,000,0033B,18A,80,80,9B,FF
2021-08-13T22:53:17.957Z,1628895197.957 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:53:17.957Z,1628895197.957 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:53:17.959Z,1628895197.959 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:53:18.365Z,1628895198.365 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:53:18.761Z,1628895198.761 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,26D,000,0032E,189,80,80,8F,FF
2021-08-13T22:53:18.762Z,1628895198.762 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:53:18.781Z,1628895198.781 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:53:19.209Z,1628895199.209 [Micromodem](INFO): Nmea in: $SNTTA,0.029664,,,,225319.49*4C

2021-08-13T22:53:19.278Z,1628895199.278 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.339997 m, bearing: 17.361518 deg, deltaT: 4.434915 s, approachRate: -0.175878 m/s, LOS rate: 0.641397 deg/s, posRepo size: 4
2021-08-13T22:53:21.634Z,1628895201.634 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:53:21.993Z,1628895201.993 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:53:21.993Z,1628895201.993 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:53:21.993Z,1628895201.993 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:53:21.994Z,1628895201.994 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:53:22.405Z,1628895202.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
26D,000,0032E,189,80,80,8F,FF
2021-08-13T22:53:22.405Z,1628895202.405 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:53:22.405Z,1628895202.405 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:53:22.407Z,1628895202.407 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:53:22.818Z,1628895202.818 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:53:23.205Z,1628895203.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,12F,000,00340,186,80,80,5D,FF
2021-08-13T22:53:23.205Z,1628895203.205 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:53:23.277Z,1628895203.277 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:53:23.653Z,1628895203.653 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225323.94*54

2021-08-13T22:53:23.669Z,1628895203.669 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.419999 m, bearing: 33.223857 deg, deltaT: 4.496710 s, approachRate: 0.240176 m/s, LOS rate: 3.527543 deg/s, posRepo size: 4
2021-08-13T22:53:26.085Z,1628895206.085 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:53:26.477Z,1628895206.477 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:53:26.477Z,1628895206.477 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:53:26.477Z,1628895206.477 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:53:26.478Z,1628895206.478 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:53:26.865Z,1628895206.865 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
12F,000,00340,186,80,80,5D,FF
2021-08-13T22:53:26.865Z,1628895206.865 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:53:26.866Z,1628895206.866 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:53:26.874Z,1628895206.874 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:53:27.263Z,1628895207.263 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:53:27.653Z,1628895207.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,202,000,00333,186,80,80,6B,FF
2021-08-13T22:53:27.654Z,1628895207.654 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:53:27.714Z,1628895207.714 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:53:28.085Z,1628895208.085 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225328.41*57

2021-08-13T22:53:28.127Z,1628895208.127 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.640002 m, bearing: 22.759727 deg, deltaT: 4.436775 s, approachRate: -0.175803 m/s, LOS rate: -2.358499 deg/s, posRepo size: 4
2021-08-13T22:53:30.512Z,1628895210.512 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:53:30.945Z,1628895210.945 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:53:30.945Z,1628895210.945 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:53:30.945Z,1628895210.945 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:53:30.946Z,1628895210.946 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:53:31.293Z,1628895211.293 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
202,000,00333,186,80,80,6B,FF
2021-08-13T22:53:31.293Z,1628895211.293 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:53:31.293Z,1628895211.293 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:53:31.295Z,1628895211.295 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:53:31.706Z,1628895211.706 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:53:32.101Z,1628895212.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,213,000,00335,187,80,80,84,FF
2021-08-13T22:53:32.101Z,1628895212.101 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:53:32.176Z,1628895212.176 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:53:32.550Z,1628895212.550 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225332.83*52

2021-08-13T22:53:32.610Z,1628895212.610 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.759997 m, bearing: 22.156072 deg, deltaT: 4.461885 s, approachRate: 0.026893 m/s, LOS rate: -0.135292 deg/s, posRepo size: 4
2021-08-13T22:53:35.019Z,1628895215.019 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:53:35.342Z,1628895215.342 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:53:35.342Z,1628895215.342 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:53:35.342Z,1628895215.342 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:53:35.343Z,1628895215.343 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:53:35.737Z,1628895215.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
213,000,00335,187,80,80,84,FF
2021-08-13T22:53:35.737Z,1628895215.737 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:53:35.737Z,1628895215.737 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:53:35.739Z,1628895215.739 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:53:36.145Z,1628895216.145 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:53:36.556Z,1628895216.556 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,160,000,00346,185,80,80,6E,FF
2021-08-13T22:53:36.556Z,1628895216.556 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:53:36.575Z,1628895216.575 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:53:36.993Z,1628895216.993 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225337.28*56

2021-08-13T22:53:37.059Z,1628895217.059 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.779997 m, bearing: 31.338049 deg, deltaT: 4.399546 s, approachRate: 0.231842 m/s, LOS rate: 2.087028 deg/s, posRepo size: 4
2021-08-13T22:53:39.401Z,1628895219.401 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:53:39.777Z,1628895219.777 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:53:39.777Z,1628895219.777 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:53:39.777Z,1628895219.777 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:53:39.778Z,1628895219.778 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:53:40.181Z,1628895220.181 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
160,000,00346,185,80,80,6E,FF
2021-08-13T22:53:40.181Z,1628895220.181 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:53:40.181Z,1628895220.181 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:53:40.183Z,1628895220.183 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:53:40.598Z,1628895220.598 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:53:40.989Z,1628895220.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,212,000,00339,187,80,80,8C,FF
2021-08-13T22:53:40.989Z,1628895220.989 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:53:41.084Z,1628895221.084 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:53:41.430Z,1628895221.430 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225341.72*58

2021-08-13T22:53:41.445Z,1628895221.445 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.999999 m, bearing: 22.982770 deg, deltaT: 4.508651 s, approachRate: -0.173000 m/s, LOS rate: -1.853166 deg/s, posRepo size: 4
2021-08-13T22:53:43.845Z,1628895223.845 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:53:44.232Z,1628895224.232 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:53:44.232Z,1628895224.232 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:53:44.233Z,1628895224.233 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:53:44.233Z,1628895224.233 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:53:44.625Z,1628895224.625 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
212,000,00339,187,80,80,8C,FF
2021-08-13T22:53:44.625Z,1628895224.625 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:53:44.625Z,1628895224.625 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:53:44.627Z,1628895224.627 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:53:45.041Z,1628895225.041 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:53:45.433Z,1628895225.433 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,20E,000,0033A,187,80,80,9F,FF
2021-08-13T22:53:45.433Z,1628895225.433 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:53:45.481Z,1628895225.481 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:53:45.890Z,1628895225.890 [Micromodem](INFO): Nmea in: $SNTTA,0.031483,,,,225346.16*4E

2021-08-13T22:53:45.946Z,1628895225.946 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.059997 m, bearing: 23.483116 deg, deltaT: 4.396756 s, approachRate: 0.013646 m/s, LOS rate: 0.113799 deg/s, posRepo size: 4
2021-08-13T22:53:48.297Z,1628895228.297 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:53:48.669Z,1628895228.669 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:53:48.669Z,1628895228.669 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:53:48.669Z,1628895228.669 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:53:48.670Z,1628895228.670 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:53:49.077Z,1628895229.077 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
20E,000,0033A,187,80,80,9F,FF
2021-08-13T22:53:49.077Z,1628895229.077 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:53:49.078Z,1628895229.078 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:53:49.079Z,1628895229.079 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:53:49.486Z,1628895229.486 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:53:49.908Z,1628895229.908 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,130,000,0034C,186,80,80,5F,FF
2021-08-13T22:53:49.910Z,1628895229.910 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:53:49.963Z,1628895229.963 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:53:50.314Z,1628895230.314 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225350.61*5A

2021-08-13T22:53:50.329Z,1628895230.329 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.139999 m, bearing: 34.792663 deg, deltaT: 4.486679 s, approachRate: 0.240713 m/s, LOS rate: 2.520694 deg/s, posRepo size: 4
2021-08-13T22:53:52.738Z,1628895232.738 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:53:53.120Z,1628895233.120 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:53:53.120Z,1628895233.120 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:53:53.120Z,1628895233.120 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:53:53.121Z,1628895233.121 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:53:53.513Z,1628895233.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
130,000,0034C,186,80,80,5F,FF
2021-08-13T22:53:53.513Z,1628895233.513 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:53:53.513Z,1628895233.513 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:53:53.515Z,1628895233.515 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:53:53.953Z,1628895233.953 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:53:54.321Z,1628895234.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,15C,000,0034A,185,80,80,62,FF
2021-08-13T22:53:54.321Z,1628895234.321 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:53:54.377Z,1628895234.377 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:53:54.773Z,1628895234.773 [Micromodem](INFO): Nmea in: $SNTTA,0.041063,,,,225355.05*43

2021-08-13T22:53:54.795Z,1628895234.795 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.019999 m, bearing: 33.127623 deg, deltaT: 4.409352 s, approachRate: -0.027215 m/s, LOS rate: -0.377615 deg/s, posRepo size: 4
2021-08-13T22:53:57.229Z,1628895237.229 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:53:57.553Z,1628895237.553 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:53:57.553Z,1628895237.553 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:53:57.553Z,1628895237.553 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:53:57.554Z,1628895237.554 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:53:57.961Z,1628895237.961 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
15C,000,0034A,185,80,80,62,FF
2021-08-13T22:53:57.961Z,1628895237.961 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:53:57.961Z,1628895237.961 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:53:57.963Z,1628895237.963 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:53:58.364Z,1628895238.364 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:53:58.777Z,1628895238.777 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,14D,000,0034D,185,80,80,5F,FF
2021-08-13T22:53:58.777Z,1628895238.777 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:53:58.910Z,1628895238.910 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:53:59.209Z,1628895239.209 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225359.50*51

2021-08-13T22:53:59.274Z,1628895239.274 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.199997 m, bearing: 33.676746 deg, deltaT: 4.532697 s, approachRate: 0.039711 m/s, LOS rate: 0.121147 deg/s, posRepo size: 4
2021-08-13T22:54:01.726Z,1628895241.726 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:54:02.009Z,1628895242.009 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:54:02.009Z,1628895242.009 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:54:02.009Z,1628895242.009 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:54:02.010Z,1628895242.010 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:54:02.409Z,1628895242.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
14D,000,0034D,185,80,80,5F,FF
2021-08-13T22:54:02.409Z,1628895242.409 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:54:02.409Z,1628895242.409 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:54:02.411Z,1628895242.411 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:54:02.819Z,1628895242.819 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:54:03.217Z,1628895243.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1B8,000,0034F,186,80,80,AC,FF
2021-08-13T22:54:03.218Z,1628895243.218 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:54:03.296Z,1628895243.296 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:54:03.645Z,1628895243.645 [Micromodem](INFO): Nmea in: $SNTTA,0.061228,,,,225403.95*41

2021-08-13T22:54:03.667Z,1628895243.667 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.319998 m, bearing: 28.491856 deg, deltaT: 4.386476 s, approachRate: 0.027357 m/s, LOS rate: -1.182017 deg/s, posRepo size: 4
2021-08-13T22:54:06.106Z,1628895246.106 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:54:06.449Z,1628895246.449 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:54:06.449Z,1628895246.449 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:54:06.450Z,1628895246.450 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:54:06.451Z,1628895246.451 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:54:06.893Z,1628895246.893 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1B8,000,0034F,186,80,80,AC,FF
2021-08-13T22:54:06.894Z,1628895246.894 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:54:06.894Z,1628895246.894 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:54:06.912Z,1628895246.912 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:54:07.039Z,1628895247.039 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T22:54:07.326Z,1628895247.326 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:54:07.721Z,1628895247.721 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,13D,000,00361,185,80,80,6D,FF
2021-08-13T22:54:07.721Z,1628895247.721 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:54:07.771Z,1628895247.771 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:54:08.154Z,1628895248.154 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225408.45*56

2021-08-13T22:54:08.183Z,1628895248.183 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.400001 m, bearing: 34.532952 deg, deltaT: 4.474620 s, approachRate: 0.241362 m/s, LOS rate: 1.350080 deg/s, posRepo size: 4
2021-08-13T22:54:10.563Z,1628895250.563 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:54:10.964Z,1628895250.964 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:54:10.964Z,1628895250.964 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:54:10.964Z,1628895250.964 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:54:10.965Z,1628895250.965 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:54:11.345Z,1628895251.345 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
13D,000,00361,185,80,80,6D,FF
2021-08-13T22:54:11.345Z,1628895251.345 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:54:11.345Z,1628895251.345 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:54:11.347Z,1628895251.347 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:54:11.784Z,1628895251.784 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:54:12.161Z,1628895252.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1B9,000,00346,186,80,80,6B,FF
2021-08-13T22:54:12.161Z,1628895252.161 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:54:12.218Z,1628895252.218 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:54:12.601Z,1628895252.601 [Micromodem](INFO): Nmea in: $SNTTA,0.030854,,,,225412.88*48

2021-08-13T22:54:12.645Z,1628895252.645 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.779997 m, bearing: 28.258106 deg, deltaT: 4.447765 s, approachRate: -0.364229 m/s, LOS rate: -1.410786 deg/s, posRepo size: 4
2021-08-13T22:54:15.100Z,1628895255.100 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:54:15.385Z,1628895255.385 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:54:15.385Z,1628895255.385 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:54:15.385Z,1628895255.385 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:54:15.386Z,1628895255.386 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:54:15.801Z,1628895255.801 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1B9,000,00346,186,80,80,6B,FF
2021-08-13T22:54:15.802Z,1628895255.802 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:54:15.802Z,1628895255.802 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:54:15.803Z,1628895255.803 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:54:16.197Z,1628895256.197 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:54:16.613Z,1628895256.613 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,131,000,00354,185,80,80,7F,FF
2021-08-13T22:54:16.613Z,1628895256.613 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:54:16.633Z,1628895256.633 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:54:17.026Z,1628895257.026 [Micromodem](INFO): Nmea in: $SNTTA,0.042438,0.399768,,,225417.38*51

2021-08-13T22:54:17.089Z,1628895257.089 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.619998 m, bearing: 35.288029 deg, deltaT: 4.414219 s, approachRate: 0.190294 m/s, LOS rate: 1.592563 deg/s, posRepo size: 4
2021-08-13T22:54:19.453Z,1628895259.453 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:54:19.849Z,1628895259.849 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:54:19.849Z,1628895259.849 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:54:19.849Z,1628895259.849 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:54:19.850Z,1628895259.850 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:54:20.233Z,1628895260.233 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
131,000,00354,185,80,80,7F,FF
2021-08-13T22:54:20.233Z,1628895260.233 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:54:20.233Z,1628895260.233 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:54:20.235Z,1628895260.235 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:54:20.659Z,1628895260.659 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:54:21.053Z,1628895261.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,180,000,0034D,186,80,80,5E,FF
2021-08-13T22:54:21.054Z,1628895261.054 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:54:21.135Z,1628895261.135 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:54:21.493Z,1628895261.493 [Micromodem](INFO): Nmea in: $SNTTA,0.037023,,,,225421.77*47

2021-08-13T22:54:21.517Z,1628895261.517 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.199997 m, bearing: 31.763945 deg, deltaT: 4.502278 s, approachRate: -0.093286 m/s, LOS rate: -0.782734 deg/s, posRepo size: 4
2021-08-13T22:54:23.947Z,1628895263.947 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:54:24.273Z,1628895264.273 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:54:24.273Z,1628895264.273 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:54:24.273Z,1628895264.273 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:54:24.274Z,1628895264.274 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:54:24.682Z,1628895264.682 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
180,000,0034D,186,80,80,5E,FF
2021-08-13T22:54:24.682Z,1628895264.682 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:54:24.682Z,1628895264.682 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:54:24.685Z,1628895264.685 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:54:25.101Z,1628895265.101 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:54:25.157Z,1628895265.157 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T22:54:25.494Z,1628895265.494 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,16E,000,00351,185,80,80,57,FF
2021-08-13T22:54:25.494Z,1628895265.494 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:54:25.562Z,1628895265.562 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:54:25.957Z,1628895265.957 [Micromodem](INFO): Nmea in: $SNTTA,0.025183,,,,225426.22*48

2021-08-13T22:54:25.997Z,1628895265.997 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.439999 m, bearing: 33.181909 deg, deltaT: 4.426856 s, approachRate: 0.054215 m/s, LOS rate: 0.320310 deg/s, posRepo size: 4
2021-08-13T22:54:27.155Z,1628895267.155 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-13T22:54:28.343Z,1628895268.343 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:54:28.725Z,1628895268.725 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:54:28.725Z,1628895268.725 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:54:28.726Z,1628895268.726 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:54:28.727Z,1628895268.727 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:54:29.133Z,1628895269.133 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
16E,000,00351,185,80,80,57,FF
2021-08-13T22:54:29.133Z,1628895269.133 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:54:29.133Z,1628895269.133 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:54:29.135Z,1628895269.135 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:54:29.537Z,1628895269.537 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:54:29.957Z,1628895269.957 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,157,000,00352,186,80,80,7D,FF
2021-08-13T22:54:29.957Z,1628895269.957 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:54:30.025Z,1628895270.025 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:54:30.369Z,1628895270.369 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225430.67*5D

2021-08-13T22:54:30.424Z,1628895270.424 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.500002 m, bearing: 34.696388 deg, deltaT: 4.463043 s, approachRate: 0.013444 m/s, LOS rate: 0.339338 deg/s, posRepo size: 4
2021-08-13T22:54:32.779Z,1628895272.779 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:54:33.169Z,1628895273.169 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:54:33.169Z,1628895273.169 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:54:33.169Z,1628895273.169 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:54:33.170Z,1628895273.170 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:54:33.585Z,1628895273.585 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
157,000,00352,186,80,80,7D,FF
2021-08-13T22:54:33.585Z,1628895273.585 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:54:33.585Z,1628895273.585 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:54:33.587Z,1628895273.587 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:54:33.980Z,1628895273.980 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:54:34.383Z,1628895274.383 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,154,000,0035F,185,80,80,7F,FF
2021-08-13T22:54:34.383Z,1628895274.383 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:54:34.403Z,1628895274.403 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:54:34.821Z,1628895274.821 [Micromodem](INFO): Nmea in: $SNTTA,0.035598,,,,225435.12*46

2021-08-13T22:54:34.924Z,1628895274.924 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.280000 m, bearing: 35.038645 deg, deltaT: 4.378470 s, approachRate: 0.178144 m/s, LOS rate: 0.078168 deg/s, posRepo size: 4
2021-08-13T22:54:36.984Z,1628895276.984 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:54:37.225Z,1628895277.225 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:54:37.225Z,1628895277.225 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:54:37.225Z,1628895277.225 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:54:37.226Z,1628895277.226 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:54:37.641Z,1628895277.641 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
154,000,0035F,185,80,80,7F,FF
2021-08-13T22:54:37.642Z,1628895277.642 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:54:37.642Z,1628895277.642 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:54:37.643Z,1628895277.643 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:54:38.028Z,1628895278.028 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:54:38.429Z,1628895278.429 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,152,000,00354,185,80,80,56,FF
2021-08-13T22:54:38.430Z,1628895278.430 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:54:38.453Z,1628895278.453 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:54:38.881Z,1628895278.881 [Micromodem](INFO): Nmea in: $SNTTA,0.011156,,,,225439.18*40

2021-08-13T22:54:38.972Z,1628895278.972 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.619998 m, bearing: 35.277616 deg, deltaT: 4.050004 s, approachRate: -0.162963 m/s, LOS rate: 0.059005 deg/s, posRepo size: 4
2021-08-13T22:54:41.026Z,1628895281.026 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:54:41.269Z,1628895281.269 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:54:41.269Z,1628895281.269 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:54:41.269Z,1628895281.269 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:54:41.270Z,1628895281.270 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:54:41.661Z,1628895281.661 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
152,000,00354,185,80,80,56,FF
2021-08-13T22:54:41.661Z,1628895281.661 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:54:41.661Z,1628895281.661 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:54:41.663Z,1628895281.663 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:54:42.077Z,1628895282.077 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:54:42.485Z,1628895282.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0F3,000,00366,186,80,80,A4,FF
2021-08-13T22:54:42.485Z,1628895282.485 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:54:42.504Z,1628895282.504 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:54:42.954Z,1628895282.954 [Micromodem](INFO): Nmea in: $SNTTA,0.036145,,,,225443.20*41

2021-08-13T22:54:43.029Z,1628895283.029 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.700000 m, bearing: 40.464544 deg, deltaT: 4.050962 s, approachRate: 0.266604 m/s, LOS rate: 1.280419 deg/s, posRepo size: 4
2021-08-13T22:54:45.061Z,1628895285.061 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:54:45.297Z,1628895285.297 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:54:45.297Z,1628895285.297 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:54:45.297Z,1628895285.297 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:54:45.298Z,1628895285.298 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:54:45.711Z,1628895285.711 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0F3,000,00366,186,80,80,A4,FF
2021-08-13T22:54:45.711Z,1628895285.711 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:54:45.711Z,1628895285.711 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:54:45.713Z,1628895285.713 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:54:46.113Z,1628895286.113 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:54:46.514Z,1628895286.514 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,100,000,00368,186,80,80,7C,FF
2021-08-13T22:54:46.514Z,1628895286.514 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:54:46.534Z,1628895286.534 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:54:46.981Z,1628895286.981 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225447.25*5B

2021-08-13T22:54:47.055Z,1628895287.055 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.820001 m, bearing: 40.107957 deg, deltaT: 4.029281 s, approachRate: 0.029782 m/s, LOS rate: -0.088499 deg/s, posRepo size: 4
2021-08-13T22:54:49.050Z,1628895289.050 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:54:49.344Z,1628895289.344 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:54:49.344Z,1628895289.344 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:54:49.344Z,1628895289.344 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:54:49.345Z,1628895289.345 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:54:49.741Z,1628895289.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
100,000,00368,186,80,80,7C,FF
2021-08-13T22:54:49.741Z,1628895289.741 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:54:49.741Z,1628895289.741 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:54:49.743Z,1628895289.743 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:54:50.157Z,1628895290.157 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:54:50.553Z,1628895290.553 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,11C,000,0035C,186,80,80,86,FF
2021-08-13T22:54:50.553Z,1628895290.553 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:54:50.598Z,1628895290.598 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:54:51.009Z,1628895291.009 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225451.28*51

2021-08-13T22:54:51.072Z,1628895291.072 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.100001 m, bearing: 38.590357 deg, deltaT: 4.064372 s, approachRate: -0.177149 m/s, LOS rate: -0.373391 deg/s, posRepo size: 4
2021-08-13T22:54:53.409Z,1628895293.409 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:54:53.785Z,1628895293.785 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:54:53.785Z,1628895293.785 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:54:53.785Z,1628895293.785 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:54:53.786Z,1628895293.786 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:54:54.197Z,1628895294.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
11C,000,0035C,186,80,80,86,FF
2021-08-13T22:54:54.197Z,1628895294.197 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:54:54.197Z,1628895294.197 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:54:54.199Z,1628895294.199 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:54:54.597Z,1628895294.597 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:54:54.997Z,1628895294.997 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,107,000,00361,186,80,80,83,FF
2021-08-13T22:54:54.997Z,1628895294.997 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:54:55.082Z,1628895295.082 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:54:55.449Z,1628895295.449 [Micromodem](INFO): Nmea in: $SNTTA,,0.217932,,,225455.73*49

2021-08-13T22:54:55.465Z,1628895295.465 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.400001 m, bearing: 39.231804 deg, deltaT: 4.483858 s, approachRate: 0.066906 m/s, LOS rate: 0.143057 deg/s, posRepo size: 4
2021-08-13T22:54:57.875Z,1628895297.875 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:54:58.229Z,1628895298.229 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:54:58.229Z,1628895298.229 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:54:58.229Z,1628895298.229 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:54:58.230Z,1628895298.230 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:54:58.641Z,1628895298.641 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
107,000,00361,186,80,80,83,FF
2021-08-13T22:54:58.641Z,1628895298.641 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:54:58.642Z,1628895298.642 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:54:58.644Z,1628895298.644 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:54:59.045Z,1628895299.045 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:54:59.445Z,1628895299.445 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0D8,000,00371,186,80,80,90,FF
2021-08-13T22:54:59.445Z,1628895299.445 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:54:59.465Z,1628895299.465 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:54:59.881Z,1628895299.881 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225500.18*57

2021-08-13T22:54:59.959Z,1628895299.959 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.359997 m, bearing: 41.284365 deg, deltaT: 4.382774 s, approachRate: 0.219039 m/s, LOS rate: 0.468325 deg/s, posRepo size: 4
2021-08-13T22:55:02.313Z,1628895302.313 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:55:02.693Z,1628895302.693 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:55:02.693Z,1628895302.693 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:55:02.693Z,1628895302.693 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:55:02.694Z,1628895302.694 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:55:03.077Z,1628895303.077 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0D8,000,00371,186,80,80,90,FF
2021-08-13T22:55:03.077Z,1628895303.077 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:55:03.077Z,1628895303.077 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:55:03.079Z,1628895303.079 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:55:03.489Z,1628895303.489 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:55:03.897Z,1628895303.897 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0BA,000,00373,186,80,80,79,FF
2021-08-13T22:55:03.898Z,1628895303.898 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:55:03.955Z,1628895303.955 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:55:04.330Z,1628895304.330 [Micromodem](INFO): Nmea in: $SNTTA,0.062510,,,,225504.61*43

2021-08-13T22:55:04.346Z,1628895304.346 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.479998 m, bearing: 42.624755 deg, deltaT: 4.492635 s, approachRate: 0.026711 m/s, LOS rate: 0.298353 deg/s, posRepo size: 4
2021-08-13T22:55:06.749Z,1628895306.749 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:55:07.121Z,1628895307.121 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:55:07.121Z,1628895307.121 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:55:07.121Z,1628895307.121 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:55:07.122Z,1628895307.122 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:55:07.527Z,1628895307.527 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0BA,000,00373,186,80,80,79,FF
2021-08-13T22:55:07.527Z,1628895307.527 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:55:07.527Z,1628895307.527 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:55:07.529Z,1628895307.529 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:55:07.952Z,1628895307.952 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:55:08.325Z,1628895308.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0AF,000,0036F,186,80,80,4D,FF
2021-08-13T22:55:08.326Z,1628895308.326 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:55:08.373Z,1628895308.373 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:55:08.773Z,1628895308.773 [Micromodem](INFO): Nmea in: $SNTTA,0.064333,,,,225509.06*4E

2021-08-13T22:55:08.795Z,1628895308.795 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.240002 m, bearing: 43.248444 deg, deltaT: 4.415756 s, approachRate: -0.054350 m/s, LOS rate: 0.141242 deg/s, posRepo size: 4
2021-08-13T22:55:11.234Z,1628895311.234 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:55:11.561Z,1628895311.561 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:55:11.561Z,1628895311.561 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:55:11.561Z,1628895311.561 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:55:11.562Z,1628895311.562 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:55:11.969Z,1628895311.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0AF,000,0036F,186,80,80,4D,FF
2021-08-13T22:55:11.969Z,1628895311.969 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:55:11.969Z,1628895311.969 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:55:11.971Z,1628895311.971 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:55:12.385Z,1628895312.385 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:55:12.773Z,1628895312.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A0,000,0037E,186,80,80,7E,FF
2021-08-13T22:55:12.773Z,1628895312.773 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:55:12.819Z,1628895312.819 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:55:13.218Z,1628895313.218 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225513.51*58

2021-08-13T22:55:13.287Z,1628895313.287 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.139999 m, bearing: 44.008879 deg, deltaT: 4.459366 s, approachRate: 0.201822 m/s, LOS rate: 0.170526 deg/s, posRepo size: 4
2021-08-13T22:55:15.630Z,1628895315.630 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:55:16.009Z,1628895316.009 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:55:16.009Z,1628895316.009 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:55:16.009Z,1628895316.009 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:55:16.010Z,1628895316.010 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:55:16.421Z,1628895316.421 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0A0,000,0037E,186,80,80,7E,FF
2021-08-13T22:55:16.421Z,1628895316.421 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:55:16.421Z,1628895316.421 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:55:16.423Z,1628895316.423 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:55:16.843Z,1628895316.843 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:55:17.217Z,1628895317.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,09D,000,00377,186,80,80,58,FF
2021-08-13T22:55:17.218Z,1628895317.218 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:55:17.277Z,1628895317.277 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:55:17.669Z,1628895317.669 [Micromodem](INFO): Nmea in: $SNTTA,0.055755,,,,225517.96*4E

2021-08-13T22:55:17.685Z,1628895317.685 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.719999 m, bearing: 44.109505 deg, deltaT: 4.445060 s, approachRate: -0.094487 m/s, LOS rate: 0.022638 deg/s, posRepo size: 4
2021-08-13T22:55:20.086Z,1628895320.086 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:55:20.453Z,1628895320.453 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:55:20.453Z,1628895320.453 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:55:20.453Z,1628895320.453 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:55:20.454Z,1628895320.454 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:55:20.880Z,1628895320.880 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
09D,000,00377,186,80,80,58,FF
2021-08-13T22:55:20.881Z,1628895320.881 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:55:20.881Z,1628895320.881 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:55:20.889Z,1628895320.889 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:55:21.293Z,1628895321.293 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:55:21.705Z,1628895321.705 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,091,000,0037B,186,80,80,89,FF
2021-08-13T22:55:21.705Z,1628895321.705 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:55:21.725Z,1628895321.725 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:55:22.141Z,1628895322.141 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225522.43*59

2021-08-13T22:55:22.187Z,1628895322.187 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.960001 m, bearing: 45.112071 deg, deltaT: 4.447242 s, approachRate: 0.053966 m/s, LOS rate: 0.225435 deg/s, posRepo size: 4
2021-08-13T22:55:24.578Z,1628895324.578 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:55:24.953Z,1628895324.953 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:55:24.953Z,1628895324.953 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:55:24.953Z,1628895324.953 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:55:24.954Z,1628895324.954 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:55:25.345Z,1628895325.345 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
091,000,0037B,186,80,80,89,FF
2021-08-13T22:55:25.346Z,1628895325.346 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:55:25.346Z,1628895325.346 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:55:25.348Z,1628895325.348 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:55:25.749Z,1628895325.749 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:55:26.157Z,1628895326.157 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,079,000,0037F,186,80,80,7A,FF
2021-08-13T22:55:26.157Z,1628895326.157 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:55:26.215Z,1628895326.215 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:55:26.589Z,1628895326.589 [Micromodem](INFO): Nmea in: $SNTTA,0.035746,,,,225526.88*47

2021-08-13T22:55:26.626Z,1628895326.626 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.199997 m, bearing: 46.126521 deg, deltaT: 4.490258 s, approachRate: 0.053448 m/s, LOS rate: 0.225923 deg/s, posRepo size: 4
2021-08-13T22:55:29.065Z,1628895329.065 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:55:29.381Z,1628895329.381 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:55:29.381Z,1628895329.381 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:55:29.381Z,1628895329.381 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:55:29.382Z,1628895329.382 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:55:29.785Z,1628895329.785 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
079,000,0037F,186,80,80,7A,FF
2021-08-13T22:55:29.785Z,1628895329.785 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:55:29.785Z,1628895329.785 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:55:29.787Z,1628895329.787 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:55:30.192Z,1628895330.192 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:55:30.605Z,1628895330.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,081,000,00389,186,80,80,78,FF
2021-08-13T22:55:30.606Z,1628895330.606 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:55:30.654Z,1628895330.654 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:55:31.037Z,1628895331.037 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225531.32*5D

2021-08-13T22:55:31.117Z,1628895331.117 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.800003 m, bearing: 46.008322 deg, deltaT: 4.439476 s, approachRate: 0.135152 m/s, LOS rate: -0.026625 deg/s, posRepo size: 4
2021-08-13T22:55:32.081Z,1628895332.081 [CTD_Seabird](ERROR): Failed to parse device response: 6.36,24.919.04
2021-08-13T22:55:32.225Z,1628895332.225 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T22:55:33.438Z,1628895333.438 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:55:33.825Z,1628895333.825 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:55:33.825Z,1628895333.825 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:55:33.825Z,1628895333.825 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:55:33.826Z,1628895333.826 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:55:34.229Z,1628895334.229 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
081,000,00389,186,80,80,78,FF
2021-08-13T22:55:34.229Z,1628895334.229 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:55:34.229Z,1628895334.229 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:55:34.231Z,1628895334.231 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:55:34.640Z,1628895334.640 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:55:35.045Z,1628895335.045 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,07C,000,0038B,186,80,80,66,FF
2021-08-13T22:55:35.045Z,1628895335.045 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:55:35.140Z,1628895335.140 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:55:35.473Z,1628895335.473 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225535.76*59

2021-08-13T22:55:35.509Z,1628895335.509 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.919998 m, bearing: 46.624442 deg, deltaT: 4.485813 s, approachRate: 0.026750 m/s, LOS rate: 0.137349 deg/s, posRepo size: 4
2021-08-13T22:55:37.962Z,1628895337.962 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:55:38.277Z,1628895338.277 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:55:38.277Z,1628895338.277 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:55:38.277Z,1628895338.277 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:55:38.278Z,1628895338.278 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:55:38.681Z,1628895338.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
07C,000,0038B,186,80,80,66,FF
2021-08-13T22:55:38.681Z,1628895338.681 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:55:38.682Z,1628895338.682 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:55:38.683Z,1628895338.683 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:55:39.085Z,1628895339.085 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:55:39.489Z,1628895339.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,08F,000,0039E,187,80,80,A2,FF
2021-08-13T22:55:39.489Z,1628895339.489 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:55:39.509Z,1628895339.509 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:55:39.929Z,1628895339.929 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225540.22*5A

2021-08-13T22:55:39.970Z,1628895339.970 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.059998 m, bearing: 45.758381 deg, deltaT: 4.368626 s, approachRate: 0.260951 m/s, LOS rate: -0.198246 deg/s, posRepo size: 4
2021-08-13T22:55:42.327Z,1628895342.327 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:55:42.737Z,1628895342.737 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:55:42.737Z,1628895342.737 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:55:42.737Z,1628895342.737 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:55:42.738Z,1628895342.738 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:55:43.137Z,1628895343.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
08F,000,0039E,187,80,80,A2,FF
2021-08-13T22:55:43.137Z,1628895343.137 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:55:43.138Z,1628895343.138 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:55:43.139Z,1628895343.139 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:55:43.530Z,1628895343.530 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:55:43.949Z,1628895343.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,049,000,0039B,184,80,80,4A,FF
2021-08-13T22:55:43.950Z,1628895343.950 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:55:44.009Z,1628895344.009 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:55:44.362Z,1628895344.362 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225544.67*5F

2021-08-13T22:55:44.403Z,1628895344.403 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.879999 m, bearing: 49.334607 deg, deltaT: 4.500591 s, approachRate: -0.039994 m/s, LOS rate: 0.794612 deg/s, posRepo size: 4
2021-08-13T22:55:46.809Z,1628895346.809 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:55:47.175Z,1628895347.175 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:55:47.176Z,1628895347.176 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:55:47.176Z,1628895347.176 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:55:47.177Z,1628895347.177 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:55:47.570Z,1628895347.570 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
049,000,0039B,184,80,80,4A,FF
2021-08-13T22:55:47.570Z,1628895347.570 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:55:47.571Z,1628895347.571 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:55:47.573Z,1628895347.573 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:55:47.969Z,1628895347.969 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:55:48.383Z,1628895348.383 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,04E,000,003A0,184,80,80,A7,FF
2021-08-13T22:55:48.384Z,1628895348.384 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:55:48.409Z,1628895348.409 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:55:48.820Z,1628895348.820 [Micromodem](INFO): Nmea in: $SNTTA,0.039529,,,,225549.11*49

2021-08-13T22:55:48.934Z,1628895348.934 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.179998 m, bearing: 49.062608 deg, deltaT: 4.399653 s, approachRate: 0.068187 m/s, LOS rate: -0.061823 deg/s, posRepo size: 4
2021-08-13T22:55:50.936Z,1628895350.936 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:55:51.224Z,1628895351.224 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:55:51.224Z,1628895351.224 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:55:51.224Z,1628895351.224 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:55:51.225Z,1628895351.225 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:55:51.606Z,1628895351.606 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
04E,000,003A0,184,80,80,A7,FF
2021-08-13T22:55:51.606Z,1628895351.606 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:55:51.606Z,1628895351.606 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:55:51.609Z,1628895351.609 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:55:52.008Z,1628895352.008 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:55:52.414Z,1628895352.414 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,03C,000,003AA,184,80,80,39,FF
2021-08-13T22:55:52.414Z,1628895352.414 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:55:52.463Z,1628895352.463 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:55:52.889Z,1628895352.889 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225553.15*5C

2021-08-13T22:55:52.958Z,1628895352.958 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.779997 m, bearing: 49.663514 deg, deltaT: 4.053789 s, approachRate: 0.148009 m/s, LOS rate: 0.148233 deg/s, posRepo size: 4
2021-08-13T22:55:55.035Z,1628895355.035 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:55:55.321Z,1628895355.321 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:55:55.321Z,1628895355.321 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:55:55.321Z,1628895355.321 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:55:55.322Z,1628895355.322 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:55:55.741Z,1628895355.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
03C,000,003AA,184,80,80,39,FF
2021-08-13T22:55:55.741Z,1628895355.741 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:55:55.742Z,1628895355.742 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:55:55.743Z,1628895355.743 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:55:56.142Z,1628895356.142 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:55:56.549Z,1628895356.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,03A,000,003A6,185,80,80,49,FF
2021-08-13T22:55:56.549Z,1628895356.549 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:55:56.605Z,1628895356.605 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:55:56.982Z,1628895356.982 [Micromodem](INFO): Nmea in: $SNTTA,0.044196,,,,225557.28*46

2021-08-13T22:55:57.047Z,1628895357.047 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.540001 m, bearing: 49.603890 deg, deltaT: 4.141826 s, approachRate: -0.057944 m/s, LOS rate: -0.014396 deg/s, posRepo size: 4
2021-08-13T22:55:59.379Z,1628895359.379 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:55:59.773Z,1628895359.773 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:55:59.773Z,1628895359.773 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:55:59.773Z,1628895359.773 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:55:59.774Z,1628895359.774 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:56:00.179Z,1628895360.179 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
03A,000,003A6,185,80,80,49,FF
2021-08-13T22:56:00.179Z,1628895360.179 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:56:00.180Z,1628895360.180 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:56:00.181Z,1628895360.181 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:56:00.589Z,1628895360.589 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:56:00.977Z,1628895360.977 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,01F,000,003A9,185,80,80,8E,FF
2021-08-13T22:56:00.978Z,1628895360.978 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:56:01.082Z,1628895361.082 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:56:01.439Z,1628895361.439 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225601.71*5A

2021-08-13T22:56:01.455Z,1628895361.455 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.719999 m, bearing: 51.066090 deg, deltaT: 4.477488 s, approachRate: 0.040201 m/s, LOS rate: 0.326567 deg/s, posRepo size: 4
2021-08-13T22:56:03.874Z,1628895363.874 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:56:04.209Z,1628895364.209 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:56:04.209Z,1628895364.209 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:56:04.209Z,1628895364.209 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:56:04.210Z,1628895364.210 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:56:04.622Z,1628895364.622 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
01F,000,003A9,185,80,80,8E,FF
2021-08-13T22:56:04.622Z,1628895364.622 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:56:04.622Z,1628895364.622 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:56:04.627Z,1628895364.627 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:56:05.029Z,1628895365.029 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:56:05.426Z,1628895365.426 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,01B,000,003AE,184,80,80,84,FF
2021-08-13T22:56:05.426Z,1628895365.426 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:56:05.478Z,1628895365.478 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:56:05.849Z,1628895365.849 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225606.16*5C

2021-08-13T22:56:05.921Z,1628895365.921 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.020000 m, bearing: 51.679615 deg, deltaT: 4.396158 s, approachRate: 0.068242 m/s, LOS rate: 0.139559 deg/s, posRepo size: 4
2021-08-13T22:56:08.310Z,1628895368.310 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:56:08.669Z,1628895368.669 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:56:08.669Z,1628895368.669 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:56:08.669Z,1628895368.669 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:56:08.669Z,1628895368.669 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:56:09.059Z,1628895369.059 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
01B,000,003AE,184,80,80,84,FF
2021-08-13T22:56:09.059Z,1628895369.059 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:56:09.059Z,1628895369.059 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:56:09.061Z,1628895369.061 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:56:09.486Z,1628895369.486 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:56:09.878Z,1628895369.878 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,03C,000,003AA,185,80,80,6A,FF
2021-08-13T22:56:09.879Z,1628895369.879 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:56:09.960Z,1628895369.960 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:56:10.326Z,1628895370.326 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.779997 m, bearing: 50.390769 deg, deltaT: 4.481590 s, approachRate: -0.053553 m/s, LOS rate: -0.287587 deg/s, posRepo size: 4
2021-08-13T22:56:12.766Z,1628895372.766 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:56:13.097Z,1628895373.097 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:56:13.097Z,1628895373.097 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:56:13.097Z,1628895373.097 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:56:13.098Z,1628895373.098 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:56:13.509Z,1628895373.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
03C,000,003AA,185,80,80,6A,FF
2021-08-13T22:56:13.509Z,1628895373.509 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:56:13.509Z,1628895373.509 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:56:13.511Z,1628895373.511 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:56:13.938Z,1628895373.938 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:56:14.328Z,1628895374.328 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,01B,000,003AC,184,80,80,98,FF
2021-08-13T22:56:14.329Z,1628895374.329 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:56:14.408Z,1628895374.408 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:56:14.753Z,1628895374.753 [Micromodem](INFO): Nmea in: $SNTTA,0.049314,,,,225615.05*49

2021-08-13T22:56:14.783Z,1628895374.783 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.899998 m, bearing: 52.684159 deg, deltaT: 4.448513 s, approachRate: 0.026975 m/s, LOS rate: 0.515541 deg/s, posRepo size: 4
2021-08-13T22:56:17.219Z,1628895377.219 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:56:17.541Z,1628895377.541 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:56:17.541Z,1628895377.541 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:56:17.541Z,1628895377.541 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:56:17.542Z,1628895377.542 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:56:17.953Z,1628895377.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
01B,000,003AC,184,80,80,98,FF
2021-08-13T22:56:17.953Z,1628895377.953 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:56:17.953Z,1628895377.953 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:56:17.955Z,1628895377.955 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:56:18.357Z,1628895378.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:56:18.765Z,1628895378.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,04B,000,003BB,185,80,80,95,FF
2021-08-13T22:56:18.765Z,1628895378.765 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:56:18.787Z,1628895378.787 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:56:19.203Z,1628895379.203 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225619.49*58

2021-08-13T22:56:19.321Z,1628895379.321 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.799997 m, bearing: 50.551791 deg, deltaT: 4.378259 s, approachRate: 0.205561 m/s, LOS rate: -0.487036 deg/s, posRepo size: 4
2021-08-13T22:56:21.608Z,1628895381.608 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:56:21.989Z,1628895381.989 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:56:21.989Z,1628895381.989 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:56:21.990Z,1628895381.990 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:56:21.990Z,1628895381.990 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:56:22.400Z,1628895382.400 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
04B,000,003BB,185,80,80,95,FF
2021-08-13T22:56:22.401Z,1628895382.401 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:56:22.401Z,1628895382.401 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:56:22.402Z,1628895382.402 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:56:22.805Z,1628895382.805 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:56:23.193Z,1628895383.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,046,000,003B6,184,80,80,7C,FF
2021-08-13T22:56:23.194Z,1628895383.194 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:56:23.310Z,1628895383.310 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:56:23.637Z,1628895383.637 [Micromodem](INFO): Nmea in: $SNTTA,,0.122787,,,225623.94*46

2021-08-13T22:56:23.653Z,1628895383.653 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.499998 m, bearing: 51.401138 deg, deltaT: 4.523626 s, approachRate: -0.066318 m/s, LOS rate: 0.187758 deg/s, posRepo size: 4
2021-08-13T22:56:26.062Z,1628895386.062 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:56:26.429Z,1628895386.429 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:56:26.429Z,1628895386.429 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:56:26.429Z,1628895386.429 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:56:26.430Z,1628895386.430 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:56:26.844Z,1628895386.844 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
046,000,003B6,184,80,80,7C,FF
2021-08-13T22:56:26.845Z,1628895386.845 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:56:26.845Z,1628895386.845 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:56:26.851Z,1628895386.851 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:56:27.241Z,1628895387.241 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:56:27.635Z,1628895387.635 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,03C,000,003BF,185,80,80,34,FF
2021-08-13T22:56:27.635Z,1628895387.635 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:56:27.654Z,1628895387.654 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:56:28.070Z,1628895388.070 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225628.41*52

2021-08-13T22:56:28.109Z,1628895388.109 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.039999 m, bearing: 52.256288 deg, deltaT: 4.343964 s, approachRate: 0.124311 m/s, LOS rate: 0.196859 deg/s, posRepo size: 4
2021-08-13T22:56:30.486Z,1628895390.486 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:56:30.921Z,1628895390.921 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:56:30.921Z,1628895390.921 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:56:30.921Z,1628895390.921 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:56:30.922Z,1628895390.922 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:56:31.299Z,1628895391.299 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
03C,000,003BF,185,80,80,34,FF
2021-08-13T22:56:31.299Z,1628895391.299 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:56:31.299Z,1628895391.299 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:56:31.301Z,1628895391.301 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:56:31.710Z,1628895391.710 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:56:32.107Z,1628895392.107 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,027,000,003BA,184,80,80,9C,FF
2021-08-13T22:56:32.107Z,1628895392.107 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:56:32.162Z,1628895392.162 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:56:32.549Z,1628895392.549 [Micromodem](INFO): Nmea in: $SNTTA,0.068291,,,,225632.84*4A

2021-08-13T22:56:32.572Z,1628895392.572 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.740000 m, bearing: 53.695044 deg, deltaT: 4.508027 s, approachRate: -0.066548 m/s, LOS rate: 0.319154 deg/s, posRepo size: 4
2021-08-13T22:56:35.012Z,1628895395.012 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:56:35.339Z,1628895395.339 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:56:35.339Z,1628895395.339 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:56:35.339Z,1628895395.339 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:56:35.340Z,1628895395.340 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:56:35.743Z,1628895395.743 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
027,000,003BA,184,80,80,9C,FF
2021-08-13T22:56:35.743Z,1628895395.743 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:56:35.743Z,1628895395.743 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:56:35.745Z,1628895395.745 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:56:36.161Z,1628895396.161 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:56:36.551Z,1628895396.551 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,015,000,003C8,183,80,80,84,FF
2021-08-13T22:56:36.551Z,1628895396.551 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:56:36.570Z,1628895396.570 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:56:36.993Z,1628895396.993 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225637.28*53

2021-08-13T22:56:37.052Z,1628895397.052 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.580000 m, bearing: 54.606765 deg, deltaT: 4.407871 s, approachRate: 0.190568 m/s, LOS rate: 0.206839 deg/s, posRepo size: 4
2021-08-13T22:56:39.406Z,1628895399.406 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:56:39.781Z,1628895399.781 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:56:39.781Z,1628895399.781 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:56:39.781Z,1628895399.781 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:56:39.782Z,1628895399.782 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:56:40.191Z,1628895400.191 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
015,000,003C8,183,80,80,84,FF
2021-08-13T22:56:40.191Z,1628895400.191 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:56:40.191Z,1628895400.191 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:56:40.193Z,1628895400.193 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:56:40.594Z,1628895400.594 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:56:40.999Z,1628895400.999 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,02C,000,003C8,185,80,80,58,FF
2021-08-13T22:56:40.999Z,1628895400.999 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:56:41.002Z,1628895401.002 [Micromodem](INFO): Nmea in: $SNTTA,0.046523,0.227634,,,225641.73*5C

2021-08-13T22:56:41.100Z,1628895401.100 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:56:41.446Z,1628895401.446 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.580000 m, bearing: 53.588486 deg, deltaT: 4.530159 s, approachRate: 0.000000 m/s, LOS rate: -0.224778 deg/s, posRepo size: 4
2021-08-13T22:56:43.862Z,1628895403.862 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:56:44.231Z,1628895404.231 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:56:44.231Z,1628895404.231 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:56:44.231Z,1628895404.231 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:56:44.232Z,1628895404.232 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:56:44.625Z,1628895404.625 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
02C,000,003C8,185,80,80,58,FF
2021-08-13T22:56:44.626Z,1628895404.626 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:56:44.626Z,1628895404.626 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:56:44.628Z,1628895404.628 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:56:45.038Z,1628895405.038 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:56:45.443Z,1628895405.443 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,039,000,003D5,184,80,80,7E,FF
2021-08-13T22:56:45.444Z,1628895405.444 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:56:45.463Z,1628895405.463 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:56:45.898Z,1628895405.898 [Micromodem](INFO): Nmea in: $SNTTA,0.027722,,,,225646.16*44

2021-08-13T22:56:45.944Z,1628895405.944 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.359999 m, bearing: 52.864742 deg, deltaT: 4.362754 s, approachRate: 0.178786 m/s, LOS rate: -0.165892 deg/s, posRepo size: 4
2021-08-13T22:56:48.301Z,1628895408.301 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:56:48.669Z,1628895408.669 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:56:48.669Z,1628895408.669 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:56:48.669Z,1628895408.669 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:56:48.670Z,1628895408.670 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:56:49.083Z,1628895409.083 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
039,000,003D5,184,80,80,7E,FF
2021-08-13T22:56:49.084Z,1628895409.084 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:56:49.084Z,1628895409.084 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:56:49.086Z,1628895409.086 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:56:49.490Z,1628895409.490 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:56:49.905Z,1628895409.905 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,018,000,003D8,183,80,80,96,FF
2021-08-13T22:56:49.906Z,1628895409.906 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:56:49.977Z,1628895409.977 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:56:50.321Z,1628895410.321 [Micromodem](INFO): Nmea in: $SNTTA,0.176314,,,,225650.62*44

2021-08-13T22:56:50.344Z,1628895410.344 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.540003 m, bearing: 54.472456 deg, deltaT: 4.513981 s, approachRate: 0.039877 m/s, LOS rate: 0.356163 deg/s, posRepo size: 4
2021-08-13T22:56:52.777Z,1628895412.777 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:56:53.129Z,1628895413.129 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:56:53.129Z,1628895413.129 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:56:53.129Z,1628895413.129 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:56:53.130Z,1628895413.130 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:56:53.537Z,1628895413.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
018,000,003D8,183,80,80,96,FF
2021-08-13T22:56:53.537Z,1628895413.537 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:56:53.537Z,1628895413.537 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:56:53.539Z,1628895413.539 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:56:53.953Z,1628895413.953 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:56:54.337Z,1628895414.337 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,006,000,003D6,183,80,80,96,FF
2021-08-13T22:56:54.337Z,1628895414.337 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:56:54.409Z,1628895414.409 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:56:54.758Z,1628895414.758 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225655.07*5A

2021-08-13T22:56:54.779Z,1628895414.779 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.420002 m, bearing: 55.430069 deg, deltaT: 4.431576 s, approachRate: -0.027079 m/s, LOS rate: 0.216089 deg/s, posRepo size: 4
2021-08-13T22:56:57.228Z,1628895417.228 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:56:57.557Z,1628895417.557 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:56:57.557Z,1628895417.557 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:56:57.557Z,1628895417.557 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:56:57.558Z,1628895417.558 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:56:57.967Z,1628895417.967 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
006,000,003D6,183,80,80,96,FF
2021-08-13T22:56:57.967Z,1628895417.967 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:56:57.967Z,1628895417.967 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:56:57.969Z,1628895417.969 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:56:58.370Z,1628895418.370 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:56:58.775Z,1628895418.775 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FFF,000,003DB,182,80,80,61,FF
2021-08-13T22:56:58.775Z,1628895418.775 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:56:58.794Z,1628895418.794 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:56:59.193Z,1628895419.193 [Micromodem](INFO): Nmea in: $SNTTA,0.337668,0.337587,,,225659.50*56

2021-08-13T22:56:59.258Z,1628895419.258 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.720001 m, bearing: 55.432866 deg, deltaT: 4.385678 s, approachRate: 0.068404 m/s, LOS rate: 0.000638 deg/s, posRepo size: 4
2021-08-13T22:57:01.617Z,1628895421.617 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:57:01.997Z,1628895421.997 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:57:01.997Z,1628895421.997 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:57:01.997Z,1628895421.997 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:57:01.998Z,1628895421.998 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:57:02.412Z,1628895422.412 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FFF,000,003DB,182,80,80,61,FF
2021-08-13T22:57:02.412Z,1628895422.412 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:57:02.412Z,1628895422.412 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:57:02.414Z,1628895422.414 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:57:02.845Z,1628895422.845 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:57:03.219Z,1628895423.219 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF8,000,003E0,183,80,80,89,FF
2021-08-13T22:57:03.220Z,1628895423.220 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:57:03.313Z,1628895423.313 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:57:03.654Z,1628895423.654 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225703.95*53

2021-08-13T22:57:03.675Z,1628895423.675 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.020000 m, bearing: 55.919783 deg, deltaT: 4.518390 s, approachRate: 0.066395 m/s, LOS rate: 0.107763 deg/s, posRepo size: 4
2021-08-13T22:57:06.079Z,1628895426.079 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:57:06.451Z,1628895426.451 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:57:06.451Z,1628895426.451 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:57:06.451Z,1628895426.451 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:57:06.453Z,1628895426.453 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:57:06.882Z,1628895426.882 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF8,000,003E0,183,80,80,89,FF
2021-08-13T22:57:06.882Z,1628895426.882 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:57:06.883Z,1628895426.883 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:57:06.891Z,1628895426.891 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:57:07.377Z,1628895427.377 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:57:07.797Z,1628895427.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,004,000,003EB,182,80,80,A8,FF
2021-08-13T22:57:07.797Z,1628895427.797 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:57:07.849Z,1628895427.849 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:57:08.191Z,1628895428.191 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225708.43*53

2021-08-13T22:57:08.217Z,1628895428.217 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.679996 m, bearing: 55.125456 deg, deltaT: 4.536186 s, approachRate: 0.145496 m/s, LOS rate: -0.175109 deg/s, posRepo size: 4
2021-08-13T22:57:10.641Z,1628895430.641 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:57:11.008Z,1628895431.008 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:57:11.008Z,1628895431.008 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:57:11.008Z,1628895431.008 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:57:11.009Z,1628895431.009 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:57:11.423Z,1628895431.423 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
004,000,003EB,182,80,80,A8,FF
2021-08-13T22:57:11.423Z,1628895431.423 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:57:11.423Z,1628895431.423 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:57:11.425Z,1628895431.425 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:57:11.813Z,1628895431.813 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:57:12.216Z,1628895432.216 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD5,000,003F1,185,80,80,8C,FF
2021-08-13T22:57:12.217Z,1628895432.217 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:57:12.246Z,1628895432.246 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:57:12.641Z,1628895432.641 [Micromodem](INFO): Nmea in: $SNTTA,0.036413,,,,225712.96*4D

2021-08-13T22:57:12.662Z,1628895432.662 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.039999 m, bearing: 57.431564 deg, deltaT: 4.396988 s, approachRate: 0.081875 m/s, LOS rate: 0.524474 deg/s, posRepo size: 4
2021-08-13T22:57:15.098Z,1628895435.098 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:57:15.453Z,1628895435.453 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:57:15.453Z,1628895435.453 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:57:15.453Z,1628895435.453 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:57:15.454Z,1628895435.454 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:57:15.861Z,1628895435.861 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD5,000,003F1,185,80,80,8C,FF
2021-08-13T22:57:15.861Z,1628895435.861 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:57:15.861Z,1628895435.861 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:57:15.863Z,1628895435.863 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:57:16.264Z,1628895436.264 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:57:16.517Z,1628895436.517 [CTD_Seabird](ERROR): Failed to parse device response: 6.15,76
2021-08-13T22:57:16.658Z,1628895436.658 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FDB,000,003F0,184,80,80,81,FF
2021-08-13T22:57:16.658Z,1628895436.658 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:57:16.711Z,1628895436.711 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:57:17.131Z,1628895437.131 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T22:57:17.171Z,1628895437.171 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.980001 m, bearing: 56.504990 deg, deltaT: 4.465098 s, approachRate: -0.013437 m/s, LOS rate: -0.207515 deg/s, posRepo size: 4
2021-08-13T22:57:17.481Z,1628895437.481 [Micromodem](INFO): Nmea in: $SNTTA,0.367367,,,,225717.44*44

2021-08-13T22:57:19.506Z,1628895439.506 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:57:19.905Z,1628895439.905 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:57:19.906Z,1628895439.906 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:57:19.907Z,1628895439.907 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:57:19.924Z,1628895439.924 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:57:20.290Z,1628895440.290 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FDB,000,003F0,184,80,80,81,FF
2021-08-13T22:57:20.290Z,1628895440.290 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:57:20.290Z,1628895440.290 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:57:20.291Z,1628895440.291 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:57:20.701Z,1628895440.701 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:57:21.101Z,1628895441.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE1,000,003F4,185,80,80,6C,FF
2021-08-13T22:57:21.102Z,1628895441.102 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:57:21.105Z,1628895441.105 [Micromodem](INFO): Nmea in: $SNTTA,0.030270,0.179035,,,225721.82*5A

2021-08-13T22:57:21.201Z,1628895441.201 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:57:21.528Z,1628895441.528 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.219997 m, bearing: 56.096975 deg, deltaT: 4.490098 s, approachRate: 0.053450 m/s, LOS rate: -0.090870 deg/s, posRepo size: 4
2021-08-13T22:57:23.985Z,1628895443.985 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:57:24.333Z,1628895444.333 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:57:24.333Z,1628895444.333 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:57:24.333Z,1628895444.333 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:57:24.334Z,1628895444.334 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:57:24.734Z,1628895444.734 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE1,000,003F4,185,80,80,6C,FF
2021-08-13T22:57:24.734Z,1628895444.734 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:57:24.734Z,1628895444.734 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:57:24.736Z,1628895444.736 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:57:25.145Z,1628895445.145 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:57:25.542Z,1628895445.542 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FCD,000,003FA,184,80,80,8D,FF
2021-08-13T22:57:25.542Z,1628895445.542 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:57:25.595Z,1628895445.595 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:57:25.994Z,1628895445.994 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225726.27*5D

2021-08-13T22:57:26.020Z,1628895446.020 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.580000 m, bearing: 56.590522 deg, deltaT: 4.393427 s, approachRate: 0.081941 m/s, LOS rate: 0.112337 deg/s, posRepo size: 4
2021-08-13T22:57:28.411Z,1628895448.411 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:57:28.773Z,1628895448.773 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:57:28.774Z,1628895448.774 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:57:28.774Z,1628895448.774 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:57:28.775Z,1628895448.775 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:57:29.185Z,1628895449.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FCD,000,003FA,184,80,80,8D,FF
2021-08-13T22:57:29.185Z,1628895449.185 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:57:29.186Z,1628895449.186 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:57:29.187Z,1628895449.187 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:57:29.585Z,1628895449.585 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:57:29.986Z,1628895449.986 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD6,000,00405,184,80,80,B1,FF
2021-08-13T22:57:29.986Z,1628895449.986 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:57:30.054Z,1628895450.054 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:57:30.441Z,1628895450.441 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225730.72*5A

2021-08-13T22:57:30.464Z,1628895450.464 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.239998 m, bearing: 55.933522 deg, deltaT: 4.459222 s, approachRate: 0.148007 m/s, LOS rate: -0.147335 deg/s, posRepo size: 4
2021-08-13T22:57:32.923Z,1628895452.923 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:57:33.217Z,1628895453.217 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:57:33.218Z,1628895453.218 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:57:33.218Z,1628895453.218 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:57:33.219Z,1628895453.219 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:57:33.626Z,1628895453.626 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD6,000,00405,184,80,80,B1,FF
2021-08-13T22:57:33.627Z,1628895453.627 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:57:33.627Z,1628895453.627 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:57:33.629Z,1628895453.629 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:57:34.029Z,1628895454.029 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:57:34.430Z,1628895454.430 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F9C,000,00403,187,80,80,91,FF
2021-08-13T22:57:34.430Z,1628895454.430 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:57:34.478Z,1628895454.478 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:57:34.913Z,1628895454.913 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225735.16*5D

2021-08-13T22:57:34.985Z,1628895454.985 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.120003 m, bearing: 58.318334 deg, deltaT: 4.424602 s, approachRate: -0.027120 m/s, LOS rate: 0.538989 deg/s, posRepo size: 4
2021-08-13T22:57:37.305Z,1628895457.305 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:57:37.663Z,1628895457.663 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:57:37.663Z,1628895457.663 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:57:37.663Z,1628895457.663 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:57:37.664Z,1628895457.664 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:57:38.085Z,1628895458.085 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F9C,000,00403,187,80,80,91,FF
2021-08-13T22:57:38.085Z,1628895458.085 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:57:38.085Z,1628895458.085 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:57:38.087Z,1628895458.087 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:57:38.473Z,1628895458.473 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:57:38.941Z,1628895458.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F98,000,00408,187,80,80,6D,FF
2021-08-13T22:57:38.941Z,1628895458.941 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:57:39.040Z,1628895459.040 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:57:39.305Z,1628895459.305 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225739.62*52

2021-08-13T22:57:39.344Z,1628895459.344 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.420002 m, bearing: 58.208785 deg, deltaT: 4.561846 s, approachRate: 0.065763 m/s, LOS rate: -0.024014 deg/s, posRepo size: 4
2021-08-13T22:57:41.723Z,1628895461.723 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:57:42.117Z,1628895462.117 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:57:42.118Z,1628895462.118 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:57:42.118Z,1628895462.118 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:57:42.119Z,1628895462.119 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:57:42.517Z,1628895462.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F98,000,00408,187,80,80,6D,FF
2021-08-13T22:57:42.518Z,1628895462.518 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:57:42.518Z,1628895462.518 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:57:42.520Z,1628895462.520 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:57:42.961Z,1628895462.961 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:57:43.321Z,1628895463.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F98,000,0040E,186,80,80,72,FF
2021-08-13T22:57:43.321Z,1628895463.321 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:57:43.342Z,1628895463.342 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:57:43.769Z,1628895463.769 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225744.05*59

2021-08-13T22:57:43.804Z,1628895463.804 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.779999 m, bearing: 57.815823 deg, deltaT: 4.301586 s, approachRate: 0.083689 m/s, LOS rate: -0.091353 deg/s, posRepo size: 4
2021-08-13T22:57:46.206Z,1628895466.206 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:57:46.549Z,1628895466.549 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:57:46.549Z,1628895466.549 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:57:46.549Z,1628895466.549 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:57:46.550Z,1628895466.550 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:57:46.966Z,1628895466.966 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F98,000,0040E,186,80,80,72,FF
2021-08-13T22:57:46.967Z,1628895466.967 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:57:46.967Z,1628895466.967 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:57:46.991Z,1628895466.991 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:57:47.369Z,1628895467.369 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:57:47.828Z,1628895467.828 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F5A,000,00411,186,80,80,82,FF
2021-08-13T22:57:47.828Z,1628895467.828 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:57:47.926Z,1628895467.926 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:57:48.195Z,1628895468.195 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225748.53*56

2021-08-13T22:57:48.239Z,1628895468.239 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.959997 m, bearing: 60.761773 deg, deltaT: 4.584335 s, approachRate: 0.039264 m/s, LOS rate: 0.642612 deg/s, posRepo size: 4
2021-08-13T22:57:50.638Z,1628895470.638 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:57:50.998Z,1628895470.998 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:57:50.998Z,1628895470.998 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:57:50.998Z,1628895470.998 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:57:50.999Z,1628895470.999 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:57:51.410Z,1628895471.410 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F5A,000,00411,186,80,80,82,FF
2021-08-13T22:57:51.410Z,1628895471.410 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:57:51.410Z,1628895471.410 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:57:51.412Z,1628895471.412 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:57:51.819Z,1628895471.819 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:57:52.217Z,1628895472.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F55,000,00413,187,80,80,AB,FF
2021-08-13T22:57:52.217Z,1628895472.217 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:57:52.281Z,1628895472.281 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:57:52.643Z,1628895472.643 [Micromodem](INFO): Nmea in: $SNTTA,0.066410,0.379435,,,225752.95*5D

2021-08-13T22:57:52.675Z,1628895472.675 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.079998 m, bearing: 60.561293 deg, deltaT: 4.354637 s, approachRate: 0.027557 m/s, LOS rate: -0.046038 deg/s, posRepo size: 4
2021-08-13T22:57:55.122Z,1628895475.122 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:57:55.445Z,1628895475.445 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:57:55.445Z,1628895475.445 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:57:55.445Z,1628895475.445 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:57:55.446Z,1628895475.446 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:57:55.850Z,1628895475.850 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F55,000,00413,187,80,80,AB,FF
2021-08-13T22:57:55.850Z,1628895475.850 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:57:55.850Z,1628895475.850 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:57:55.855Z,1628895475.855 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:57:56.257Z,1628895476.257 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:57:56.666Z,1628895476.666 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F31,000,0041C,186,80,80,B1,FF
2021-08-13T22:57:56.667Z,1628895476.667 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:57:56.742Z,1628895476.742 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:57:57.085Z,1628895477.085 [Micromodem](INFO): Nmea in: $SNTTA,0.394626,,,,225757.39*46

2021-08-13T22:57:57.142Z,1628895477.142 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.619999 m, bearing: 62.112074 deg, deltaT: 4.461418 s, approachRate: 0.121038 m/s, LOS rate: 0.347598 deg/s, posRepo size: 4
2021-08-13T22:57:59.516Z,1628895479.516 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:57:59.901Z,1628895479.901 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:57:59.901Z,1628895479.901 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:57:59.902Z,1628895479.902 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:57:59.920Z,1628895479.920 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:58:00.294Z,1628895480.294 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F31,000,0041C,186,80,80,B1,FF
2021-08-13T22:58:00.294Z,1628895480.294 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:58:00.294Z,1628895480.294 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:58:00.296Z,1628895480.296 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:58:00.697Z,1628895480.697 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:58:01.097Z,1628895481.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F3A,000,00422,186,80,80,8A,FF
2021-08-13T22:58:01.098Z,1628895481.098 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:58:01.101Z,1628895481.101 [Micromodem](INFO): Nmea in: $SNTTA,0.172347,0.172465,,,225801.83*5E

2021-08-13T22:58:01.191Z,1628895481.191 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:58:01.533Z,1628895481.533 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.979996 m, bearing: 61.568418 deg, deltaT: 4.449184 s, approachRate: 0.080913 m/s, LOS rate: -0.122192 deg/s, posRepo size: 4
2021-08-13T22:58:03.994Z,1628895483.994 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:58:04.325Z,1628895484.325 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:58:04.325Z,1628895484.325 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:58:04.325Z,1628895484.325 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:58:04.326Z,1628895484.326 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:58:04.749Z,1628895484.749 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F3A,000,00422,186,80,80,8A,FF
2021-08-13T22:58:04.749Z,1628895484.749 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:58:04.749Z,1628895484.749 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:58:04.751Z,1628895484.751 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:58:05.145Z,1628895485.145 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:58:05.195Z,1628895485.195 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-13T22:58:05.547Z,1628895485.547 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F49,000,00425,186,80,80,91,FF
2021-08-13T22:58:05.547Z,1628895485.547 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:58:05.566Z,1628895485.566 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:58:05.981Z,1628895485.981 [Micromodem](INFO): Nmea in: $SNTTA,0.047382,,,,225806.28*4B

2021-08-13T22:58:06.035Z,1628895486.035 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.160002 m, bearing: 60.690295 deg, deltaT: 4.374821 s, approachRate: 0.041146 m/s, LOS rate: -0.200722 deg/s, posRepo size: 4
2021-08-13T22:58:08.386Z,1628895488.386 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:58:08.786Z,1628895488.786 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:58:08.787Z,1628895488.787 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:58:08.787Z,1628895488.787 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:58:08.788Z,1628895488.788 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:58:09.177Z,1628895489.177 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F49,000,00425,186,80,80,91,FF
2021-08-13T22:58:09.177Z,1628895489.177 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:58:09.177Z,1628895489.177 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:58:09.179Z,1628895489.179 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:58:09.585Z,1628895489.585 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:58:09.637Z,1628895489.637 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-08-13T22:58:09.638Z,1628895489.638 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-08-13T22:58:09.638Z,1628895489.638 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-08-13T22:58:09.638Z,1628895489.638 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-13T22:58:09.638Z,1628895489.638 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-08-13T22:58:10.057Z,1628895490.057 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F26,000,0042C,187,80,80,8E,FF
2021-08-13T22:58:10.057Z,1628895490.057 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:58:10.234Z,1628895490.234 [Micromodem](INFO): Outgoing frame #1, 60 bytes: B2AB1661420000005D00000400260000000000000000151D80030C5669C08C79985127C89860D3946D04848EB5223961DFA01396E7E9D314F9BF0300
2021-08-13T22:58:10.235Z,1628895490.235 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-08-13T22:58:10.315Z,1628895490.315 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:58:10.646Z,1628895490.646 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-08-13T22:58:10.668Z,1628895490.668 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.580002 m, bearing: 62.257891 deg, deltaT: 4.753420 s, approachRate: 0.088357 m/s, LOS rate: 0.329783 deg/s, posRepo size: 4
2021-08-13T22:58:10.668Z,1628895490.668 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 26.58 m. Resuming terminal guidance.
2021-08-13T22:58:10.668Z,1628895490.668 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-13T22:58:11.041Z,1628895491.041 [Micromodem](INFO): Nmea in: $CADRQ,225811,1,10,0,64,1*7B

2021-08-13T22:58:11.042Z,1628895491.042 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,B2AB1661420000005D00000400260000000000000000151D80030C5669C08C79985127C89860D3946D04848EB5223961DFA01396E7E9D314F9BF0300*4F

2021-08-13T22:58:11.191Z,1628895491.191 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-08-13T22:58:11.191Z,1628895491.191 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-13T22:58:11.191Z,1628895491.191 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-08-13T22:58:11.191Z,1628895491.191 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-08-13T22:58:11.191Z,1628895491.191 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2021-08-13T22:58:11.191Z,1628895491.191 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-08-13T22:58:11.191Z,1628895491.191 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-08-13T22:58:11.446Z,1628895491.446 [Micromodem](INFO): Nmea in: $SNTTA,0.063990,,,,225810.71*4F

2021-08-13T22:58:11.447Z,1628895491.447 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,0.063990,,,,225810.71*4F

2021-08-13T22:58:12.722Z,1628895492.722 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,60*4D

2021-08-13T22:58:13.126Z,1628895493.126 [Micromodem](INFO): Nmea in: $CATXP,60*74

2021-08-13T22:58:13.210Z,1628895493.210 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:58:13.539Z,1628895493.539 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:58:13.539Z,1628895493.539 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:58:13.539Z,1628895493.539 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:58:13.540Z,1628895493.540 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:58:13.546Z,1628895493.546 [Micromodem](INFO): Nmea in: $CATXF,60*62

2021-08-13T22:58:13.954Z,1628895493.954 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F26,000,0042C,187,80,80,8E,FF
2021-08-13T22:58:13.954Z,1628895493.954 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:58:13.954Z,1628895493.954 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:58:13.957Z,1628895493.957 [Micromodem](INFO): Nmea in: $CAXST,7,20210813,225812.595746,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*51

2021-08-13T22:58:13.957Z,1628895493.957 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:58:14.346Z,1628895494.346 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:58:15.157Z,1628895495.157 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225815.49*5A

2021-08-13T22:58:15.186Z,1628895495.186 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-13T22:58:16.021Z,1628895496.021 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:58:17.574Z,1628895497.574 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,187,80,80,8E,FF
2021-08-13T22:58:17.574Z,1628895497.574 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,187,80,80,8E,FF
2021-08-13T22:58:17.574Z,1628895497.574 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T22:58:18.566Z,1628895498.566 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:58:18.785Z,1628895498.785 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:58:18.785Z,1628895498.785 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:58:18.785Z,1628895498.785 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:58:18.786Z,1628895498.786 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:58:19.196Z,1628895499.196 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,187,80,80,8E,FF
2021-08-13T22:58:19.196Z,1628895499.196 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:58:19.197Z,1628895499.197 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:58:19.198Z,1628895499.198 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:58:19.592Z,1628895499.592 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:58:19.993Z,1628895499.993 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB7,000,0041F,186,80,80,48,FF
2021-08-13T22:58:19.993Z,1628895499.993 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:58:20.026Z,1628895500.026 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:58:20.441Z,1628895500.441 [Micromodem](INFO): Nmea in: $SNTTA,0.041492,,,,225820.73*41

2021-08-13T22:58:20.476Z,1628895500.476 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.799997 m, bearing: 63.326761 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-13T22:58:20.476Z,1628895500.476 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 25.80 m.
2021-08-13T22:58:20.477Z,1628895500.477 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 63.326761deg and heading rate command to 0 deg/s.
2021-08-13T22:58:20.869Z,1628895500.869 [PowerOnly](INFO): Powering up loadControl
2021-08-13T22:58:21.624Z,1628895501.624 [DDM](ERROR): Could not parse latch state
2021-08-13T22:58:23.093Z,1628895503.093 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T22:58:23.139Z,1628895503.139 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:58:23.261Z,1628895503.261 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:58:23.261Z,1628895503.261 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:58:23.261Z,1628895503.261 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:58:23.262Z,1628895503.262 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:58:23.661Z,1628895503.661 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EB7,000,0041F,186,80,80,48,FF
2021-08-13T22:58:23.661Z,1628895503.661 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:58:23.661Z,1628895503.661 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:58:23.663Z,1628895503.663 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:58:24.060Z,1628895504.060 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:58:24.474Z,1628895504.474 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DDA,000,00408,189,80,80,2D,FF
2021-08-13T22:58:24.474Z,1628895504.474 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:58:24.515Z,1628895504.515 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:58:24.970Z,1628895504.970 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225825.20*56

2021-08-13T22:58:25.221Z,1628895505.221 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.420002 m, bearing: 66.359659 deg, deltaT: 4.488674 s, approachRate: -0.307439 m/s, LOS rate: 0.675678 deg/s, posRepo size: 2
2021-08-13T22:58:25.222Z,1628895505.222 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 24.42 m.
2021-08-13T22:58:25.228Z,1628895505.228 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 24.420002 m,
      bearing: 66.359659 deg,
      approachRate: -0.307439 m/s,
      LOS rate: 0.675678 deg/s,
      cmd update: 2.027034 deg/s,
      cmd heading: 63.326761 deg,
      new cmd heading: 63.326761 deg.

2021-08-13T22:58:27.095Z,1628895507.095 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:58:27.433Z,1628895507.433 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:58:27.433Z,1628895507.433 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:58:27.434Z,1628895507.434 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:58:27.434Z,1628895507.434 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:58:27.875Z,1628895507.875 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DDA,000,00408,189,80,80,2D,FF
2021-08-13T22:58:27.875Z,1628895507.875 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:58:27.877Z,1628895507.877 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:58:27.884Z,1628895507.884 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:58:28.244Z,1628895508.244 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:58:28.649Z,1628895508.649 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F1A,000,003E5,187,80,80,68,FF
2021-08-13T22:58:28.650Z,1628895508.650 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:58:28.711Z,1628895508.711 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:58:29.071Z,1628895509.071 [Micromodem](INFO): Nmea in: $SNTTA,0.016909,,,,225829.42*47

2021-08-13T22:58:29.335Z,1628895509.335 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.320000 m, bearing: 59.977312 deg, deltaT: 4.196299 s, approachRate: -0.500442 m/s, LOS rate: -1.520947 deg/s, posRepo size: 3
2021-08-13T22:58:29.335Z,1628895509.335 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 22.32 m.
2021-08-13T22:58:29.341Z,1628895509.341 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 22.320000 m,
      bearing: 59.977312 deg,
      approachRate: -0.500442 m/s,
      LOS rate: -1.520947 deg/s,
      cmd update: -4.562840 deg/s,
      cmd heading: 71.785050 deg,
      new cmd heading: 73.103796 deg.

2021-08-13T22:58:31.443Z,1628895511.443 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:58:31.669Z,1628895511.669 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:58:31.669Z,1628895511.669 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:58:31.669Z,1628895511.669 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:58:31.670Z,1628895511.670 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:58:32.069Z,1628895512.069 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F1A,000,003E5,187,80,80,68,FF
2021-08-13T22:58:32.069Z,1628895512.069 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:58:32.069Z,1628895512.069 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:58:32.071Z,1628895512.071 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:58:32.488Z,1628895512.488 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:58:32.960Z,1628895512.960 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FDF,000,003C9,184,80,80,AF,FF
2021-08-13T22:58:32.961Z,1628895512.961 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:58:33.035Z,1628895513.035 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:58:33.325Z,1628895513.325 [Micromodem](INFO): Nmea in: $SNTTA,0.043550,,,,225833.61*4D

2021-08-13T22:58:33.344Z,1628895513.344 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.639997 m, bearing: 61.297594 deg, deltaT: 4.324028 s, approachRate: -0.388527 m/s, LOS rate: 0.305336 deg/s, posRepo size: 4
2021-08-13T22:58:33.344Z,1628895513.344 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 20.64 m.
2021-08-13T22:58:33.346Z,1628895513.346 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 20.639997 m,
      bearing: 61.297594 deg,
      approachRate: -0.388527 m/s,
      LOS rate: 0.305336 deg/s,
      cmd update: 0.916009 deg/s,
      cmd heading: 51.947718 deg,
      new cmd heading: 50.524139 deg.

2021-08-13T22:58:35.655Z,1628895515.655 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:58:35.777Z,1628895515.777 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:58:35.777Z,1628895515.777 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:58:35.778Z,1628895515.778 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:58:35.778Z,1628895515.778 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:58:36.186Z,1628895516.186 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FDF,000,003C9,184,80,80,AF,FF
2021-08-13T22:58:36.186Z,1628895516.186 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:58:36.186Z,1628895516.186 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:58:36.187Z,1628895516.187 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:58:36.597Z,1628895516.597 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:58:37.001Z,1628895517.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F44,000,003A1,187,80,80,AA,FF
2021-08-13T22:58:37.002Z,1628895517.002 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:58:37.105Z,1628895517.105 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:58:37.445Z,1628895517.445 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225837.72*52

2021-08-13T22:58:37.632Z,1628895517.632 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.240002 m, bearing: 62.649166 deg, deltaT: 4.069890 s, approachRate: -0.589696 m/s, LOS rate: 0.332090 deg/s, posRepo size: 4
2021-08-13T22:58:37.632Z,1628895517.632 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 18.24 m.
2021-08-13T22:58:37.634Z,1628895517.634 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.240002 m,
      bearing: 62.649166 deg,
      approachRate: -0.589696 m/s,
      LOS rate: 0.332090 deg/s,
      cmd update: 0.996271 deg/s,
      cmd heading: 55.672104 deg,
      new cmd heading: 56.161386 deg.

2021-08-13T22:58:39.931Z,1628895519.931 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:58:40.265Z,1628895520.265 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:58:40.265Z,1628895520.265 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:58:40.266Z,1628895520.266 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:58:40.267Z,1628895520.267 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:58:40.678Z,1628895520.678 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F44,000,003A1,187,80,80,AA,FF
2021-08-13T22:58:40.678Z,1628895520.678 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:58:40.679Z,1628895520.679 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:58:40.681Z,1628895520.681 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:58:41.076Z,1628895521.076 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:58:41.127Z,1628895521.127 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T22:58:41.481Z,1628895521.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EC2,000,00386,185,80,80,67,FF
2021-08-13T22:58:41.482Z,1628895521.482 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:58:41.547Z,1628895521.547 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:58:41.945Z,1628895521.945 [Micromodem](INFO): Nmea in: $SNTTA,0.026489,,,,225842.21*49

2021-08-13T22:58:42.157Z,1628895522.157 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.619999 m, bearing: 62.076004 deg, deltaT: 4.442122 s, approachRate: -0.364691 m/s, LOS rate: -0.129029 deg/s, posRepo size: 4
2021-08-13T22:58:42.158Z,1628895522.158 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 16.62 m.
2021-08-13T22:58:42.159Z,1628895522.159 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 16.62 m.
2021-08-13T22:58:42.159Z,1628895522.159 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-13T22:58:42.166Z,1628895522.166 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.619999 m,
      bearing: 62.076004 deg,
      approachRate: -0.364691 m/s,
      LOS rate: -0.129029 deg/s,
      cmd update: -0.387087 deg/s,
      cmd heading: 60.097629 deg,
      new cmd heading: 60.707397 deg.

2021-08-13T22:58:44.195Z,1628895524.195 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:58:44.381Z,1628895524.381 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:58:44.382Z,1628895524.382 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:58:44.382Z,1628895524.382 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:58:44.383Z,1628895524.383 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:58:44.788Z,1628895524.788 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EC2,000,00386,185,80,80,67,FF
2021-08-13T22:58:44.788Z,1628895524.788 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:58:44.789Z,1628895524.789 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:58:44.790Z,1628895524.790 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:58:45.193Z,1628895525.193 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:58:45.260Z,1628895525.260 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-13T22:58:45.266Z,1628895525.266 [RDI_PathfinderUp](ERROR): only read 0 of 4 data items
2021-08-13T22:58:45.609Z,1628895525.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF6,000,00366,187,80,80,36,FF
2021-08-13T22:58:45.610Z,1628895525.610 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:58:45.694Z,1628895525.694 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:58:46.045Z,1628895526.045 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225846.32*50

2021-08-13T22:58:46.071Z,1628895526.071 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.700000 m, bearing: 67.242714 deg, deltaT: 4.147057 s, approachRate: -0.462979 m/s, LOS rate: 1.245874 deg/s, posRepo size: 4
2021-08-13T22:58:46.089Z,1628895526.089 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.700000 m,
      bearing: 67.242714 deg,
      approachRate: -0.462979 m/s,
      LOS rate: 1.245874 deg/s,
      cmd update: 3.737622 deg/s,
      cmd heading: 58.498244 deg,
      new cmd heading: 58.343759 deg.

2021-08-13T22:58:48.614Z,1628895528.614 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:58:48.872Z,1628895528.872 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:58:48.873Z,1628895528.873 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:58:48.874Z,1628895528.874 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:58:48.875Z,1628895528.875 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:58:49.241Z,1628895529.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF6,000,00366,187,80,80,36,FF
2021-08-13T22:58:49.241Z,1628895529.241 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:58:49.242Z,1628895529.242 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:58:49.243Z,1628895529.243 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:58:49.651Z,1628895529.651 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:58:50.041Z,1628895530.041 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F3A,000,00330,186,80,80,A9,FF
2021-08-13T22:58:50.041Z,1628895530.041 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:58:50.130Z,1628895530.130 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:58:50.486Z,1628895530.486 [Micromodem](INFO): Nmea in: $SNTTA,0.010221,,,,225850.78*47

2021-08-13T22:58:50.668Z,1628895530.668 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.459998 m, bearing: 69.881523 deg, deltaT: 4.436386 s, approachRate: -0.730325 m/s, LOS rate: 0.594811 deg/s, posRepo size: 4
2021-08-13T22:58:50.670Z,1628895530.670 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.459998 m,
      bearing: 69.881523 deg,
      approachRate: -0.730325 m/s,
      LOS rate: 0.594811 deg/s,
      cmd update: 1.784432 deg/s,
      cmd heading: 75.137278 deg,
      new cmd heading: 77.172084 deg.

2021-08-13T22:58:52.978Z,1628895532.978 [RDI_Pathfinder](ERROR): only read 1 of 4 data items
2021-08-13T22:58:52.982Z,1628895532.982 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T22:58:52.998Z,1628895532.998 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:58:53.301Z,1628895533.301 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:58:53.301Z,1628895533.301 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:58:53.301Z,1628895533.301 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:58:53.302Z,1628895533.302 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:58:53.713Z,1628895533.713 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F3A,000,00330,186,80,80,A9,FF
2021-08-13T22:58:53.713Z,1628895533.713 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:58:53.714Z,1628895533.714 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:58:53.715Z,1628895533.715 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:58:54.113Z,1628895534.113 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:58:54.513Z,1628895534.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,003,000,0031B,183,80,80,BC,FF
2021-08-13T22:58:54.514Z,1628895534.514 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:58:54.587Z,1628895534.587 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:58:54.985Z,1628895534.985 [Micromodem](INFO): Nmea in: $SNTTA,0.029545,,,,225855.25*45

2021-08-13T22:58:55.210Z,1628895535.210 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.200003 m, bearing: 70.563053 deg, deltaT: 4.456217 s, approachRate: -0.282750 m/s, LOS rate: 0.152939 deg/s, posRepo size: 4
2021-08-13T22:58:55.233Z,1628895535.233 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.200003 m,
      bearing: 70.563053 deg,
      approachRate: -0.282750 m/s,
      LOS rate: 0.152939 deg/s,
      cmd update: 0.458817 deg/s,
      cmd heading: 83.089086 deg,
      new cmd heading: 84.214810 deg.

2021-08-13T22:58:57.232Z,1628895537.232 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:58:57.425Z,1628895537.425 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:58:57.425Z,1628895537.425 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:58:57.425Z,1628895537.425 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:58:57.426Z,1628895537.426 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:58:57.847Z,1628895537.847 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
003,000,0031B,183,80,80,BC,FF
2021-08-13T22:58:57.847Z,1628895537.847 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:58:57.847Z,1628895537.847 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:58:57.855Z,1628895537.855 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:58:58.244Z,1628895538.244 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:58:58.642Z,1628895538.642 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,06A,000,002E9,187,80,80,8E,FF
2021-08-13T22:58:58.642Z,1628895538.642 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:58:58.667Z,1628895538.667 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:58:59.065Z,1628895539.065 [Micromodem](INFO): Nmea in: $SNTTA,0.020744,,,,225859.39*4E

2021-08-13T22:58:59.130Z,1628895539.130 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.199999 m, bearing: 74.537547 deg, deltaT: 4.080114 s, approachRate: -0.735274 m/s, LOS rate: 0.974113 deg/s, posRepo size: 4
2021-08-13T22:58:59.132Z,1628895539.132 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.199999 m,
      bearing: 74.537547 deg,
      approachRate: -0.735274 m/s,
      LOS rate: 0.974113 deg/s,
      cmd update: 2.922340 deg/s,
      cmd heading: 84.962947 deg,
      new cmd heading: 85.177051 deg.

2021-08-13T22:59:01.659Z,1628895541.659 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:59:01.869Z,1628895541.869 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:59:01.869Z,1628895541.869 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:59:01.870Z,1628895541.870 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:59:01.872Z,1628895541.872 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:59:02.277Z,1628895542.277 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
06A,000,002E9,187,80,80,8E,FF
2021-08-13T22:59:02.277Z,1628895542.277 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:59:02.277Z,1628895542.277 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:59:02.279Z,1628895542.279 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:59:02.681Z,1628895542.681 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:59:03.081Z,1628895543.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0FD,000,002CE,186,80,80,85,FF
2021-08-13T22:59:03.081Z,1628895543.081 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:59:03.102Z,1628895543.102 [RDI_Pathfinder](ERROR): only read -1 of 4 data items
2021-08-13T22:59:03.181Z,1628895543.181 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:59:03.517Z,1628895543.517 [Micromodem](INFO): Nmea in: $SNTTA,0.054792,,,,225903.81*4B

2021-08-13T22:59:03.700Z,1628895543.700 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.580000 m, bearing: 71.458737 deg, deltaT: 4.513971 s, approachRate: -0.358885 m/s, LOS rate: -0.682062 deg/s, posRepo size: 4
2021-08-13T22:59:03.702Z,1628895543.702 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.580000 m,
      bearing: 71.458737 deg,
      approachRate: -0.358885 m/s,
      LOS rate: -0.682062 deg/s,
      cmd update: -2.046187 deg/s,
      cmd heading: 98.142726 deg,
      new cmd heading: 99.679871 deg.

2021-08-13T22:59:05.983Z,1628895545.983 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:59:06.317Z,1628895546.317 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:59:06.317Z,1628895546.317 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:59:06.317Z,1628895546.317 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:59:06.318Z,1628895546.318 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:59:06.721Z,1628895546.721 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0FD,000,002CE,186,80,80,85,FF
2021-08-13T22:59:06.721Z,1628895546.721 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:59:06.721Z,1628895546.721 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:59:06.723Z,1628895546.723 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:59:07.120Z,1628895547.120 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:59:07.521Z,1628895547.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F47,000,002BF,186,80,80,90,FF
2021-08-13T22:59:07.521Z,1628895547.521 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:59:07.587Z,1628895547.587 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:59:07.985Z,1628895547.985 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225908.26*5E

2021-08-13T22:59:08.194Z,1628895548.194 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-08-13T22:59:08.194Z,1628895548.194 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-08-13T22:59:08.195Z,1628895548.195 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-08-13T22:59:08.195Z,1628895548.195 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-13T22:59:08.195Z,1628895548.195 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-08-13T22:59:08.195Z,1628895548.195 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.679999 m 
2021-08-13T22:59:08.196Z,1628895548.196 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-08-13T22:59:08.196Z,1628895548.196 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-08-13T22:59:08.196Z,1628895548.196 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-08-13T22:59:08.198Z,1628895548.198 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.679999 m, bearing: 103.461014 deg, deltaT: 4.406247 s, approachRate: -0.204256 m/s, LOS rate: 7.262933 deg/s, posRepo size: 4
2021-08-13T22:59:08.201Z,1628895548.201 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.679999 m,
      bearing: 103.461014 deg,
      approachRate: -0.204256 m/s,
      LOS rate: 7.262933 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 89.127148 deg,
      new cmd heading: 87.860896 deg.

2021-08-13T22:59:08.376Z,1628895548.376 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210813T225908: (41.552319, -70.708603)
2021-08-13T22:59:08.377Z,1628895548.377 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-08-13T22:59:08.377Z,1628895548.377 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-08-13T22:59:08.377Z,1628895548.377 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-13T22:59:08.377Z,1628895548.377 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-08-13T22:59:08.377Z,1628895548.377 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-13T22:59:08.377Z,1628895548.377 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-08-13T22:59:08.377Z,1628895548.377 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-08-13T22:59:08.377Z,1628895548.377 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-08-13T22:59:10.192Z,1628895550.192 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:59:10.349Z,1628895550.349 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:59:10.349Z,1628895550.349 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:59:10.349Z,1628895550.349 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:59:10.350Z,1628895550.350 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:59:10.788Z,1628895550.788 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F47,000,002BF,186,80,80,90,FF
2021-08-13T22:59:10.788Z,1628895550.788 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:59:10.788Z,1628895550.788 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:59:10.790Z,1628895550.790 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:59:11.198Z,1628895551.198 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:59:11.589Z,1628895551.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,097,000,0069C,186,80,80,99,FF
2021-08-13T22:59:11.590Z,1628895551.590 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:59:11.639Z,1628895551.639 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:59:12.035Z,1628895552.035 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225912.37*55

2021-08-13T22:59:12.084Z,1628895552.084 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 64.020004 m, bearing: 93.993840 deg, deltaT: 4.052187 s, approachRate: 14.643945 m/s, LOS rate: -2.336313 deg/s, posRepo size: 4
2021-08-13T22:59:12.086Z,1628895552.086 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 64.020004 m,
      bearing: 93.993840 deg,
      approachRate: 14.643945 m/s,
      LOS rate: -2.336313 deg/s,
      cmd update: -7.008938 deg/s,
      cmd heading: 137.792969 deg,
      new cmd heading: 143.130029 deg.

2021-08-13T22:59:12.444Z,1628895552.444 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-13T22:59:12.445Z,1628895552.445 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T22:59:12.445Z,1628895552.445 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-13T22:59:12.445Z,1628895552.445 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-13T22:59:12.446Z,1628895552.446 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-13T22:59:12.446Z,1628895552.446 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-13T22:59:12.946Z,1628895552.946 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-13T22:59:12.946Z,1628895552.946 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T22:59:12.946Z,1628895552.946 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-13T22:59:12.946Z,1628895552.946 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T22:59:14.599Z,1628895554.599 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:59:14.836Z,1628895554.836 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:59:14.837Z,1628895554.837 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:59:14.837Z,1628895554.837 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:59:14.838Z,1628895554.838 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:59:15.237Z,1628895555.237 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
097,000,0069C,186,80,80,99,FF
2021-08-13T22:59:15.237Z,1628895555.237 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:59:15.238Z,1628895555.238 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:59:15.239Z,1628895555.239 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:59:15.642Z,1628895555.642 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:59:15.656Z,1628895555.656 [Micromodem](ERROR): Buffer fill timout failure.
2021-08-13T22:59:16.033Z,1628895556.033 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,035,000,002BE,184,80,80,62,FF
2021-08-13T22:59:16.033Z,1628895556.033 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:59:16.210Z,1628895556.210 [Micromodem](INFO): Outgoing frame #1, 60 bytes: B2AB1661420000005D00000400260000000000000000151D80030C5669C08C79985127C89860D3946D04848EB5223961DFA01396E7E9D314F9BF0300
2021-08-13T22:59:16.211Z,1628895556.211 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-08-13T22:59:16.489Z,1628895556.489 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-08-13T22:59:16.685Z,1628895556.685 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.619999 m, bearing: 114.041579 deg, deltaT: 4.659495 s, approachRate: -12.748164 m/s, LOS rate: 4.302556 deg/s, posRepo size: 4
2021-08-13T22:59:16.687Z,1628895556.687 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.619999 m,
      bearing: 114.041579 deg,
      approachRate: -12.748164 m/s,
      LOS rate: 4.302556 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 105.126841 deg,
      new cmd heading: 102.400546 deg.

2021-08-13T22:59:17.001Z,1628895557.001 [Micromodem](INFO): Nmea in: $CADRQ,225917,1,10,0,64,1*7C

2021-08-13T22:59:17.002Z,1628895557.002 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,B2AB1661420000005D00000400260000000000000000151D80030C5669C08C79985127C89860D3946D04848EB5223961DFA01396E7E9D314F9BF0300*4F

2021-08-13T22:59:17.173Z,1628895557.173 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-13T22:59:17.173Z,1628895557.173 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T22:59:17.173Z,1628895557.173 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-13T22:59:17.174Z,1628895557.174 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-13T22:59:17.174Z,1628895557.174 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-13T22:59:17.174Z,1628895557.174 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-13T22:59:17.341Z,1628895557.341 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225916.77*55

2021-08-13T22:59:17.341Z,1628895557.341 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,,,,,225916.77*55

2021-08-13T22:59:17.391Z,1628895557.391 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-13T22:59:17.391Z,1628895557.391 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T22:59:17.391Z,1628895557.391 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-13T22:59:17.391Z,1628895557.391 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T22:59:18.169Z,1628895558.169 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T22:59:18.554Z,1628895558.554 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,60*4D

2021-08-13T22:59:18.972Z,1628895558.972 [Micromodem](INFO): Nmea in: $CATXP,60*74

2021-08-13T22:59:19.090Z,1628895559.090 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:59:19.353Z,1628895559.353 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:59:19.354Z,1628895559.354 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:59:19.354Z,1628895559.354 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:59:19.355Z,1628895559.355 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:59:19.376Z,1628895559.376 [Micromodem](INFO): Nmea in: $CATXF,60*62

2021-08-13T22:59:19.753Z,1628895559.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
035,000,002BE,184,80,80,62,FF
2021-08-13T22:59:19.753Z,1628895559.753 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:59:19.753Z,1628895559.753 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:59:19.756Z,1628895559.756 [Micromodem](INFO): Nmea in: $CAXST,7,20210813,225918.559474,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*58

2021-08-13T22:59:19.757Z,1628895559.757 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:59:20.160Z,1628895560.160 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:59:20.994Z,1628895560.994 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225921.29*5A

2021-08-13T22:59:21.854Z,1628895561.854 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:59:23.061Z,1628895563.061 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
E,184,80,80,62,FF
2021-08-13T22:59:23.061Z,1628895563.061 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
E,184,80,80,62,FF
2021-08-13T22:59:23.061Z,1628895563.061 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T22:59:23.905Z,1628895563.905 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T22:59:24.714Z,1628895564.714 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:59:25.077Z,1628895565.077 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:59:25.077Z,1628895565.077 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:59:25.077Z,1628895565.077 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:59:25.078Z,1628895565.078 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:59:25.136Z,1628895565.136 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-13T22:59:25.471Z,1628895565.471 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
E,184,80,80,62,FF
2021-08-13T22:59:25.471Z,1628895565.471 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:59:25.471Z,1628895565.471 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:59:25.499Z,1628895565.499 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:59:25.891Z,1628895565.891 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:59:26.290Z,1628895566.290 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EAB,000,002C0,186,80,80,98,FF
2021-08-13T22:59:26.290Z,1628895566.290 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:59:26.310Z,1628895566.310 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:59:26.717Z,1628895566.717 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225927.03*54

2021-08-13T22:59:26.754Z,1628895566.754 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.740000 m, bearing: 110.759932 deg, deltaT: 10.011926 s, approachRate: 0.011986 m/s, LOS rate: -0.327774 deg/s, posRepo size: 4
2021-08-13T22:59:26.757Z,1628895566.757 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.740000 m,
      bearing: 110.759932 deg,
      approachRate: 0.011986 m/s,
      LOS rate: -0.327774 deg/s,
      cmd update: -0.983321 deg/s,
      cmd heading: 225.260728 deg,
      new cmd heading: 230.629648 deg.

2021-08-13T22:59:27.988Z,1628895567.988 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T22:59:29.210Z,1628895569.210 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:59:29.513Z,1628895569.513 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:59:29.513Z,1628895569.513 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:59:29.513Z,1628895569.513 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:59:29.514Z,1628895569.514 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:59:29.961Z,1628895569.961 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EAB,000,002C0,186,80,80,98,FF
2021-08-13T22:59:29.961Z,1628895569.961 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:59:29.961Z,1628895569.961 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:59:29.963Z,1628895569.963 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:59:30.337Z,1628895570.337 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:59:30.745Z,1628895570.745 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,076,000,002C0,187,80,80,6F,FF
2021-08-13T22:59:30.745Z,1628895570.745 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:59:30.845Z,1628895570.845 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:59:31.169Z,1628895571.169 [Micromodem](INFO): Nmea in: $SNTTA,0.021447,,,,225931.50*4F

2021-08-13T22:59:31.227Z,1628895571.227 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.740000 m, bearing: 71.137404 deg, deltaT: 4.535907 s, approachRate: 0.000000 m/s, LOS rate: -8.735305 deg/s, posRepo size: 4
2021-08-13T22:59:31.229Z,1628895571.229 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.740000 m,
      bearing: 71.137404 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -8.735305 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 220.834978 deg,
      new cmd heading: 220.422455 deg.

2021-08-13T22:59:33.203Z,1628895573.203 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-13T22:59:33.207Z,1628895573.207 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T22:59:33.594Z,1628895573.594 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:59:33.975Z,1628895573.975 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:59:33.976Z,1628895573.976 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:59:33.976Z,1628895573.976 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:59:33.977Z,1628895573.977 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:59:34.429Z,1628895574.429 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
076,000,002C0,187,80,80,6F,FF
2021-08-13T22:59:34.429Z,1628895574.429 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:59:34.429Z,1628895574.429 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:59:34.431Z,1628895574.431 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:59:34.840Z,1628895574.840 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:59:35.256Z,1628895575.256 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,068,000,002C1,187,80,80,6A,FF
2021-08-13T22:59:35.257Z,1628895575.257 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:59:35.335Z,1628895575.335 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:59:35.690Z,1628895575.690 [Micromodem](INFO): Nmea in: $SNTTA,0.042072,,,,225935.97*47

2021-08-13T22:59:35.769Z,1628895575.769 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.800000 m, bearing: 65.068801 deg, deltaT: 4.492960 s, approachRate: 0.013354 m/s, LOS rate: -1.350691 deg/s, posRepo size: 4
2021-08-13T22:59:35.776Z,1628895575.776 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.800000 m,
      bearing: 65.068801 deg,
      approachRate: 0.013354 m/s,
      LOS rate: -1.350691 deg/s,
      cmd update: -4.052075 deg/s,
      cmd heading: 166.591125 deg,
      new cmd heading: 161.374413 deg.

2021-08-13T22:59:38.111Z,1628895578.111 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T22:59:38.162Z,1628895578.162 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:59:38.509Z,1628895578.509 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:59:38.509Z,1628895578.509 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:59:38.509Z,1628895578.509 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:59:38.510Z,1628895578.510 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:59:38.963Z,1628895578.963 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
068,000,002C1,187,80,80,6A,FF
2021-08-13T22:59:38.965Z,1628895578.965 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:59:38.966Z,1628895578.966 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:59:38.969Z,1628895578.969 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:59:39.353Z,1628895579.353 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:59:39.750Z,1628895579.750 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E9C,000,002C5,185,80,80,87,FF
2021-08-13T22:59:39.750Z,1628895579.750 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:59:39.829Z,1628895579.829 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T22:59:40.193Z,1628895580.193 [Micromodem](INFO): Nmea in: $SNTTA,0.006477,,,,225940.50*4F

2021-08-13T22:59:40.377Z,1628895580.377 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.039999 m, bearing: 85.422348 deg, deltaT: 4.489804 s, approachRate: 0.053454 m/s, LOS rate: 4.533282 deg/s, posRepo size: 4
2021-08-13T22:59:40.378Z,1628895580.378 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 5.04 m.
2021-08-13T22:59:40.378Z,1628895580.378 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](IMPORTANT): Docking sequence complete at range 5.04 m. Cable present.
2021-08-13T22:59:40.378Z,1628895580.378 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture] Stopped
2021-08-13T22:59:40.378Z,1628895580.378 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2021-08-13T22:59:40.379Z,1628895580.379 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:G] Running Loop=1
2021-08-13T22:59:40.663Z,1628895580.663 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:G](INFO): Docked. Homing sequence complete.
2021-08-13T22:59:40.663Z,1628895580.663 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:G] Stopped
2021-08-13T22:59:40.664Z,1628895580.664 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:H] Running Loop=1
2021-08-13T22:59:41.104Z,1628895581.104 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:H] Stopped
2021-08-13T22:59:41.105Z,1628895581.105 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-13T22:59:41.105Z,1628895581.105 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2021-08-13T22:59:41.105Z,1628895581.105 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-13T22:59:41.105Z,1628895581.105 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Stopped
2021-08-13T22:59:41.106Z,1628895581.106 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Stopped
2021-08-13T22:59:41.106Z,1628895581.106 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2021-08-13T22:59:41.106Z,1628895581.106 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-13T22:59:41.493Z,1628895581.493 [lineCaptureDepth:UpdateNumPings_Terminal] Stopped
2021-08-13T22:59:41.493Z,1628895581.493 [lineCaptureDepth:UpdateNumPings_Terminal](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal
2021-08-13T22:59:41.493Z,1628895581.493 [lineCaptureDepth:UpdateNumPings_NotTerminal] Running Loop=1
2021-08-13T22:59:41.493Z,1628895581.493 [lineCaptureDepth:UpdateNumPings_NotTerminal](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_NotTerminal
2021-08-13T22:59:41.494Z,1628895581.494 [lineCaptureDepth:UpdateNumPings_NotTerminal:A] Running Loop=1
2021-08-13T22:59:41.494Z,1628895581.494 [lineCaptureDepth:UpdateNumPings_NotTerminal] Running Loop=1
2021-08-13T22:59:41.494Z,1628895581.494 [lineCaptureDepth:UpdateNumPings_NotTerminal:A](INFO): No longer in Terminal. Resuming normal ranging with 1.000000 count pings.
2021-08-13T22:59:41.494Z,1628895581.494 [lineCaptureDepth:UpdateNumPings_NotTerminal:A] Stopped
2021-08-13T22:59:41.495Z,1628895581.495 [lineCaptureDepth:UpdateNumPings_NotTerminal:B] Running Loop=1
2021-08-13T22:59:41.495Z,1628895581.495 [lineCaptureDepth:LineCapture:HomingSequence] Stopped
2021-08-13T22:59:41.495Z,1628895581.495 [lineCaptureDepth:LineCapture:HomingSequence](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence
2021-08-13T22:59:41.495Z,1628895581.495 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Stopped
2021-08-13T22:59:41.495Z,1628895581.495 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-08-13T22:59:41.496Z,1628895581.496 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Stopped
2021-08-13T22:59:41.496Z,1628895581.496 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-13T22:59:41.496Z,1628895581.496 [lineCaptureDepth:LineCapture:K.Wait] Running Loop=1
2021-08-13T22:59:41.496Z,1628895581.496 [lineCaptureDepth:LineCapture:K.Wait](DEBUG): Initialize Wait Component.
2021-08-13T22:59:41.895Z,1628895581.895 [lineCaptureDepth:UpdateNumPings_NotTerminal:B] Stopped
2021-08-13T22:59:41.895Z,1628895581.895 [lineCaptureDepth:UpdateNumPings_NotTerminal](INFO): Completed lineCaptureDepth:UpdateNumPings_NotTerminal
2021-08-13T22:59:42.441Z,1628895582.441 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:59:42.621Z,1628895582.621 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:59:42.621Z,1628895582.621 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:59:42.621Z,1628895582.621 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:59:42.622Z,1628895582.622 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:59:43.034Z,1628895583.034 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E9C,000,002C5,185,80,80,87,FF
2021-08-13T22:59:43.034Z,1628895583.034 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:59:43.034Z,1628895583.034 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:59:43.037Z,1628895583.037 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:59:43.099Z,1628895583.099 [RDI_PathfinderUp](ERROR): DVL BIT error. See manual. Result code: 49
2021-08-13T22:59:43.445Z,1628895583.445 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:59:43.826Z,1628895583.826 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D64,000,002C2,18A,80,80,66,FF
2021-08-13T22:59:43.826Z,1628895583.826 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:59:44.269Z,1628895584.269 [Micromodem](INFO): Nmea in: $SNTTA,0.037621,,,,225944.57*4F

2021-08-13T22:59:45.136Z,1628895585.136 [lineCaptureDepth:LineCapture:K.Wait](INFO): Done Waiting.
2021-08-13T22:59:45.136Z,1628895585.136 [lineCaptureDepth:LineCapture:K.Wait] Stopped
2021-08-13T22:59:45.136Z,1628895585.136 [lineCaptureDepth:LineCapture:K.Wait](DEBUG): Uninitialize Wait Component.
2021-08-13T22:59:45.136Z,1628895585.136 [lineCaptureDepth:LineCapture:L] Running Loop=1
2021-08-13T22:59:45.498Z,1628895585.498 [lineCaptureDepth:LineCapture:L](INFO): GuidanceMode 0.000000 count 
2021-08-13T22:59:45.498Z,1628895585.498 [lineCaptureDepth:LineCapture:L] Stopped
2021-08-13T22:59:45.502Z,1628895585.502 [lineCaptureDepth:LineCapture](INFO): Completed lineCaptureDepth:LineCapture
2021-08-13T22:59:45.502Z,1628895585.502 [lineCaptureDepth:LineCapture] Stopped
2021-08-13T22:59:45.503Z,1628895585.503 [lineCaptureDepth:LineCapture](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture
2021-08-13T22:59:45.503Z,1628895585.503 [lineCaptureDepth:LineCapture:StandardEnvelopes] Stopped
2021-08-13T22:59:45.503Z,1628895585.503 [lineCaptureDepth:LineCapture:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:StandardEnvelopes
2021-08-13T22:59:45.503Z,1628895585.503 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2021-08-13T22:59:45.503Z,1628895585.503 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2021-08-13T22:59:45.503Z,1628895585.503 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Stopped
2021-08-13T22:59:45.503Z,1628895585.503 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2021-08-13T22:59:45.503Z,1628895585.503 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2021-08-13T22:59:45.503Z,1628895585.503 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2021-08-13T22:59:45.503Z,1628895585.503 [lineCaptureDepth:LineCapture:G] Stopped
2021-08-13T22:59:45.504Z,1628895585.504 [lineCaptureDepth:LineCapture:H] Stopped
2021-08-13T22:59:45.504Z,1628895585.504 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2021-08-13T22:59:45.505Z,1628895585.505 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-13T22:59:45.505Z,1628895585.505 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2021-08-13T22:59:45.505Z,1628895585.505 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2021-08-13T22:59:45.505Z,1628895585.505 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2021-08-13T22:59:45.505Z,1628895585.505 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2021-08-13T22:59:45.505Z,1628895585.505 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-08-13T22:59:45.926Z,1628895585.926 [lineCaptureDepth:Lap:B](INFO): Completed lineCaptureDepth:Lap:B
2021-08-13T22:59:45.926Z,1628895585.926 [lineCaptureDepth:Lap:B] Stopped
2021-08-13T22:59:45.926Z,1628895585.926 [lineCaptureDepth:Lap:B](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap:B
2021-08-13T22:59:45.926Z,1628895585.926 [lineCaptureDepth:Lap:C] Running Loop=1
2021-08-13T22:59:46.337Z,1628895586.337 [lineCaptureDepth:Lap:C] Stopped
2021-08-13T22:59:46.337Z,1628895586.337 [lineCaptureDepth:Lap:D] Running Loop=1
2021-08-13T22:59:47.018Z,1628895587.018 [lineCaptureDepth:Lap:D](INFO): Mode 0.000000 count 
2021-08-13T22:59:47.018Z,1628895587.018 [lineCaptureDepth:Lap:D] Stopped
2021-08-13T22:59:47.018Z,1628895587.018 [lineCaptureDepth:Lap:Docked] Running Loop=1
2021-08-13T22:59:47.018Z,1628895587.018 [lineCaptureDepth:Lap:Docked](DEBUG): Aggregate::initialize lineCaptureDepth:Lap:Docked
2021-08-13T22:59:47.018Z,1628895587.018 [lineCaptureDepth:Lap:Docked:A] Running Loop=1
2021-08-13T22:59:47.018Z,1628895587.018 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:59:47.113Z,1628895587.113 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:59:47.113Z,1628895587.113 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:59:47.114Z,1628895587.114 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:59:47.115Z,1628895587.115 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:59:47.164Z,1628895587.164 [lineCaptureDepth:Lap:Docked:A](INFO): Waiting on dock for 5.000000 min 
2021-08-13T22:59:47.164Z,1628895587.164 [lineCaptureDepth:Lap:Docked:A] Stopped
2021-08-13T22:59:47.164Z,1628895587.164 [lineCaptureDepth:Lap:Docked:Docked.Docked] Running Loop=1
2021-08-13T22:59:47.164Z,1628895587.164 [lineCaptureDepth:Lap:Docked:Docked.Docked](DEBUG): Initialize.
2021-08-13T22:59:47.164Z,1628895587.164 [lineCaptureDepth:Lap:Docked:Docked.Docked](DEBUG): Initializing internal variables to default values.
2021-08-13T22:59:47.165Z,1628895587.165 [lineCaptureDepth:Lap:Docked:Docked.Docked](INFO): Maintaining depth of 6.000000 m.
2021-08-13T22:59:47.165Z,1628895587.165 [lineCaptureDepth:Lap:Docked:Docked.Docked](INFO): Maintaining pitch angle of 20.000000 degree.
2021-08-13T22:59:47.485Z,1628895587.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D64,000,002C2,18A,80,80,66,FF
2021-08-13T22:59:47.485Z,1628895587.485 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:59:47.486Z,1628895587.486 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:59:47.487Z,1628895587.487 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:59:47.952Z,1628895587.952 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:59:48.002Z,1628895588.002 [RDI_PathfinderUp](ERROR): only read 0 of 4 data items
2021-08-13T22:59:48.744Z,1628895588.744 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225949.02*5D

2021-08-13T22:59:49.732Z,1628895589.732 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:59:50.964Z,1628895590.964 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
2,18A,80,80,66,FF
2021-08-13T22:59:50.964Z,1628895590.964 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
2,18A,80,80,66,FF
2021-08-13T22:59:50.965Z,1628895590.965 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T22:59:52.570Z,1628895592.570 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:59:52.977Z,1628895592.977 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:59:52.977Z,1628895592.977 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:59:52.977Z,1628895592.977 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:59:52.978Z,1628895592.978 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:59:53.354Z,1628895593.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
2,18A,80,80,66,FF
2021-08-13T22:59:53.354Z,1628895593.354 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:59:53.354Z,1628895593.354 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:59:53.355Z,1628895593.355 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:59:53.766Z,1628895593.766 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T22:59:54.171Z,1628895594.171 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F9D,000,002C1,186,80,80,8C,FF
2021-08-13T22:59:54.172Z,1628895594.172 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T22:59:54.601Z,1628895594.601 [Micromodem](INFO): Nmea in: $SNTTA,0.049248,,,,225954.90*47

2021-08-13T22:59:55.797Z,1628895595.797 [PowerOnly](INFO): Powering down loadControl
2021-08-13T22:59:57.053Z,1628895597.053 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:59:57.404Z,1628895597.404 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T22:59:57.404Z,1628895597.404 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T22:59:57.404Z,1628895597.404 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T22:59:57.405Z,1628895597.405 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T22:59:57.797Z,1628895597.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F9D,000,002C1,186,80,80,8C,FF
2021-08-13T22:59:57.797Z,1628895597.797 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T22:59:57.797Z,1628895597.797 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T22:59:57.799Z,1628895597.799 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:59:58.221Z,1628895598.221 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,ATXP,40*76

2021-08-13T22:59:58.221Z,1628895598.221 [Micromodem](ERROR): Response from modem failed NMEA checksum: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,ATXP,40*76
 expected 6E
2021-08-13T22:59:58.222Z,1628895598.222 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T22:59:58.606Z,1628895598.606 [Micromodem](INFO): Nmea in: $CATXF,40*60

2021-08-13T22:59:58.606Z,1628895598.606 [Micromodem](ERROR): Response from modem unexpected: $CATXF,40*60

2021-08-13T22:59:59.021Z,1628895599.021 [Micromodem](INFO): Nmea in: $CAXST,7,20210813,225959.337135,3,0,40,4000,14500,1,19829,28005,0,2,0,3,0,14500*64

2021-08-13T22:59:59.021Z,1628895599.021 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210813,225959.337135,3,0,40,4000,14500,1,19829,28005,0,2,0,3,0,14500*64

2021-08-13T22:59:59.116Z,1628895599.116 [RDI_PathfinderUp](ERROR): only read 0 of 4 data items
2021-08-13T22:59:59.392Z,1628895599.392 [Micromodem](INFO): Nmea in: $CAERR,225959,NI  ,29,Busy completing a previous request*7B

2021-08-13T22:59:59.392Z,1628895599.392 [Micromodem](ERROR): Got error from modem: $CAERR,225959,NI  ,29,Busy completing a previous request*7B

2021-08-13T22:59:59.594Z,1628895599.594 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T22:59:59.819Z,1628895599.819 [Micromodem](INFO): Nmea in: $SNTTA,0.424786,0.423948,,,225959.33*55

2021-08-13T22:59:59.819Z,1628895599.819 [Micromodem](ERROR): Response from modem unexpected: $SNTTA,0.424786,0.423948,,,225959.33*55

2021-08-13T23:00:01.113Z,1628895601.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
1,186,80,80,8C,FF
2021-08-13T23:00:01.113Z,1628895601.113 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
1,186,80,80,8C,FF
2021-08-13T23:00:01.114Z,1628895601.114 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T23:00:01.141Z,1628895601.141 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-13T23:00:02.291Z,1628895602.291 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:00:02.645Z,1628895602.645 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:00:02.645Z,1628895602.645 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:00:02.645Z,1628895602.645 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:00:02.646Z,1628895602.646 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:00:03.057Z,1628895603.057 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
1,186,80,80,8C,FF
2021-08-13T23:00:03.057Z,1628895603.057 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:00:03.057Z,1628895603.057 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:00:03.075Z,1628895603.075 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-13T23:00:03.082Z,1628895603.082 [RDI_PathfinderUp](ERROR): only read 1 of 4 data items
2021-08-13T23:00:05.124Z,1628895605.124 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:00:08.122Z,1628895608.122 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:00:08.716Z,1628895608.716 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.069857
2021-08-13T23:00:09.491Z,1628895609.491 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:00:09.945Z,1628895609.945 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:00:10.705Z,1628895610.705 [Micromodem](INFO): Nmea in: $SNTTA,0.103537,,,,230011.02*40

2021-08-13T23:00:10.720Z,1628895610.720 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:00:11.201Z,1628895611.201 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:00:11.201Z,1628895611.201 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:00:11.201Z,1628895611.201 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:00:11.202Z,1628895611.202 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:00:11.545Z,1628895611.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
1,186,80,80,8C,FF
2021-08-13T23:00:11.545Z,1628895611.545 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:00:11.546Z,1628895611.546 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:00:11.548Z,1628895611.548 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:00:11.952Z,1628895611.952 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:00:12.345Z,1628895612.345 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,089,000,002B7,186,80,80,B4,FF
2021-08-13T23:00:12.346Z,1628895612.346 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:00:12.779Z,1628895612.779 [Micromodem](INFO): Nmea in: $SNTTA,0.043288,,,,230013.08*4E

2021-08-13T23:00:15.242Z,1628895615.242 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:00:15.581Z,1628895615.581 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:00:15.581Z,1628895615.581 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:00:15.581Z,1628895615.581 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:00:15.582Z,1628895615.582 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:00:15.977Z,1628895615.977 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
089,000,002B7,186,80,80,B4,FF
2021-08-13T23:00:15.977Z,1628895615.977 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:00:15.977Z,1628895615.977 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:00:15.979Z,1628895615.979 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:00:16.401Z,1628895616.401 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:00:16.781Z,1628895616.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,068,000,002B8,186,80,80,C9,FF
2021-08-13T23:00:16.782Z,1628895616.782 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:00:17.217Z,1628895617.217 [Micromodem](INFO): Nmea in: $SNTTA,0.016796,0.335218,,,230017.51*5C

2021-08-13T23:00:19.611Z,1628895619.611 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:00:20.025Z,1628895620.025 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:00:20.025Z,1628895620.025 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:00:20.025Z,1628895620.025 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:00:20.026Z,1628895620.026 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:00:20.402Z,1628895620.402 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
068,000,002B8,186,80,80,C9,FF
2021-08-13T23:00:20.402Z,1628895620.402 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:00:20.402Z,1628895620.402 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:00:20.440Z,1628895620.440 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:00:20.802Z,1628895620.802 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:00:21.310Z,1628895621.310 [Micromodem](ERROR): Buffer fill timout failure.
2021-08-13T23:00:21.651Z,1628895621.651 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230021.97*52

2021-08-13T23:00:21.801Z,1628895621.801 [Micromodem](INFO): Outgoing frame #1, 60 bytes: B2AB1661420000005D00000400260000000000000000151D80030C5669C08C79985127C89860D3946D04848EB5223961DFA01396E7E9D314F9BF0300
2021-08-13T23:00:21.801Z,1628895621.801 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-08-13T23:00:22.464Z,1628895622.464 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:00:22.909Z,1628895622.909 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-08-13T23:00:22.953Z,1628895622.953 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-13T23:00:22.963Z,1628895622.963 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-13T23:00:23.262Z,1628895623.262 [Micromodem](INFO): Nmea in: $CADRQ,230023,1,10,0,64,1*76

2021-08-13T23:00:23.263Z,1628895623.263 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,B2AB1661420000005D00000400260000000000000000151D80030C5669C08C79985127C89860D3946D04848EB5223961DFA01396E7E9D314F9BF0300*4F

2021-08-13T23:00:23.655Z,1628895623.655 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,60*4D

2021-08-13T23:00:24.069Z,1628895624.069 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
8,186,80,80,C9,FF
2021-08-13T23:00:24.069Z,1628895624.069 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
8,186,80,80,C9,FF
2021-08-13T23:00:24.069Z,1628895624.069 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T23:00:24.070Z,1628895624.070 [Micromodem](INFO): Nmea in: $CATXP,60*74

2021-08-13T23:00:24.972Z,1628895624.972 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:00:25.307Z,1628895625.307 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:00:25.307Z,1628895625.307 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:00:25.307Z,1628895625.307 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:00:25.309Z,1628895625.309 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:00:25.323Z,1628895625.323 [Micromodem](INFO): Nmea in: $CATXF,60*62

2021-08-13T23:00:25.673Z,1628895625.673 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
8,186,80,80,C9,FF
2021-08-13T23:00:25.673Z,1628895625.673 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:00:25.673Z,1628895625.673 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:00:25.676Z,1628895625.676 [Micromodem](INFO): Nmea in: $CAXST,7,20210813,230024.817120,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*59

2021-08-13T23:00:25.677Z,1628895625.677 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:00:26.083Z,1628895626.083 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:00:26.942Z,1628895626.942 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230027.21*59

2021-08-13T23:00:27.482Z,1628895627.482 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:00:29.310Z,1628895629.310 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
8,186,80,80,C9,FF
2021-08-13T23:00:29.311Z,1628895629.311 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
8,186,80,80,C9,FF
2021-08-13T23:00:29.311Z,1628895629.311 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T23:00:30.172Z,1628895630.172 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:00:30.489Z,1628895630.489 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:00:30.489Z,1628895630.489 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:00:30.489Z,1628895630.489 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:00:30.490Z,1628895630.490 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:00:30.915Z,1628895630.915 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
8,186,80,80,C9,FF
2021-08-13T23:00:30.915Z,1628895630.915 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:00:30.915Z,1628895630.915 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:00:30.917Z,1628895630.917 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:00:31.417Z,1628895631.417 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:00:31.734Z,1628895631.734 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FFC,000,002B3,183,80,80,99,FF
2021-08-13T23:00:31.734Z,1628895631.734 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:00:32.179Z,1628895632.179 [Micromodem](INFO): Nmea in: $SNTTA,0.141452,,,,230032.45*46

2021-08-13T23:00:34.575Z,1628895634.575 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:00:34.973Z,1628895634.973 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:00:34.973Z,1628895634.973 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:00:34.973Z,1628895634.973 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:00:34.974Z,1628895634.974 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:00:35.373Z,1628895635.373 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FFC,000,002B3,183,80,80,99,FF
2021-08-13T23:00:35.373Z,1628895635.373 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:00:35.373Z,1628895635.373 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:00:35.375Z,1628895635.375 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:00:35.777Z,1628895635.777 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:00:36.177Z,1628895636.177 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0D3,000,002AC,187,80,80,A8,FF
2021-08-13T23:00:36.178Z,1628895636.178 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:00:36.619Z,1628895636.619 [Micromodem](INFO): Nmea in: $SNTTA,0.039868,,,,230036.91*40

2021-08-13T23:00:39.073Z,1628895639.073 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:00:39.410Z,1628895639.410 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:00:39.410Z,1628895639.410 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:00:39.411Z,1628895639.411 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:00:39.411Z,1628895639.411 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:00:39.781Z,1628895639.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0D3,000,002AC,187,80,80,A8,FF
2021-08-13T23:00:39.781Z,1628895639.781 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:00:39.781Z,1628895639.781 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:00:39.783Z,1628895639.783 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:00:40.221Z,1628895640.221 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:00:40.589Z,1628895640.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,074,000,002AB,186,80,80,B1,FF
2021-08-13T23:00:40.590Z,1628895640.590 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:00:41.016Z,1628895641.016 [Micromodem](INFO): Nmea in: $SNTTA,,0.413775,,,230041.32*46

2021-08-13T23:00:43.463Z,1628895643.463 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:00:43.853Z,1628895643.853 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:00:43.853Z,1628895643.853 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:00:43.854Z,1628895643.854 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:00:43.854Z,1628895643.854 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:00:44.257Z,1628895644.257 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
074,000,002AB,186,80,80,B1,FF
2021-08-13T23:00:44.257Z,1628895644.257 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:00:44.257Z,1628895644.257 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:00:44.259Z,1628895644.259 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:00:44.677Z,1628895644.677 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:00:45.101Z,1628895645.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,085,000,002A8,186,80,80,B1,FF
2021-08-13T23:00:45.101Z,1628895645.101 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:00:45.513Z,1628895645.513 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230045.79*50

2021-08-13T23:00:48.029Z,1628895648.029 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:00:48.325Z,1628895648.325 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:00:48.325Z,1628895648.325 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:00:48.325Z,1628895648.325 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:00:48.326Z,1628895648.326 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:00:48.729Z,1628895648.729 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
085,000,002A8,186,80,80,B1,FF
2021-08-13T23:00:48.729Z,1628895648.729 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:00:48.729Z,1628895648.729 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:00:48.731Z,1628895648.731 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:00:49.141Z,1628895649.141 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:00:49.537Z,1628895649.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0B8,000,002A5,186,80,80,C9,FF
2021-08-13T23:00:49.538Z,1628895649.538 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:00:49.948Z,1628895649.948 [Micromodem](INFO): Nmea in: $SNTTA,0.022408,,,,230050.26*4C

2021-08-13T23:00:52.413Z,1628895652.413 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:00:52.769Z,1628895652.769 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:00:52.769Z,1628895652.769 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:00:52.769Z,1628895652.769 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:00:52.770Z,1628895652.770 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:00:53.173Z,1628895653.173 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0B8,000,002A5,186,80,80,C9,FF
2021-08-13T23:00:53.173Z,1628895653.173 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:00:53.173Z,1628895653.173 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:00:53.175Z,1628895653.175 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:00:53.636Z,1628895653.636 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:00:54.025Z,1628895654.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,06D,000,002A3,187,80,80,C2,FF
2021-08-13T23:00:54.025Z,1628895654.025 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:00:54.441Z,1628895654.441 [Micromodem](INFO): Nmea in: $SNTTA,0.024382,,,,230054.71*49

2021-08-13T23:00:56.905Z,1628895656.905 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:00:57.247Z,1628895657.247 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:00:57.247Z,1628895657.247 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:00:57.247Z,1628895657.247 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:00:57.248Z,1628895657.248 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:00:57.659Z,1628895657.659 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
06D,000,002A3,187,80,80,C2,FF
2021-08-13T23:00:57.659Z,1628895657.659 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:00:57.659Z,1628895657.659 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:00:57.661Z,1628895657.661 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:00:58.094Z,1628895658.094 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:00:58.493Z,1628895658.493 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,062,000,002A1,186,80,80,C4,FF
2021-08-13T23:00:58.494Z,1628895658.494 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:00:58.962Z,1628895658.962 [Micromodem](INFO): Nmea in: $SNTTA,0.042382,,,,230059.20*40

2021-08-13T23:01:01.327Z,1628895661.327 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:01:01.798Z,1628895661.798 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:01:01.798Z,1628895661.798 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:01:01.798Z,1628895661.798 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:01:01.799Z,1628895661.799 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:01:02.129Z,1628895662.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
062,000,002A1,186,80,80,C4,FF
2021-08-13T23:01:02.129Z,1628895662.129 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:01:02.129Z,1628895662.129 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:01:02.131Z,1628895662.131 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:01:02.537Z,1628895662.537 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:01:02.941Z,1628895662.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,071,000,002A0,186,80,80,B0,FF
2021-08-13T23:01:02.942Z,1628895662.942 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:01:03.377Z,1628895663.377 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230103.67*5C

2021-08-13T23:01:04.346Z,1628895664.346 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T23:01:05.804Z,1628895665.804 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:01:06.169Z,1628895666.169 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:01:06.169Z,1628895666.169 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:01:06.169Z,1628895666.169 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:01:06.170Z,1628895666.170 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:01:06.573Z,1628895666.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
071,000,002A0,186,80,80,B0,FF
2021-08-13T23:01:06.573Z,1628895666.573 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:01:06.573Z,1628895666.573 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:01:06.575Z,1628895666.575 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:01:06.997Z,1628895666.997 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:01:07.381Z,1628895667.381 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,071,000,00299,186,80,80,9E,FF
2021-08-13T23:01:07.381Z,1628895667.381 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:01:07.821Z,1628895667.821 [Micromodem](INFO): Nmea in: $SNTTA,0.093625,,,,230108.11*43

2021-08-13T23:01:10.234Z,1628895670.234 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:01:10.613Z,1628895670.613 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:01:10.613Z,1628895670.613 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:01:10.613Z,1628895670.613 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:01:10.614Z,1628895670.614 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:01:10.987Z,1628895670.987 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
071,000,00299,186,80,80,9E,FF
2021-08-13T23:01:10.987Z,1628895670.987 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:01:10.987Z,1628895670.987 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:01:10.989Z,1628895670.989 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:01:11.397Z,1628895671.397 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:01:11.903Z,1628895671.903 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,063,000,00297,187,80,80,C5,FF
2021-08-13T23:01:11.903Z,1628895671.903 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:01:12.253Z,1628895672.253 [Micromodem](INFO): Nmea in: $SNTTA,0.030385,,,,230112.52*49

2021-08-13T23:01:14.685Z,1628895674.685 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:01:15.057Z,1628895675.057 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:01:15.057Z,1628895675.057 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:01:15.057Z,1628895675.057 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:01:15.058Z,1628895675.058 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:01:15.461Z,1628895675.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
063,000,00297,187,80,80,C5,FF
2021-08-13T23:01:15.461Z,1628895675.461 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:01:15.461Z,1628895675.461 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:01:15.463Z,1628895675.463 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:01:15.901Z,1628895675.901 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:01:16.269Z,1628895676.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,046,000,00297,184,80,80,BB,FF
2021-08-13T23:01:16.269Z,1628895676.269 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:01:16.701Z,1628895676.701 [Micromodem](INFO): Nmea in: $SNTTA,0.042108,,,,230117.00*49

2021-08-13T23:01:19.306Z,1628895679.306 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:01:19.501Z,1628895679.501 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:01:19.501Z,1628895679.501 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:01:19.501Z,1628895679.501 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:01:19.502Z,1628895679.502 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:01:19.913Z,1628895679.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
046,000,00297,184,80,80,BB,FF
2021-08-13T23:01:19.913Z,1628895679.913 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:01:19.913Z,1628895679.913 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:01:19.915Z,1628895679.915 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:01:20.289Z,1628895680.289 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:01:21.118Z,1628895681.118 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230121.45*5C

2021-08-13T23:01:22.141Z,1628895682.141 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:01:23.545Z,1628895683.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
7,184,80,80,BB,FF
2021-08-13T23:01:23.545Z,1628895683.545 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
7,184,80,80,BB,FF
2021-08-13T23:01:23.545Z,1628895683.545 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T23:01:24.845Z,1628895684.845 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:01:25.161Z,1628895685.161 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:01:25.161Z,1628895685.161 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:01:25.161Z,1628895685.161 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:01:25.162Z,1628895685.162 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:01:25.565Z,1628895685.565 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
7,184,80,80,BB,FF
2021-08-13T23:01:25.565Z,1628895685.565 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:01:25.565Z,1628895685.565 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:01:25.567Z,1628895685.567 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:01:26.008Z,1628895686.008 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:01:26.406Z,1628895686.406 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0B8,000,0029C,186,80,80,B6,FF
2021-08-13T23:01:26.406Z,1628895686.406 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:01:26.824Z,1628895686.824 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230127.10*5A

2021-08-13T23:01:26.826Z,1628895686.826 [Micromodem](ERROR): Buffer fill timout failure.
2021-08-13T23:01:27.369Z,1628895687.369 [Micromodem](INFO): Outgoing frame #1, 60 bytes: B2AB1661420000005D00000400260000000000000000151D80030C5669C08C79985127C89860D3946D04848EB5223961DFA01396E7E9D314F9BF0300
2021-08-13T23:01:27.370Z,1628895687.370 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-08-13T23:01:28.033Z,1628895688.033 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-08-13T23:01:28.429Z,1628895688.429 [Micromodem](INFO): Nmea in: $CADRQ,230128,1,10,0,64,1*7C

2021-08-13T23:01:28.429Z,1628895688.429 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,B2AB1661420000005D00000400260000000000000000151D80030C5669C08C79985127C89860D3946D04848EB5223961DFA01396E7E9D314F9BF0300*4F

2021-08-13T23:01:28.824Z,1628895688.824 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,60*4D

2021-08-13T23:01:29.222Z,1628895689.222 [Micromodem](INFO): Nmea in: $CATXP,60*74

2021-08-13T23:01:29.286Z,1628895689.286 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:01:29.625Z,1628895689.625 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:01:29.625Z,1628895689.625 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:01:29.625Z,1628895689.625 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:01:29.626Z,1628895689.626 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:01:30.025Z,1628895690.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0B8,000,0029C,186,80,80,B6,FF
2021-08-13T23:01:30.025Z,1628895690.025 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:01:30.026Z,1628895690.026 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:01:30.027Z,1628895690.027 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:01:30.410Z,1628895690.410 [Micromodem](INFO): Nmea in: $CATXF,60*62

2021-08-13T23:01:30.410Z,1628895690.410 [Micromodem](ERROR): Response from modem unexpected: $CATXF,60*62

2021-08-13T23:01:30.855Z,1628895690.855 [Micromodem](INFO): Nmea in: $CAXST,7,20210813,230129.982964,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*50

2021-08-13T23:01:30.860Z,1628895690.860 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210813,230129.982964,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*50

2021-08-13T23:01:32.375Z,1628895692.375 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:01:32.486Z,1628895692.486 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-08-13T23:01:32.487Z,1628895692.487 [Micromodem](INFO): Sent 52 bytes from file Logs/20210813T172818/Courier0066.lzma.parts
2021-08-13T23:01:32.487Z,1628895692.487 [Micromodem](INFO): Packets left to send: 0
2021-08-13T23:01:32.914Z,1628895692.914 [Micromodem](INFO): Nmea in: $CACST,6,0,20210813230132.780297,06,32767,45,0101,0150,07,00,00,00,00,1,010,001,0,4,1,0,150,32.1,12.21,23,-9.21,-01,0.09,49,14500,4000*5E

2021-08-13T23:01:32.914Z,1628895692.914 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210813230132.780297,06,32767,45,0101,0150,07,00,00,00,00,1,010,001,0,4,1,0,150,32.1,12.21,23,-9.21,-01,0.09,49,14500,4000*5E

2021-08-13T23:01:33.154Z,1628895693.154 [lineCaptureDepth:MicromodemComms] Stopped
2021-08-13T23:01:33.154Z,1628895693.154 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-08-13T23:01:33.155Z,1628895693.155 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-08-13T23:01:33.155Z,1628895693.155 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-13T23:01:33.155Z,1628895693.155 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-08-13T23:01:34.999Z,1628895694.999 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:01:35.716Z,1628895695.716 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.089892
2021-08-13T23:01:37.847Z,1628895697.847 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:01:38.237Z,1628895698.237 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:01:38.237Z,1628895698.237 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:01:38.237Z,1628895698.237 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:01:38.237Z,1628895698.237 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:01:38.637Z,1628895698.637 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0B8,000,0029C,186,80,80,B6,FF
2021-08-13T23:01:38.637Z,1628895698.637 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:01:38.637Z,1628895698.637 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:01:40.667Z,1628895700.667 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:01:41.069Z,1628895701.069 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:01:41.444Z,1628895701.444 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:01:41.846Z,1628895701.846 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,011,000,0029B,183,80,80,BF,FF
2021-08-13T23:01:41.846Z,1628895701.846 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:01:42.465Z,1628895702.465 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230142.60*5E

2021-08-13T23:01:44.738Z,1628895704.738 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:01:45.109Z,1628895705.109 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:01:45.109Z,1628895705.109 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:01:45.109Z,1628895705.109 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:01:45.110Z,1628895705.110 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:01:45.502Z,1628895705.502 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
011,000,0029B,183,80,80,BF,FF
2021-08-13T23:01:45.502Z,1628895705.502 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:01:45.502Z,1628895705.502 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:01:45.504Z,1628895705.504 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:01:45.926Z,1628895705.926 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:01:46.310Z,1628895706.310 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,075,000,00296,186,80,80,C1,FF
2021-08-13T23:01:46.310Z,1628895706.310 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:01:46.753Z,1628895706.753 [Micromodem](INFO): Nmea in: $SNTTA,0.038198,,,,230147.04*4C

2021-08-13T23:01:49.206Z,1628895709.206 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:01:49.545Z,1628895709.545 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:01:49.545Z,1628895709.545 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:01:49.545Z,1628895709.545 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:01:49.546Z,1628895709.546 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:01:49.958Z,1628895709.958 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
075,000,00296,186,80,80,C1,FF
2021-08-13T23:01:49.958Z,1628895709.958 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:01:49.958Z,1628895709.958 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:01:49.960Z,1628895709.960 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:01:50.361Z,1628895710.361 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:01:50.730Z,1628895710.730 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,079,000,00296,187,80,80,C7,FF
2021-08-13T23:01:50.731Z,1628895710.731 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:01:51.193Z,1628895711.193 [Micromodem](INFO): Nmea in: $SNTTA,0.056110,,,,230151.49*4A

2021-08-13T23:01:53.603Z,1628895713.603 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:01:53.989Z,1628895713.989 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:01:53.989Z,1628895713.989 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:01:53.989Z,1628895713.989 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:01:53.990Z,1628895713.990 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:01:54.401Z,1628895714.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
079,000,00296,187,80,80,C7,FF
2021-08-13T23:01:54.401Z,1628895714.401 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:01:54.402Z,1628895714.402 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:01:54.404Z,1628895714.404 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:01:54.804Z,1628895714.804 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:01:55.205Z,1628895715.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,072,000,00298,186,80,80,BE,FF
2021-08-13T23:01:55.205Z,1628895715.205 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:01:55.641Z,1628895715.641 [Micromodem](INFO): Nmea in: $SNTTA,0.026064,,,,230155.94*4B

2021-08-13T23:01:58.155Z,1628895718.155 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:01:58.549Z,1628895718.549 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:01:58.549Z,1628895718.549 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:01:58.550Z,1628895718.550 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:01:58.550Z,1628895718.550 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:01:58.961Z,1628895718.961 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
072,000,00298,186,80,80,BE,FF
2021-08-13T23:01:58.961Z,1628895718.961 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:01:58.962Z,1628895718.962 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:01:58.963Z,1628895718.963 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:01:59.357Z,1628895719.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:01:59.769Z,1628895719.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,06A,000,00299,186,80,80,B6,FF
2021-08-13T23:01:59.769Z,1628895719.769 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:02:00.186Z,1628895720.186 [Micromodem](INFO): Nmea in: $SNTTA,0.027732,,,,230200.50*45

2021-08-13T23:02:02.691Z,1628895722.691 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:02:02.997Z,1628895722.997 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:02:02.999Z,1628895722.999 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:02:02.999Z,1628895722.999 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:02:03.009Z,1628895723.009 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:02:03.397Z,1628895723.397 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
06A,000,00299,186,80,80,B6,FF
2021-08-13T23:02:03.397Z,1628895723.397 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:02:03.397Z,1628895723.397 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:02:03.399Z,1628895723.399 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:02:03.808Z,1628895723.808 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:02:04.201Z,1628895724.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,010,000,00296,183,80,80,AC,FF
2021-08-13T23:02:04.201Z,1628895724.201 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:02:04.629Z,1628895724.629 [Micromodem](INFO): Nmea in: $SNTTA,,0.034034,,,230204.93*4D

2021-08-13T23:02:07.091Z,1628895727.091 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:02:07.437Z,1628895727.437 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:02:07.437Z,1628895727.437 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:02:07.437Z,1628895727.437 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:02:07.438Z,1628895727.438 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:02:07.443Z,1628895727.443 [NAL9602](INFO): Not Powering down - fast GPS
2021-08-13T23:02:07.842Z,1628895727.842 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
010,000,00296,183,80,80,AC,FF
2021-08-13T23:02:07.842Z,1628895727.842 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:02:07.842Z,1628895727.842 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:02:07.848Z,1628895727.848 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:02:08.245Z,1628895728.245 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:02:08.645Z,1628895728.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,022,000,00297,185,80,80,D0,FF
2021-08-13T23:02:08.646Z,1628895728.646 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:02:09.089Z,1628895729.089 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230209.38*5F

2021-08-13T23:02:11.500Z,1628895731.500 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:02:11.853Z,1628895731.853 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:02:11.853Z,1628895731.853 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:02:11.854Z,1628895731.854 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:02:11.855Z,1628895731.855 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:02:12.253Z,1628895732.253 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
022,000,00297,185,80,80,D0,FF
2021-08-13T23:02:12.253Z,1628895732.253 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:02:12.253Z,1628895732.253 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:02:12.255Z,1628895732.255 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:02:12.838Z,1628895732.838 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,03F,000,00297,185,80,80,D0,FF
2021-08-13T23:02:12.839Z,1628895732.839 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:02:12.855Z,1628895732.855 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:02:13.525Z,1628895733.525 [Micromodem](INFO): Nmea in: $SNTTA,0.006103,,,,230213.79*4B

2021-08-13T23:02:15.542Z,1628895735.542 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:02:15.953Z,1628895735.953 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:02:15.953Z,1628895735.953 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:02:15.953Z,1628895735.953 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:02:15.954Z,1628895735.954 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:02:16.329Z,1628895736.329 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
03F,000,00297,185,80,80,D0,FF
2021-08-13T23:02:16.329Z,1628895736.329 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:02:16.330Z,1628895736.330 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:02:16.331Z,1628895736.331 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:02:16.740Z,1628895736.740 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:02:17.141Z,1628895737.141 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF6,000,00299,183,80,80,A7,FF
2021-08-13T23:02:17.141Z,1628895737.141 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:02:17.569Z,1628895737.569 [Micromodem](INFO): Nmea in: $SNTTA,0.004815,,,,230217.86*43

2021-08-13T23:02:19.990Z,1628895739.990 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:02:20.361Z,1628895740.361 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:02:20.361Z,1628895740.361 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:02:20.361Z,1628895740.361 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:02:20.362Z,1628895740.362 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:02:20.765Z,1628895740.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF6,000,00299,183,80,80,A7,FF
2021-08-13T23:02:20.765Z,1628895740.765 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:02:20.765Z,1628895740.765 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:02:20.767Z,1628895740.767 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:02:21.140Z,1628895741.140 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:02:21.578Z,1628895741.578 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,084,000,00299,186,80,80,BD,FF
2021-08-13T23:02:21.578Z,1628895741.578 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:02:21.977Z,1628895741.977 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230222.30*5E

2021-08-13T23:02:24.425Z,1628895744.425 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:02:24.814Z,1628895744.814 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:02:24.815Z,1628895744.815 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:02:24.815Z,1628895744.815 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:02:24.834Z,1628895744.834 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:02:25.209Z,1628895745.209 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
084,000,00299,186,80,80,BD,FF
2021-08-13T23:02:25.209Z,1628895745.209 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:02:25.209Z,1628895745.209 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:02:25.211Z,1628895745.211 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:02:25.621Z,1628895745.621 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:02:26.022Z,1628895746.022 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,01D,000,00295,185,80,80,C4,FF
2021-08-13T23:02:26.022Z,1628895746.022 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:02:26.462Z,1628895746.462 [Micromodem](INFO): Nmea in: $SNTTA,0.045923,,,,230226.74*4D

2021-08-13T23:02:28.969Z,1628895748.969 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:02:29.249Z,1628895749.249 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:02:29.249Z,1628895749.249 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:02:29.249Z,1628895749.249 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:02:29.250Z,1628895749.250 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:02:29.657Z,1628895749.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
01D,000,00295,185,80,80,C4,FF
2021-08-13T23:02:29.657Z,1628895749.657 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:02:29.657Z,1628895749.657 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:02:29.659Z,1628895749.659 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:02:30.073Z,1628895750.073 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:02:30.465Z,1628895750.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,039,000,00296,184,80,80,B4,FF
2021-08-13T23:02:30.465Z,1628895750.465 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:02:30.958Z,1628895750.958 [Micromodem](INFO): Nmea in: $SNTTA,0.492532,0.492895,,,230231.20*5D

2021-08-13T23:02:33.085Z,1628895753.085 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:02:33.289Z,1628895753.289 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:02:33.289Z,1628895753.289 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:02:33.289Z,1628895753.289 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:02:33.290Z,1628895753.290 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:02:33.697Z,1628895753.697 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
039,000,00296,184,80,80,B4,FF
2021-08-13T23:02:33.697Z,1628895753.697 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:02:33.697Z,1628895753.697 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:02:33.699Z,1628895753.699 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:02:34.109Z,1628895754.109 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:02:34.509Z,1628895754.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,037,000,00296,184,80,80,B9,FF
2021-08-13T23:02:34.509Z,1628895754.509 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:02:34.961Z,1628895754.961 [Micromodem](INFO): Nmea in: $SNTTA,0.472435,0.472360,,,230235.23*5D

2021-08-13T23:02:37.366Z,1628895757.366 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:02:37.733Z,1628895757.733 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:02:37.733Z,1628895757.733 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:02:37.733Z,1628895757.733 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:02:37.734Z,1628895757.734 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:02:38.141Z,1628895758.141 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
037,000,00296,184,80,80,B9,FF
2021-08-13T23:02:38.141Z,1628895758.141 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:02:38.141Z,1628895758.141 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:02:38.143Z,1628895758.143 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:02:38.545Z,1628895758.545 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:02:38.949Z,1628895758.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD1,000,00298,185,80,80,B5,FF
2021-08-13T23:02:38.949Z,1628895758.949 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:02:39.389Z,1628895759.389 [Micromodem](INFO): Nmea in: $SNTTA,0.040990,,,,230239.68*43

2021-08-13T23:02:41.791Z,1628895761.791 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:02:42.152Z,1628895762.152 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:02:42.152Z,1628895762.152 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:02:42.152Z,1628895762.152 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:02:42.153Z,1628895762.153 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:02:42.550Z,1628895762.550 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD1,000,00298,185,80,80,B5,FF
2021-08-13T23:02:42.550Z,1628895762.550 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:02:42.551Z,1628895762.551 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:02:42.553Z,1628895762.553 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:02:43.066Z,1628895763.066 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:02:43.409Z,1628895763.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,015,000,00298,183,80,80,C6,FF
2021-08-13T23:02:43.409Z,1628895763.409 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:02:43.813Z,1628895763.813 [Micromodem](INFO): Nmea in: $SNTTA,0.026998,,,,230244.09*46

2021-08-13T23:02:46.246Z,1628895766.246 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:02:46.621Z,1628895766.621 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:02:46.621Z,1628895766.621 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:02:46.622Z,1628895766.622 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:02:46.623Z,1628895766.623 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:02:47.025Z,1628895767.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
015,000,00298,183,80,80,C6,FF
2021-08-13T23:02:47.025Z,1628895767.025 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:02:47.026Z,1628895767.026 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:02:47.027Z,1628895767.027 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:02:47.444Z,1628895767.444 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:02:47.829Z,1628895767.829 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,054,000,00299,184,80,80,A4,FF
2021-08-13T23:02:47.830Z,1628895767.830 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:02:48.285Z,1628895768.285 [Micromodem](INFO): Nmea in: $SNTTA,0.004857,,,,230248.57*43

2021-08-13T23:02:50.703Z,1628895770.703 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:02:51.065Z,1628895771.065 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:02:51.065Z,1628895771.065 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:02:51.065Z,1628895771.065 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:02:51.066Z,1628895771.066 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:02:51.443Z,1628895771.443 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
054,000,00299,184,80,80,A4,FF
2021-08-13T23:02:51.456Z,1628895771.456 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:02:51.456Z,1628895771.456 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:02:51.459Z,1628895771.459 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:02:51.883Z,1628895771.883 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:02:52.260Z,1628895772.260 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,067,000,00981,186,80,80,C0,FF
2021-08-13T23:02:52.261Z,1628895772.261 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:02:52.677Z,1628895772.677 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230252.99*5A

2021-08-13T23:02:55.159Z,1628895775.159 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:02:55.521Z,1628895775.521 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:02:55.521Z,1628895775.521 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:02:55.521Z,1628895775.521 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:02:55.522Z,1628895775.522 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:02:55.941Z,1628895775.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
067,000,00981,186,80,80,C0,FF
2021-08-13T23:02:55.941Z,1628895775.941 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:02:55.941Z,1628895775.941 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:02:55.943Z,1628895775.943 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:02:56.337Z,1628895776.337 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:02:56.729Z,1628895776.729 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,025,000,00298,185,80,80,B3,FF
2021-08-13T23:02:56.729Z,1628895776.729 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:02:57.161Z,1628895777.161 [Micromodem](INFO): Nmea in: $SNTTA,0.023129,,,,230257.48*46

2021-08-13T23:02:59.583Z,1628895779.583 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:02:59.957Z,1628895779.957 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:02:59.957Z,1628895779.957 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:02:59.957Z,1628895779.957 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:02:59.958Z,1628895779.958 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:03:00.358Z,1628895780.358 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
025,000,00298,185,80,80,B3,FF
2021-08-13T23:03:00.359Z,1628895780.359 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:03:00.359Z,1628895780.359 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:03:00.362Z,1628895780.362 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:03:00.771Z,1628895780.771 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:03:01.170Z,1628895781.170 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,022,000,00296,185,80,80,BC,FF
2021-08-13T23:03:01.170Z,1628895781.170 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:03:01.577Z,1628895781.577 [Micromodem](INFO): Nmea in: $SNTTA,,0.140060,,,230301.90*49

2021-08-13T23:03:04.019Z,1628895784.019 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:03:04.414Z,1628895784.414 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:03:04.414Z,1628895784.414 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:03:04.414Z,1628895784.414 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:03:04.415Z,1628895784.415 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:03:04.809Z,1628895784.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
022,000,00296,185,80,80,BC,FF
2021-08-13T23:03:04.809Z,1628895784.809 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:03:04.809Z,1628895784.809 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:03:04.811Z,1628895784.811 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:03:05.218Z,1628895785.218 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:03:05.613Z,1628895785.613 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,009,000,0029B,183,80,80,A6,FF
2021-08-13T23:03:05.613Z,1628895785.613 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:03:06.070Z,1628895786.070 [Micromodem](INFO): Nmea in: $SNTTA,0.036507,,,,230306.34*44

2021-08-13T23:03:08.472Z,1628895788.472 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:03:08.877Z,1628895788.877 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:03:08.878Z,1628895788.878 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:03:08.879Z,1628895788.879 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:03:08.881Z,1628895788.881 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:03:09.245Z,1628895789.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
009,000,0029B,183,80,80,A6,FF
2021-08-13T23:03:09.245Z,1628895789.245 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:03:09.245Z,1628895789.245 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:03:09.247Z,1628895789.247 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:03:09.671Z,1628895789.671 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:03:10.470Z,1628895790.470 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230310.78*52

2021-08-13T23:03:10.988Z,1628895790.988 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:03:12.898Z,1628895792.898 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
B,183,80,80,A6,FF
2021-08-13T23:03:12.898Z,1628895792.898 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
B,183,80,80,A6,FF
2021-08-13T23:03:12.899Z,1628895792.899 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T23:03:13.718Z,1628895793.718 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:03:14.093Z,1628895794.093 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:03:14.093Z,1628895794.093 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:03:14.093Z,1628895794.093 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:03:14.094Z,1628895794.094 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:03:14.497Z,1628895794.497 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
B,183,80,80,A6,FF
2021-08-13T23:03:14.497Z,1628895794.497 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:03:14.498Z,1628895794.498 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:03:14.499Z,1628895794.499 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:03:14.941Z,1628895794.941 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:03:15.309Z,1628895795.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,018,000,00297,183,80,80,B9,FF
2021-08-13T23:03:15.309Z,1628895795.309 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:03:15.746Z,1628895795.746 [Micromodem](INFO): Nmea in: $SNTTA,0.016557,,,,230316.03*46

2021-08-13T23:03:18.158Z,1628895798.158 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:03:18.561Z,1628895798.561 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:03:18.561Z,1628895798.561 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:03:18.561Z,1628895798.561 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:03:18.562Z,1628895798.562 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:03:18.961Z,1628895798.961 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
018,000,00297,183,80,80,B9,FF
2021-08-13T23:03:18.961Z,1628895798.961 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:03:18.962Z,1628895798.962 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:03:18.963Z,1628895798.963 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:03:19.363Z,1628895799.363 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:03:19.377Z,1628895799.377 [Micromodem](INFO): Nmea in: ,230320.50*5A

2021-08-13T23:03:19.377Z,1628895799.377 [Micromodem](ERROR): Response from modem failed NMEA checksum: ,230320.50*5A
 expected 0
2021-08-13T23:03:19.753Z,1628895799.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC3,000,00298,184,80,80,B8,FF
2021-08-13T23:03:19.753Z,1628895799.753 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:03:22.575Z,1628895802.575 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:03:22.957Z,1628895802.957 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:03:22.957Z,1628895802.957 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:03:22.957Z,1628895802.957 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:03:22.958Z,1628895802.958 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:03:23.453Z,1628895803.453 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC3,000,00298,184,80,80,B8,FF
2021-08-13T23:03:23.453Z,1628895803.453 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:03:23.453Z,1628895803.453 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:03:23.455Z,1628895803.455 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:03:23.802Z,1628895803.802 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:03:24.198Z,1628895804.198 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,06D,000,00298,187,80,80,C2,FF
2021-08-13T23:03:24.198Z,1628895804.198 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:03:25.014Z,1628895805.014 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230324.99*5A

2021-08-13T23:03:27.096Z,1628895807.096 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:03:27.433Z,1628895807.433 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:03:27.433Z,1628895807.433 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:03:27.433Z,1628895807.433 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:03:27.434Z,1628895807.434 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:03:27.833Z,1628895807.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
06D,000,00298,187,80,80,C2,FF
2021-08-13T23:03:27.833Z,1628895807.833 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:03:27.833Z,1628895807.833 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:03:27.835Z,1628895807.835 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:03:28.240Z,1628895808.240 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:03:28.641Z,1628895808.641 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,035,000,00299,184,80,80,C1,FF
2021-08-13T23:03:28.641Z,1628895808.641 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:03:29.118Z,1628895809.118 [Micromodem](INFO): Nmea in: $SNTTA,0.008441,,,,230329.37*44

2021-08-13T23:03:31.533Z,1628895811.533 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:03:31.837Z,1628895811.837 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:03:31.837Z,1628895811.837 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:03:31.838Z,1628895811.838 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:03:31.838Z,1628895811.838 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:03:32.277Z,1628895812.277 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
035,000,00299,184,80,80,C1,FF
2021-08-13T23:03:32.277Z,1628895812.277 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:03:32.277Z,1628895812.277 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:03:32.279Z,1628895812.279 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:03:32.653Z,1628895812.653 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:03:33.081Z,1628895813.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,01B,000,00297,185,80,80,AF,FF
2021-08-13T23:03:33.081Z,1628895813.081 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:03:33.589Z,1628895813.589 [Micromodem](INFO): Nmea in: $SNTTA,0.037378,,,,230333.81*43

2021-08-13T23:03:35.927Z,1628895815.927 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:03:36.309Z,1628895816.309 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:03:36.309Z,1628895816.309 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:03:36.309Z,1628895816.309 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:03:36.310Z,1628895816.310 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:03:36.721Z,1628895816.721 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
01B,000,00297,185,80,80,AF,FF
2021-08-13T23:03:36.721Z,1628895816.721 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:03:36.721Z,1628895816.721 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:03:36.723Z,1628895816.723 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:03:37.143Z,1628895817.143 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:03:37.525Z,1628895817.525 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,054,000,00298,184,80,80,BD,FF
2021-08-13T23:03:37.525Z,1628895817.525 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:03:37.974Z,1628895817.974 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230338.26*53

2021-08-13T23:03:40.381Z,1628895820.381 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:03:40.757Z,1628895820.757 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:03:40.757Z,1628895820.757 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:03:40.757Z,1628895820.757 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:03:40.758Z,1628895820.758 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:03:41.161Z,1628895821.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
054,000,00298,184,80,80,BD,FF
2021-08-13T23:03:41.161Z,1628895821.161 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:03:41.161Z,1628895821.161 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:03:41.163Z,1628895821.163 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:03:41.569Z,1628895821.569 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:03:41.953Z,1628895821.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,05B,000,0029B,186,80,80,C5,FF
2021-08-13T23:03:41.953Z,1628895821.953 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:03:42.411Z,1628895822.411 [Micromodem](INFO): Nmea in: $SNTTA,0.028670,,,,230342.70*48

2021-08-13T23:03:44.858Z,1628895824.858 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:03:45.198Z,1628895825.198 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:03:45.198Z,1628895825.198 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:03:45.199Z,1628895825.199 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:03:45.199Z,1628895825.199 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:03:45.613Z,1628895825.613 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
05B,000,0029B,186,80,80,C5,FF
2021-08-13T23:03:45.613Z,1628895825.613 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:03:45.613Z,1628895825.613 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:03:45.615Z,1628895825.615 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:03:46.020Z,1628895826.020 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:03:46.417Z,1628895826.417 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD0,000,00296,184,80,80,BC,FF
2021-08-13T23:03:46.417Z,1628895826.417 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:03:46.880Z,1628895826.880 [Micromodem](INFO): Nmea in: $SNTTA,0.022113,,,,230347.15*46

2021-08-13T23:03:49.270Z,1628895829.270 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:03:49.645Z,1628895829.645 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:03:49.645Z,1628895829.645 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:03:49.645Z,1628895829.645 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:03:49.646Z,1628895829.646 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:03:49.665Z,1628895829.665 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T23:03:50.045Z,1628895830.045 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD0,000,00296,184,80,80,BC,FF
2021-08-13T23:03:50.045Z,1628895830.045 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:03:50.046Z,1628895830.046 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:03:50.048Z,1628895830.048 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:03:50.460Z,1628895830.460 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:03:50.912Z,1628895830.912 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,025,000,00299,185,80,80,BA,FF
2021-08-13T23:03:50.913Z,1628895830.913 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:03:51.297Z,1628895831.297 [Micromodem](INFO): Nmea in: $SNTTA,0.004718,,,,230351.58*41

2021-08-13T23:03:53.783Z,1628895833.783 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:03:54.097Z,1628895834.097 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:03:54.097Z,1628895834.097 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:03:54.097Z,1628895834.097 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:03:54.098Z,1628895834.098 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:03:54.497Z,1628895834.497 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
025,000,00299,185,80,80,BA,FF
2021-08-13T23:03:54.497Z,1628895834.497 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:03:54.497Z,1628895834.497 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:03:54.499Z,1628895834.499 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:03:54.944Z,1628895834.944 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:03:55.305Z,1628895835.305 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,003,000,00298,182,80,80,B7,FF
2021-08-13T23:03:55.305Z,1628895835.305 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:03:55.737Z,1628895835.737 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230356.04*5B

2021-08-13T23:03:58.181Z,1628895838.181 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:03:58.545Z,1628895838.545 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:03:58.545Z,1628895838.545 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:03:58.545Z,1628895838.545 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:03:58.546Z,1628895838.546 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:03:58.953Z,1628895838.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
003,000,00298,182,80,80,B7,FF
2021-08-13T23:03:58.953Z,1628895838.953 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:03:58.953Z,1628895838.953 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:03:58.955Z,1628895838.955 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:03:59.349Z,1628895839.349 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:03:59.750Z,1628895839.750 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,091,000,00297,187,80,80,B1,FF
2021-08-13T23:03:59.750Z,1628895839.750 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:04:00.185Z,1628895840.185 [Micromodem](INFO): Nmea in: $SNTTA,0.088539,,,,230400.49*47

2021-08-13T23:04:02.609Z,1628895842.609 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:04:02.969Z,1628895842.969 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:04:02.969Z,1628895842.969 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:04:02.969Z,1628895842.969 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:04:02.970Z,1628895842.970 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:04:03.354Z,1628895843.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
091,000,00297,187,80,80,B1,FF
2021-08-13T23:04:03.354Z,1628895843.354 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:04:03.354Z,1628895843.354 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:04:03.356Z,1628895843.356 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:04:03.866Z,1628895843.866 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:04:04.201Z,1628895844.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,029,000,00299,184,80,80,B8,FF
2021-08-13T23:04:04.201Z,1628895844.201 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:04:04.630Z,1628895844.630 [Micromodem](INFO): Nmea in: $SNTTA,0.045243,,,,230404.89*44

2021-08-13T23:04:07.099Z,1628895847.099 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:04:07.425Z,1628895847.425 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:04:07.426Z,1628895847.426 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:04:07.426Z,1628895847.426 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:04:07.427Z,1628895847.427 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:04:07.829Z,1628895847.829 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
029,000,00299,184,80,80,B8,FF
2021-08-13T23:04:07.829Z,1628895847.829 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:04:07.829Z,1628895847.829 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:04:07.831Z,1628895847.831 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:04:08.241Z,1628895848.241 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:04:08.641Z,1628895848.641 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,01C,000,00299,185,80,80,BC,FF
2021-08-13T23:04:08.641Z,1628895848.641 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:04:08.681Z,1628895848.681 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-08-13T23:04:08.681Z,1628895848.681 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-08-13T23:04:08.681Z,1628895848.681 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-08-13T23:04:08.681Z,1628895848.681 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-13T23:04:08.681Z,1628895848.681 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-08-13T23:04:08.682Z,1628895848.682 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 2.399999 m 
2021-08-13T23:04:08.682Z,1628895848.682 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-08-13T23:04:08.682Z,1628895848.682 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-08-13T23:04:08.682Z,1628895848.682 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-08-13T23:04:09.074Z,1628895849.074 [Micromodem](INFO): Nmea in: $SNTTA,0.005369,,,,230409.37*41

2021-08-13T23:04:09.135Z,1628895849.135 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210813T230409: (41.552319, -70.708603)
2021-08-13T23:04:09.140Z,1628895849.140 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-08-13T23:04:09.140Z,1628895849.140 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-08-13T23:04:09.140Z,1628895849.140 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-13T23:04:09.140Z,1628895849.140 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-08-13T23:04:09.140Z,1628895849.140 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-13T23:04:09.140Z,1628895849.140 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-08-13T23:04:09.140Z,1628895849.140 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-08-13T23:04:09.141Z,1628895849.141 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-08-13T23:04:11.487Z,1628895851.487 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:04:11.905Z,1628895851.905 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:04:11.905Z,1628895851.905 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:04:11.905Z,1628895851.905 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:04:11.906Z,1628895851.906 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:04:12.245Z,1628895852.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
01C,000,00299,185,80,80,BC,FF
2021-08-13T23:04:12.245Z,1628895852.245 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:04:12.245Z,1628895852.245 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:04:12.247Z,1628895852.247 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:04:12.689Z,1628895852.689 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:04:13.050Z,1628895853.050 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF3,000,0029B,183,80,80,B0,FF
2021-08-13T23:04:13.050Z,1628895853.050 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:04:13.481Z,1628895853.481 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230413.78*56

2021-08-13T23:04:15.931Z,1628895855.931 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:04:16.310Z,1628895856.310 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:04:16.311Z,1628895856.311 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:04:16.311Z,1628895856.311 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:04:16.312Z,1628895856.312 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:04:16.725Z,1628895856.725 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF3,000,0029B,183,80,80,B0,FF
2021-08-13T23:04:16.725Z,1628895856.725 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:04:16.725Z,1628895856.725 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:04:16.727Z,1628895856.727 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:04:17.129Z,1628895857.129 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:04:17.533Z,1628895857.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,037,000,00298,184,80,80,CD,FF
2021-08-13T23:04:17.533Z,1628895857.533 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:04:17.974Z,1628895857.974 [Micromodem](INFO): Nmea in: $SNTTA,0.025493,,,,230418.26*41

2021-08-13T23:04:20.382Z,1628895860.382 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:04:20.770Z,1628895860.770 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:04:20.770Z,1628895860.770 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:04:20.770Z,1628895860.770 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:04:20.771Z,1628895860.771 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:04:21.173Z,1628895861.173 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
037,000,00298,184,80,80,CD,FF
2021-08-13T23:04:21.173Z,1628895861.173 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:04:21.173Z,1628895861.173 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:04:21.174Z,1628895861.174 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:04:21.582Z,1628895861.582 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:04:21.969Z,1628895861.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,047,000,00296,184,80,80,D0,FF
2021-08-13T23:04:21.970Z,1628895861.970 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:04:22.394Z,1628895862.394 [Micromodem](INFO): Nmea in: $SNTTA,0.025038,,,,230422.71*4F

2021-08-13T23:04:24.900Z,1628895864.900 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:04:25.220Z,1628895865.220 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:04:25.220Z,1628895865.220 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:04:25.220Z,1628895865.220 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:04:25.221Z,1628895865.221 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:04:25.614Z,1628895865.614 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
047,000,00296,184,80,80,D0,FF
2021-08-13T23:04:25.614Z,1628895865.614 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:04:25.615Z,1628895865.615 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:04:25.617Z,1628895865.617 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:04:26.033Z,1628895866.033 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:04:26.426Z,1628895866.426 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FFE,000,00298,183,80,80,C3,FF
2021-08-13T23:04:26.427Z,1628895866.427 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:04:26.864Z,1628895866.864 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230427.15*5A

2021-08-13T23:04:29.281Z,1628895869.281 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:04:29.666Z,1628895869.666 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:04:29.666Z,1628895869.666 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:04:29.666Z,1628895869.666 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:04:29.667Z,1628895869.667 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:04:30.061Z,1628895870.061 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FFE,000,00298,183,80,80,C3,FF
2021-08-13T23:04:30.061Z,1628895870.061 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:04:30.061Z,1628895870.061 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:04:30.063Z,1628895870.063 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:04:30.471Z,1628895870.471 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:04:30.913Z,1628895870.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,05A,000,00296,184,80,80,A6,FF
2021-08-13T23:04:30.913Z,1628895870.913 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:04:31.314Z,1628895871.314 [Micromodem](INFO): Nmea in: $SNTTA,0.059451,,,,230431.60*4D

2021-08-13T23:04:33.679Z,1628895873.679 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:04:34.173Z,1628895874.173 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:04:34.174Z,1628895874.174 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:04:34.174Z,1628895874.174 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:04:34.175Z,1628895874.175 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:04:34.510Z,1628895874.510 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
05A,000,00296,184,80,80,A6,FF
2021-08-13T23:04:34.510Z,1628895874.510 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:04:34.511Z,1628895874.511 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:04:34.514Z,1628895874.514 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:04:34.948Z,1628895874.948 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:04:35.313Z,1628895875.313 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,07A,000,00298,186,80,80,BB,FF
2021-08-13T23:04:35.313Z,1628895875.313 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:04:35.754Z,1628895875.754 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230436.05*5B

2021-08-13T23:04:38.212Z,1628895878.212 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:04:38.553Z,1628895878.553 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:04:38.553Z,1628895878.553 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:04:38.553Z,1628895878.553 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:04:38.554Z,1628895878.554 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:04:38.968Z,1628895878.968 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
07A,000,00298,186,80,80,BB,FF
2021-08-13T23:04:38.969Z,1628895878.969 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:04:38.969Z,1628895878.969 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:04:38.974Z,1628895878.974 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:04:39.365Z,1628895879.365 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:04:39.765Z,1628895879.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,081,000,0029C,186,80,80,AD,FF
2021-08-13T23:04:39.765Z,1628895879.765 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:04:40.198Z,1628895880.198 [Micromodem](INFO): Nmea in: $SNTTA,0.050737,,,,230440.51*43

2021-08-13T23:04:42.588Z,1628895882.588 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:04:42.989Z,1628895882.989 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:04:42.989Z,1628895882.989 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:04:42.989Z,1628895882.989 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:04:42.990Z,1628895882.990 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:04:43.369Z,1628895883.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
081,000,0029C,186,80,80,AD,FF
2021-08-13T23:04:43.369Z,1628895883.369 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:04:43.369Z,1628895883.369 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:04:43.371Z,1628895883.371 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:04:43.773Z,1628895883.773 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:04:44.270Z,1628895884.270 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,029,000,00299,185,80,80,AB,FF
2021-08-13T23:04:44.270Z,1628895884.270 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:04:44.629Z,1628895884.629 [Micromodem](INFO): Nmea in: $SNTTA,0.099507,,,,230444.90*4E

2021-08-13T23:04:47.097Z,1628895887.097 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:04:47.447Z,1628895887.447 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:04:47.447Z,1628895887.447 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:04:47.447Z,1628895887.447 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:04:47.448Z,1628895887.448 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:04:47.472Z,1628895887.472 [lineCaptureDepth:Lap:Docked:Docked.Docked](INFO): Timed out from 2021-08-13T22:59:47.2Z
2021-08-13T23:04:47.472Z,1628895887.472 [lineCaptureDepth:Lap:Docked:Docked.Docked] Stopped
2021-08-13T23:04:47.472Z,1628895887.472 [lineCaptureDepth:Lap:Docked:Detach] Running Loop=1
2021-08-13T23:04:47.473Z,1628895887.473 [lineCaptureDepth:Lap:Docked:Detach](DEBUG): Aggregate::initialize lineCaptureDepth:Lap:Docked:Detach
2021-08-13T23:04:47.473Z,1628895887.473 [lineCaptureDepth:Lap:Docked:Detach:A] Running Loop=1
2021-08-13T23:04:47.813Z,1628895887.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
029,000,00299,185,80,80,AB,FF
2021-08-13T23:04:47.813Z,1628895887.813 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:04:47.813Z,1628895887.813 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:04:47.815Z,1628895887.815 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:04:47.914Z,1628895887.914 [lineCaptureDepth:Lap:Docked:Detach:A](IMPORTANT): Breaking off. Range: 2.399999 m .
2021-08-13T23:04:47.914Z,1628895887.914 [lineCaptureDepth:Lap:Docked:Detach:A] Stopped
2021-08-13T23:04:47.915Z,1628895887.915 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock] Running Loop=1
2021-08-13T23:04:47.915Z,1628895887.915 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](DEBUG): Initialize.
2021-08-13T23:04:47.915Z,1628895887.915 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](DEBUG): Initializing internal variables to default values.
2021-08-13T23:04:48.244Z,1628895888.244 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:04:48.629Z,1628895888.629 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,039,000,00297,184,80,80,CD,FF
2021-08-13T23:04:48.629Z,1628895888.629 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:04:48.685Z,1628895888.685 [PowerOnly](INFO): Powering up loadControl
2021-08-13T23:04:49.045Z,1628895889.045 [Micromodem](INFO): Nmea in: $SNTTA,0.068854,,,,230449.35*49

2021-08-13T23:04:51.538Z,1628895891.538 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): Detaching from dock.
2021-08-13T23:04:51.539Z,1628895891.539 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:04:51.896Z,1628895891.896 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:04:51.897Z,1628895891.897 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:04:51.897Z,1628895891.897 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:04:51.898Z,1628895891.898 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:04:51.925Z,1628895891.925 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): Engaging thruster for 10.0 seconds (max) to disengage.
2021-08-13T23:04:52.289Z,1628895892.289 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
039,000,00297,184,80,80,CD,FF
2021-08-13T23:04:52.289Z,1628895892.289 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:04:52.289Z,1628895892.289 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:04:52.291Z,1628895892.291 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:04:52.696Z,1628895892.696 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:04:52.721Z,1628895892.721 [ElevatorOffsetCalculator](INFO): Removing expired estimator for commanded vars: speed 1.00 m/s, pitch 20.00 deg, mass-position 2.95 mm.
2021-08-13T23:04:53.114Z,1628895893.114 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,027,000,00294,185,80,80,B4,FF
2021-08-13T23:04:53.114Z,1628895893.114 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:04:53.541Z,1628895893.541 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230453.83*56

2021-08-13T23:04:55.988Z,1628895895.988 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:04:56.321Z,1628895896.321 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:04:56.321Z,1628895896.321 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:04:56.322Z,1628895896.322 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:04:56.323Z,1628895896.323 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:04:56.729Z,1628895896.729 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
027,000,00294,185,80,80,B4,FF
2021-08-13T23:04:56.730Z,1628895896.730 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:04:56.730Z,1628895896.730 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:04:56.731Z,1628895896.731 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:04:57.141Z,1628895897.141 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:04:57.537Z,1628895897.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FFB,000,0029B,183,80,80,AE,FF
2021-08-13T23:04:57.537Z,1628895897.537 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:04:57.969Z,1628895897.969 [Micromodem](INFO): Nmea in: $SNTTA,0.015285,,,,230458.27*46

2021-08-13T23:05:00.409Z,1628895900.409 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:05:00.765Z,1628895900.765 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:05:00.765Z,1628895900.765 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:05:00.765Z,1628895900.765 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:05:00.766Z,1628895900.766 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:05:01.181Z,1628895901.181 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FFB,000,0029B,183,80,80,AE,FF
2021-08-13T23:05:01.181Z,1628895901.181 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:05:01.181Z,1628895901.181 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:05:01.183Z,1628895901.183 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:05:01.652Z,1628895901.652 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:05:02.034Z,1628895902.034 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE7,000,002A7,183,80,80,C7,FF
2021-08-13T23:05:02.034Z,1628895902.034 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:05:02.053Z,1628895902.053 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): Thruster off.
2021-08-13T23:05:02.461Z,1628895902.461 [Micromodem](INFO): Nmea in: $SNTTA,0.039686,,,,230502.72*41

2021-08-13T23:05:04.966Z,1628895904.966 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:05:05.273Z,1628895905.273 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:05:05.273Z,1628895905.273 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:05:05.273Z,1628895905.273 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:05:05.274Z,1628895905.274 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:05:05.693Z,1628895905.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE7,000,002A7,183,80,80,C7,FF
2021-08-13T23:05:05.693Z,1628895905.693 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:05:05.693Z,1628895905.693 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:05:05.694Z,1628895905.694 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:05:06.077Z,1628895906.077 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:05:06.481Z,1628895906.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FAA,000,002BD,184,80,80,B1,FF
2021-08-13T23:05:06.481Z,1628895906.481 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:05:06.941Z,1628895906.941 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230507.23*5C

2021-08-13T23:05:09.327Z,1628895909.327 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:05:09.709Z,1628895909.709 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:05:09.709Z,1628895909.709 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:05:09.709Z,1628895909.709 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:05:09.710Z,1628895909.710 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:05:10.119Z,1628895910.119 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FAA,000,002BD,184,80,80,B1,FF
2021-08-13T23:05:10.119Z,1628895910.119 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:05:10.119Z,1628895910.119 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:05:10.121Z,1628895910.121 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:05:10.525Z,1628895910.525 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:05:10.937Z,1628895910.937 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB2,000,002CE,184,80,80,B3,FF
2021-08-13T23:05:10.937Z,1628895910.937 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:05:11.373Z,1628895911.373 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230511.65*59

2021-08-13T23:05:13.790Z,1628895913.790 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:05:14.157Z,1628895914.157 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:05:14.157Z,1628895914.157 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:05:14.157Z,1628895914.157 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:05:14.158Z,1628895914.158 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:05:14.557Z,1628895914.557 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB2,000,002CE,184,80,80,B3,FF
2021-08-13T23:05:14.557Z,1628895914.557 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:05:14.557Z,1628895914.557 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:05:14.559Z,1628895914.559 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:05:14.964Z,1628895914.964 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:05:15.365Z,1628895915.365 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FBB,000,002DE,185,80,80,9F,FF
2021-08-13T23:05:15.365Z,1628895915.365 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:05:15.805Z,1628895915.805 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230516.09*54

2021-08-13T23:05:18.247Z,1628895918.247 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:05:18.597Z,1628895918.597 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:05:18.597Z,1628895918.597 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:05:18.597Z,1628895918.597 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:05:18.598Z,1628895918.598 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:05:19.001Z,1628895919.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FBB,000,002DE,185,80,80,9F,FF
2021-08-13T23:05:19.001Z,1628895919.001 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:05:19.001Z,1628895919.001 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:05:19.003Z,1628895919.003 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:05:19.413Z,1628895919.413 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:05:19.805Z,1628895919.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB2,000,002E6,184,80,80,AF,FF
2021-08-13T23:05:19.806Z,1628895919.806 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:05:20.246Z,1628895920.246 [Micromodem](INFO): Nmea in: $SNTTA,0.009490,,,,230520.54*43

2021-08-13T23:05:22.663Z,1628895922.663 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:05:23.041Z,1628895923.041 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:05:23.041Z,1628895923.041 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:05:23.041Z,1628895923.041 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:05:23.042Z,1628895923.042 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:05:23.441Z,1628895923.441 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB2,000,002E6,184,80,80,AF,FF
2021-08-13T23:05:23.441Z,1628895923.441 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:05:23.442Z,1628895923.442 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:05:23.443Z,1628895923.443 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:05:23.861Z,1628895923.861 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:05:24.253Z,1628895924.253 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB8,000,002EF,184,80,80,92,FF
2021-08-13T23:05:24.253Z,1628895924.253 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:05:24.725Z,1628895924.725 [Micromodem](INFO): Nmea in: $SNTTA,0.007283,,,,230524.98*4D

2021-08-13T23:05:27.120Z,1628895927.120 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:05:27.485Z,1628895927.485 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:05:27.485Z,1628895927.485 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:05:27.485Z,1628895927.485 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:05:27.486Z,1628895927.486 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:05:27.890Z,1628895927.890 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB8,000,002EF,184,80,80,92,FF
2021-08-13T23:05:27.890Z,1628895927.890 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:05:27.890Z,1628895927.890 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:05:27.892Z,1628895927.892 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:05:28.302Z,1628895928.302 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:05:28.697Z,1628895928.697 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F9D,000,002FA,187,80,80,60,FF
2021-08-13T23:05:28.697Z,1628895928.697 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:05:29.130Z,1628895929.130 [Micromodem](INFO): Nmea in: $SNTTA,0.028913,,,,230529.43*49

2021-08-13T23:05:31.547Z,1628895931.547 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:05:31.937Z,1628895931.937 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:05:31.937Z,1628895931.937 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:05:31.937Z,1628895931.937 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:05:31.938Z,1628895931.938 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:05:32.333Z,1628895932.333 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F9D,000,002FA,187,80,80,60,FF
2021-08-13T23:05:32.334Z,1628895932.334 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:05:32.334Z,1628895932.334 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:05:32.335Z,1628895932.335 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:05:32.745Z,1628895932.745 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:05:33.141Z,1628895933.141 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA7,000,0031E,184,80,80,9B,FF
2021-08-13T23:05:33.142Z,1628895933.142 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:05:33.577Z,1628895933.577 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230533.87*55

2021-08-13T23:05:33.597Z,1628895933.597 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): Detected possible detachment. Starting timer.
2021-08-13T23:05:35.983Z,1628895935.983 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:05:36.401Z,1628895936.401 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:05:36.401Z,1628895936.401 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:05:36.401Z,1628895936.401 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:05:36.402Z,1628895936.402 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:05:36.784Z,1628895936.784 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA7,000,0031E,184,80,80,9B,FF
2021-08-13T23:05:36.784Z,1628895936.784 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:05:36.784Z,1628895936.784 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:05:36.786Z,1628895936.786 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:05:37.196Z,1628895937.196 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:05:37.605Z,1628895937.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F6E,000,0031E,187,80,80,8E,FF
2021-08-13T23:05:37.605Z,1628895937.605 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:05:38.037Z,1628895938.037 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230538.32*50

2021-08-13T23:05:40.434Z,1628895940.434 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:05:40.830Z,1628895940.830 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:05:40.830Z,1628895940.830 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:05:40.831Z,1628895940.831 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:05:40.840Z,1628895940.840 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:05:41.229Z,1628895941.229 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F6E,000,0031E,187,80,80,8E,FF
2021-08-13T23:05:41.230Z,1628895941.230 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:05:41.230Z,1628895941.230 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:05:41.231Z,1628895941.231 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:05:41.649Z,1628895941.649 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:05:42.050Z,1628895942.050 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F6C,000,0031C,186,80,80,84,FF
2021-08-13T23:05:42.050Z,1628895942.050 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:05:42.465Z,1628895942.465 [Micromodem](INFO): Nmea in: $SNTTA,0.008941,,,,230542.77*46

2021-08-13T23:05:44.935Z,1628895944.935 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:05:45.273Z,1628895945.273 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:05:45.273Z,1628895945.273 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:05:45.273Z,1628895945.273 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:05:45.274Z,1628895945.274 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:05:45.677Z,1628895945.677 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F6C,000,0031C,186,80,80,84,FF
2021-08-13T23:05:45.677Z,1628895945.677 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:05:45.677Z,1628895945.677 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:05:45.679Z,1628895945.679 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:05:46.085Z,1628895946.085 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:05:46.499Z,1628895946.499 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F6E,000,00325,187,80,80,95,FF
2021-08-13T23:05:46.501Z,1628895946.501 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:05:46.937Z,1628895946.937 [Micromodem](INFO): Nmea in: $SNTTA,0.034182,,,,230547.21*48

2021-08-13T23:05:49.325Z,1628895949.325 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:05:49.713Z,1628895949.713 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:05:49.713Z,1628895949.713 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:05:49.713Z,1628895949.713 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:05:49.714Z,1628895949.714 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:05:50.117Z,1628895950.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F6E,000,00325,187,80,80,95,FF
2021-08-13T23:05:50.117Z,1628895950.117 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:05:50.117Z,1628895950.117 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:05:50.119Z,1628895950.119 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:05:50.517Z,1628895950.517 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:05:50.945Z,1628895950.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F40,000,0032F,186,80,80,75,FF
2021-08-13T23:05:50.946Z,1628895950.946 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:05:53.766Z,1628895953.766 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): Detached at range: 11.40 m. Transitioning DDM to standby.
2021-08-13T23:05:53.766Z,1628895953.766 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:05:54.157Z,1628895954.157 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:05:54.157Z,1628895954.157 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:05:54.157Z,1628895954.157 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:05:54.158Z,1628895954.158 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:05:54.548Z,1628895954.548 [DDM](ERROR): Could not parse latch state
2021-08-13T23:05:54.557Z,1628895954.557 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F40,000,0032F,186,80,80,75,FF
2021-08-13T23:05:54.557Z,1628895954.557 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:05:54.557Z,1628895954.557 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:05:54.559Z,1628895954.559 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:05:54.972Z,1628895954.972 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:05:55.365Z,1628895955.365 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F3D,000,0033E,187,80,80,A5,FF
2021-08-13T23:05:55.365Z,1628895955.365 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:05:55.813Z,1628895955.813 [Micromodem](INFO): Nmea in: $SNTTA,0.010404,,,,230556.09*4F

2021-08-13T23:05:56.229Z,1628895956.229 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): DDM at standby.
2021-08-13T23:05:56.638Z,1628895956.638 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](IMPORTANT): Undocking sequence complete.
2021-08-13T23:05:56.638Z,1628895956.638 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock] Stopped
2021-08-13T23:05:56.638Z,1628895956.638 [lineCaptureDepth:Lap:Docked:Detach](INFO): Completed lineCaptureDepth:Lap:Docked:Detach
2021-08-13T23:05:56.638Z,1628895956.638 [lineCaptureDepth:Lap:Docked:Detach] Stopped
2021-08-13T23:05:56.638Z,1628895956.638 [lineCaptureDepth:Lap:Docked:Detach](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap:Docked:Detach
2021-08-13T23:05:56.639Z,1628895956.639 [lineCaptureDepth:Lap:Docked](INFO): Completed lineCaptureDepth:Lap:Docked
2021-08-13T23:05:56.639Z,1628895956.639 [lineCaptureDepth:Lap:Docked] Stopped
2021-08-13T23:05:56.639Z,1628895956.639 [lineCaptureDepth:Lap:Docked](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap:Docked
2021-08-13T23:05:56.639Z,1628895956.639 [lineCaptureDepth:Lap](INFO): Completed lineCaptureDepth:Lap
2021-08-13T23:05:56.639Z,1628895956.639 [lineCaptureDepth:Lap] Stopped
2021-08-13T23:05:56.639Z,1628895956.639 [lineCaptureDepth:Lap](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap
2021-08-13T23:05:56.640Z,1628895956.640 [lineCaptureDepth:Lap](INFO): Running loop #2
2021-08-13T23:05:56.640Z,1628895956.640 [lineCaptureDepth:Lap] Running Loop=2
2021-08-13T23:05:56.640Z,1628895956.640 [lineCaptureDepth:Lap](DEBUG): Aggregate::initialize lineCaptureDepth:Lap
2021-08-13T23:05:56.640Z,1628895956.640 [lineCaptureDepth:Lap:A] Running Loop=1
2021-08-13T23:05:57.013Z,1628895957.013 [lineCaptureDepth:Lap:A] Stopped
2021-08-13T23:05:57.013Z,1628895957.013 [lineCaptureDepth:Lap:B] Running Loop=1
2021-08-13T23:05:57.013Z,1628895957.013 [lineCaptureDepth:Lap:B](DEBUG): Aggregate::initialize lineCaptureDepth:Lap:B
2021-08-13T23:05:57.425Z,1628895957.425 [lineCaptureDepth:LineCapture] Running Loop=1
2021-08-13T23:05:57.425Z,1628895957.425 [lineCaptureDepth:LineCapture](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture
2021-08-13T23:05:57.425Z,1628895957.425 [lineCaptureDepth:LineCapture:StandardEnvelopes] Running Loop=1
2021-08-13T23:05:57.425Z,1628895957.425 [lineCaptureDepth:LineCapture:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:StandardEnvelopes
2021-08-13T23:05:57.425Z,1628895957.425 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-08-13T23:05:57.425Z,1628895957.425 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2021-08-13T23:05:57.426Z,1628895957.426 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-08-13T23:05:57.426Z,1628895957.426 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2021-08-13T23:05:57.426Z,1628895957.426 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-08-13T23:05:57.426Z,1628895957.426 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2021-08-13T23:05:57.426Z,1628895957.426 [lineCaptureDepth:LineCapture:G] Running Loop=1
2021-08-13T23:05:57.426Z,1628895957.426 [lineCaptureDepth:LineCapture:H] Running Loop=1
2021-08-13T23:05:57.426Z,1628895957.426 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-08-13T23:05:57.426Z,1628895957.426 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-13T23:05:57.426Z,1628895957.426 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-08-13T23:05:57.426Z,1628895957.426 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-08-13T23:05:57.427Z,1628895957.427 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2021-08-13T23:05:57.427Z,1628895957.427 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-08-13T23:05:57.427Z,1628895957.427 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-08-13T23:05:57.427Z,1628895957.427 [lineCaptureDepth:LineCapture:A] Running Loop=1
2021-08-13T23:05:57.427Z,1628895957.427 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2021-08-13T23:05:57.427Z,1628895957.427 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-13T23:05:57.427Z,1628895957.427 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2021-08-13T23:05:57.427Z,1628895957.427 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2021-08-13T23:05:57.428Z,1628895957.428 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2021-08-13T23:05:57.428Z,1628895957.428 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2021-08-13T23:05:57.428Z,1628895957.428 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-08-13T23:05:57.430Z,1628895957.430 [lineCaptureDepth:LineCapture:A] Stopped
2021-08-13T23:05:57.430Z,1628895957.430 [lineCaptureDepth:LineCapture:B] Running Loop=1
2021-08-13T23:05:57.806Z,1628895957.806 [lineCaptureDepth:LineCapture:B] Stopped
2021-08-13T23:05:57.807Z,1628895957.807 [lineCaptureDepth:LineCapture:D] Running Loop=1
2021-08-13T23:05:58.223Z,1628895958.223 [lineCaptureDepth:LineCapture:D] Stopped
2021-08-13T23:05:58.223Z,1628895958.223 [lineCaptureDepth:LineCapture:E] Running Loop=1
2021-08-13T23:05:58.229Z,1628895958.229 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:05:58.565Z,1628895958.565 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:05:58.565Z,1628895958.565 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:05:58.565Z,1628895958.565 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:05:58.566Z,1628895958.566 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:05:58.595Z,1628895958.595 [lineCaptureDepth:LineCapture:E] Stopped
2021-08-13T23:05:58.595Z,1628895958.595 [lineCaptureDepth:LineCapture:F] Running Loop=1
2021-08-13T23:05:58.969Z,1628895958.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F3D,000,0033E,187,80,80,A5,FF
2021-08-13T23:05:58.969Z,1628895958.969 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:05:58.969Z,1628895958.969 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:05:58.972Z,1628895958.972 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:05:59.157Z,1628895959.157 [lineCaptureDepth:LineCapture:F] Stopped
2021-08-13T23:05:59.157Z,1628895959.157 [lineCaptureDepth:LineCapture:HomingSequence] Running Loop=1
2021-08-13T23:05:59.157Z,1628895959.157 [lineCaptureDepth:LineCapture:HomingSequence](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence
2021-08-13T23:05:59.157Z,1628895959.157 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2021-08-13T23:05:59.158Z,1628895959.158 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-08-13T23:05:59.158Z,1628895959.158 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide] Running Loop=1
2021-08-13T23:05:59.158Z,1628895959.158 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-08-13T23:05:59.159Z,1628895959.159 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Running Loop=1
2021-08-13T23:05:59.159Z,1628895959.159 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize.
2021-08-13T23:05:59.159Z,1628895959.159 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2021-08-13T23:05:59.164Z,1628895959.164 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2021-08-13T23:05:59.165Z,1628895959.165 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-08-13T23:05:59.165Z,1628895959.165 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2021-08-13T23:05:59.165Z,1628895959.165 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-08-13T23:05:59.166Z,1628895959.166 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2021-08-13T23:05:59.166Z,1628895959.166 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2021-08-13T23:05:59.166Z,1628895959.166 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2021-08-13T23:05:59.166Z,1628895959.166 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2021-08-13T23:05:59.166Z,1628895959.166 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2021-08-13T23:05:59.166Z,1628895959.166 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2021-08-13T23:05:59.166Z,1628895959.166 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-13T23:05:59.166Z,1628895959.166 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2021-08-13T23:05:59.167Z,1628895959.167 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-13T23:05:59.167Z,1628895959.167 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1
2021-08-13T23:05:59.167Z,1628895959.167 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Initialize.
2021-08-13T23:05:59.167Z,1628895959.167 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2021-08-13T23:05:59.167Z,1628895959.167 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2021-08-13T23:05:59.167Z,1628895959.167 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2021-08-13T23:05:59.377Z,1628895959.377 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:05:59.422Z,1628895959.422 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Stopped
2021-08-13T23:05:59.422Z,1628895959.422 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-13T23:05:59.422Z,1628895959.422 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2021-08-13T23:05:59.422Z,1628895959.422 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-13T23:05:59.422Z,1628895959.422 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2021-08-13T23:05:59.422Z,1628895959.422 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Stopped
2021-08-13T23:05:59.422Z,1628895959.422 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Stopped
2021-08-13T23:05:59.422Z,1628895959.422 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2021-08-13T23:05:59.422Z,1628895959.422 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2021-08-13T23:05:59.423Z,1628895959.423 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-08-13T23:05:59.423Z,1628895959.423 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2021-08-13T23:05:59.423Z,1628895959.423 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-08-13T23:05:59.423Z,1628895959.423 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2021-08-13T23:05:59.423Z,1628895959.423 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2021-08-13T23:05:59.423Z,1628895959.423 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2021-08-13T23:05:59.423Z,1628895959.423 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2021-08-13T23:05:59.782Z,1628895959.782 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F0A,000,0034A,186,80,80,74,FF
2021-08-13T23:05:59.783Z,1628895959.783 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:06:00.301Z,1628895960.301 [Micromodem](INFO): Nmea in: $SNTTA,0.035582,,,,230600.51*4A

2021-08-13T23:06:02.298Z,1628895962.298 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detaching from dock.
2021-08-13T23:06:02.656Z,1628895962.656 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Engaging thruster for 10.0 seconds (max) to disengage.
2021-08-13T23:06:02.658Z,1628895962.658 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:06:03.037Z,1628895963.037 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:06:03.037Z,1628895963.037 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:06:03.038Z,1628895963.038 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:06:03.039Z,1628895963.039 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:06:03.181Z,1628895963.181 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Thruster off.
2021-08-13T23:06:03.441Z,1628895963.441 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F0A,000,0034A,186,80,80,74,FF
2021-08-13T23:06:03.441Z,1628895963.441 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:06:03.441Z,1628895963.441 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:06:03.443Z,1628895963.443 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:06:03.519Z,1628895963.519 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detected possible detachment. Starting timer.
2021-08-13T23:06:03.859Z,1628895963.859 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:06:04.249Z,1628895964.249 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EEA,000,00358,187,80,80,68,FF
2021-08-13T23:06:04.250Z,1628895964.250 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:06:04.690Z,1628895964.690 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230604.98*5C

2021-08-13T23:06:07.153Z,1628895967.153 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:06:07.485Z,1628895967.485 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:06:07.485Z,1628895967.485 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:06:07.485Z,1628895967.485 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:06:07.486Z,1628895967.486 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:06:07.886Z,1628895967.886 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EEA,000,00358,187,80,80,68,FF
2021-08-13T23:06:07.886Z,1628895967.886 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:06:07.886Z,1628895967.886 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:06:07.888Z,1628895967.888 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:06:08.293Z,1628895968.293 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:06:08.697Z,1628895968.697 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB7,000,00363,186,80,80,79,FF
2021-08-13T23:06:08.698Z,1628895968.698 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:06:09.133Z,1628895969.133 [Micromodem](INFO): Nmea in: $SNTTA,0.039935,,,,230609.42*4D

2021-08-13T23:06:11.238Z,1628895971.238 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:06:11.521Z,1628895971.521 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:06:11.521Z,1628895971.521 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:06:11.521Z,1628895971.521 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:06:11.522Z,1628895971.522 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:06:11.933Z,1628895971.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EB7,000,00363,186,80,80,79,FF
2021-08-13T23:06:11.933Z,1628895971.933 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:06:11.933Z,1628895971.933 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:06:11.935Z,1628895971.935 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:06:12.326Z,1628895972.326 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:06:12.738Z,1628895972.738 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E65,000,0036B,186,80,80,87,FF
2021-08-13T23:06:12.738Z,1628895972.738 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:06:13.170Z,1628895973.170 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230613.47*58

2021-08-13T23:06:15.644Z,1628895975.644 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:06:15.961Z,1628895975.961 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:06:15.961Z,1628895975.961 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:06:15.961Z,1628895975.961 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:06:15.962Z,1628895975.962 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:06:16.410Z,1628895976.410 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E65,000,0036B,186,80,80,87,FF
2021-08-13T23:06:16.410Z,1628895976.410 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:06:16.410Z,1628895976.410 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:06:16.411Z,1628895976.411 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:06:16.816Z,1628895976.816 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:06:17.177Z,1628895977.177 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E74,000,00374,186,80,80,61,FF
2021-08-13T23:06:17.178Z,1628895977.178 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:06:17.606Z,1628895977.606 [Micromodem](INFO): Nmea in: $SNTTA,0.052061,,,,230617.95*4D

2021-08-13T23:06:20.038Z,1628895980.038 [PowerOnly](INFO): Powering down loadControl
2021-08-13T23:06:20.064Z,1628895980.064 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:06:20.413Z,1628895980.413 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:06:20.413Z,1628895980.413 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:06:20.413Z,1628895980.413 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:06:20.414Z,1628895980.414 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:06:20.825Z,1628895980.825 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E74,000,00374,186,80,80,61,FF
2021-08-13T23:06:20.825Z,1628895980.825 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:06:20.826Z,1628895980.826 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:06:20.831Z,1628895980.831 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:06:21.221Z,1628895981.221 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:06:21.625Z,1628895981.625 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E72,000,0037D,187,80,80,45,FF
2021-08-13T23:06:21.625Z,1628895981.625 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:06:22.049Z,1628895982.049 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230622.37*5D

2021-08-13T23:06:23.678Z,1628895983.678 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached at range: 16.08 m. Transitioning DDM to standby.
2021-08-13T23:06:24.465Z,1628895984.465 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:06:24.895Z,1628895984.895 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:06:24.895Z,1628895984.895 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:06:24.896Z,1628895984.896 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:06:24.897Z,1628895984.897 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:06:25.257Z,1628895985.257 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E72,000,0037D,187,80,80,45,FF
2021-08-13T23:06:25.257Z,1628895985.257 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:06:25.257Z,1628895985.257 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:06:25.259Z,1628895985.259 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:06:25.664Z,1628895985.664 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:06:26.089Z,1628895986.089 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB0,000,0038F,186,80,80,8C,FF
2021-08-13T23:06:26.090Z,1628895986.090 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:06:26.171Z,1628895986.171 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): DDM at standby.
2021-08-13T23:06:26.497Z,1628895986.497 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230626.80*55

2021-08-13T23:06:26.517Z,1628895986.517 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](IMPORTANT): Undocking sequence complete.
2021-08-13T23:06:26.518Z,1628895986.518 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Stopped
2021-08-13T23:06:26.518Z,1628895986.518 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B] Running Loop=1
2021-08-13T23:06:26.961Z,1628895986.961 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B](INFO): Transitioning to midcourse guidance.
2021-08-13T23:06:26.961Z,1628895986.961 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B] Stopped
2021-08-13T23:06:26.961Z,1628895986.961 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:C] Running Loop=1
2021-08-13T23:06:27.321Z,1628895987.321 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:C] Stopped
2021-08-13T23:06:27.321Z,1628895987.321 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-08-13T23:06:27.321Z,1628895987.321 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide] Stopped
2021-08-13T23:06:27.322Z,1628895987.322 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-08-13T23:06:27.322Z,1628895987.322 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-08-13T23:06:27.692Z,1628895987.692 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2021-08-13T23:06:27.692Z,1628895987.692 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-08-13T23:06:27.692Z,1628895987.692 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2021-08-13T23:06:27.693Z,1628895987.693 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-08-13T23:06:27.693Z,1628895987.693 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2021-08-13T23:06:27.693Z,1628895987.693 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2021-08-13T23:06:27.693Z,1628895987.693 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2021-08-13T23:06:27.693Z,1628895987.693 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2021-08-13T23:06:27.693Z,1628895987.693 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2021-08-13T23:06:27.694Z,1628895987.694 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Running Loop=1
2021-08-13T23:06:27.694Z,1628895987.694 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-08-13T23:06:27.694Z,1628895987.694 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Running Loop=1
2021-08-13T23:06:27.695Z,1628895987.695 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A](INFO): Transitioning to terminal guidance at range 17.160000 m 
2021-08-13T23:06:27.695Z,1628895987.695 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Stopped
2021-08-13T23:06:27.695Z,1628895987.695 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Running Loop=1
2021-08-13T23:06:27.696Z,1628895987.696 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A](INFO): Navigating to dock waypoint ( 41.552317 arcdeg , -70.708600 arcdeg )
2021-08-13T23:06:27.697Z,1628895987.697 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2021-08-13T23:06:27.697Z,1628895987.697 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Running Loop=1
2021-08-13T23:06:27.697Z,1628895987.697 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Initialize WaypointComponent.
2021-08-13T23:06:28.096Z,1628895988.096 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.00 m/s, pitch 20.00 deg, mass-position 2.95 mm (3 active estimators).
2021-08-13T23:06:28.117Z,1628895988.117 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Stopped
2021-08-13T23:06:28.117Z,1628895988.117 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-08-13T23:06:28.118Z,1628895988.118 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Stopped
2021-08-13T23:06:28.118Z,1628895988.118 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-08-13T23:06:28.119Z,1628895988.119 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-08-13T23:06:28.119Z,1628895988.119 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-13T23:06:28.119Z,1628895988.119 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-08-13T23:06:28.120Z,1628895988.120 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-08-13T23:06:28.120Z,1628895988.120 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2021-08-13T23:06:28.121Z,1628895988.121 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-08-13T23:06:28.121Z,1628895988.121 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-08-13T23:06:28.494Z,1628895988.494 [lineCaptureDepth:UpdateNumPings_Terminal] Running Loop=1
2021-08-13T23:06:28.494Z,1628895988.494 [lineCaptureDepth:UpdateNumPings_Terminal](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal
2021-08-13T23:06:28.495Z,1628895988.495 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-13T23:06:28.495Z,1628895988.495 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T23:06:28.495Z,1628895988.495 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-13T23:06:28.496Z,1628895988.496 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-13T23:06:28.496Z,1628895988.496 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-13T23:06:28.496Z,1628895988.496 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-13T23:06:28.497Z,1628895988.497 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2021-08-13T23:06:28.497Z,1628895988.497 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-13T23:06:28.497Z,1628895988.497 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2021-08-13T23:06:28.497Z,1628895988.497 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-13T23:06:28.497Z,1628895988.497 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1
2021-08-13T23:06:28.497Z,1628895988.497 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Initialize.
2021-08-13T23:06:28.498Z,1628895988.498 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2021-08-13T23:06:28.498Z,1628895988.498 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2021-08-13T23:06:28.498Z,1628895988.498 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2021-08-13T23:06:28.499Z,1628895988.499 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A](INFO): Terminal guidance.
2021-08-13T23:06:28.499Z,1628895988.499 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2021-08-13T23:06:28.499Z,1628895988.499 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture] Running Loop=1
2021-08-13T23:06:28.499Z,1628895988.499 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initialize.
2021-08-13T23:06:28.499Z,1628895988.499 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initializing internal variables to default values.
2021-08-13T23:06:28.500Z,1628895988.500 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2021-08-13T23:06:28.501Z,1628895988.501 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Rollout timeout set to 900.00 sec.
2021-08-13T23:06:28.501Z,1628895988.501 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-13T23:06:28.501Z,1628895988.501 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2021-08-13T23:06:28.501Z,1628895988.501 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-08-13T23:06:28.501Z,1628895988.501 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2021-08-13T23:06:28.502Z,1628895988.502 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-08-13T23:06:28.502Z,1628895988.502 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2021-08-13T23:06:28.502Z,1628895988.502 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2021-08-13T23:06:28.502Z,1628895988.502 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2021-08-13T23:06:28.502Z,1628895988.502 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Stopped
2021-08-13T23:06:28.502Z,1628895988.502 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Uninitialize WaypointComponent.
2021-08-13T23:06:28.951Z,1628895988.951 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-13T23:06:28.951Z,1628895988.951 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T23:06:28.951Z,1628895988.951 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-13T23:06:28.951Z,1628895988.951 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T23:06:28.954Z,1628895988.954 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.160000 m, bearing: 53.697496 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-13T23:06:28.954Z,1628895988.954 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 17.16 m.
2021-08-13T23:06:28.955Z,1628895988.955 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 53.697496deg and heading rate command to 0 deg/s.
2021-08-13T23:06:28.963Z,1628895988.963 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:06:29.269Z,1628895989.269 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:06:29.269Z,1628895989.269 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:06:29.269Z,1628895989.269 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:06:29.270Z,1628895989.270 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:06:29.277Z,1628895989.277 [PowerOnly](INFO): Powering up loadControl
2021-08-13T23:06:29.774Z,1628895989.774 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EB0,000,0038F,186,80,80,8C,FF
2021-08-13T23:06:29.774Z,1628895989.774 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:06:29.774Z,1628895989.774 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:06:29.776Z,1628895989.776 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:06:30.156Z,1628895990.156 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:06:30.537Z,1628895990.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E03,000,002A2,187,80,80,59,FF
2021-08-13T23:06:30.537Z,1628895990.537 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:06:30.558Z,1628895990.558 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:06:31.014Z,1628895991.014 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 2.940000 m, bearing: 61.947159 deg, deltaT: 4.374012 s, approachRate: -3.251020 m/s, LOS rate: 1.886063 deg/s, posRepo size: 2
2021-08-13T23:06:31.014Z,1628895991.014 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 2.94 m.
2021-08-13T23:06:31.016Z,1628895991.016 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.940000 m,
      bearing: 61.947159 deg,
      approachRate: -3.251020 m/s,
      LOS rate: 1.886063 deg/s,
      cmd update: 5.658190 deg/s,
      cmd heading: 53.697496 deg,
      new cmd heading: 53.697496 deg.

2021-08-13T23:06:33.378Z,1628895993.378 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:06:33.741Z,1628895993.741 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:06:33.741Z,1628895993.741 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:06:33.741Z,1628895993.741 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:06:33.742Z,1628895993.742 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:06:34.177Z,1628895994.177 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E03,000,002A2,187,80,80,59,FF
2021-08-13T23:06:34.177Z,1628895994.177 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:06:34.177Z,1628895994.177 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:06:34.179Z,1628895994.179 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:06:34.553Z,1628895994.553 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:06:34.954Z,1628895994.954 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DF5,000,0038E,187,80,80,3A,FF
2021-08-13T23:06:34.954Z,1628895994.954 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:06:35.014Z,1628895995.014 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:06:35.385Z,1628895995.385 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230635.71*59

2021-08-13T23:06:35.423Z,1628895995.423 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.100002 m, bearing: 58.867215 deg, deltaT: 4.455883 s, approachRate: 3.177822 m/s, LOS rate: -0.691208 deg/s, posRepo size: 3
2021-08-13T23:06:35.428Z,1628895995.428 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 17.10 m.
2021-08-13T23:06:35.430Z,1628895995.430 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.100002 m,
      bearing: 58.867215 deg,
      approachRate: 3.177822 m/s,
      LOS rate: -0.691208 deg/s,
      cmd update: -2.073625 deg/s,
      cmd heading: 78.796009 deg,
      new cmd heading: 81.243640 deg.

2021-08-13T23:06:37.803Z,1628895997.803 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:06:38.185Z,1628895998.185 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:06:38.185Z,1628895998.185 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:06:38.185Z,1628895998.185 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:06:38.186Z,1628895998.186 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:06:38.597Z,1628895998.597 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DF5,000,0038E,187,80,80,3A,FF
2021-08-13T23:06:38.597Z,1628895998.597 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:06:38.598Z,1628895998.598 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:06:38.599Z,1628895998.599 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:06:38.997Z,1628895998.997 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:06:39.401Z,1628895999.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA6,000,0037B,186,80,80,32,FF
2021-08-13T23:06:39.402Z,1628895999.402 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:06:39.456Z,1628895999.456 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:06:39.850Z,1628895999.850 [Micromodem](INFO): Nmea in: $SNTTA,0.013236,,,,230640.13*44

2021-08-13T23:06:39.879Z,1628895999.879 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.960001 m, bearing: 56.200333 deg, deltaT: 4.442503 s, approachRate: -0.256612 m/s, LOS rate: -0.600311 deg/s, posRepo size: 4
2021-08-13T23:06:39.880Z,1628895999.880 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 15.96 m.
2021-08-13T23:06:39.883Z,1628895999.883 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.960001 m,
      bearing: 56.200333 deg,
      approachRate: -0.256612 m/s,
      LOS rate: -0.600311 deg/s,
      cmd update: -1.800932 deg/s,
      cmd heading: 69.592779 deg,
      new cmd heading: 68.660833 deg.

2021-08-13T23:06:42.270Z,1628896002.270 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:06:42.633Z,1628896002.633 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:06:42.633Z,1628896002.633 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:06:42.633Z,1628896002.633 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:06:42.634Z,1628896002.634 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:06:43.061Z,1628896003.061 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EA6,000,0037B,186,80,80,32,FF
2021-08-13T23:06:43.061Z,1628896003.061 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:06:43.061Z,1628896003.061 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:06:43.063Z,1628896003.063 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:06:43.452Z,1628896003.452 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:06:43.858Z,1628896003.858 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F27,000,0035F,186,80,80,A5,FF
2021-08-13T23:06:43.858Z,1628896003.858 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:06:43.887Z,1628896003.887 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:06:44.277Z,1628896004.277 [Micromodem](INFO): Nmea in: $SNTTA,0.035170,,,,230644.60*41

2021-08-13T23:06:44.314Z,1628896004.314 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.280000 m, bearing: 59.461769 deg, deltaT: 4.434250 s, approachRate: -0.378869 m/s, LOS rate: 0.735510 deg/s, posRepo size: 4
2021-08-13T23:06:44.315Z,1628896004.315 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 14.28 m.
2021-08-13T23:06:44.315Z,1628896004.315 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 14.28 m.
2021-08-13T23:06:44.315Z,1628896004.315 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-13T23:06:44.317Z,1628896004.317 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.280000 m,
      bearing: 59.461769 deg,
      approachRate: -0.378869 m/s,
      LOS rate: 0.735510 deg/s,
      cmd update: 2.206530 deg/s,
      cmd heading: 61.573718 deg,
      new cmd heading: 60.794501 deg.

2021-08-13T23:06:46.696Z,1628896006.696 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:06:47.093Z,1628896007.093 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:06:47.093Z,1628896007.093 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:06:47.093Z,1628896007.093 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:06:47.094Z,1628896007.094 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:06:47.489Z,1628896007.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F27,000,0035F,186,80,80,A5,FF
2021-08-13T23:06:47.489Z,1628896007.489 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:06:47.489Z,1628896007.489 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:06:47.491Z,1628896007.491 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:06:47.917Z,1628896007.917 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:06:48.305Z,1628896008.305 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD3,000,00343,185,80,80,4E,FF
2021-08-13T23:06:48.305Z,1628896008.305 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:06:48.362Z,1628896008.362 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:06:48.738Z,1628896008.738 [Micromodem](INFO): Nmea in: $SNTTA,0.051094,,,,230649.03*40

2021-08-13T23:06:48.754Z,1628896008.754 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.599998 m, bearing: 64.394081 deg, deltaT: 4.471800 s, approachRate: -0.375688 m/s, LOS rate: 1.102981 deg/s, posRepo size: 4
2021-08-13T23:06:48.756Z,1628896008.756 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.599998 m,
      bearing: 64.394081 deg,
      approachRate: -0.375688 m/s,
      LOS rate: 1.102981 deg/s,
      cmd update: 3.308944 deg/s,
      cmd heading: 71.454344 deg,
      new cmd heading: 72.325134 deg.

2021-08-13T23:06:51.201Z,1628896011.201 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:06:51.525Z,1628896011.525 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:06:51.525Z,1628896011.525 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:06:51.525Z,1628896011.525 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:06:51.526Z,1628896011.526 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:06:51.937Z,1628896011.937 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD3,000,00343,185,80,80,4E,FF
2021-08-13T23:06:51.937Z,1628896011.937 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:06:51.937Z,1628896011.937 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:06:51.939Z,1628896011.939 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:06:52.344Z,1628896012.344 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:06:52.741Z,1628896012.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,090,000,0032F,186,80,80,7D,FF
2021-08-13T23:06:52.741Z,1628896012.741 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:06:52.791Z,1628896012.791 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:06:53.193Z,1628896013.193 [Micromodem](INFO): Nmea in: $SNTTA,0.009909,,,,230653.47*4B

2021-08-13T23:06:53.301Z,1628896013.301 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.400001 m, bearing: 64.616342 deg, deltaT: 4.428360 s, approachRate: -0.270980 m/s, LOS rate: 0.050190 deg/s, posRepo size: 4
2021-08-13T23:06:53.303Z,1628896013.303 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.400001 m,
      bearing: 64.616342 deg,
      approachRate: -0.270980 m/s,
      LOS rate: 0.050190 deg/s,
      cmd update: 0.150571 deg/s,
      cmd heading: 86.094191 deg,
      new cmd heading: 87.804224 deg.

2021-08-13T23:06:55.597Z,1628896015.597 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:06:55.977Z,1628896015.977 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:06:55.978Z,1628896015.978 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:06:55.978Z,1628896015.978 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:06:55.979Z,1628896015.979 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:06:56.429Z,1628896016.429 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
090,000,0032F,186,80,80,7D,FF
2021-08-13T23:06:56.429Z,1628896016.429 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:06:56.429Z,1628896016.429 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:06:56.431Z,1628896016.431 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:06:56.800Z,1628896016.800 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:06:57.197Z,1628896017.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,13B,000,002F9,186,80,80,95,FF
2021-08-13T23:06:57.197Z,1628896017.197 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:06:57.295Z,1628896017.295 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:06:57.615Z,1628896017.615 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230657.97*55

2021-08-13T23:06:57.658Z,1628896017.658 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.160001 m, bearing: 69.392775 deg, deltaT: 4.504115 s, approachRate: -0.719342 m/s, LOS rate: 1.060460 deg/s, posRepo size: 4
2021-08-13T23:06:57.660Z,1628896017.660 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.160001 m,
      bearing: 69.392775 deg,
      approachRate: -0.719342 m/s,
      LOS rate: 1.060460 deg/s,
      cmd update: 3.181380 deg/s,
      cmd heading: 86.772387 deg,
      new cmd heading: 86.828130 deg.

2021-08-13T23:07:00.043Z,1628896020.043 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:07:00.417Z,1628896020.417 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:07:00.417Z,1628896020.417 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:07:00.417Z,1628896020.417 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:07:00.418Z,1628896020.418 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:07:00.841Z,1628896020.841 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
13B,000,002F9,186,80,80,95,FF
2021-08-13T23:07:00.841Z,1628896020.841 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:07:00.842Z,1628896020.842 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:07:00.851Z,1628896020.851 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:07:01.224Z,1628896021.224 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:07:01.633Z,1628896021.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,19F,000,002E0,185,80,80,AD,FF
2021-08-13T23:07:01.634Z,1628896021.634 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:07:01.654Z,1628896021.654 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:07:02.057Z,1628896022.057 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230702.39*50

2021-08-13T23:07:02.082Z,1628896022.082 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 6.660000 m, bearing: 67.003145 deg, deltaT: 4.359284 s, approachRate: -0.344093 m/s, LOS rate: -0.548170 deg/s, posRepo size: 4
2021-08-13T23:07:02.086Z,1628896022.086 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.660000 m,
      bearing: 67.003145 deg,
      approachRate: -0.344093 m/s,
      LOS rate: -0.548170 deg/s,
      cmd update: -1.644511 deg/s,
      cmd heading: 100.653417 deg,
      new cmd heading: 102.015811 deg.

2021-08-13T23:07:04.493Z,1628896024.493 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:07:04.903Z,1628896024.903 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:07:04.903Z,1628896024.903 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:07:04.904Z,1628896024.904 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:07:04.905Z,1628896024.905 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:07:05.265Z,1628896025.265 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
19F,000,002E0,185,80,80,AD,FF
2021-08-13T23:07:05.266Z,1628896025.266 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:07:05.266Z,1628896025.266 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:07:05.267Z,1628896025.267 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:07:05.695Z,1628896025.695 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:07:06.069Z,1628896026.069 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2EE,000,002B4,189,80,80,89,FF
2021-08-13T23:07:06.069Z,1628896026.069 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:07:06.094Z,1628896026.094 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:07:06.509Z,1628896026.509 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230706.80*56

2021-08-13T23:07:06.549Z,1628896026.549 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.020000 m, bearing: 57.875731 deg, deltaT: 4.439861 s, approachRate: -0.594613 m/s, LOS rate: -2.055788 deg/s, posRepo size: 4
2021-08-13T23:07:06.551Z,1628896026.551 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.020000 m,
      bearing: 57.875731 deg,
      approachRate: -0.594613 m/s,
      LOS rate: -2.055788 deg/s,
      cmd update: -6.167365 deg/s,
      cmd heading: 93.351960 deg,
      new cmd heading: 92.599159 deg.

2021-08-13T23:07:08.975Z,1628896028.975 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:07:09.301Z,1628896029.301 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:07:09.301Z,1628896029.301 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:07:09.301Z,1628896029.301 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:07:09.302Z,1628896029.302 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:07:09.709Z,1628896029.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2EE,000,002B4,189,80,80,89,FF
2021-08-13T23:07:09.709Z,1628896029.709 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:07:09.709Z,1628896029.709 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:07:09.711Z,1628896029.711 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:07:10.145Z,1628896030.145 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:07:10.517Z,1628896030.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4DB,000,002BF,189,80,80,A1,FF
2021-08-13T23:07:10.517Z,1628896030.517 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:07:10.570Z,1628896030.570 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:07:10.965Z,1628896030.965 [Micromodem](INFO): Nmea in: $SNTTA,0.046500,,,,230711.24*47

2021-08-13T23:07:11.035Z,1628896031.035 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.679999 m, bearing: 26.598092 deg, deltaT: 4.475545 s, approachRate: 0.147468 m/s, LOS rate: -6.988565 deg/s, posRepo size: 4
2021-08-13T23:07:11.041Z,1628896031.041 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.679999 m,
      bearing: 26.598092 deg,
      approachRate: 0.147468 m/s,
      LOS rate: -6.988565 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 65.774440 deg,
      new cmd heading: 62.899646 deg.

2021-08-13T23:07:13.422Z,1628896033.422 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:07:13.777Z,1628896033.777 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:07:13.777Z,1628896033.777 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:07:13.777Z,1628896033.777 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:07:13.778Z,1628896033.778 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:07:14.185Z,1628896034.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
4DB,000,002BF,189,80,80,A1,FF
2021-08-13T23:07:14.185Z,1628896034.185 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:07:14.186Z,1628896034.186 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:07:14.187Z,1628896034.187 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:07:14.585Z,1628896034.585 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:07:14.990Z,1628896034.990 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0EB,000,002D7,187,80,80,7E,FF
2021-08-13T23:07:14.990Z,1628896034.990 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:07:15.058Z,1628896035.058 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:07:15.421Z,1628896035.421 [Micromodem](INFO): Nmea in: $SNTTA,0.055960,,,,230715.72*48

2021-08-13T23:07:15.475Z,1628896035.475 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 6.119999 m, bearing: 60.634328 deg, deltaT: 4.488390 s, approachRate: 0.320828 m/s, LOS rate: 7.583172 deg/s, posRepo size: 4
2021-08-13T23:07:15.479Z,1628896035.479 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.119999 m,
      bearing: 60.634328 deg,
      approachRate: 0.320828 m/s,
      LOS rate: 7.583172 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 11.915415 deg,
      new cmd heading: 6.827823 deg.

2021-08-13T23:07:17.838Z,1628896037.838 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:07:18.217Z,1628896038.217 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:07:18.217Z,1628896038.217 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:07:18.217Z,1628896038.217 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:07:18.218Z,1628896038.218 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:07:18.637Z,1628896038.637 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0EB,000,002D7,187,80,80,7E,FF
2021-08-13T23:07:18.637Z,1628896038.637 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:07:18.637Z,1628896038.637 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:07:18.639Z,1628896038.639 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:07:19.033Z,1628896039.033 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:07:19.857Z,1628896039.857 [Micromodem](INFO): Nmea in: $SNTTA,0.048817,,,,230720.17*40

2021-08-13T23:07:20.658Z,1628896040.658 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:07:22.261Z,1628896042.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
7,187,80,80,7E,FF
2021-08-13T23:07:22.261Z,1628896042.261 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
7,187,80,80,7E,FF
2021-08-13T23:07:22.261Z,1628896042.261 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T23:07:23.166Z,1628896043.166 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:07:23.485Z,1628896043.485 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:07:23.485Z,1628896043.485 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:07:23.485Z,1628896043.485 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:07:23.486Z,1628896043.486 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:07:23.882Z,1628896043.882 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
7,187,80,80,7E,FF
2021-08-13T23:07:23.882Z,1628896043.882 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:07:23.882Z,1628896043.882 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:07:23.885Z,1628896043.885 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:07:24.292Z,1628896044.292 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:07:24.685Z,1628896044.685 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,32B,000,00314,189,80,80,B0,FF
2021-08-13T23:07:24.685Z,1628896044.685 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:07:24.706Z,1628896044.706 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:07:25.153Z,1628896045.153 [Micromodem](INFO): Nmea in: $SNTTA,0.029369,,,,230725.42*40

2021-08-13T23:07:25.217Z,1628896045.217 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.780002 m, bearing: 358.783389 deg, deltaT: 9.647928 s, approachRate: 0.379356 m/s, LOS rate: -6.410799 deg/s, posRepo size: 4
2021-08-13T23:07:25.219Z,1628896045.219 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.780002 m,
      bearing: 358.783389 deg,
      approachRate: 0.379356 m/s,
      LOS rate: -6.410799 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 127.740439 deg,
      new cmd heading: 133.916011 deg.

2021-08-13T23:07:27.207Z,1628896047.207 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:07:27.533Z,1628896047.533 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:07:27.533Z,1628896047.533 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:07:27.533Z,1628896047.533 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:07:27.534Z,1628896047.534 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:07:27.560Z,1628896047.560 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
32B,000,00314,189,80,80,B0,FF
2021-08-13T23:07:27.560Z,1628896047.560 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:07:27.560Z,1628896047.560 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:07:27.562Z,1628896047.562 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:07:27.936Z,1628896047.936 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:07:28.354Z,1628896048.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,011,000,00336,183,80,80,57,FF
2021-08-13T23:07:28.354Z,1628896048.354 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:07:28.385Z,1628896048.385 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:07:28.739Z,1628896048.739 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230729.10*52

2021-08-13T23:07:28.784Z,1628896048.784 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.820001 m, bearing: 45.127886 deg, deltaT: 3.678720 s, approachRate: 0.554540 m/s, LOS rate: 12.597994 deg/s, posRepo size: 4
2021-08-13T23:07:28.785Z,1628896048.785 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.597994 deg/s. Setting heading cmd to target bearing of 45.127886deg and heading rate command to 0 deg/s.
2021-08-13T23:07:31.265Z,1628896051.265 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:07:31.582Z,1628896051.582 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:07:31.582Z,1628896051.582 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:07:31.582Z,1628896051.582 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:07:31.583Z,1628896051.583 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:07:32.001Z,1628896052.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
011,000,00336,183,80,80,57,FF
2021-08-13T23:07:32.001Z,1628896052.001 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:07:32.001Z,1628896052.001 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:07:32.003Z,1628896052.003 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:07:32.412Z,1628896052.412 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:07:32.805Z,1628896052.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2F0,000,00350,189,80,80,41,FF
2021-08-13T23:07:32.805Z,1628896052.805 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:07:32.906Z,1628896052.906 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:07:33.267Z,1628896053.267 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230733.54*59

2021-08-13T23:07:33.371Z,1628896053.371 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.380001 m, bearing: 24.482029 deg, deltaT: 4.521065 s, approachRate: 0.345052 m/s, LOS rate: -4.566591 deg/s, posRepo size: 4
2021-08-13T23:07:33.376Z,1628896053.376 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 13.38 m. Rolling out.
2021-08-13T23:07:33.377Z,1628896053.377 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-08-13T23:07:33.668Z,1628896053.668 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2021-08-13T23:07:33.668Z,1628896053.668 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-13T23:07:33.668Z,1628896053.668 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2021-08-13T23:07:33.669Z,1628896053.669 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2021-08-13T23:07:33.669Z,1628896053.669 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2021-08-13T23:07:33.669Z,1628896053.669 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2021-08-13T23:07:33.669Z,1628896053.669 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-08-13T23:07:35.673Z,1628896055.673 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:07:36.041Z,1628896056.041 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:07:36.041Z,1628896056.041 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:07:36.041Z,1628896056.041 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:07:36.042Z,1628896056.042 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:07:36.450Z,1628896056.450 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2F0,000,00350,189,80,80,41,FF
2021-08-13T23:07:36.450Z,1628896056.450 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:07:36.450Z,1628896056.450 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:07:36.453Z,1628896056.453 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:07:36.885Z,1628896056.885 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:07:37.259Z,1628896057.259 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FEF,000,0037D,183,80,80,47,FF
2021-08-13T23:07:37.259Z,1628896057.259 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:07:37.291Z,1628896057.291 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:07:37.685Z,1628896057.685 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230737.99*5C

2021-08-13T23:07:37.707Z,1628896057.707 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.079996 m, bearing: 70.999290 deg, deltaT: 4.385002 s, approachRate: 0.615734 m/s, LOS rate: 10.608265 deg/s, posRepo size: 4
2021-08-13T23:07:40.158Z,1628896060.158 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:07:40.482Z,1628896060.482 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:07:40.482Z,1628896060.482 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:07:40.482Z,1628896060.482 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:07:40.483Z,1628896060.483 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:07:40.925Z,1628896060.925 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FEF,000,0037D,183,80,80,47,FF
2021-08-13T23:07:40.925Z,1628896060.925 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:07:40.925Z,1628896060.925 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:07:40.926Z,1628896060.926 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:07:41.303Z,1628896061.303 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:07:41.693Z,1628896061.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FFF,000,003A1,183,80,80,34,FF
2021-08-13T23:07:41.693Z,1628896061.693 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:07:41.713Z,1628896061.713 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:07:42.121Z,1628896062.121 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230742.46*5C

2021-08-13T23:07:42.187Z,1628896062.187 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.240002 m, bearing: 60.652729 deg, deltaT: 4.422796 s, approachRate: 0.488380 m/s, LOS rate: -2.339371 deg/s, posRepo size: 4
2021-08-13T23:07:44.578Z,1628896064.578 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:07:44.937Z,1628896064.937 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:07:44.937Z,1628896064.937 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:07:44.937Z,1628896064.937 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:07:44.938Z,1628896064.938 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:07:45.333Z,1628896065.333 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FFF,000,003A1,183,80,80,34,FF
2021-08-13T23:07:45.334Z,1628896065.334 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:07:45.334Z,1628896065.334 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:07:45.337Z,1628896065.337 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:07:45.736Z,1628896065.736 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:07:46.163Z,1628896066.163 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD8,000,003A9,185,80,80,40,FF
2021-08-13T23:07:46.188Z,1628896066.188 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:07:46.245Z,1628896066.245 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:07:46.569Z,1628896066.569 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230746.87*55

2021-08-13T23:07:46.605Z,1628896066.605 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.719999 m, bearing: 56.559389 deg, deltaT: 4.531309 s, approachRate: 0.105929 m/s, LOS rate: -0.903346 deg/s, posRepo size: 4
2021-08-13T23:07:49.020Z,1628896069.020 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:07:49.369Z,1628896069.369 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:07:49.369Z,1628896069.369 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:07:49.369Z,1628896069.369 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:07:49.370Z,1628896069.370 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:07:49.773Z,1628896069.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD8,000,003A9,185,80,80,40,FF
2021-08-13T23:07:49.773Z,1628896069.773 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:07:49.773Z,1628896069.773 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:07:49.775Z,1628896069.775 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:07:50.198Z,1628896070.198 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:07:50.581Z,1628896070.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ECC,000,003B0,186,80,80,4A,FF
2021-08-13T23:07:50.581Z,1628896070.581 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:07:50.629Z,1628896070.629 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:07:51.001Z,1628896071.001 [Micromodem](INFO): Nmea in: $SNTTA,0.434167,0.434180,,,230751.31*57

2021-08-13T23:07:51.116Z,1628896071.116 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.140001 m, bearing: 68.495452 deg, deltaT: 4.384132 s, approachRate: 0.095800 m/s, LOS rate: 2.722560 deg/s, posRepo size: 4
2021-08-13T23:07:53.462Z,1628896073.462 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:07:53.817Z,1628896073.817 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:07:53.817Z,1628896073.817 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:07:53.817Z,1628896073.817 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:07:53.818Z,1628896073.818 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:07:54.225Z,1628896074.225 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ECC,000,003B0,186,80,80,4A,FF
2021-08-13T23:07:54.225Z,1628896074.225 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:07:54.225Z,1628896074.225 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:07:54.227Z,1628896074.227 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:07:54.633Z,1628896074.633 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:07:55.029Z,1628896075.029 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EAF,000,003B8,186,80,80,6E,FF
2021-08-13T23:07:55.030Z,1628896075.030 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:07:55.132Z,1628896075.132 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:07:55.469Z,1628896075.469 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230755.76*59

2021-08-13T23:07:55.520Z,1628896075.520 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.619999 m, bearing: 68.925529 deg, deltaT: 4.503544 s, approachRate: 0.106582 m/s, LOS rate: 0.095497 deg/s, posRepo size: 4
2021-08-13T23:07:57.897Z,1628896077.897 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:07:58.265Z,1628896078.265 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:07:58.265Z,1628896078.265 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:07:58.265Z,1628896078.265 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:07:58.266Z,1628896078.266 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:07:58.661Z,1628896078.661 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EAF,000,003B8,186,80,80,6E,FF
2021-08-13T23:07:58.661Z,1628896078.661 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:07:58.661Z,1628896078.661 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:07:58.663Z,1628896078.663 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:07:59.082Z,1628896079.082 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:07:59.477Z,1628896079.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EBA,000,003C1,186,80,80,6D,FF
2021-08-13T23:07:59.478Z,1628896079.478 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:07:59.522Z,1628896079.522 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:07:59.913Z,1628896079.913 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230800.20*55

2021-08-13T23:07:59.937Z,1628896079.937 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.160000 m, bearing: 67.605868 deg, deltaT: 4.389450 s, approachRate: 0.123022 m/s, LOS rate: -0.300644 deg/s, posRepo size: 4
2021-08-13T23:08:01.505Z,1628896081.505 [PowerOnly](INFO): Powering down loadControl
2021-08-13T23:08:02.341Z,1628896082.341 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:08:02.701Z,1628896082.701 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:08:02.701Z,1628896082.701 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:08:02.701Z,1628896082.701 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:08:02.702Z,1628896082.702 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:08:03.121Z,1628896083.121 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EBA,000,003C1,186,80,80,6D,FF
2021-08-13T23:08:03.121Z,1628896083.121 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:08:03.122Z,1628896083.122 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:08:03.128Z,1628896083.128 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:08:03.520Z,1628896083.520 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:08:03.925Z,1628896083.925 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,35E,000,003C8,189,80,80,54,FF
2021-08-13T23:08:03.925Z,1628896083.925 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:08:03.944Z,1628896083.944 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:08:04.361Z,1628896084.361 [Micromodem](INFO): Nmea in: $SNTTA,0.047733,,,,230804.66*49

2021-08-13T23:08:04.401Z,1628896084.401 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.580000 m, bearing: 7.344301 deg, deltaT: 4.422435 s, approachRate: 0.094970 m/s, LOS rate: -13.626332 deg/s, posRepo size: 4
2021-08-13T23:08:05.234Z,1628896085.234 [CTD_Seabird](ERROR): Failed to parse device response: 2,4.78773,2444.83
2021-08-13T23:08:06.762Z,1628896086.762 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:08:07.177Z,1628896087.177 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:08:07.177Z,1628896087.177 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:08:07.177Z,1628896087.177 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:08:07.178Z,1628896087.178 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:08:07.197Z,1628896087.197 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-13T23:08:07.549Z,1628896087.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
35E,000,003C8,189,80,80,54,FF
2021-08-13T23:08:07.549Z,1628896087.549 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:08:07.549Z,1628896087.549 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:08:07.551Z,1628896087.551 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:08:07.965Z,1628896087.965 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:08:08.361Z,1628896088.361 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,312,000,003CC,189,80,80,56,FF
2021-08-13T23:08:08.361Z,1628896088.361 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:08:08.410Z,1628896088.410 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:08:08.795Z,1628896088.795 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230809.08*56

2021-08-13T23:08:08.817Z,1628896088.817 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.820002 m, bearing: 10.793937 deg, deltaT: 4.465196 s, approachRate: 0.053749 m/s, LOS rate: 0.772561 deg/s, posRepo size: 4
2021-08-13T23:08:11.245Z,1628896091.245 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:08:11.589Z,1628896091.589 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:08:11.589Z,1628896091.589 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:08:11.589Z,1628896091.589 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:08:11.590Z,1628896091.590 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:08:11.993Z,1628896091.993 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
312,000,003CC,189,80,80,56,FF
2021-08-13T23:08:11.993Z,1628896091.993 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:08:11.993Z,1628896091.993 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:08:11.995Z,1628896091.995 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:08:12.405Z,1628896092.405 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:08:12.807Z,1628896092.807 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,344,000,003DB,189,80,80,39,FF
2021-08-13T23:08:12.808Z,1628896092.808 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:08:12.896Z,1628896092.896 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:08:13.245Z,1628896093.245 [Micromodem](INFO): Nmea in: $SNTTA,0.325064,,,,230813.53*4B

2021-08-13T23:08:13.354Z,1628896093.354 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.720001 m, bearing: 7.474656 deg, deltaT: 4.486686 s, approachRate: 0.200593 m/s, LOS rate: -0.739807 deg/s, posRepo size: 4
2021-08-13T23:08:15.658Z,1628896095.658 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:08:16.033Z,1628896096.033 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:08:16.033Z,1628896096.033 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:08:16.033Z,1628896096.033 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:08:16.034Z,1628896096.034 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:08:16.437Z,1628896096.437 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
344,000,003DB,189,80,80,39,FF
2021-08-13T23:08:16.437Z,1628896096.437 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:08:16.437Z,1628896096.437 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:08:16.439Z,1628896096.439 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:08:16.878Z,1628896096.878 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:08:17.254Z,1628896097.254 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2F9,000,003CE,189,80,80,64,FF
2021-08-13T23:08:17.254Z,1628896097.254 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:08:17.257Z,1628896097.257 [Micromodem](INFO): Nmea in: $SNTTA,0.141261,0.141130,,,230817.98*57

2021-08-13T23:08:17.290Z,1628896097.290 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:08:17.692Z,1628896097.692 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.939997 m, bearing: 10.606439 deg, deltaT: 4.393316 s, approachRate: -0.177543 m/s, LOS rate: 0.712852 deg/s, posRepo size: 4
2021-08-13T23:08:20.094Z,1628896100.094 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:08:20.482Z,1628896100.482 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:08:20.482Z,1628896100.482 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:08:20.482Z,1628896100.482 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:08:20.483Z,1628896100.483 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:08:20.913Z,1628896100.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2F9,000,003CE,189,80,80,64,FF
2021-08-13T23:08:20.913Z,1628896100.913 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:08:20.913Z,1628896100.913 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:08:20.915Z,1628896100.915 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:08:21.301Z,1628896101.301 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:08:21.689Z,1628896101.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2F2,000,003D4,189,80,80,65,FF
2021-08-13T23:08:21.689Z,1628896101.689 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:08:21.736Z,1628896101.736 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:08:22.116Z,1628896102.116 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230822.45*56

2021-08-13T23:08:22.169Z,1628896102.169 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.299999 m, bearing: 10.454425 deg, deltaT: 4.446634 s, approachRate: 0.080961 m/s, LOS rate: -0.034186 deg/s, posRepo size: 4
2021-08-13T23:08:24.542Z,1628896104.542 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:08:24.933Z,1628896104.933 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:08:24.933Z,1628896104.933 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:08:24.933Z,1628896104.933 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:08:24.934Z,1628896104.934 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:08:25.325Z,1628896105.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2F2,000,003D4,189,80,80,65,FF
2021-08-13T23:08:25.325Z,1628896105.325 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:08:25.325Z,1628896105.325 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:08:25.327Z,1628896105.327 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:08:25.732Z,1628896105.732 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:08:26.146Z,1628896106.146 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F8A,000,003E3,187,80,80,6D,FF
2021-08-13T23:08:26.147Z,1628896106.147 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:08:26.201Z,1628896106.201 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:08:26.578Z,1628896106.578 [Micromodem](INFO): Nmea in: $SNTTA,0.046157,,,,230826.86*42

2021-08-13T23:08:26.599Z,1628896106.599 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.199999 m, bearing: 53.883615 deg, deltaT: 4.465277 s, approachRate: 0.201555 m/s, LOS rate: 9.725979 deg/s, posRepo size: 4
2021-08-13T23:08:29.007Z,1628896109.007 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:08:29.385Z,1628896109.385 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:08:29.385Z,1628896109.385 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:08:29.385Z,1628896109.385 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:08:29.386Z,1628896109.386 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:08:29.769Z,1628896109.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F8A,000,003E3,187,80,80,6D,FF
2021-08-13T23:08:29.769Z,1628896109.769 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:08:29.769Z,1628896109.769 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:08:29.771Z,1628896109.771 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:08:30.189Z,1628896110.189 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:08:30.577Z,1628896110.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2A3,000,003D5,189,80,80,5E,FF
2021-08-13T23:08:30.578Z,1628896110.578 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:08:30.629Z,1628896110.629 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:08:31.014Z,1628896111.014 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230831.31*57

2021-08-13T23:08:31.054Z,1628896111.054 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.359999 m, bearing: 13.953136 deg, deltaT: 4.427494 s, approachRate: -0.189724 m/s, LOS rate: -9.018754 deg/s, posRepo size: 4
2021-08-13T23:08:33.437Z,1628896113.437 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:08:33.809Z,1628896113.809 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:08:33.809Z,1628896113.809 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:08:33.809Z,1628896113.809 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:08:33.810Z,1628896113.810 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:08:34.217Z,1628896114.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2A3,000,003D5,189,80,80,5E,FF
2021-08-13T23:08:34.217Z,1628896114.217 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:08:34.217Z,1628896114.217 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:08:34.219Z,1628896114.219 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:08:34.629Z,1628896114.629 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:08:35.025Z,1628896115.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,04E,000,003E2,185,80,80,6D,FF
2021-08-13T23:08:35.026Z,1628896115.026 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:08:35.029Z,1628896115.029 [Micromodem](INFO): Nmea in: $SNTTA,0.049989,0.211355,,,230835.75*57

2021-08-13T23:08:35.131Z,1628896115.131 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:08:35.485Z,1628896115.485 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.140001 m, bearing: 43.653105 deg, deltaT: 4.506961 s, approachRate: 0.173066 m/s, LOS rate: 6.589800 deg/s, posRepo size: 4
2021-08-13T23:08:37.889Z,1628896117.889 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:08:38.257Z,1628896118.257 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:08:38.257Z,1628896118.257 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:08:38.257Z,1628896118.257 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:08:38.258Z,1628896118.258 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:08:38.661Z,1628896118.661 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
04E,000,003E2,185,80,80,6D,FF
2021-08-13T23:08:38.661Z,1628896118.661 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:08:38.661Z,1628896118.661 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:08:38.663Z,1628896118.663 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:08:39.069Z,1628896119.069 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:08:39.477Z,1628896119.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F2C,000,003E0,186,80,80,67,FF
2021-08-13T23:08:39.477Z,1628896119.477 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:08:39.497Z,1628896119.497 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:08:39.909Z,1628896119.909 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230840.20*51

2021-08-13T23:08:39.943Z,1628896119.943 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.020000 m, bearing: 58.075118 deg, deltaT: 4.360745 s, approachRate: -0.027518 m/s, LOS rate: 3.307236 deg/s, posRepo size: 4
2021-08-13T23:08:42.341Z,1628896122.341 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:08:42.705Z,1628896122.705 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:08:42.705Z,1628896122.705 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:08:42.705Z,1628896122.705 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:08:42.706Z,1628896122.706 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:08:43.121Z,1628896123.121 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F2C,000,003E0,186,80,80,67,FF
2021-08-13T23:08:43.121Z,1628896123.121 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:08:43.121Z,1628896123.121 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:08:43.131Z,1628896123.131 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:08:43.518Z,1628896123.518 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:08:44.321Z,1628896124.321 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230844.67*56

2021-08-13T23:08:45.205Z,1628896125.205 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:08:45.937Z,1628896125.937 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F11,000,06369,186,80,80,84,FF
2021-08-13T23:08:45.938Z,1628896125.938 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:08:45.957Z,1628896125.957 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:08:46.401Z,1628896126.401 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1489.439941 m, bearing: 59.017739 deg, deltaT: 6.459952 s, approachRate: 227.156479 m/s, LOS rate: 0.145918 deg/s, posRepo size: 4
2021-08-13T23:08:46.781Z,1628896126.781 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-13T23:08:46.781Z,1628896126.781 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T23:08:46.782Z,1628896126.782 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-13T23:08:46.782Z,1628896126.782 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-13T23:08:46.782Z,1628896126.782 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-13T23:08:46.782Z,1628896126.782 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-13T23:08:47.239Z,1628896127.239 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-13T23:08:47.242Z,1628896127.242 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T23:08:47.242Z,1628896127.242 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-13T23:08:47.242Z,1628896127.242 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T23:08:48.804Z,1628896128.804 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:08:49.193Z,1628896129.193 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:08:49.193Z,1628896129.193 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:08:49.193Z,1628896129.193 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:08:49.194Z,1628896129.194 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:08:49.578Z,1628896129.578 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F11,000,06369,186,80,80,84,FF
2021-08-13T23:08:49.578Z,1628896129.578 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:08:49.578Z,1628896129.578 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:08:49.580Z,1628896129.580 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:08:49.976Z,1628896129.976 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:08:50.381Z,1628896130.381 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EFF,000,003E2,187,80,80,38,FF
2021-08-13T23:08:50.381Z,1628896130.381 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:08:50.832Z,1628896130.832 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230851.11*53

2021-08-13T23:08:50.923Z,1628896130.923 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.140001 m, bearing: 59.884510 deg, deltaT: 4.453789 s, approachRate: -329.449799 m/s, LOS rate: 0.194614 deg/s, posRepo size: 4
2021-08-13T23:08:51.232Z,1628896131.232 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-13T23:08:51.232Z,1628896131.232 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T23:08:51.232Z,1628896131.232 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-13T23:08:51.233Z,1628896131.233 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-13T23:08:51.233Z,1628896131.233 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-13T23:08:51.233Z,1628896131.233 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-13T23:08:51.614Z,1628896131.614 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-13T23:08:51.614Z,1628896131.614 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T23:08:51.614Z,1628896131.614 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-13T23:08:51.614Z,1628896131.614 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T23:08:53.270Z,1628896133.270 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:08:53.617Z,1628896133.617 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:08:53.618Z,1628896133.618 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:08:53.618Z,1628896133.618 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:08:53.619Z,1628896133.619 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:08:54.009Z,1628896134.009 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EFF,000,003E2,187,80,80,38,FF
2021-08-13T23:08:54.009Z,1628896134.009 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:08:54.009Z,1628896134.009 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:08:54.011Z,1628896134.011 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:08:54.433Z,1628896134.433 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:08:54.826Z,1628896134.826 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,22C,000,003D9,188,80,80,39,FF
2021-08-13T23:08:54.827Z,1628896134.827 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:08:54.915Z,1628896134.915 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:08:55.266Z,1628896135.266 [Micromodem](INFO): Nmea in: $SNTTA,0.027847,,,,230855.55*47

2021-08-13T23:08:55.331Z,1628896135.331 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.600000 m, bearing: 19.610561 deg, deltaT: 4.504225 s, approachRate: -0.119888 m/s, LOS rate: -8.941372 deg/s, posRepo size: 4
2021-08-13T23:08:57.685Z,1628896137.685 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:08:58.053Z,1628896138.053 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:08:58.053Z,1628896138.053 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:08:58.053Z,1628896138.053 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:08:58.054Z,1628896138.054 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:08:58.477Z,1628896138.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
22C,000,003D9,188,80,80,39,FF
2021-08-13T23:08:58.477Z,1628896138.477 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:08:58.477Z,1628896138.477 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:08:58.479Z,1628896138.479 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:08:58.918Z,1628896138.918 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:08:59.278Z,1628896139.278 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1CB,000,003DA,187,80,80,41,FF
2021-08-13T23:08:59.278Z,1628896139.278 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:08:59.331Z,1628896139.331 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:08:59.705Z,1628896139.705 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230900.01*57

2021-08-13T23:08:59.721Z,1628896139.721 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.659998 m, bearing: 24.627659 deg, deltaT: 4.428710 s, approachRate: 0.013547 m/s, LOS rate: 1.132858 deg/s, posRepo size: 4
2021-08-13T23:09:02.159Z,1628896142.159 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:09:02.525Z,1628896142.525 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:09:02.525Z,1628896142.525 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:09:02.525Z,1628896142.525 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:09:02.526Z,1628896142.526 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:09:02.933Z,1628896142.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1CB,000,003DA,187,80,80,41,FF
2021-08-13T23:09:02.933Z,1628896142.933 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:09:02.933Z,1628896142.933 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:09:02.935Z,1628896142.935 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:09:03.321Z,1628896143.321 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:09:03.709Z,1628896143.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB8,000,0044E,184,80,80,70,FF
2021-08-13T23:09:03.709Z,1628896143.709 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:09:03.757Z,1628896143.757 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:09:04.157Z,1628896144.157 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230904.47*51

2021-08-13T23:09:04.215Z,1628896144.215 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.620001 m, bearing: 51.467125 deg, deltaT: 4.413597 s, approachRate: 1.576946 m/s, LOS rate: 6.081086 deg/s, posRepo size: 4
2021-08-13T23:09:06.587Z,1628896146.587 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:09:06.949Z,1628896146.949 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:09:06.949Z,1628896146.949 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:09:06.950Z,1628896146.950 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:09:06.951Z,1628896146.951 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:09:07.342Z,1628896147.342 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB8,000,0044E,184,80,80,70,FF
2021-08-13T23:09:07.342Z,1628896147.342 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:09:07.342Z,1628896147.342 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:09:07.345Z,1628896147.345 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:09:07.764Z,1628896147.764 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:09:08.186Z,1628896148.186 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,14E,000,003E4,185,80,80,53,FF
2021-08-13T23:09:08.187Z,1628896148.187 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:09:08.261Z,1628896148.261 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:09:08.597Z,1628896148.597 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230908.88*5E

2021-08-13T23:09:08.635Z,1628896148.635 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.260002 m, bearing: 31.818566 deg, deltaT: 4.504278 s, approachRate: -1.411991 m/s, LOS rate: -4.362199 deg/s, posRepo size: 4
2021-08-13T23:09:11.029Z,1628896151.029 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:09:11.385Z,1628896151.385 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:09:11.385Z,1628896151.385 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:09:11.385Z,1628896151.385 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:09:11.386Z,1628896151.386 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:09:11.803Z,1628896151.803 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
14E,000,003E4,185,80,80,53,FF
2021-08-13T23:09:11.804Z,1628896151.804 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:09:11.804Z,1628896151.804 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:09:11.805Z,1628896151.805 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:09:12.201Z,1628896152.201 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:09:12.601Z,1628896152.601 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0DB,000,003D9,186,80,80,41,FF
2021-08-13T23:09:12.601Z,1628896152.601 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:09:12.621Z,1628896152.621 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:09:13.042Z,1628896153.042 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230913.34*53

2021-08-13T23:09:13.155Z,1628896153.155 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.600000 m, bearing: 37.987337 deg, deltaT: 4.359483 s, approachRate: -0.151395 m/s, LOS rate: 1.415023 deg/s, posRepo size: 4
2021-08-13T23:09:15.483Z,1628896155.483 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:09:15.837Z,1628896155.837 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:09:15.837Z,1628896155.837 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:09:15.837Z,1628896155.837 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:09:15.838Z,1628896155.838 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:09:16.237Z,1628896156.237 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0DB,000,003D9,186,80,80,41,FF
2021-08-13T23:09:16.237Z,1628896156.237 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:09:16.237Z,1628896156.237 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:09:16.239Z,1628896156.239 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:09:16.652Z,1628896156.652 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:09:17.045Z,1628896157.045 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FBC,000,003EE,185,80,80,54,FF
2021-08-13T23:09:17.045Z,1628896157.045 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:09:17.151Z,1628896157.151 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:09:17.493Z,1628896157.493 [Micromodem](INFO): Nmea in: $SNTTA,0.029921,,,,230917.77*4F

2021-08-13T23:09:17.523Z,1628896157.523 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.860001 m, bearing: 52.404568 deg, deltaT: 4.530951 s, approachRate: 0.278087 m/s, LOS rate: 3.181944 deg/s, posRepo size: 4
2021-08-13T23:09:19.909Z,1628896159.909 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:09:20.277Z,1628896160.277 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:09:20.277Z,1628896160.277 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:09:20.277Z,1628896160.277 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:09:20.278Z,1628896160.278 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:09:20.689Z,1628896160.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FBC,000,003EE,185,80,80,54,FF
2021-08-13T23:09:20.689Z,1628896160.689 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:09:20.689Z,1628896160.689 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:09:20.691Z,1628896160.691 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:09:21.097Z,1628896161.097 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:09:21.489Z,1628896161.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,008,000,003DC,183,80,80,81,FF
2021-08-13T23:09:21.489Z,1628896161.489 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:09:21.541Z,1628896161.541 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:09:21.933Z,1628896161.933 [Micromodem](INFO): Nmea in: $SNTTA,0.032352,,,,230922.22*4D

2021-08-13T23:09:21.960Z,1628896161.960 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.779999 m, bearing: 48.702944 deg, deltaT: 4.389314 s, approachRate: -0.246053 m/s, LOS rate: -0.843326 deg/s, posRepo size: 4
2021-08-13T23:09:24.350Z,1628896164.350 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:09:24.733Z,1628896164.733 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:09:24.733Z,1628896164.733 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:09:24.733Z,1628896164.733 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:09:24.734Z,1628896164.734 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:09:25.136Z,1628896165.136 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
008,000,003DC,183,80,80,81,FF
2021-08-13T23:09:25.137Z,1628896165.137 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:09:25.138Z,1628896165.138 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:09:25.169Z,1628896165.169 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:09:25.545Z,1628896165.545 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:09:25.941Z,1628896165.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,032,000,003D3,185,80,80,99,FF
2021-08-13T23:09:25.941Z,1628896165.941 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:09:25.945Z,1628896165.945 [Micromodem](INFO): Nmea in: $SNTTA,0.035867,0.103497,,,230926.71*53

2021-08-13T23:09:26.003Z,1628896166.003 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:09:26.383Z,1628896166.383 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.239996 m, bearing: 46.635353 deg, deltaT: 4.462205 s, approachRate: -0.121017 m/s, LOS rate: -0.463356 deg/s, posRepo size: 4
2021-08-13T23:09:28.788Z,1628896168.788 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:09:29.192Z,1628896169.192 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:09:29.193Z,1628896169.193 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:09:29.193Z,1628896169.193 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:09:29.194Z,1628896169.194 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:09:29.573Z,1628896169.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
032,000,003D3,185,80,80,99,FF
2021-08-13T23:09:29.573Z,1628896169.573 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:09:29.573Z,1628896169.573 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:09:29.575Z,1628896169.575 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:09:29.977Z,1628896169.977 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:09:30.810Z,1628896170.810 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230931.11*54

2021-08-13T23:09:31.629Z,1628896171.629 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:09:33.209Z,1628896173.209 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
3,185,80,80,99,FF
2021-08-13T23:09:33.209Z,1628896173.209 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
3,185,80,80,99,FF
2021-08-13T23:09:33.209Z,1628896173.209 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T23:09:34.459Z,1628896174.459 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:09:34.840Z,1628896174.840 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:09:34.841Z,1628896174.841 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:09:34.841Z,1628896174.841 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:09:34.842Z,1628896174.842 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:09:34.923Z,1628896174.923 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-13T23:09:35.230Z,1628896175.230 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
3,185,80,80,99,FF
2021-08-13T23:09:35.230Z,1628896175.230 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:09:35.230Z,1628896175.230 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:09:35.232Z,1628896175.232 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:09:35.610Z,1628896175.610 [CTD_Seabird](ERROR): Failed to parse device response: 6.88,60
2021-08-13T23:09:35.632Z,1628896175.632 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:09:36.033Z,1628896176.033 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,05B,000,003D3,186,80,80,C6,FF
2021-08-13T23:09:36.033Z,1628896176.033 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:09:36.052Z,1628896176.052 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:09:36.477Z,1628896176.477 [Micromodem](INFO): Nmea in: $SNTTA,0.032625,,,,230936.77*4D

2021-08-13T23:09:36.523Z,1628896176.523 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.239996 m, bearing: 43.782800 deg, deltaT: 10.049293 s, approachRate: 0.000000 m/s, LOS rate: -0.283856 deg/s, posRepo size: 4
2021-08-13T23:09:38.960Z,1628896178.960 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:09:39.269Z,1628896179.269 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:09:39.269Z,1628896179.269 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:09:39.269Z,1628896179.269 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:09:39.270Z,1628896179.270 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:09:39.681Z,1628896179.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
05B,000,003D3,186,80,80,C6,FF
2021-08-13T23:09:39.681Z,1628896179.681 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:09:39.682Z,1628896179.682 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:09:39.683Z,1628896179.683 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:09:40.076Z,1628896180.076 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:09:40.485Z,1628896180.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,01B,000,003E0,185,80,80,6E,FF
2021-08-13T23:09:40.485Z,1628896180.485 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:09:40.538Z,1628896180.538 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:09:40.934Z,1628896180.934 [Micromodem](INFO): Nmea in: $SNTTA,0.479157,0.479032,,,230941.22*51

2021-08-13T23:09:40.974Z,1628896180.974 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.020000 m, bearing: 46.552022 deg, deltaT: 4.485875 s, approachRate: 0.173880 m/s, LOS rate: 0.617320 deg/s, posRepo size: 4
2021-08-13T23:09:43.344Z,1628896183.344 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:09:43.709Z,1628896183.709 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:09:43.709Z,1628896183.709 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:09:43.709Z,1628896183.709 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:09:43.710Z,1628896183.710 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:09:44.116Z,1628896184.116 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
01B,000,003E0,185,80,80,6E,FF
2021-08-13T23:09:44.117Z,1628896184.117 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:09:44.117Z,1628896184.117 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:09:44.123Z,1628896184.123 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:09:44.520Z,1628896184.520 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:09:44.933Z,1628896184.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F7A,000,003E7,187,80,80,50,FF
2021-08-13T23:09:44.933Z,1628896184.933 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:09:45.013Z,1628896185.013 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:09:45.369Z,1628896185.369 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230945.66*57

2021-08-13T23:09:45.395Z,1628896185.395 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.440001 m, bearing: 54.250010 deg, deltaT: 4.475127 s, approachRate: 0.093852 m/s, LOS rate: 1.720172 deg/s, posRepo size: 4
2021-08-13T23:09:47.782Z,1628896187.782 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:09:48.189Z,1628896188.189 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:09:48.189Z,1628896188.189 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:09:48.189Z,1628896188.189 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:09:48.190Z,1628896188.190 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:09:48.557Z,1628896188.557 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F7A,000,003E7,187,80,80,50,FF
2021-08-13T23:09:48.558Z,1628896188.558 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:09:48.558Z,1628896188.558 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:09:48.559Z,1628896188.559 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:09:48.969Z,1628896188.969 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:09:49.373Z,1628896189.373 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F67,000,0042C,186,80,80,71,FF
2021-08-13T23:09:49.373Z,1628896189.373 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:09:49.426Z,1628896189.426 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:09:49.809Z,1628896189.809 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230950.09*5A

2021-08-13T23:09:49.848Z,1628896189.848 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.580002 m, bearing: 54.999026 deg, deltaT: 4.412968 s, approachRate: 0.938144 m/s, LOS rate: 0.169731 deg/s, posRepo size: 4
2021-08-13T23:09:52.240Z,1628896192.240 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:09:52.605Z,1628896192.605 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:09:52.605Z,1628896192.605 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:09:52.605Z,1628896192.605 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:09:52.606Z,1628896192.606 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:09:53.009Z,1628896193.009 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F67,000,0042C,186,80,80,71,FF
2021-08-13T23:09:53.009Z,1628896193.009 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:09:53.010Z,1628896193.010 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:09:53.011Z,1628896193.011 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:09:53.441Z,1628896193.441 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:09:54.234Z,1628896194.234 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230954.55*57

2021-08-13T23:09:55.074Z,1628896195.074 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:09:56.637Z,1628896196.637 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,186,80,80,71,FF
2021-08-13T23:09:56.637Z,1628896196.637 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,186,80,80,71,FF
2021-08-13T23:09:56.637Z,1628896196.637 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T23:09:57.881Z,1628896197.881 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:09:58.268Z,1628896198.268 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:09:58.268Z,1628896198.268 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:09:58.269Z,1628896198.269 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:09:58.269Z,1628896198.269 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:09:58.653Z,1628896198.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,186,80,80,71,FF
2021-08-13T23:09:58.653Z,1628896198.653 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:09:58.654Z,1628896198.654 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:09:58.655Z,1628896198.655 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:09:59.073Z,1628896199.073 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:09:59.469Z,1628896199.469 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FFE,000,0042A,182,80,80,C6,FF
2021-08-13T23:09:59.470Z,1628896199.470 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:09:59.521Z,1628896199.521 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:09:59.908Z,1628896199.908 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231000.19*56

2021-08-13T23:09:59.924Z,1628896199.924 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.460001 m, bearing: 48.135164 deg, deltaT: 10.097320 s, approachRate: -0.011884 m/s, LOS rate: -0.679771 deg/s, posRepo size: 4
2021-08-13T23:10:02.330Z,1628896202.330 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:10:02.701Z,1628896202.701 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:10:02.701Z,1628896202.701 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:10:02.701Z,1628896202.701 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:10:02.702Z,1628896202.702 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:10:03.105Z,1628896203.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FFE,000,0042A,182,80,80,C6,FF
2021-08-13T23:10:03.105Z,1628896203.105 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:10:03.106Z,1628896203.106 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:10:03.108Z,1628896203.108 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:10:03.524Z,1628896203.524 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:10:03.945Z,1628896203.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB2,000,003DD,185,80,80,A1,FF
2021-08-13T23:10:03.945Z,1628896203.945 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:10:03.965Z,1628896203.965 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:10:04.365Z,1628896204.365 [Micromodem](INFO): Nmea in: $SNTTA,0.035237,,,,231004.64*46

2021-08-13T23:10:04.415Z,1628896204.415 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.840002 m, bearing: 53.003976 deg, deltaT: 4.440819 s, approachRate: -1.040348 m/s, LOS rate: 1.096377 deg/s, posRepo size: 4
2021-08-13T23:10:06.784Z,1628896206.784 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:10:07.185Z,1628896207.185 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:10:07.185Z,1628896207.185 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:10:07.185Z,1628896207.185 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:10:07.186Z,1628896207.186 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:10:07.557Z,1628896207.557 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB2,000,003DD,185,80,80,A1,FF
2021-08-13T23:10:07.557Z,1628896207.557 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:10:07.557Z,1628896207.557 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:10:07.559Z,1628896207.559 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:10:07.980Z,1628896207.980 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:10:08.821Z,1628896208.821 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231009.09*5E

2021-08-13T23:10:09.617Z,1628896209.617 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:10:11.197Z,1628896211.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,185,80,80,A1,FF
2021-08-13T23:10:11.197Z,1628896211.197 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,185,80,80,A1,FF
2021-08-13T23:10:11.197Z,1628896211.197 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T23:10:12.440Z,1628896212.440 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:10:12.836Z,1628896212.836 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:10:12.836Z,1628896212.836 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:10:12.837Z,1628896212.837 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:10:12.838Z,1628896212.838 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:10:13.221Z,1628896213.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,185,80,80,A1,FF
2021-08-13T23:10:13.221Z,1628896213.221 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:10:13.221Z,1628896213.221 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:10:13.223Z,1628896213.223 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:10:13.644Z,1628896213.644 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:10:14.037Z,1628896214.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB2,000,003E3,186,80,80,56,FF
2021-08-13T23:10:14.038Z,1628896214.038 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:10:14.091Z,1628896214.091 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:10:14.481Z,1628896214.481 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231014.76*5A

2021-08-13T23:10:14.512Z,1628896214.512 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.199999 m, bearing: 70.698755 deg, deltaT: 10.126167 s, approachRate: 0.035551 m/s, LOS rate: 1.747431 deg/s, posRepo size: 4
2021-08-13T23:10:16.971Z,1628896216.971 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:10:17.273Z,1628896217.273 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:10:17.273Z,1628896217.273 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:10:17.273Z,1628896217.273 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:10:17.274Z,1628896217.274 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:10:17.669Z,1628896217.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EB2,000,003E3,186,80,80,56,FF
2021-08-13T23:10:17.669Z,1628896217.669 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:10:17.670Z,1628896217.670 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:10:17.671Z,1628896217.671 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:10:18.092Z,1628896218.092 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:10:18.485Z,1628896218.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED5,000,003D4,187,80,80,50,FF
2021-08-13T23:10:18.486Z,1628896218.486 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:10:18.547Z,1628896218.547 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:10:18.941Z,1628896218.941 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231019.21*55

2021-08-13T23:10:18.997Z,1628896218.997 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.299999 m, bearing: 70.456154 deg, deltaT: 4.460755 s, approachRate: -0.201759 m/s, LOS rate: -0.054386 deg/s, posRepo size: 4
2021-08-13T23:10:21.350Z,1628896221.350 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:10:21.709Z,1628896221.709 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:10:21.709Z,1628896221.709 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:10:21.709Z,1628896221.709 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:10:21.710Z,1628896221.710 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:10:22.136Z,1628896222.136 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ED5,000,003D4,187,80,80,50,FF
2021-08-13T23:10:22.137Z,1628896222.137 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:10:22.138Z,1628896222.138 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:10:22.163Z,1628896222.163 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:10:22.528Z,1628896222.528 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:10:22.937Z,1628896222.937 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E3C,000,003D5,186,80,80,5A,FF
2021-08-13T23:10:22.937Z,1628896222.937 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:10:22.940Z,1628896222.940 [Micromodem](INFO): Nmea in: $SNTTA,0.238940,0.238572,,,231023.70*55

2021-08-13T23:10:23.003Z,1628896223.003 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:10:23.375Z,1628896223.375 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.359999 m, bearing: 79.843518 deg, deltaT: 4.451203 s, approachRate: 0.013479 m/s, LOS rate: 2.108950 deg/s, posRepo size: 4
2021-08-13T23:10:25.774Z,1628896225.774 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:10:26.189Z,1628896226.189 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:10:26.189Z,1628896226.189 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:10:26.189Z,1628896226.189 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:10:26.190Z,1628896226.190 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:10:26.557Z,1628896226.557 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E3C,000,003D5,186,80,80,5A,FF
2021-08-13T23:10:26.557Z,1628896226.557 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:10:26.557Z,1628896226.557 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:10:26.559Z,1628896226.559 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:10:26.971Z,1628896226.971 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:10:27.370Z,1628896227.370 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E9C,000,003D4,187,80,80,4E,FF
2021-08-13T23:10:27.370Z,1628896227.370 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:10:27.400Z,1628896227.400 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:10:27.817Z,1628896227.817 [Micromodem](INFO): Nmea in: $SNTTA,0.037319,,,,231028.09*4C

2021-08-13T23:10:27.882Z,1628896227.882 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.299999 m, bearing: 76.248598 deg, deltaT: 4.397096 s, approachRate: -0.013645 m/s, LOS rate: -0.817567 deg/s, posRepo size: 4
2021-08-13T23:10:30.215Z,1628896230.215 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T23:10:30.251Z,1628896230.251 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:10:30.597Z,1628896230.597 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:10:30.597Z,1628896230.597 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:10:30.597Z,1628896230.597 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:10:30.598Z,1628896230.598 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:10:31.010Z,1628896231.010 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E9C,000,003D4,187,80,80,4E,FF
2021-08-13T23:10:31.010Z,1628896231.010 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:10:31.010Z,1628896231.010 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:10:31.013Z,1628896231.013 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:10:31.442Z,1628896231.442 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:10:31.838Z,1628896231.838 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CE4,000,003CA,188,80,80,6D,FF
2021-08-13T23:10:31.838Z,1628896231.838 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:10:31.869Z,1628896231.869 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:10:32.265Z,1628896232.265 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231032.55*5F

2021-08-13T23:10:32.291Z,1628896232.291 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.700001 m, bearing: 99.405870 deg, deltaT: 4.469920 s, approachRate: -0.134230 m/s, LOS rate: 5.180690 deg/s, posRepo size: 4
2021-08-13T23:10:34.666Z,1628896234.666 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:10:35.056Z,1628896235.056 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:10:35.057Z,1628896235.057 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:10:35.057Z,1628896235.057 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:10:35.058Z,1628896235.058 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:10:35.465Z,1628896235.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CE4,000,003CA,188,80,80,6D,FF
2021-08-13T23:10:35.466Z,1628896235.466 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:10:35.466Z,1628896235.466 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:10:35.467Z,1628896235.467 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:10:35.937Z,1628896235.937 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:10:36.699Z,1628896236.699 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231037.00*5A

2021-08-13T23:10:37.174Z,1628896237.174 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:10:39.094Z,1628896239.094 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D3E,000,0969A,188,80,80,6D,FF
2021-08-13T23:10:39.095Z,1628896239.095 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:10:39.207Z,1628896239.207 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:10:39.528Z,1628896239.528 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 2275.739990 m, bearing: 96.607111 deg, deltaT: 7.337125 s, approachRate: 307.346558 m/s, LOS rate: -0.381452 deg/s, posRepo size: 4
2021-08-13T23:10:39.528Z,1628896239.528 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 2275.74 m. Resuming terminal guidance.
2021-08-13T23:10:39.528Z,1628896239.528 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-13T23:10:39.977Z,1628896239.977 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-13T23:10:39.977Z,1628896239.977 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T23:10:39.978Z,1628896239.978 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-13T23:10:39.979Z,1628896239.979 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-13T23:10:39.979Z,1628896239.979 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-13T23:10:39.979Z,1628896239.979 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-13T23:10:39.986Z,1628896239.986 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-08-13T23:10:39.986Z,1628896239.986 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-13T23:10:39.986Z,1628896239.986 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-08-13T23:10:39.986Z,1628896239.986 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-08-13T23:10:39.986Z,1628896239.986 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2021-08-13T23:10:39.986Z,1628896239.986 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-08-13T23:10:39.986Z,1628896239.986 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-08-13T23:10:40.351Z,1628896240.351 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-13T23:10:40.351Z,1628896240.351 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T23:10:40.351Z,1628896240.351 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-13T23:10:40.351Z,1628896240.351 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T23:10:42.015Z,1628896242.015 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:10:42.417Z,1628896242.417 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:10:42.417Z,1628896242.417 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:10:42.417Z,1628896242.417 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:10:42.418Z,1628896242.418 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:10:42.799Z,1628896242.799 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D3E,000,0969A,188,80,80,6D,FF
2021-08-13T23:10:42.799Z,1628896242.799 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:10:42.799Z,1628896242.799 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:10:42.801Z,1628896242.801 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:10:43.215Z,1628896243.215 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:10:44.042Z,1628896244.042 [Micromodem](INFO): Nmea in: $SNTTA,0.033441,,,,231044.33*41

2021-08-13T23:10:44.421Z,1628896244.421 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0C0,000,03051,186,80,80,70,FF
2021-08-13T23:10:44.422Z,1628896244.422 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:10:44.920Z,1628896244.920 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 704.640015 m, bearing: 51.755642 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-13T23:10:44.921Z,1628896244.921 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 51.755642deg and heading rate command to 0 deg/s.
2021-08-13T23:10:47.318Z,1628896247.318 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:10:47.657Z,1628896247.657 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:10:47.657Z,1628896247.657 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:10:47.657Z,1628896247.657 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:10:47.658Z,1628896247.658 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:10:48.054Z,1628896248.054 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0C0,000,03051,186,80,80,70,FF
2021-08-13T23:10:48.054Z,1628896248.054 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:10:48.054Z,1628896248.054 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:10:48.058Z,1628896248.058 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:10:48.490Z,1628896248.490 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:10:48.934Z,1628896248.934 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0C5,000,003D5,186,80,80,69,FF
2021-08-13T23:10:48.935Z,1628896248.935 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:10:48.938Z,1628896248.938 [Micromodem](INFO): Nmea in: $SNTTA,0.292171,0.292271,,,231049.59*5C

2021-08-13T23:10:49.314Z,1628896249.314 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.359999 m, bearing: 48.929539 deg, deltaT: 4.538702 s, approachRate: -150.545258 m/s, LOS rate: -0.622668 deg/s, posRepo size: 2
2021-08-13T23:10:49.314Z,1628896249.314 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 21.36 m.
2021-08-13T23:10:49.317Z,1628896249.317 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 21.359999 m,
      bearing: 48.929539 deg,
      approachRate: -150.545258 m/s,
      LOS rate: -0.622668 deg/s,
      cmd update: -1.868003 deg/s,
      cmd heading: 51.755642 deg,
      new cmd heading: 51.755642 deg.

2021-08-13T23:10:49.714Z,1628896249.714 [PowerOnly](INFO): Powering up loadControl
2021-08-13T23:10:49.757Z,1628896249.757 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-13T23:10:49.757Z,1628896249.757 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T23:10:49.758Z,1628896249.758 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-13T23:10:49.758Z,1628896249.758 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-13T23:10:49.758Z,1628896249.758 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-13T23:10:49.758Z,1628896249.758 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-13T23:10:50.163Z,1628896250.163 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-13T23:10:50.163Z,1628896250.163 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T23:10:50.163Z,1628896250.163 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-13T23:10:50.163Z,1628896250.163 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T23:10:51.707Z,1628896251.707 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:10:52.094Z,1628896252.094 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:10:52.095Z,1628896252.095 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:10:52.095Z,1628896252.095 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:10:52.096Z,1628896252.096 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:10:52.501Z,1628896252.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0C5,000,003D5,186,80,80,69,FF
2021-08-13T23:10:52.501Z,1628896252.501 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:10:52.501Z,1628896252.501 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:10:52.503Z,1628896252.503 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:10:52.945Z,1628896252.945 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:10:53.746Z,1628896253.746 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231054.04*5B

2021-08-13T23:10:54.585Z,1628896254.585 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:10:56.141Z,1628896256.141 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
5,186,80,80,69,FF
2021-08-13T23:10:56.142Z,1628896256.142 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
5,186,80,80,69,FF
2021-08-13T23:10:56.142Z,1628896256.142 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T23:10:57.379Z,1628896257.379 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:10:57.745Z,1628896257.745 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:10:57.745Z,1628896257.745 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:10:57.745Z,1628896257.745 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:10:57.746Z,1628896257.746 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:10:58.173Z,1628896258.173 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
5,186,80,80,69,FF
2021-08-13T23:10:58.173Z,1628896258.173 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:10:58.174Z,1628896258.174 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:10:58.175Z,1628896258.175 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:10:58.556Z,1628896258.556 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:10:59.382Z,1628896259.382 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231059.71*54

2021-08-13T23:11:00.239Z,1628896260.239 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:11:01.789Z,1628896261.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
5,186,80,80,69,FF
2021-08-13T23:11:01.789Z,1628896261.789 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
5,186,80,80,69,FF
2021-08-13T23:11:01.789Z,1628896261.789 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T23:11:03.060Z,1628896263.060 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:11:03.401Z,1628896263.401 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:11:03.401Z,1628896263.401 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:11:03.401Z,1628896263.401 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:11:03.402Z,1628896263.402 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:11:03.813Z,1628896263.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
5,186,80,80,69,FF
2021-08-13T23:11:03.814Z,1628896263.814 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:11:03.814Z,1628896263.814 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:11:03.816Z,1628896263.816 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:11:04.216Z,1628896264.216 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:11:05.068Z,1628896265.068 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231105.35*5C

2021-08-13T23:11:05.863Z,1628896265.863 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:11:07.441Z,1628896267.441 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
5,186,80,80,69,FF
2021-08-13T23:11:07.442Z,1628896267.442 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
5,186,80,80,69,FF
2021-08-13T23:11:07.442Z,1628896267.442 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T23:11:08.700Z,1628896268.700 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:11:09.054Z,1628896269.054 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:11:09.054Z,1628896269.054 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:11:09.055Z,1628896269.055 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:11:09.056Z,1628896269.056 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:11:09.465Z,1628896269.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
5,186,80,80,69,FF
2021-08-13T23:11:09.466Z,1628896269.466 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:11:09.466Z,1628896269.466 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:11:09.467Z,1628896269.467 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:11:09.871Z,1628896269.871 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:11:10.269Z,1628896270.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF9,000,00493,183,80,80,4C,FF
2021-08-13T23:11:10.269Z,1628896270.269 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:11:10.301Z,1628896270.301 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:11:10.705Z,1628896270.705 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231111.00*5F

2021-08-13T23:11:10.742Z,1628896270.742 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.760002 m, bearing: 25.443761 deg, deltaT: 21.308014 s, approachRate: 0.535010 m/s, LOS rate: -1.102204 deg/s, posRepo size: 3
2021-08-13T23:11:10.742Z,1628896270.742 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 32.76 m.
2021-08-13T23:11:10.742Z,1628896270.742 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 32.76 m.
2021-08-13T23:11:10.743Z,1628896270.743 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-13T23:11:10.745Z,1628896270.745 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 32.760002 m,
      bearing: 25.443761 deg,
      approachRate: 0.535010 m/s,
      LOS rate: -1.102204 deg/s,
      cmd update: -3.306612 deg/s,
      cmd heading: 11.922792 deg,
      new cmd heading: 11.093259 deg.

2021-08-13T23:11:13.191Z,1628896273.191 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:11:13.513Z,1628896273.513 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:11:13.513Z,1628896273.513 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:11:13.513Z,1628896273.513 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:11:13.514Z,1628896273.514 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:11:13.917Z,1628896273.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF9,000,00493,183,80,80,4C,FF
2021-08-13T23:11:13.917Z,1628896273.917 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:11:13.917Z,1628896273.917 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:11:13.919Z,1628896273.919 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:11:14.309Z,1628896274.309 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:11:14.737Z,1628896274.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F64,000,004BE,186,80,80,3E,FF
2021-08-13T23:11:14.738Z,1628896274.738 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:11:14.786Z,1628896274.786 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:11:15.181Z,1628896275.181 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231115.45*5A

2021-08-13T23:11:15.254Z,1628896275.254 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.340000 m, bearing: 21.861672 deg, deltaT: 4.485515 s, approachRate: 0.575184 m/s, LOS rate: -0.798590 deg/s, posRepo size: 4
2021-08-13T23:11:15.261Z,1628896275.261 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 35.340000 m,
      bearing: 21.861672 deg,
      approachRate: 0.575184 m/s,
      LOS rate: -0.798590 deg/s,
      cmd update: -2.395771 deg/s,
      cmd heading: 357.157589 deg,
      new cmd heading: 355.551508 deg.

2021-08-13T23:11:17.564Z,1628896277.564 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:11:17.957Z,1628896277.957 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:11:17.957Z,1628896277.957 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:11:17.957Z,1628896277.957 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:11:17.958Z,1628896277.958 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:11:18.349Z,1628896278.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F64,000,004BE,186,80,80,3E,FF
2021-08-13T23:11:18.349Z,1628896278.349 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:11:18.349Z,1628896278.349 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:11:18.351Z,1628896278.351 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:11:18.764Z,1628896278.764 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:11:19.197Z,1628896279.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2B5,000,004DA,189,80,80,5F,FF
2021-08-13T23:11:19.197Z,1628896279.197 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:11:19.292Z,1628896279.292 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:11:19.597Z,1628896279.597 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231119.88*57

2021-08-13T23:11:19.621Z,1628896279.621 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.019997 m, bearing: 327.613083 deg, deltaT: 4.506285 s, approachRate: 0.372812 m/s, LOS rate: -12.038425 deg/s, posRepo size: 4
2021-08-13T23:11:19.622Z,1628896279.622 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.038425 deg/s. Setting heading cmd to target bearing of 327.613083deg and heading rate command to 0 deg/s.
2021-08-13T23:11:22.014Z,1628896282.014 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:11:22.393Z,1628896282.393 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:11:22.393Z,1628896282.393 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:11:22.393Z,1628896282.393 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:11:22.394Z,1628896282.394 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:11:22.801Z,1628896282.801 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2B5,000,004DA,189,80,80,5F,FF
2021-08-13T23:11:22.801Z,1628896282.801 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:11:22.801Z,1628896282.801 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:11:22.803Z,1628896282.803 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:11:23.209Z,1628896283.209 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:11:23.601Z,1628896283.601 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,388,000,004F9,189,80,80,A0,FF
2021-08-13T23:11:23.601Z,1628896283.601 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:11:23.675Z,1628896283.675 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:11:24.044Z,1628896284.044 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231124.34*5E

2021-08-13T23:11:24.081Z,1628896284.081 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.879997 m, bearing: 299.652939 deg, deltaT: 4.382961 s, approachRate: 0.424371 m/s, LOS rate: -6.379282 deg/s, posRepo size: 4
2021-08-13T23:11:24.082Z,1628896284.082 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 38.88 m. Rolling out.
2021-08-13T23:11:24.084Z,1628896284.084 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-08-13T23:11:24.453Z,1628896284.453 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2021-08-13T23:11:24.453Z,1628896284.453 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-13T23:11:24.453Z,1628896284.453 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2021-08-13T23:11:24.453Z,1628896284.453 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2021-08-13T23:11:24.453Z,1628896284.453 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2021-08-13T23:11:24.454Z,1628896284.454 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2021-08-13T23:11:24.454Z,1628896284.454 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-08-13T23:11:26.462Z,1628896286.462 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:11:26.856Z,1628896286.856 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:11:26.857Z,1628896286.857 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:11:26.857Z,1628896286.857 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:11:26.859Z,1628896286.859 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:11:27.256Z,1628896287.256 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
388,000,004F9,189,80,80,A0,FF
2021-08-13T23:11:27.256Z,1628896287.256 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:11:27.257Z,1628896287.257 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:11:27.258Z,1628896287.258 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:11:27.645Z,1628896287.645 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:11:28.486Z,1628896288.486 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231128.79*5B

2021-08-13T23:11:29.315Z,1628896289.315 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:11:30.913Z,1628896290.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
9,189,80,80,A0,FF
2021-08-13T23:11:30.913Z,1628896290.913 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
9,189,80,80,A0,FF
2021-08-13T23:11:30.913Z,1628896290.913 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T23:11:32.152Z,1628896292.152 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:11:32.489Z,1628896292.489 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:11:32.489Z,1628896292.489 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:11:32.489Z,1628896292.489 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:11:32.490Z,1628896292.490 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:11:32.921Z,1628896292.921 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
9,189,80,80,A0,FF
2021-08-13T23:11:32.921Z,1628896292.921 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:11:32.921Z,1628896292.921 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:11:32.923Z,1628896292.923 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:11:33.300Z,1628896293.300 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:11:33.706Z,1628896293.706 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,206,000,0051A,187,80,80,5A,FF
2021-08-13T23:11:33.706Z,1628896293.706 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:11:33.730Z,1628896293.730 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:11:34.137Z,1628896294.137 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231134.46*5A

2021-08-13T23:11:34.193Z,1628896294.193 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.859997 m, bearing: 293.135764 deg, deltaT: 10.054787 s, approachRate: 0.196921 m/s, LOS rate: -0.648166 deg/s, posRepo size: 4
2021-08-13T23:11:34.541Z,1628896294.541 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-13T23:11:34.541Z,1628896294.541 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T23:11:34.542Z,1628896294.542 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-13T23:11:34.588Z,1628896294.588 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-13T23:11:34.588Z,1628896294.588 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-13T23:11:34.588Z,1628896294.588 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-13T23:11:34.986Z,1628896294.986 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-13T23:11:34.986Z,1628896294.986 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T23:11:34.986Z,1628896294.986 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-13T23:11:34.986Z,1628896294.986 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T23:11:36.555Z,1628896296.555 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:11:36.941Z,1628896296.941 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:11:36.941Z,1628896296.941 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:11:36.941Z,1628896296.941 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:11:36.942Z,1628896296.942 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:11:37.341Z,1628896297.341 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
206,000,0051A,187,80,80,5A,FF
2021-08-13T23:11:37.341Z,1628896297.341 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:11:37.342Z,1628896297.342 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:11:37.343Z,1628896297.343 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:11:37.748Z,1628896297.748 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:11:38.177Z,1628896298.177 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1C1,000,00522,185,80,80,90,FF
2021-08-13T23:11:38.177Z,1628896298.177 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:11:38.589Z,1628896298.589 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231138.88*54

2021-08-13T23:11:38.631Z,1628896298.631 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 41.340000 m, bearing: 296.943403 deg, deltaT: 4.512008 s, approachRate: 0.106384 m/s, LOS rate: 0.843890 deg/s, posRepo size: 4
2021-08-13T23:11:41.022Z,1628896301.022 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:11:41.419Z,1628896301.419 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:11:41.419Z,1628896301.419 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:11:41.419Z,1628896301.419 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:11:41.420Z,1628896301.420 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:11:41.789Z,1628896301.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1C1,000,00522,185,80,80,90,FF
2021-08-13T23:11:41.789Z,1628896301.789 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:11:41.790Z,1628896301.790 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:11:41.791Z,1628896301.791 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:11:42.201Z,1628896302.201 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:11:42.589Z,1628896302.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1C2,000,00526,186,80,80,A3,FF
2021-08-13T23:11:42.590Z,1628896302.590 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:11:43.033Z,1628896303.033 [Micromodem](INFO): Nmea in: $SNTTA,0.064899,,,,231143.32*4D

2021-08-13T23:11:43.087Z,1628896303.087 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 41.579998 m, bearing: 299.557590 deg, deltaT: 4.371519 s, approachRate: 0.054900 m/s, LOS rate: 0.598004 deg/s, posRepo size: 4
2021-08-13T23:11:45.460Z,1628896305.460 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:11:45.829Z,1628896305.829 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:11:45.829Z,1628896305.829 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:11:45.829Z,1628896305.829 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:11:45.830Z,1628896305.830 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:11:46.229Z,1628896306.229 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1C2,000,00526,186,80,80,A3,FF
2021-08-13T23:11:46.229Z,1628896306.229 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:11:46.229Z,1628896306.229 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:11:46.231Z,1628896306.231 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:11:46.636Z,1628896306.636 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:11:47.462Z,1628896307.462 [Micromodem](INFO): Nmea in: $SNTTA,0.057384,,,,231147.76*4E

2021-08-13T23:11:48.288Z,1628896308.288 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:11:49.866Z,1628896309.866 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,186,80,80,A3,FF
2021-08-13T23:11:49.866Z,1628896309.866 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,186,80,80,A3,FF
2021-08-13T23:11:49.866Z,1628896309.866 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T23:11:51.170Z,1628896311.170 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:11:51.481Z,1628896311.481 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:11:51.481Z,1628896311.481 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:11:51.481Z,1628896311.481 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:11:51.482Z,1628896311.482 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:11:51.886Z,1628896311.886 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,186,80,80,A3,FF
2021-08-13T23:11:51.886Z,1628896311.886 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:11:51.886Z,1628896311.886 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:11:51.889Z,1628896311.889 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:11:52.291Z,1628896312.291 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:11:52.693Z,1628896312.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,326,000,00538,189,80,80,8E,FF
2021-08-13T23:11:52.693Z,1628896312.693 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:11:53.153Z,1628896313.153 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231153.42*5F

2021-08-13T23:11:53.219Z,1628896313.219 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.660000 m, bearing: 284.458009 deg, deltaT: 10.135677 s, approachRate: 0.106554 m/s, LOS rate: -1.489746 deg/s, posRepo size: 4
2021-08-13T23:11:55.545Z,1628896315.545 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:11:55.933Z,1628896315.933 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:11:55.933Z,1628896315.933 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:11:55.934Z,1628896315.934 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:11:55.934Z,1628896315.934 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:11:56.353Z,1628896316.353 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
326,000,00538,189,80,80,8E,FF
2021-08-13T23:11:56.353Z,1628896316.353 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:11:56.353Z,1628896316.353 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:11:56.355Z,1628896316.355 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:11:56.736Z,1628896316.736 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:11:57.169Z,1628896317.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2D8,000,00532,189,80,80,85,FF
2021-08-13T23:11:57.169Z,1628896317.169 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:11:57.569Z,1628896317.569 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231157.89*5C

2021-08-13T23:11:57.591Z,1628896317.591 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.299999 m, bearing: 288.614288 deg, deltaT: 4.525735 s, approachRate: -0.079545 m/s, LOS rate: 0.918366 deg/s, posRepo size: 4
2021-08-13T23:11:59.986Z,1628896319.986 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:12:00.381Z,1628896320.381 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:12:00.381Z,1628896320.381 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:12:00.381Z,1628896320.381 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:12:00.382Z,1628896320.382 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:12:00.773Z,1628896320.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2D8,000,00532,189,80,80,85,FF
2021-08-13T23:12:00.773Z,1628896320.773 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:12:00.773Z,1628896320.773 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:12:00.775Z,1628896320.775 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:12:01.201Z,1628896321.201 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:12:01.581Z,1628896321.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2E3,000,00538,188,80,80,76,FF
2021-08-13T23:12:01.581Z,1628896321.581 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:12:02.021Z,1628896322.021 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231202.31*5C

2021-08-13T23:12:02.060Z,1628896322.060 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.660000 m, bearing: 288.016646 deg, deltaT: 4.330053 s, approachRate: 0.083140 m/s, LOS rate: -0.138022 deg/s, posRepo size: 4
2021-08-13T23:12:04.450Z,1628896324.450 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:12:04.835Z,1628896324.835 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:12:04.837Z,1628896324.837 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:12:04.837Z,1628896324.837 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:12:04.838Z,1628896324.838 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:12:05.233Z,1628896325.233 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2E3,000,00538,188,80,80,76,FF
2021-08-13T23:12:05.233Z,1628896325.233 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:12:05.233Z,1628896325.233 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:12:05.235Z,1628896325.235 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:12:05.636Z,1628896325.636 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:12:06.042Z,1628896326.042 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2DE,000,0053C,189,80,80,AE,FF
2021-08-13T23:12:06.042Z,1628896326.042 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:12:06.465Z,1628896326.465 [Micromodem](INFO): Nmea in: $SNTTA,0.078583,,,,231206.77*45

2021-08-13T23:12:06.491Z,1628896326.491 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.899998 m, bearing: 288.416868 deg, deltaT: 4.490360 s, approachRate: 0.053447 m/s, LOS rate: 0.089129 deg/s, posRepo size: 4
2021-08-13T23:12:08.947Z,1628896328.947 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:12:09.268Z,1628896329.268 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:12:09.268Z,1628896329.268 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:12:09.269Z,1628896329.269 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:12:09.269Z,1628896329.269 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:12:09.661Z,1628896329.661 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2DE,000,0053C,189,80,80,AE,FF
2021-08-13T23:12:09.661Z,1628896329.661 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:12:09.661Z,1628896329.661 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:12:09.663Z,1628896329.663 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:12:10.071Z,1628896330.071 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:12:10.470Z,1628896330.470 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2B4,000,0053E,189,80,80,65,FF
2021-08-13T23:12:10.470Z,1628896330.470 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:12:10.930Z,1628896330.930 [Micromodem](INFO): Nmea in: $SNTTA,0.060308,,,,231211.20*4D

2021-08-13T23:12:10.966Z,1628896330.966 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.019997 m, bearing: 290.317437 deg, deltaT: 4.424304 s, approachRate: 0.027123 m/s, LOS rate: 0.429575 deg/s, posRepo size: 4
2021-08-13T23:12:13.376Z,1628896333.376 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:12:13.705Z,1628896333.705 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:12:13.705Z,1628896333.705 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:12:13.705Z,1628896333.705 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:12:13.706Z,1628896333.706 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:12:14.117Z,1628896334.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2B4,000,0053E,189,80,80,65,FF
2021-08-13T23:12:14.117Z,1628896334.117 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:12:14.118Z,1628896334.118 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:12:14.125Z,1628896334.125 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:12:14.517Z,1628896334.517 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:12:14.937Z,1628896334.937 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,27D,000,00540,18A,80,80,46,FF
2021-08-13T23:12:14.937Z,1628896334.937 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:12:15.369Z,1628896335.369 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231215.66*58

2021-08-13T23:12:15.415Z,1628896335.415 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.139999 m, bearing: 292.658443 deg, deltaT: 4.496473 s, approachRate: 0.026688 m/s, LOS rate: 0.520632 deg/s, posRepo size: 4
2021-08-13T23:12:17.766Z,1628896337.766 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:12:18.178Z,1628896338.178 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:12:18.178Z,1628896338.178 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:12:18.179Z,1628896338.179 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:12:18.179Z,1628896338.179 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:12:18.565Z,1628896338.565 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
27D,000,00540,18A,80,80,46,FF
2021-08-13T23:12:18.565Z,1628896338.565 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:12:18.565Z,1628896338.565 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:12:18.567Z,1628896338.567 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:12:18.956Z,1628896338.956 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:12:19.365Z,1628896339.365 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2EE,000,00543,188,80,80,6F,FF
2021-08-13T23:12:19.365Z,1628896339.365 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:12:19.790Z,1628896339.790 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231220.10*5F

2021-08-13T23:12:19.847Z,1628896339.847 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.319996 m, bearing: 286.784043 deg, deltaT: 4.406677 s, approachRate: 0.040846 m/s, LOS rate: -1.333068 deg/s, posRepo size: 4
2021-08-13T23:12:22.213Z,1628896342.213 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:12:22.597Z,1628896342.597 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:12:22.598Z,1628896342.598 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:12:22.598Z,1628896342.598 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:12:22.599Z,1628896342.599 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:12:22.997Z,1628896342.997 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2EE,000,00543,188,80,80,6F,FF
2021-08-13T23:12:22.997Z,1628896342.997 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:12:22.997Z,1628896342.997 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:12:22.999Z,1628896342.999 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:12:23.444Z,1628896343.444 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:12:24.250Z,1628896344.250 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231224.53*5C

2021-08-13T23:12:24.718Z,1628896344.718 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:12:26.682Z,1628896346.682 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
3,188,80,80,6F,FF
2021-08-13T23:12:26.682Z,1628896346.682 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
3,188,80,80,6F,FF
2021-08-13T23:12:26.682Z,1628896346.682 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T23:12:27.512Z,1628896347.512 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:12:27.882Z,1628896347.882 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:12:27.882Z,1628896347.882 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:12:27.882Z,1628896347.882 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:12:27.883Z,1628896347.883 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:12:28.289Z,1628896348.289 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
3,188,80,80,6F,FF
2021-08-13T23:12:28.289Z,1628896348.289 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:12:28.289Z,1628896348.289 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:12:28.291Z,1628896348.291 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:12:28.696Z,1628896348.696 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:12:29.541Z,1628896349.541 [Micromodem](INFO): Nmea in: $SNTTA,0.046481,,,,231229.82*4C

2021-08-13T23:12:30.393Z,1628896350.393 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:12:31.937Z,1628896351.937 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
3,188,80,80,6F,FF
2021-08-13T23:12:31.937Z,1628896351.937 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
3,188,80,80,6F,FF
2021-08-13T23:12:31.937Z,1628896351.937 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T23:12:33.219Z,1628896353.219 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:12:33.569Z,1628896353.569 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:12:33.569Z,1628896353.569 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:12:33.569Z,1628896353.569 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:12:33.570Z,1628896353.570 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:12:33.949Z,1628896353.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
3,188,80,80,6F,FF
2021-08-13T23:12:33.949Z,1628896353.949 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:12:33.949Z,1628896353.949 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:12:33.951Z,1628896353.951 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:12:34.371Z,1628896354.371 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:12:34.754Z,1628896354.754 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,380,000,00544,189,80,80,9F,FF
2021-08-13T23:12:34.773Z,1628896354.773 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:12:35.216Z,1628896355.216 [Micromodem](INFO): Nmea in: $SNTTA,0.055507,,,,231235.49*4B

2021-08-13T23:12:35.314Z,1628896355.314 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.380001 m, bearing: 279.040357 deg, deltaT: 15.374605 s, approachRate: 0.003903 m/s, LOS rate: -0.503667 deg/s, posRepo size: 4
2021-08-13T23:12:37.611Z,1628896357.611 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:12:37.994Z,1628896357.994 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:12:37.994Z,1628896357.994 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:12:37.994Z,1628896357.994 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:12:37.995Z,1628896357.995 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:12:38.397Z,1628896358.397 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
380,000,00544,189,80,80,9F,FF
2021-08-13T23:12:38.397Z,1628896358.397 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:12:38.397Z,1628896358.397 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:12:38.399Z,1628896358.399 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:12:38.809Z,1628896358.809 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:12:39.209Z,1628896359.209 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,344,000,0054C,189,80,80,A2,FF
2021-08-13T23:12:39.210Z,1628896359.210 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:12:39.641Z,1628896359.641 [Micromodem](INFO): Nmea in: $SNTTA,,0.047167,,,231239.93*41

2021-08-13T23:12:39.689Z,1628896359.689 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.859997 m, bearing: 282.723632 deg, deltaT: 4.491849 s, approachRate: 0.106859 m/s, LOS rate: 0.819991 deg/s, posRepo size: 4
2021-08-13T23:12:41.246Z,1628896361.246 [PowerOnly](INFO): Powering down loadControl
2021-08-13T23:12:42.050Z,1628896362.050 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:12:42.457Z,1628896362.457 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:12:42.457Z,1628896362.457 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:12:42.457Z,1628896362.457 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:12:42.458Z,1628896362.458 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:12:42.861Z,1628896362.861 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
344,000,0054C,189,80,80,A2,FF
2021-08-13T23:12:42.862Z,1628896362.862 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:12:42.862Z,1628896362.862 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:12:42.868Z,1628896362.868 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:12:43.249Z,1628896363.249 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:12:43.653Z,1628896363.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,38B,000,0054C,189,80,80,AF,FF
2021-08-13T23:12:43.653Z,1628896363.653 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:12:44.081Z,1628896364.081 [Micromodem](INFO): Nmea in: $SNTTA,0.036276,,,,231244.40*40

2021-08-13T23:12:44.159Z,1628896364.159 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.859997 m, bearing: 280.093244 deg, deltaT: 4.383276 s, approachRate: 0.000000 m/s, LOS rate: -0.600096 deg/s, posRepo size: 4
2021-08-13T23:12:46.529Z,1628896366.529 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:12:46.924Z,1628896366.924 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:12:46.924Z,1628896366.924 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:12:46.925Z,1628896366.925 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:12:46.925Z,1628896366.925 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:12:47.293Z,1628896367.293 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
38B,000,0054C,189,80,80,AF,FF
2021-08-13T23:12:47.294Z,1628896367.294 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:12:47.294Z,1628896367.294 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:12:47.295Z,1628896367.295 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:12:47.830Z,1628896367.830 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:12:48.210Z,1628896368.210 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,364,000,00550,188,80,80,6D,FF
2021-08-13T23:12:48.210Z,1628896368.210 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:12:48.629Z,1628896368.629 [Micromodem](INFO): Nmea in: $SNTTA,0.049489,,,,231248.83*4D

2021-08-13T23:12:48.645Z,1628896368.645 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 44.100002 m, bearing: 283.238492 deg, deltaT: 4.612046 s, approachRate: 0.052039 m/s, LOS rate: 0.681964 deg/s, posRepo size: 4
2021-08-13T23:12:51.101Z,1628896371.101 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:12:51.464Z,1628896371.464 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:12:51.464Z,1628896371.464 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:12:51.465Z,1628896371.465 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:12:51.466Z,1628896371.466 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:12:51.913Z,1628896371.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
364,000,00550,188,80,80,6D,FF
2021-08-13T23:12:51.913Z,1628896371.913 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:12:51.913Z,1628896371.913 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:12:51.915Z,1628896371.915 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:12:52.340Z,1628896372.340 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:12:52.721Z,1628896372.721 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,38C,000,00553,189,80,80,A7,FF
2021-08-13T23:12:52.721Z,1628896372.721 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:12:53.173Z,1628896373.173 [Micromodem](INFO): Nmea in: $SNTTA,0.048681,,,,231253.45*46

2021-08-13T23:12:53.243Z,1628896373.243 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 44.279999 m, bearing: 282.295653 deg, deltaT: 4.484590 s, approachRate: 0.040137 m/s, LOS rate: -0.210240 deg/s, posRepo size: 4
2021-08-13T23:12:55.581Z,1628896375.581 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:12:55.961Z,1628896375.961 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:12:55.961Z,1628896375.961 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:12:55.961Z,1628896375.961 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:12:55.962Z,1628896375.962 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:12:56.350Z,1628896376.350 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
38C,000,00553,189,80,80,A7,FF
2021-08-13T23:12:56.350Z,1628896376.350 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:12:56.350Z,1628896376.350 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:12:56.354Z,1628896376.354 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:12:56.757Z,1628896376.757 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:12:57.204Z,1628896377.204 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,326,000,00557,189,80,80,6F,FF
2021-08-13T23:12:57.204Z,1628896377.204 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:12:57.212Z,1628896377.212 [Micromodem](INFO): Nmea in: $SNTTA,0.327001,0.039945,,,231257.89*5A

2021-08-13T23:12:57.227Z,1628896377.227 [RDI_Pathfinder](ERROR): only read 0 of 4 data items
2021-08-13T23:12:57.599Z,1628896377.599 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 44.520000 m, bearing: 288.557597 deg, deltaT: 4.520557 s, approachRate: 0.053091 m/s, LOS rate: 1.385215 deg/s, posRepo size: 4
2021-08-13T23:13:00.002Z,1628896380.002 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:13:00.390Z,1628896380.390 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:13:00.390Z,1628896380.390 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:13:00.390Z,1628896380.390 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:13:00.391Z,1628896380.391 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:13:00.801Z,1628896380.801 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
326,000,00557,189,80,80,6F,FF
2021-08-13T23:13:00.801Z,1628896380.801 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:13:00.801Z,1628896380.801 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:13:00.803Z,1628896380.803 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:13:01.219Z,1628896381.219 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:13:01.613Z,1628896381.613 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,317,000,00565,189,80,80,80,FF
2021-08-13T23:13:01.613Z,1628896381.613 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:13:02.053Z,1628896382.053 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231302.34*58

2021-08-13T23:13:02.090Z,1628896382.090 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.360001 m, bearing: 291.109711 deg, deltaT: 4.342346 s, approachRate: 0.193444 m/s, LOS rate: 0.587727 deg/s, posRepo size: 4
2021-08-13T23:13:04.513Z,1628896384.513 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:13:04.873Z,1628896384.873 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:13:04.873Z,1628896384.873 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:13:04.874Z,1628896384.874 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:13:04.875Z,1628896384.875 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:13:05.257Z,1628896385.257 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
317,000,00565,189,80,80,80,FF
2021-08-13T23:13:05.257Z,1628896385.257 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:13:05.257Z,1628896385.257 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:13:05.260Z,1628896385.260 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:13:05.673Z,1628896385.673 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:13:06.057Z,1628896386.057 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3D5,000,0055F,189,80,80,96,FF
2021-08-13T23:13:06.057Z,1628896386.057 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:13:06.493Z,1628896386.493 [Micromodem](INFO): Nmea in: $SNTTA,0.058303,,,,231306.80*40

2021-08-13T23:13:06.539Z,1628896386.539 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.000000 m, bearing: 283.254502 deg, deltaT: 4.516732 s, approachRate: -0.079704 m/s, LOS rate: -1.739136 deg/s, posRepo size: 4
2021-08-13T23:13:08.976Z,1628896388.976 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:13:09.293Z,1628896389.293 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:13:09.293Z,1628896389.293 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:13:09.293Z,1628896389.293 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:13:09.294Z,1628896389.294 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:13:09.693Z,1628896389.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3D5,000,0055F,189,80,80,96,FF
2021-08-13T23:13:09.693Z,1628896389.693 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:13:09.693Z,1628896389.693 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:13:09.695Z,1628896389.695 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:13:10.131Z,1628896390.131 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:13:10.501Z,1628896390.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,493,000,0055E,189,80,80,6E,FF
2021-08-13T23:13:10.502Z,1628896390.501 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:13:10.953Z,1628896390.953 [Micromodem](INFO): Nmea in: $SNTTA,0.065294,,,,231311.23*4E

2021-08-13T23:13:11.028Z,1628896391.028 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 44.940002 m, bearing: 275.693701 deg, deltaT: 4.401930 s, approachRate: -0.013630 m/s, LOS rate: -1.717610 deg/s, posRepo size: 4
2021-08-13T23:13:13.350Z,1628896393.350 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T23:13:13.366Z,1628896393.366 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:13:13.733Z,1628896393.733 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:13:13.733Z,1628896393.733 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:13:13.733Z,1628896393.733 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:13:13.734Z,1628896393.734 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:13:14.157Z,1628896394.157 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
493,000,0055E,189,80,80,6E,FF
2021-08-13T23:13:14.157Z,1628896394.157 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:13:14.157Z,1628896394.157 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:13:14.159Z,1628896394.159 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:13:14.567Z,1628896394.567 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:13:14.999Z,1628896394.999 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3AE,000,00565,189,80,80,79,FF
2021-08-13T23:13:14.999Z,1628896394.999 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:13:15.425Z,1628896395.425 [Micromodem](INFO): Nmea in: $SNTTA,0.047977,,,,231315.69*42

2021-08-13T23:13:15.462Z,1628896395.462 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.360001 m, bearing: 289.224224 deg, deltaT: 4.544984 s, approachRate: 0.092409 m/s, LOS rate: 2.977023 deg/s, posRepo size: 4
2021-08-13T23:13:17.863Z,1628896397.863 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:13:18.237Z,1628896398.237 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:13:18.237Z,1628896398.237 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:13:18.237Z,1628896398.237 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:13:18.238Z,1628896398.238 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:13:18.633Z,1628896398.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3AE,000,00565,189,80,80,79,FF
2021-08-13T23:13:18.633Z,1628896398.633 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:13:18.633Z,1628896398.633 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:13:18.635Z,1628896398.635 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:13:19.040Z,1628896399.040 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:13:19.441Z,1628896399.441 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A8,000,0056C,186,80,80,6F,FF
2021-08-13T23:13:19.442Z,1628896399.442 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:13:19.889Z,1628896399.889 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231320.17*59

2021-08-13T23:13:19.918Z,1628896399.918 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.780003 m, bearing: 329.815382 deg, deltaT: 4.403055 s, approachRate: 0.095389 m/s, LOS rate: 9.218863 deg/s, posRepo size: 4
2021-08-13T23:13:22.309Z,1628896402.309 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:13:22.677Z,1628896402.677 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:13:22.677Z,1628896402.677 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:13:22.677Z,1628896402.677 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:13:22.678Z,1628896402.678 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:13:23.077Z,1628896403.077 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0A8,000,0056C,186,80,80,6F,FF
2021-08-13T23:13:23.077Z,1628896403.077 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:13:23.077Z,1628896403.077 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:13:23.079Z,1628896403.079 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:13:23.489Z,1628896403.489 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:13:24.314Z,1628896404.314 [Micromodem](INFO): Nmea in: $SNTTA,0.039992,,,,231324.62*49

2021-08-13T23:13:25.187Z,1628896405.187 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:13:26.721Z,1628896406.721 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,186,80,80,6F,FF
2021-08-13T23:13:26.722Z,1628896406.722 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,186,80,80,6F,FF
2021-08-13T23:13:26.722Z,1628896406.722 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T23:13:27.954Z,1628896407.954 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:13:28.333Z,1628896408.333 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:13:28.333Z,1628896408.333 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:13:28.333Z,1628896408.333 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:13:28.334Z,1628896408.334 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:13:28.741Z,1628896408.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,186,80,80,6F,FF
2021-08-13T23:13:28.741Z,1628896408.741 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:13:28.741Z,1628896408.741 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:13:28.743Z,1628896408.743 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:13:29.184Z,1628896409.184 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:13:29.545Z,1628896409.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,055,000,0056E,184,80,80,5E,FF
2021-08-13T23:13:29.546Z,1628896409.546 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:13:29.990Z,1628896409.990 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231330.28*54

2021-08-13T23:13:30.012Z,1628896410.012 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.899998 m, bearing: 334.704459 deg, deltaT: 10.093377 s, approachRate: 0.011889 m/s, LOS rate: 0.484385 deg/s, posRepo size: 4
2021-08-13T23:13:32.413Z,1628896412.413 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:13:32.777Z,1628896412.777 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:13:32.777Z,1628896412.777 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:13:32.777Z,1628896412.777 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:13:32.778Z,1628896412.778 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:13:33.189Z,1628896413.189 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
055,000,0056E,184,80,80,5E,FF
2021-08-13T23:13:33.189Z,1628896413.189 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:13:33.190Z,1628896413.190 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:13:33.191Z,1628896413.191 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:13:33.612Z,1628896413.612 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:13:33.989Z,1628896413.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CE6,000,0056D,189,80,80,72,FF
2021-08-13T23:13:33.989Z,1628896413.989 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:13:34.437Z,1628896414.437 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231334.73*5E

2021-08-13T23:13:34.488Z,1628896414.488 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.840000 m, bearing: 18.532060 deg, deltaT: 4.448713 s, approachRate: -0.013486 m/s, LOS rate: 9.851746 deg/s, posRepo size: 4
2021-08-13T23:13:36.973Z,1628896416.973 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:13:37.229Z,1628896417.229 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:13:37.229Z,1628896417.229 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:13:37.229Z,1628896417.229 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:13:37.230Z,1628896417.230 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:13:37.630Z,1628896417.630 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CE6,000,0056D,189,80,80,72,FF
2021-08-13T23:13:37.630Z,1628896417.630 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:13:37.630Z,1628896417.630 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:13:37.632Z,1628896417.632 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:13:38.033Z,1628896418.033 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:13:38.437Z,1628896418.437 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DFE,000,0056F,187,80,80,5F,FF
2021-08-13T23:13:38.437Z,1628896418.437 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:13:38.902Z,1628896418.902 [Micromodem](INFO): Nmea in: $SNTTA,0.044657,,,,231339.17*4B

2021-08-13T23:13:38.961Z,1628896418.961 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.959999 m, bearing: 4.148802 deg, deltaT: 4.445423 s, approachRate: 0.026994 m/s, LOS rate: -3.235521 deg/s, posRepo size: 4
2021-08-13T23:13:41.314Z,1628896421.314 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:13:41.673Z,1628896421.673 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:13:41.673Z,1628896421.673 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:13:41.673Z,1628896421.673 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:13:41.674Z,1628896421.674 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:13:42.069Z,1628896422.069 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DFE,000,0056F,187,80,80,5F,FF
2021-08-13T23:13:42.069Z,1628896422.069 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:13:42.069Z,1628896422.069 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:13:42.071Z,1628896422.071 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:13:42.477Z,1628896422.477 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:13:42.917Z,1628896422.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DF0,000,0056D,187,80,80,74,FF
2021-08-13T23:13:42.918Z,1628896422.918 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:13:43.326Z,1628896423.326 [Micromodem](INFO): Nmea in: $SNTTA,0.050281,,,,231343.61*4D

2021-08-13T23:13:43.351Z,1628896423.351 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.840000 m, bearing: 4.014029 deg, deltaT: 4.489722 s, approachRate: -0.026727 m/s, LOS rate: -0.030018 deg/s, posRepo size: 4
2021-08-13T23:13:45.745Z,1628896425.745 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:13:46.120Z,1628896426.120 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:13:46.120Z,1628896426.120 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:13:46.121Z,1628896426.121 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:13:46.123Z,1628896426.123 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:13:46.517Z,1628896426.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DF0,000,0056D,187,80,80,74,FF
2021-08-13T23:13:46.517Z,1628896426.517 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:13:46.517Z,1628896426.517 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:13:46.519Z,1628896426.519 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:13:46.941Z,1628896426.941 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:13:47.325Z,1628896427.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DC5,000,00572,189,80,80,6D,FF
2021-08-13T23:13:47.325Z,1628896427.325 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:13:47.769Z,1628896427.769 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231348.05*54

2021-08-13T23:13:47.791Z,1628896427.791 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.139999 m, bearing: 5.346375 deg, deltaT: 4.412171 s, approachRate: 0.067994 m/s, LOS rate: 0.301971 deg/s, posRepo size: 4
2021-08-13T23:13:50.229Z,1628896430.229 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:13:50.557Z,1628896430.557 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:13:50.557Z,1628896430.557 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:13:50.557Z,1628896430.557 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:13:50.558Z,1628896430.558 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:13:50.965Z,1628896430.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DC5,000,00572,189,80,80,6D,FF
2021-08-13T23:13:50.965Z,1628896430.965 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:13:50.965Z,1628896430.965 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:13:50.967Z,1628896430.967 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:13:51.375Z,1628896431.375 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:13:51.781Z,1628896431.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,056,000,00575,184,80,80,77,FF
2021-08-13T23:13:51.781Z,1628896431.781 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:13:52.217Z,1628896432.217 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231352.50*5F

2021-08-13T23:13:52.242Z,1628896432.242 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.320000 m, bearing: 331.769390 deg, deltaT: 4.418011 s, approachRate: 0.040742 m/s, LOS rate: -7.600022 deg/s, posRepo size: 4
2021-08-13T23:13:54.626Z,1628896434.626 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:13:55.001Z,1628896435.001 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:13:55.001Z,1628896435.001 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:13:55.001Z,1628896435.001 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:13:55.002Z,1628896435.002 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:13:55.413Z,1628896435.413 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
056,000,00575,184,80,80,77,FF
2021-08-13T23:13:55.413Z,1628896435.413 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:13:55.413Z,1628896435.413 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:13:55.415Z,1628896435.415 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:13:55.818Z,1628896435.818 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:13:56.213Z,1628896436.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,032,000,00572,184,80,80,86,FF
2021-08-13T23:13:56.213Z,1628896436.213 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:13:56.654Z,1628896436.654 [Micromodem](INFO): Nmea in: $SNTTA,0.042895,,,,231356.95*4E

2021-08-13T23:13:56.685Z,1628896436.685 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.139999 m, bearing: 332.303156 deg, deltaT: 4.489443 s, approachRate: -0.040094 m/s, LOS rate: 0.118894 deg/s, posRepo size: 4
2021-08-13T23:13:59.103Z,1628896439.103 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:13:59.445Z,1628896439.445 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:13:59.445Z,1628896439.445 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:13:59.445Z,1628896439.445 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:13:59.446Z,1628896439.446 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:13:59.849Z,1628896439.849 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
032,000,00572,184,80,80,86,FF
2021-08-13T23:13:59.849Z,1628896439.849 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:13:59.849Z,1628896439.849 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:13:59.851Z,1628896439.851 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:14:00.261Z,1628896440.261 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:14:00.665Z,1628896440.665 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C01,000,00573,189,80,80,94,FF
2021-08-13T23:14:00.665Z,1628896440.665 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:14:01.104Z,1628896441.104 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231401.39*51

2021-08-13T23:14:01.189Z,1628896441.189 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.199997 m, bearing: 24.928551 deg, deltaT: 4.388862 s, approachRate: 0.013670 m/s, LOS rate: 11.990670 deg/s, posRepo size: 4
2021-08-13T23:14:03.530Z,1628896443.530 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:14:03.890Z,1628896443.890 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:14:03.890Z,1628896443.890 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:14:03.890Z,1628896443.890 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:14:03.890Z,1628896443.890 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:14:04.301Z,1628896444.301 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C01,000,00573,189,80,80,94,FF
2021-08-13T23:14:04.302Z,1628896444.302 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:14:04.302Z,1628896444.302 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:14:04.303Z,1628896444.303 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:14:04.705Z,1628896444.705 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:14:05.097Z,1628896445.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0B0,000,00579,186,80,80,66,FF
2021-08-13T23:14:05.098Z,1628896445.098 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:14:05.105Z,1628896445.105 [Micromodem](INFO): Nmea in: $SNTTA,0.061906,0.169269,,,231405.84*58

2021-08-13T23:14:05.537Z,1628896445.537 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.560001 m, bearing: 323.296021 deg, deltaT: 4.530263 s, approachRate: 0.079467 m/s, LOS rate: -13.604625 deg/s, posRepo size: 4
2021-08-13T23:14:07.955Z,1628896447.955 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:14:08.337Z,1628896448.337 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:14:08.338Z,1628896448.338 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:14:08.338Z,1628896448.338 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:14:08.339Z,1628896448.339 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:14:08.737Z,1628896448.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0B0,000,00579,186,80,80,66,FF
2021-08-13T23:14:08.737Z,1628896448.737 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:14:08.738Z,1628896448.738 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:14:08.739Z,1628896448.739 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:14:09.161Z,1628896449.161 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:14:09.545Z,1628896449.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0C4,000,00578,186,80,80,6D,FF
2021-08-13T23:14:09.545Z,1628896449.545 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:14:09.993Z,1628896449.993 [Micromodem](INFO): Nmea in: $SNTTA,0.074167,,,,231410.28*4C

2021-08-13T23:14:10.015Z,1628896450.015 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.500004 m, bearing: 320.442314 deg, deltaT: 4.381526 s, approachRate: -0.013693 m/s, LOS rate: -0.651305 deg/s, posRepo size: 4
2021-08-13T23:14:12.405Z,1628896452.405 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:14:12.777Z,1628896452.777 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:14:12.777Z,1628896452.777 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:14:12.777Z,1628896452.777 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:14:12.778Z,1628896452.778 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:14:13.193Z,1628896453.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0C4,000,00578,186,80,80,6D,FF
2021-08-13T23:14:13.193Z,1628896453.193 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:14:13.193Z,1628896453.193 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:14:13.195Z,1628896453.195 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:14:13.625Z,1628896453.625 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:14:13.994Z,1628896453.994 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,14D,000,00574,186,80,80,69,FF
2021-08-13T23:14:13.994Z,1628896453.994 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:14:14.449Z,1628896454.449 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231414.73*5B

2021-08-13T23:14:14.475Z,1628896454.475 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.259998 m, bearing: 311.295270 deg, deltaT: 4.449144 s, approachRate: -0.053944 m/s, LOS rate: -2.055911 deg/s, posRepo size: 4
2021-08-13T23:14:16.913Z,1628896456.913 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:14:17.229Z,1628896457.229 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:14:17.229Z,1628896457.229 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:14:17.229Z,1628896457.229 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:14:17.230Z,1628896457.230 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:14:17.649Z,1628896457.649 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
14D,000,00574,186,80,80,69,FF
2021-08-13T23:14:17.649Z,1628896457.649 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:14:17.649Z,1628896457.649 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:14:17.651Z,1628896457.651 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:14:18.040Z,1628896458.040 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:14:18.449Z,1628896458.449 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,185,000,00577,186,80,80,4C,FF
2021-08-13T23:14:18.449Z,1628896458.449 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:14:18.925Z,1628896458.925 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231419.19*5A

2021-08-13T23:14:18.974Z,1628896458.974 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.439999 m, bearing: 306.491161 deg, deltaT: 4.460822 s, approachRate: 0.040351 m/s, LOS rate: -1.076956 deg/s, posRepo size: 4
2021-08-13T23:14:21.307Z,1628896461.307 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:14:21.681Z,1628896461.681 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:14:21.681Z,1628896461.681 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:14:21.681Z,1628896461.681 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:14:21.682Z,1628896461.682 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:14:22.077Z,1628896462.077 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
185,000,00577,186,80,80,4C,FF
2021-08-13T23:14:22.077Z,1628896462.077 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:14:22.077Z,1628896462.077 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:14:22.079Z,1628896462.079 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:14:22.497Z,1628896462.497 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:14:22.933Z,1628896462.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,305,000,00573,188,80,80,6B,FF
2021-08-13T23:14:22.933Z,1628896462.933 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:14:22.937Z,1628896462.937 [Micromodem](INFO): Nmea in: $SNTTA,0.280515,0.280409,,,231423.61*50

2021-08-13T23:14:23.345Z,1628896463.345 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.199997 m, bearing: 285.584006 deg, deltaT: 4.512126 s, approachRate: -0.053190 m/s, LOS rate: -4.633548 deg/s, posRepo size: 4
2021-08-13T23:14:25.750Z,1628896465.750 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:14:26.124Z,1628896466.124 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:14:26.125Z,1628896466.125 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:14:26.125Z,1628896466.125 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:14:26.127Z,1628896466.127 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:14:26.537Z,1628896466.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
305,000,00573,188,80,80,6B,FF
2021-08-13T23:14:26.537Z,1628896466.537 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:14:26.537Z,1628896466.537 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:14:26.539Z,1628896466.539 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:14:26.940Z,1628896466.940 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:14:27.339Z,1628896467.339 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,375,000,00577,189,80,80,A8,FF
2021-08-13T23:14:27.339Z,1628896467.339 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:14:27.766Z,1628896467.766 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231428.07*57

2021-08-13T23:14:27.784Z,1628896467.784 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.439999 m, bearing: 278.231226 deg, deltaT: 4.390416 s, approachRate: 0.054665 m/s, LOS rate: -1.674734 deg/s, posRepo size: 4
2021-08-13T23:14:30.230Z,1628896470.230 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:14:30.565Z,1628896470.565 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:14:30.565Z,1628896470.565 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:14:30.566Z,1628896470.566 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:14:30.567Z,1628896470.567 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:14:30.969Z,1628896470.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
375,000,00577,189,80,80,A8,FF
2021-08-13T23:14:30.969Z,1628896470.969 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:14:30.969Z,1628896470.969 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:14:30.971Z,1628896470.971 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:14:31.390Z,1628896471.390 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:14:31.773Z,1628896471.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,314,000,00577,189,80,80,76,FF
2021-08-13T23:14:31.774Z,1628896471.774 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:14:32.233Z,1628896472.233 [Micromodem](INFO): Nmea in: $SNTTA,0.042563,,,,231432.51*47

2021-08-13T23:14:32.283Z,1628896472.283 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.439999 m, bearing: 281.824260 deg, deltaT: 4.412877 s, approachRate: 0.000000 m/s, LOS rate: 0.814216 deg/s, posRepo size: 4
2021-08-13T23:14:34.650Z,1628896474.650 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:14:35.005Z,1628896475.005 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:14:35.005Z,1628896475.005 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:14:35.005Z,1628896475.005 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:14:35.006Z,1628896475.006 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:14:35.411Z,1628896475.411 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
314,000,00577,189,80,80,76,FF
2021-08-13T23:14:35.412Z,1628896475.412 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:14:35.413Z,1628896475.413 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:14:35.417Z,1628896475.417 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:14:35.819Z,1628896475.819 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:14:36.219Z,1628896476.219 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,29D,000,0057B,189,80,80,96,FF
2021-08-13T23:14:36.220Z,1628896476.220 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:14:36.662Z,1628896476.662 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231436.95*53

2021-08-13T23:14:36.685Z,1628896476.685 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.680000 m, bearing: 286.824833 deg, deltaT: 4.489995 s, approachRate: 0.053453 m/s, LOS rate: 1.113715 deg/s, posRepo size: 4
2021-08-13T23:14:39.094Z,1628896479.094 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:14:39.453Z,1628896479.453 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:14:39.453Z,1628896479.453 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:14:39.453Z,1628896479.453 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:14:39.454Z,1628896479.454 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:14:39.857Z,1628896479.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
29D,000,0057B,189,80,80,96,FF
2021-08-13T23:14:39.857Z,1628896479.857 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:14:39.857Z,1628896479.857 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:14:39.859Z,1628896479.859 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:14:40.270Z,1628896480.270 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:14:40.661Z,1628896480.661 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2ED,000,0057C,18A,80,80,6E,FF
2021-08-13T23:14:40.661Z,1628896480.661 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:14:41.125Z,1628896481.125 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231441.39*55

2021-08-13T23:14:41.221Z,1628896481.221 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.739998 m, bearing: 281.860733 deg, deltaT: 4.401052 s, approachRate: 0.013633 m/s, LOS rate: -1.127935 deg/s, posRepo size: 4
2021-08-13T23:14:43.511Z,1628896483.511 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:14:43.894Z,1628896483.894 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:14:43.894Z,1628896483.894 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:14:43.894Z,1628896483.894 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:14:43.895Z,1628896483.895 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:14:44.297Z,1628896484.297 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2ED,000,0057C,18A,80,80,6E,FF
2021-08-13T23:14:44.298Z,1628896484.298 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:14:44.298Z,1628896484.298 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:14:44.300Z,1628896484.300 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:14:44.710Z,1628896484.710 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:14:45.129Z,1628896485.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,342,000,0057A,189,80,80,8A,FF
2021-08-13T23:14:45.130Z,1628896485.130 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:14:45.549Z,1628896485.549 [Micromodem](INFO): Nmea in: $SNTTA,0.058410,,,,231445.83*46

2021-08-13T23:14:45.568Z,1628896485.568 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.619999 m, bearing: 277.186152 deg, deltaT: 4.532203 s, approachRate: -0.026477 m/s, LOS rate: -1.031415 deg/s, posRepo size: 4
2021-08-13T23:14:47.986Z,1628896487.986 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:14:48.345Z,1628896488.345 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:14:48.346Z,1628896488.346 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:14:48.346Z,1628896488.346 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:14:48.347Z,1628896488.347 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:14:48.745Z,1628896488.745 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
342,000,0057A,189,80,80,8A,FF
2021-08-13T23:14:48.745Z,1628896488.745 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:14:48.745Z,1628896488.745 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:14:48.747Z,1628896488.747 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:14:49.168Z,1628896489.168 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:14:49.549Z,1628896489.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,34F,000,002B4,188,80,80,A3,FF
2021-08-13T23:14:49.549Z,1628896489.549 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:14:49.981Z,1628896489.981 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231450.28*55

2021-08-13T23:14:50.005Z,1628896490.005 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-08-13T23:14:50.005Z,1628896490.005 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-08-13T23:14:50.006Z,1628896490.006 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-08-13T23:14:50.006Z,1628896490.006 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-13T23:14:50.006Z,1628896490.006 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-08-13T23:14:50.006Z,1628896490.006 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.020000 m 
2021-08-13T23:14:50.007Z,1628896490.007 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-08-13T23:14:50.007Z,1628896490.007 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-08-13T23:14:50.007Z,1628896490.007 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-08-13T23:14:50.010Z,1628896490.010 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.020000 m, bearing: 275.922540 deg, deltaT: 4.364948 s, approachRate: -9.759566 m/s, LOS rate: -0.289491 deg/s, posRepo size: 4
2021-08-13T23:14:50.399Z,1628896490.399 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-13T23:14:50.399Z,1628896490.399 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T23:14:50.400Z,1628896490.400 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-13T23:14:50.400Z,1628896490.400 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-13T23:14:50.401Z,1628896490.401 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-13T23:14:50.401Z,1628896490.401 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-13T23:14:50.402Z,1628896490.402 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210813T231450: (41.552319, -70.708603)
2021-08-13T23:14:50.402Z,1628896490.402 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-08-13T23:14:50.402Z,1628896490.402 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-08-13T23:14:50.403Z,1628896490.403 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-13T23:14:50.403Z,1628896490.403 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-08-13T23:14:50.403Z,1628896490.403 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-13T23:14:50.403Z,1628896490.403 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-08-13T23:14:50.403Z,1628896490.403 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-08-13T23:14:50.403Z,1628896490.403 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-08-13T23:14:50.790Z,1628896490.790 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-13T23:14:50.790Z,1628896490.790 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T23:14:50.790Z,1628896490.790 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-13T23:14:50.791Z,1628896490.791 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T23:14:52.414Z,1628896492.414 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:14:52.777Z,1628896492.777 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:14:52.777Z,1628896492.777 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:14:52.777Z,1628896492.777 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:14:52.778Z,1628896492.778 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:14:53.205Z,1628896493.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
34F,000,002B4,188,80,80,A3,FF
2021-08-13T23:14:53.205Z,1628896493.205 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:14:53.205Z,1628896493.205 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:14:53.207Z,1628896493.207 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:14:53.719Z,1628896493.719 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:14:54.102Z,1628896494.102 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,31C,000,00577,189,80,80,6E,FF
2021-08-13T23:14:54.103Z,1628896494.103 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:14:54.171Z,1628896494.171 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:14:54.510Z,1628896494.510 [Micromodem](INFO): Nmea in: $SNTTA,0.080536,,,,231454.74*4E

2021-08-13T23:14:54.535Z,1628896494.535 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.439999 m, bearing: 277.990093 deg, deltaT: 4.560908 s, approachRate: 9.300779 m/s, LOS rate: 0.453320 deg/s, posRepo size: 4
2021-08-13T23:14:54.997Z,1628896494.997 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-13T23:14:54.998Z,1628896494.998 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T23:14:54.998Z,1628896494.998 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-13T23:14:54.998Z,1628896494.998 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-13T23:14:54.998Z,1628896494.998 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-13T23:14:54.998Z,1628896494.998 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-13T23:14:55.347Z,1628896495.347 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-13T23:14:55.347Z,1628896495.347 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T23:14:55.347Z,1628896495.347 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-13T23:14:55.348Z,1628896495.348 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T23:14:56.983Z,1628896496.983 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:14:57.325Z,1628896497.325 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:14:57.325Z,1628896497.325 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:14:57.325Z,1628896497.325 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:14:57.326Z,1628896497.326 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:14:57.737Z,1628896497.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
31C,000,00577,189,80,80,6E,FF
2021-08-13T23:14:57.738Z,1628896497.738 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:14:57.738Z,1628896497.738 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:14:57.739Z,1628896497.739 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:14:58.152Z,1628896498.152 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:14:58.537Z,1628896498.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,35A,000,0057D,18A,80,80,94,FF
2021-08-13T23:14:58.537Z,1628896498.537 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:14:58.994Z,1628896498.994 [Micromodem](INFO): Nmea in: $SNTTA,0.048139,,,,231459.27*4A

2021-08-13T23:14:59.050Z,1628896499.050 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.800003 m, bearing: 274.074536 deg, deltaT: 4.409965 s, approachRate: 0.081634 m/s, LOS rate: -0.887888 deg/s, posRepo size: 4
2021-08-13T23:15:01.423Z,1628896501.423 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:15:01.769Z,1628896501.769 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:15:01.769Z,1628896501.769 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:15:01.769Z,1628896501.769 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:15:01.770Z,1628896501.770 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:15:02.185Z,1628896502.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
35A,000,0057D,18A,80,80,94,FF
2021-08-13T23:15:02.185Z,1628896502.185 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:15:02.185Z,1628896502.185 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:15:02.187Z,1628896502.187 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:15:02.587Z,1628896502.587 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:15:02.984Z,1628896502.984 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,277,000,00581,18A,80,80,70,FF
2021-08-13T23:15:02.984Z,1628896502.984 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:15:03.413Z,1628896503.413 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231503.72*5D

2021-08-13T23:15:03.439Z,1628896503.439 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.040001 m, bearing: 284.855416 deg, deltaT: 4.488965 s, approachRate: 0.053464 m/s, LOS rate: 2.401641 deg/s, posRepo size: 4
2021-08-13T23:15:05.830Z,1628896505.830 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:15:06.217Z,1628896506.217 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:15:06.217Z,1628896506.217 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:15:06.217Z,1628896506.217 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:15:06.218Z,1628896506.218 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:15:06.621Z,1628896506.621 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
277,000,00581,18A,80,80,70,FF
2021-08-13T23:15:06.621Z,1628896506.621 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:15:06.621Z,1628896506.621 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:15:06.623Z,1628896506.623 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:15:07.037Z,1628896507.037 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:15:07.425Z,1628896507.425 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,361,000,00579,189,80,80,A1,FF
2021-08-13T23:15:07.426Z,1628896507.426 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:15:07.862Z,1628896507.862 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231508.16*54

2021-08-13T23:15:07.885Z,1628896507.885 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.560001 m, bearing: 272.825322 deg, deltaT: 4.408657 s, approachRate: -0.108877 m/s, LOS rate: -2.728744 deg/s, posRepo size: 4
2021-08-13T23:15:10.289Z,1628896510.289 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:15:10.653Z,1628896510.653 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:15:10.653Z,1628896510.653 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:15:10.653Z,1628896510.653 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:15:10.654Z,1628896510.654 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:15:11.069Z,1628896511.069 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
361,000,00579,189,80,80,A1,FF
2021-08-13T23:15:11.069Z,1628896511.069 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:15:11.069Z,1628896511.069 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:15:11.071Z,1628896511.071 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:15:11.473Z,1628896511.473 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:15:11.879Z,1628896511.879 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,378,000,0057E,18A,80,80,3D,FF
2021-08-13T23:15:11.880Z,1628896511.880 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:15:12.305Z,1628896512.305 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231512.60*5E

2021-08-13T23:15:12.351Z,1628896512.351 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.860001 m, bearing: 271.644519 deg, deltaT: 4.427533 s, approachRate: 0.067758 m/s, LOS rate: -0.266695 deg/s, posRepo size: 4
2021-08-13T23:15:14.718Z,1628896514.718 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:15:15.120Z,1628896515.120 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:15:15.120Z,1628896515.120 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:15:15.121Z,1628896515.121 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:15:15.122Z,1628896515.122 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:15:15.505Z,1628896515.505 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
378,000,0057E,18A,80,80,3D,FF
2021-08-13T23:15:15.505Z,1628896515.505 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:15:15.505Z,1628896515.505 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:15:15.507Z,1628896515.507 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:15:15.917Z,1628896515.917 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:15:16.309Z,1628896516.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0F5,000,00581,186,80,80,47,FF
2021-08-13T23:15:16.310Z,1628896516.310 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:15:16.757Z,1628896516.757 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231517.04*59

2021-08-13T23:15:16.780Z,1628896516.780 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.040001 m, bearing: 304.166547 deg, deltaT: 4.461128 s, approachRate: 0.040349 m/s, LOS rate: 7.290091 deg/s, posRepo size: 4
2021-08-13T23:15:19.242Z,1628896519.242 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:15:19.545Z,1628896519.545 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:15:19.545Z,1628896519.545 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:15:19.545Z,1628896519.545 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:15:19.546Z,1628896519.546 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:15:19.949Z,1628896519.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0F5,000,00581,186,80,80,47,FF
2021-08-13T23:15:19.949Z,1628896519.949 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:15:19.949Z,1628896519.949 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:15:19.951Z,1628896519.951 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:15:20.368Z,1628896520.368 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:15:20.757Z,1628896520.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3CD,000,00580,188,80,80,9C,FF
2021-08-13T23:15:20.758Z,1628896520.758 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:15:21.213Z,1628896521.213 [Micromodem](INFO): Nmea in: $SNTTA,0.065279,,,,231521.48*45

2021-08-13T23:15:21.286Z,1628896521.286 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.979996 m, bearing: 267.844584 deg, deltaT: 4.438300 s, approachRate: -0.013520 m/s, LOS rate: -8.183756 deg/s, posRepo size: 4
2021-08-13T23:15:23.617Z,1628896523.617 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:15:23.989Z,1628896523.989 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:15:23.989Z,1628896523.989 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:15:23.989Z,1628896523.989 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:15:23.990Z,1628896523.990 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:15:24.397Z,1628896524.397 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3CD,000,00580,188,80,80,9C,FF
2021-08-13T23:15:24.397Z,1628896524.397 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:15:24.397Z,1628896524.397 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:15:24.399Z,1628896524.399 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:15:24.809Z,1628896524.809 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:15:25.201Z,1628896525.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2CF,000,0058A,189,80,80,68,FF
2021-08-13T23:15:25.201Z,1628896525.201 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:15:25.649Z,1628896525.649 [Micromodem](INFO): Nmea in: $SNTTA,0.121492,,,,231525.93*45

2021-08-13T23:15:25.671Z,1628896525.671 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.579998 m, bearing: 281.070289 deg, deltaT: 4.484248 s, approachRate: 0.133802 m/s, LOS rate: 2.949370 deg/s, posRepo size: 4
2021-08-13T23:15:28.057Z,1628896528.057 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:15:28.445Z,1628896528.445 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:15:28.445Z,1628896528.445 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:15:28.445Z,1628896528.445 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:15:28.446Z,1628896528.446 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:15:28.846Z,1628896528.846 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2CF,000,0058A,189,80,80,68,FF
2021-08-13T23:15:28.847Z,1628896528.847 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:15:28.847Z,1628896528.847 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:15:28.854Z,1628896528.854 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:15:29.241Z,1628896529.241 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:15:29.641Z,1628896529.641 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,41E,000,00582,189,80,80,73,FF
2021-08-13T23:15:29.642Z,1628896529.642 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:15:30.093Z,1628896530.093 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231530.39*52

2021-08-13T23:15:30.171Z,1628896530.171 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.100002 m, bearing: 264.757585 deg, deltaT: 4.375761 s, approachRate: -0.109694 m/s, LOS rate: -3.727970 deg/s, posRepo size: 4
2021-08-13T23:15:32.512Z,1628896532.512 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:15:32.913Z,1628896532.913 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:15:32.913Z,1628896532.913 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:15:32.913Z,1628896532.913 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:15:32.914Z,1628896532.914 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:15:33.277Z,1628896533.277 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
41E,000,00582,189,80,80,73,FF
2021-08-13T23:15:33.277Z,1628896533.277 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:15:33.278Z,1628896533.278 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:15:33.279Z,1628896533.279 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:15:33.712Z,1628896533.712 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:15:34.090Z,1628896534.090 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3BB,000,00583,189,80,80,69,FF
2021-08-13T23:15:34.090Z,1628896534.090 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:15:34.534Z,1628896534.534 [Micromodem](INFO): Nmea in: $SNTTA,0.059424,,,,231534.82*46

2021-08-13T23:15:34.564Z,1628896534.564 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.159996 m, bearing: 270.057046 deg, deltaT: 4.494633 s, approachRate: 0.013348 m/s, LOS rate: 1.179064 deg/s, posRepo size: 4
2021-08-13T23:15:36.980Z,1628896536.980 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:15:37.325Z,1628896537.325 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:15:37.325Z,1628896537.325 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:15:37.325Z,1628896537.325 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:15:37.326Z,1628896537.326 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:15:37.793Z,1628896537.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3BB,000,00583,189,80,80,69,FF
2021-08-13T23:15:37.793Z,1628896537.793 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:15:37.793Z,1628896537.793 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:15:37.795Z,1628896537.795 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:15:38.153Z,1628896538.153 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:15:38.542Z,1628896538.542 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3C0,000,00582,189,80,80,75,FF
2021-08-13T23:15:38.542Z,1628896538.542 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:15:38.967Z,1628896538.967 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231539.33*51

2021-08-13T23:15:39.049Z,1628896539.049 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.100002 m, bearing: 270.480682 deg, deltaT: 4.420579 s, approachRate: -0.013571 m/s, LOS rate: 0.095833 deg/s, posRepo size: 4
2021-08-13T23:15:41.400Z,1628896541.400 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:15:41.769Z,1628896541.769 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:15:41.769Z,1628896541.769 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:15:41.769Z,1628896541.769 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:15:41.770Z,1628896541.770 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:15:42.189Z,1628896542.189 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3C0,000,00582,189,80,80,75,FF
2021-08-13T23:15:42.189Z,1628896542.189 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:15:42.189Z,1628896542.189 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:15:42.191Z,1628896542.191 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:15:42.581Z,1628896542.581 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:15:42.986Z,1628896542.986 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,14A,000,00587,186,80,80,60,FF
2021-08-13T23:15:42.986Z,1628896542.986 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:15:43.418Z,1628896543.418 [Micromodem](INFO): Nmea in: $SNTTA,0.045968,,,,231543.72*41

2021-08-13T23:15:43.443Z,1628896543.443 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.399998 m, bearing: 302.529268 deg, deltaT: 4.443645 s, approachRate: 0.067511 m/s, LOS rate: 7.212229 deg/s, posRepo size: 4
2021-08-13T23:15:45.831Z,1628896545.831 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:15:46.232Z,1628896546.232 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:15:46.232Z,1628896546.232 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:15:46.233Z,1628896546.233 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:15:46.233Z,1628896546.233 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:15:46.617Z,1628896546.617 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
14A,000,00587,186,80,80,60,FF
2021-08-13T23:15:46.617Z,1628896546.617 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:15:46.617Z,1628896546.617 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:15:46.619Z,1628896546.619 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:15:47.030Z,1628896547.030 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:15:47.425Z,1628896547.425 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0E0,000,0058B,187,80,80,6E,FF
2021-08-13T23:15:47.425Z,1628896547.425 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:15:47.857Z,1628896547.857 [Micromodem](INFO): Nmea in: $SNTTA,0.052231,,,,231548.15*4A

2021-08-13T23:15:47.899Z,1628896547.899 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.639999 m, bearing: 308.050766 deg, deltaT: 4.461721 s, approachRate: 0.053791 m/s, LOS rate: 1.237526 deg/s, posRepo size: 4
2021-08-13T23:15:50.295Z,1628896550.295 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:15:50.657Z,1628896550.657 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:15:50.657Z,1628896550.657 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:15:50.657Z,1628896550.657 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:15:50.658Z,1628896550.658 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:15:51.065Z,1628896551.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0E0,000,0058B,187,80,80,6E,FF
2021-08-13T23:15:51.065Z,1628896551.065 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:15:51.065Z,1628896551.065 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:15:51.067Z,1628896551.067 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:15:51.481Z,1628896551.481 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:15:51.874Z,1628896551.874 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB9,000,0058F,184,80,80,69,FF
2021-08-13T23:15:51.874Z,1628896551.874 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:15:52.317Z,1628896552.317 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231552.60*5A

2021-08-13T23:15:52.343Z,1628896552.343 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.880001 m, bearing: 323.016557 deg, deltaT: 4.444286 s, approachRate: 0.054002 m/s, LOS rate: 3.367423 deg/s, posRepo size: 4
2021-08-13T23:15:53.122Z,1628896553.122 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-13T23:15:54.721Z,1628896554.721 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:15:55.109Z,1628896555.109 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:15:55.109Z,1628896555.109 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:15:55.110Z,1628896555.110 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:15:55.111Z,1628896555.111 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:15:55.505Z,1628896555.505 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB9,000,0058F,184,80,80,69,FF
2021-08-13T23:15:55.505Z,1628896555.505 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:15:55.505Z,1628896555.505 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:15:55.507Z,1628896555.507 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:15:55.917Z,1628896555.917 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:15:56.309Z,1628896556.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,07A,000,0058D,187,80,80,68,FF
2021-08-13T23:15:56.310Z,1628896556.310 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:15:56.758Z,1628896556.758 [Micromodem](INFO): Nmea in: $SNTTA,0.060162,,,,231557.04*40

2021-08-13T23:15:56.779Z,1628896556.779 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.759995 m, bearing: 313.874021 deg, deltaT: 4.432015 s, approachRate: -0.027077 m/s, LOS rate: -2.062840 deg/s, posRepo size: 4
2021-08-13T23:15:59.239Z,1628896559.239 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:15:59.545Z,1628896559.545 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:15:59.545Z,1628896559.545 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:15:59.545Z,1628896559.545 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:15:59.546Z,1628896559.546 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:15:59.961Z,1628896559.961 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
07A,000,0058D,187,80,80,68,FF
2021-08-13T23:15:59.961Z,1628896559.961 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:15:59.961Z,1628896559.961 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:15:59.963Z,1628896559.963 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:16:00.374Z,1628896560.374 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:16:00.765Z,1628896560.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CB1,000,0058D,189,80,80,5A,FF
2021-08-13T23:16:00.766Z,1628896560.766 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:16:01.210Z,1628896561.210 [Micromodem](INFO): Nmea in: $SNTTA,0.082001,,,,231601.50*49

2021-08-13T23:16:01.239Z,1628896561.239 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.759995 m, bearing: 2.508769 deg, deltaT: 4.519698 s, approachRate: 0.000000 m/s, LOS rate: 10.760616 deg/s, posRepo size: 4
2021-08-13T23:16:03.621Z,1628896563.621 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:16:03.994Z,1628896563.994 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:16:03.994Z,1628896563.994 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:16:03.994Z,1628896563.994 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:16:03.995Z,1628896563.995 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:16:04.401Z,1628896564.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CB1,000,0058D,189,80,80,5A,FF
2021-08-13T23:16:04.401Z,1628896564.401 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:16:04.401Z,1628896564.401 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:16:04.403Z,1628896564.403 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:16:04.843Z,1628896564.843 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:16:05.207Z,1628896565.207 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,001,000,00593,182,80,80,8A,FF
2021-08-13T23:16:05.207Z,1628896565.207 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:16:05.649Z,1628896565.649 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231605.94*50

2021-08-13T23:16:05.671Z,1628896565.671 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 48.120003 m, bearing: 320.251506 deg, deltaT: 4.354389 s, approachRate: 0.082677 m/s, LOS rate: -9.704519 deg/s, posRepo size: 4
2021-08-13T23:16:08.064Z,1628896568.064 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:16:08.448Z,1628896568.448 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:16:08.448Z,1628896568.448 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:16:08.448Z,1628896568.448 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:16:08.449Z,1628896568.449 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:16:08.853Z,1628896568.853 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
001,000,00593,182,80,80,8A,FF
2021-08-13T23:16:08.854Z,1628896568.854 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:16:08.855Z,1628896568.855 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:16:08.871Z,1628896568.871 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:16:09.367Z,1628896569.367 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:16:09.749Z,1628896569.749 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F7B,000,0058E,187,80,80,A0,FF
2021-08-13T23:16:09.749Z,1628896569.749 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:16:10.198Z,1628896570.198 [Micromodem](INFO): Nmea in: $SNTTA,0.052581,,,,231610.41*49

2021-08-13T23:16:10.232Z,1628896570.232 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.820000 m, bearing: 327.064537 deg, deltaT: 4.531357 s, approachRate: -0.066206 m/s, LOS rate: 1.503530 deg/s, posRepo size: 4
2021-08-13T23:16:12.606Z,1628896572.606 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:16:12.985Z,1628896572.985 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:16:12.985Z,1628896572.985 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:16:12.985Z,1628896572.985 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:16:12.986Z,1628896572.986 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:16:13.377Z,1628896573.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F7B,000,0058E,187,80,80,A0,FF
2021-08-13T23:16:13.377Z,1628896573.377 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:16:13.377Z,1628896573.377 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:16:13.379Z,1628896573.379 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:16:13.875Z,1628896573.875 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:16:14.185Z,1628896574.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF3,000,00591,186,80,80,8D,FF
2021-08-13T23:16:14.186Z,1628896574.186 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:16:14.629Z,1628896574.629 [Micromodem](INFO): Nmea in: $SNTTA,0.044214,,,,231614.91*4C

2021-08-13T23:16:14.668Z,1628896574.668 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.999996 m, bearing: 334.116626 deg, deltaT: 4.446428 s, approachRate: 0.040481 m/s, LOS rate: 1.586012 deg/s, posRepo size: 4
2021-08-13T23:16:17.062Z,1628896577.062 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:16:17.421Z,1628896577.421 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:16:17.421Z,1628896577.421 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:16:17.421Z,1628896577.421 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:16:17.422Z,1628896577.422 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:16:17.829Z,1628896577.829 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF3,000,00591,186,80,80,8D,FF
2021-08-13T23:16:17.829Z,1628896577.829 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:16:17.829Z,1628896577.829 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:16:17.831Z,1628896577.831 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:16:18.229Z,1628896578.229 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:16:19.054Z,1628896579.054 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231619.36*55

2021-08-13T23:16:19.858Z,1628896579.858 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:16:21.453Z,1628896581.453 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
1,186,80,80,8D,FF
2021-08-13T23:16:21.453Z,1628896581.453 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
1,186,80,80,8D,FF
2021-08-13T23:16:21.454Z,1628896581.454 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T23:16:22.706Z,1628896582.706 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:16:23.073Z,1628896583.073 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:16:23.073Z,1628896583.073 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:16:23.073Z,1628896583.073 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:16:23.074Z,1628896583.074 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:16:23.490Z,1628896583.490 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
1,186,80,80,8D,FF
2021-08-13T23:16:23.490Z,1628896583.490 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:16:23.490Z,1628896583.490 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:16:23.493Z,1628896583.493 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:16:23.890Z,1628896583.890 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:16:24.291Z,1628896584.291 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E91,000,00596,186,80,80,6B,FF
2021-08-13T23:16:24.291Z,1628896584.291 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:16:24.725Z,1628896584.725 [Micromodem](INFO): Nmea in: $SNTTA,0.044786,,,,231625.03*4B

2021-08-13T23:16:24.768Z,1628896584.768 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 48.300003 m, bearing: 338.976087 deg, deltaT: 10.139095 s, approachRate: 0.029589 m/s, LOS rate: 0.479280 deg/s, posRepo size: 4
2021-08-13T23:16:27.193Z,1628896587.193 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:16:27.526Z,1628896587.526 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:16:27.526Z,1628896587.526 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:16:27.526Z,1628896587.526 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:16:27.527Z,1628896587.527 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:16:27.929Z,1628896587.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E91,000,00596,186,80,80,6B,FF
2021-08-13T23:16:27.929Z,1628896587.929 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:16:27.930Z,1628896587.930 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:16:27.931Z,1628896587.931 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:16:28.338Z,1628896588.338 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:16:28.753Z,1628896588.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,00B,000,00593,183,80,80,66,FF
2021-08-13T23:16:28.753Z,1628896588.753 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:16:29.186Z,1628896589.186 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231629.46*51

2021-08-13T23:16:29.269Z,1628896589.269 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 48.120003 m, bearing: 319.529363 deg, deltaT: 4.442923 s, approachRate: -0.040514 m/s, LOS rate: -4.377011 deg/s, posRepo size: 4
2021-08-13T23:16:31.604Z,1628896591.604 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:16:31.981Z,1628896591.981 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:16:31.981Z,1628896591.981 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:16:31.981Z,1628896591.981 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:16:31.982Z,1628896591.982 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:16:32.379Z,1628896592.379 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
00B,000,00593,183,80,80,66,FF
2021-08-13T23:16:32.379Z,1628896592.379 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:16:32.379Z,1628896592.379 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:16:32.382Z,1628896592.382 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:16:32.785Z,1628896592.785 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:16:33.211Z,1628896593.211 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E61,000,00597,186,80,80,86,FF
2021-08-13T23:16:33.211Z,1628896593.211 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:16:33.639Z,1628896593.639 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231633.91*50

2021-08-13T23:16:33.660Z,1628896593.660 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 48.360004 m, bearing: 340.376658 deg, deltaT: 4.518332 s, approachRate: 0.053117 m/s, LOS rate: 4.613936 deg/s, posRepo size: 4
2021-08-13T23:16:36.049Z,1628896596.049 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:16:36.425Z,1628896596.425 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:16:36.425Z,1628896596.425 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:16:36.426Z,1628896596.426 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:16:36.426Z,1628896596.426 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:16:36.845Z,1628896596.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E61,000,00597,186,80,80,86,FF
2021-08-13T23:16:36.845Z,1628896596.845 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:16:36.846Z,1628896596.846 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:16:36.854Z,1628896596.854 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:16:37.245Z,1628896597.245 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:16:37.633Z,1628896597.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,04B,000,00596,184,80,80,5A,FF
2021-08-13T23:16:37.633Z,1628896597.633 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:16:38.070Z,1628896598.070 [Micromodem](INFO): Nmea in: $SNTTA,0.075045,,,,231638.39*44

2021-08-13T23:16:38.150Z,1628896598.150 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 48.300003 m, bearing: 315.706506 deg, deltaT: 4.337886 s, approachRate: -0.013832 m/s, LOS rate: -5.687137 deg/s, posRepo size: 4
2021-08-13T23:16:40.527Z,1628896600.527 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:16:40.913Z,1628896600.913 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:16:40.913Z,1628896600.913 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:16:40.914Z,1628896600.914 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:16:40.914Z,1628896600.914 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:16:41.281Z,1628896601.281 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
04B,000,00596,184,80,80,5A,FF
2021-08-13T23:16:41.281Z,1628896601.281 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:16:41.281Z,1628896601.281 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:16:41.283Z,1628896601.283 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:16:41.689Z,1628896601.689 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:16:42.077Z,1628896602.077 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C78,000,00599,189,80,80,41,FF
2021-08-13T23:16:42.078Z,1628896602.078 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:16:42.521Z,1628896602.521 [Micromodem](INFO): Nmea in: $SNTTA,0.063092,,,,231642.82*44

2021-08-13T23:16:42.538Z,1628896602.538 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 48.480000 m, bearing: 4.413795 deg, deltaT: 4.577031 s, approachRate: 0.039326 m/s, LOS rate: 10.641680 deg/s, posRepo size: 4
2021-08-13T23:16:44.991Z,1628896604.991 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:16:45.317Z,1628896605.317 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:16:45.317Z,1628896605.317 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:16:45.317Z,1628896605.317 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:16:45.318Z,1628896605.318 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:16:45.721Z,1628896605.721 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C78,000,00599,189,80,80,41,FF
2021-08-13T23:16:45.721Z,1628896605.721 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:16:45.721Z,1628896605.721 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:16:45.723Z,1628896605.723 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:16:46.146Z,1628896606.146 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:16:46.521Z,1628896606.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E01,000,0059C,187,80,80,75,FF
2021-08-13T23:16:46.521Z,1628896606.521 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:16:46.957Z,1628896606.957 [Micromodem](INFO): Nmea in: $SNTTA,0.457361,0.457424,,,231647.26*59

2021-08-13T23:16:47.041Z,1628896607.041 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 48.660000 m, bearing: 344.962119 deg, deltaT: 4.311337 s, approachRate: 0.041750 m/s, LOS rate: -4.511753 deg/s, posRepo size: 4
2021-08-13T23:16:49.397Z,1628896609.397 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:16:49.753Z,1628896609.753 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:16:49.753Z,1628896609.753 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:16:49.753Z,1628896609.753 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:16:49.754Z,1628896609.754 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:16:50.185Z,1628896610.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E01,000,0059C,187,80,80,75,FF
2021-08-13T23:16:50.185Z,1628896610.185 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:16:50.185Z,1628896610.185 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:16:50.187Z,1628896610.187 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:16:50.564Z,1628896610.564 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:16:50.965Z,1628896610.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E78,000,0059E,186,80,80,5E,FF
2021-08-13T23:16:50.965Z,1628896610.965 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:16:51.425Z,1628896611.425 [Micromodem](INFO): Nmea in: $SNTTA,0.144554,,,,231651.72*42

2021-08-13T23:16:51.458Z,1628896611.458 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 48.779995 m, bearing: 338.937592 deg, deltaT: 4.486619 s, approachRate: 0.026745 m/s, LOS rate: -1.342777 deg/s, posRepo size: 4
2021-08-13T23:16:53.807Z,1628896613.807 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:16:54.193Z,1628896614.193 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:16:54.193Z,1628896614.193 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:16:54.194Z,1628896614.194 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:16:54.195Z,1628896614.195 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:16:54.605Z,1628896614.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E78,000,0059E,186,80,80,5E,FF
2021-08-13T23:16:54.605Z,1628896614.605 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:16:54.605Z,1628896614.605 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:16:54.607Z,1628896614.607 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:16:55.014Z,1628896615.014 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:16:55.409Z,1628896615.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E15,000,0059C,186,80,80,6E,FF
2021-08-13T23:16:55.410Z,1628896615.410 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:16:55.843Z,1628896615.843 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 48.660000 m, bearing: 343.505759 deg, deltaT: 4.411317 s, approachRate: -0.027202 m/s, LOS rate: 1.035556 deg/s, posRepo size: 4
2021-08-13T23:16:58.279Z,1628896618.279 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:16:58.641Z,1628896618.641 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:16:58.641Z,1628896618.641 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:16:58.641Z,1628896618.641 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:16:58.642Z,1628896618.642 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:16:59.045Z,1628896619.045 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E15,000,0059C,186,80,80,6E,FF
2021-08-13T23:16:59.045Z,1628896619.045 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:16:59.045Z,1628896619.045 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:16:59.047Z,1628896619.047 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:16:59.453Z,1628896619.453 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:16:59.853Z,1628896619.853 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E63,000,0059F,186,80,80,6D,FF
2021-08-13T23:16:59.853Z,1628896619.853 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:17:00.299Z,1628896620.299 [Micromodem](INFO): Nmea in: $SNTTA,0.052066,,,,231700.58*4D

2021-08-13T23:17:00.325Z,1628896620.325 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 48.839996 m, bearing: 339.268419 deg, deltaT: 4.466708 s, approachRate: 0.040297 m/s, LOS rate: -0.948649 deg/s, posRepo size: 4
2021-08-13T23:17:02.713Z,1628896622.713 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:17:03.097Z,1628896623.097 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:17:03.097Z,1628896623.097 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:17:03.097Z,1628896623.097 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:17:03.098Z,1628896623.098 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:17:03.502Z,1628896623.502 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E63,000,0059F,186,80,80,6D,FF
2021-08-13T23:17:03.502Z,1628896623.502 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:17:03.502Z,1628896623.502 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:17:03.504Z,1628896623.504 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:17:03.899Z,1628896623.899 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:17:04.297Z,1628896624.297 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ECF,000,005A5,186,80,80,75,FF
2021-08-13T23:17:04.297Z,1628896624.297 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:17:04.742Z,1628896624.742 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231705.04*58

2021-08-13T23:17:04.758Z,1628896624.758 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.199993 m, bearing: 334.224515 deg, deltaT: 4.452542 s, approachRate: 0.080852 m/s, LOS rate: -1.132814 deg/s, posRepo size: 4
2021-08-13T23:17:07.203Z,1628896627.203 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:17:07.533Z,1628896627.533 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:17:07.533Z,1628896627.533 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:17:07.534Z,1628896627.534 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:17:07.535Z,1628896627.535 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:17:07.949Z,1628896627.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ECF,000,005A5,186,80,80,75,FF
2021-08-13T23:17:07.949Z,1628896627.949 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:17:07.949Z,1628896627.949 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:17:07.951Z,1628896627.951 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:17:08.341Z,1628896628.341 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:17:08.754Z,1628896628.754 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E99,000,005A4,186,80,80,85,FF
2021-08-13T23:17:08.756Z,1628896628.756 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:17:09.201Z,1628896629.201 [Micromodem](INFO): Nmea in: $SNTTA,0.047599,,,,231709.48*44

2021-08-13T23:17:09.283Z,1628896629.283 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.140003 m, bearing: 337.325285 deg, deltaT: 4.418970 s, approachRate: -0.013576 m/s, LOS rate: 0.701695 deg/s, posRepo size: 4
2021-08-13T23:17:11.598Z,1628896631.598 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:17:11.977Z,1628896631.977 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:17:11.977Z,1628896631.977 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:17:11.977Z,1628896631.977 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:17:11.978Z,1628896631.978 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:17:12.377Z,1628896632.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E99,000,005A4,186,80,80,85,FF
2021-08-13T23:17:12.377Z,1628896632.377 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:17:12.377Z,1628896632.377 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:17:12.379Z,1628896632.379 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:17:12.781Z,1628896632.781 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:17:13.185Z,1628896633.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F1C,000,005A6,186,80,80,84,FF
2021-08-13T23:17:13.186Z,1628896633.186 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:17:13.189Z,1628896633.189 [Micromodem](INFO): Nmea in: $SNTTA,0.172788,0.172813,,,231713.91*5E

2021-08-13T23:17:13.650Z,1628896633.650 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.259998 m, bearing: 331.080115 deg, deltaT: 4.501496 s, approachRate: 0.026657 m/s, LOS rate: -1.387354 deg/s, posRepo size: 4
2021-08-13T23:17:16.053Z,1628896636.053 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:17:16.424Z,1628896636.424 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:17:16.424Z,1628896636.424 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:17:16.425Z,1628896636.425 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:17:16.425Z,1628896636.425 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:17:16.849Z,1628896636.849 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F1C,000,005A6,186,80,80,84,FF
2021-08-13T23:17:16.849Z,1628896636.849 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:17:16.850Z,1628896636.850 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:17:16.861Z,1628896636.861 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:17:17.229Z,1628896637.229 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:17:17.638Z,1628896637.638 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF1,000,005A6,186,80,80,8E,FF
2021-08-13T23:17:17.638Z,1628896637.638 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:17:18.067Z,1628896638.067 [Micromodem](INFO): Nmea in: $SNTTA,0.078896,,,,231718.40*42

2021-08-13T23:17:18.145Z,1628896638.145 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.259998 m, bearing: 333.015927 deg, deltaT: 4.378074 s, approachRate: 0.000000 m/s, LOS rate: 0.442161 deg/s, posRepo size: 4
2021-08-13T23:17:20.488Z,1628896640.488 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:17:20.905Z,1628896640.905 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:17:20.905Z,1628896640.905 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:17:20.905Z,1628896640.905 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:17:20.906Z,1628896640.906 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:17:21.269Z,1628896641.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF1,000,005A6,186,80,80,8E,FF
2021-08-13T23:17:21.269Z,1628896641.269 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:17:21.269Z,1628896641.269 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:17:21.271Z,1628896641.271 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:17:21.676Z,1628896641.676 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:17:22.079Z,1628896642.079 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EEB,000,005A9,186,80,80,7B,FF
2021-08-13T23:17:22.079Z,1628896642.079 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:17:22.513Z,1628896642.513 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231722.80*51

2021-08-13T23:17:22.538Z,1628896642.538 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.439995 m, bearing: 332.894104 deg, deltaT: 4.453628 s, approachRate: 0.040416 m/s, LOS rate: -0.027354 deg/s, posRepo size: 4
2021-08-13T23:17:24.967Z,1628896644.967 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:17:25.315Z,1628896645.315 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:17:25.315Z,1628896645.315 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:17:25.315Z,1628896645.315 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:17:25.316Z,1628896645.316 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:17:25.713Z,1628896645.713 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EEB,000,005A9,186,80,80,7B,FF
2021-08-13T23:17:25.713Z,1628896645.713 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:17:25.713Z,1628896645.713 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:17:25.715Z,1628896645.715 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:17:26.137Z,1628896646.137 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:17:26.521Z,1628896646.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F0A,000,005AB,186,80,80,6B,FF
2021-08-13T23:17:26.522Z,1628896646.522 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:17:26.965Z,1628896646.965 [Micromodem](INFO): Nmea in: $SNTTA,0.044115,,,,231727.25*40

2021-08-13T23:17:27.011Z,1628896647.011 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.560001 m, bearing: 331.434001 deg, deltaT: 4.430208 s, approachRate: 0.027088 m/s, LOS rate: -0.329579 deg/s, posRepo size: 4
2021-08-13T23:17:29.397Z,1628896649.397 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:17:29.750Z,1628896649.750 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:17:29.750Z,1628896649.750 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:17:29.750Z,1628896649.750 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:17:29.751Z,1628896649.751 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:17:30.181Z,1628896650.181 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F0A,000,005AB,186,80,80,6B,FF
2021-08-13T23:17:30.181Z,1628896650.181 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:17:30.181Z,1628896650.181 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:17:30.183Z,1628896650.183 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:17:30.568Z,1628896650.568 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:17:30.966Z,1628896650.966 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ECF,000,005AD,186,80,80,8E,FF
2021-08-13T23:17:30.966Z,1628896650.966 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:17:31.393Z,1628896651.393 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231731.72*5E

2021-08-13T23:17:31.418Z,1628896651.418 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.679996 m, bearing: 334.403084 deg, deltaT: 4.480125 s, approachRate: 0.026784 m/s, LOS rate: 0.662723 deg/s, posRepo size: 4
2021-08-13T23:17:33.835Z,1628896653.835 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:17:34.201Z,1628896654.201 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:17:34.201Z,1628896654.201 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:17:34.201Z,1628896654.201 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:17:34.202Z,1628896654.202 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:17:34.597Z,1628896654.597 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ECF,000,005AD,186,80,80,8E,FF
2021-08-13T23:17:34.597Z,1628896654.597 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:17:34.597Z,1628896654.597 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:17:34.599Z,1628896654.599 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:17:35.016Z,1628896655.016 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:17:35.405Z,1628896655.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F0A,000,005B0,186,80,80,82,FF
2021-08-13T23:17:35.406Z,1628896655.406 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:17:35.845Z,1628896655.845 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231736.13*5E

2021-08-13T23:17:35.887Z,1628896655.887 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.859997 m, bearing: 331.104731 deg, deltaT: 4.413954 s, approachRate: 0.040780 m/s, LOS rate: -0.747256 deg/s, posRepo size: 4
2021-08-13T23:17:38.278Z,1628896658.278 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:17:38.642Z,1628896658.642 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:17:38.642Z,1628896658.642 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:17:38.642Z,1628896658.642 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:17:38.643Z,1628896658.643 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:17:39.053Z,1628896659.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F0A,000,005B0,186,80,80,82,FF
2021-08-13T23:17:39.053Z,1628896659.053 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:17:39.053Z,1628896659.053 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:17:39.055Z,1628896659.055 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:17:39.449Z,1628896659.449 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:17:39.858Z,1628896659.858 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EEB,000,005B3,186,80,80,73,FF
2021-08-13T23:17:39.858Z,1628896659.858 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:17:40.285Z,1628896660.285 [Micromodem](INFO): Nmea in: $SNTTA,0.277604,,,,231740.59*4F

2021-08-13T23:17:40.322Z,1628896660.322 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 50.039997 m, bearing: 332.767636 deg, deltaT: 4.475774 s, approachRate: 0.040217 m/s, LOS rate: 0.371535 deg/s, posRepo size: 4
2021-08-13T23:17:42.714Z,1628896662.714 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:17:43.098Z,1628896663.098 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:17:43.098Z,1628896663.098 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:17:43.098Z,1628896663.098 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:17:43.099Z,1628896663.099 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:17:43.493Z,1628896663.493 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EEB,000,005B3,186,80,80,73,FF
2021-08-13T23:17:43.494Z,1628896663.494 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:17:43.494Z,1628896663.494 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:17:43.495Z,1628896663.495 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:17:43.929Z,1628896663.929 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:17:44.317Z,1628896664.317 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E9F,000,005B2,186,80,80,80,FF
2021-08-13T23:17:44.318Z,1628896664.318 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:17:44.754Z,1628896664.754 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231745.03*5B

2021-08-13T23:17:44.775Z,1628896664.775 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.980003 m, bearing: 336.267179 deg, deltaT: 4.460331 s, approachRate: -0.013451 m/s, LOS rate: 0.784593 deg/s, posRepo size: 4
2021-08-13T23:17:47.242Z,1628896667.242 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:17:47.549Z,1628896667.549 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:17:47.549Z,1628896667.549 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:17:47.549Z,1628896667.549 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:17:47.550Z,1628896667.550 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:17:47.958Z,1628896667.958 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E9F,000,005B2,186,80,80,80,FF
2021-08-13T23:17:47.958Z,1628896667.958 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:17:47.958Z,1628896667.958 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:17:47.960Z,1628896667.960 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:17:48.364Z,1628896668.364 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:17:49.198Z,1628896669.198 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231749.50*51

2021-08-13T23:17:50.011Z,1628896670.011 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:17:51.589Z,1628896671.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
2,186,80,80,80,FF
2021-08-13T23:17:51.590Z,1628896671.590 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
2,186,80,80,80,FF
2021-08-13T23:17:51.590Z,1628896671.590 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T23:17:52.902Z,1628896672.902 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:17:53.209Z,1628896673.209 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:17:53.209Z,1628896673.209 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:17:53.209Z,1628896673.209 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:17:53.210Z,1628896673.210 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:17:53.614Z,1628896673.614 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
2,186,80,80,80,FF
2021-08-13T23:17:53.615Z,1628896673.615 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:17:53.615Z,1628896673.615 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:17:53.618Z,1628896673.618 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:17:54.020Z,1628896674.020 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:17:54.877Z,1628896674.877 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231755.15*5D

2021-08-13T23:17:55.633Z,1628896675.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,351,000,035D5,189,80,80,62,FF
2021-08-13T23:17:55.633Z,1628896675.633 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:17:56.079Z,1628896676.079 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 789.360046 m, bearing: 277.258170 deg, deltaT: 11.282210 s, approachRate: 65.535042 m/s, LOS rate: -5.230270 deg/s, posRepo size: 4
2021-08-13T23:17:58.505Z,1628896678.505 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:17:58.909Z,1628896678.909 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:17:58.909Z,1628896678.909 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:17:58.909Z,1628896678.909 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:17:58.910Z,1628896678.910 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:17:59.275Z,1628896679.275 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
351,000,035D5,189,80,80,62,FF
2021-08-13T23:17:59.275Z,1628896679.275 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:17:59.275Z,1628896679.275 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:17:59.277Z,1628896679.277 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:17:59.672Z,1628896679.672 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:18:00.077Z,1628896680.077 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2FE,000,005B7,18A,80,80,68,FF
2021-08-13T23:18:00.077Z,1628896680.077 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:18:00.513Z,1628896680.513 [Micromodem](INFO): Nmea in: $SNTTA,0.093493,,,,231800.81*45

2021-08-13T23:18:00.551Z,1628896680.551 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 50.279999 m, bearing: 281.420787 deg, deltaT: 4.495507 s, approachRate: -164.404160 m/s, LOS rate: 0.925951 deg/s, posRepo size: 4
2021-08-13T23:18:02.962Z,1628896682.962 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:18:03.309Z,1628896683.309 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:18:03.309Z,1628896683.309 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:18:03.309Z,1628896683.309 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:18:03.310Z,1628896683.310 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:18:03.709Z,1628896683.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2FE,000,005B7,18A,80,80,68,FF
2021-08-13T23:18:03.709Z,1628896683.709 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:18:03.709Z,1628896683.709 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:18:03.711Z,1628896683.711 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:18:04.147Z,1628896684.147 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:18:04.525Z,1628896684.525 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,295,000,005B9,189,80,80,74,FF
2021-08-13T23:18:04.525Z,1628896684.525 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:18:04.742Z,1628896684.742 [CTD_Seabird](ERROR): Failed to parse device response: 5.99,24.2438,4.779.05
2021-08-13T23:18:04.941Z,1628896684.941 [Micromodem](INFO): Nmea in: $SNTTA,0.465143,0.465249,,,231805.25*5D

2021-08-13T23:18:05.037Z,1628896685.037 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 50.400005 m, bearing: 287.640084 deg, deltaT: 4.440413 s, approachRate: 0.027026 m/s, LOS rate: 1.400612 deg/s, posRepo size: 4
2021-08-13T23:18:07.389Z,1628896687.389 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:18:07.757Z,1628896687.757 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:18:07.757Z,1628896687.757 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:18:07.757Z,1628896687.757 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:18:07.758Z,1628896687.758 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:18:08.181Z,1628896688.181 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
295,000,005B9,189,80,80,74,FF
2021-08-13T23:18:08.181Z,1628896688.181 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:18:08.181Z,1628896688.181 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:18:08.183Z,1628896688.183 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:18:08.565Z,1628896688.565 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:18:08.981Z,1628896688.981 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,329,000,005BE,189,80,80,5D,FF
2021-08-13T23:18:08.981Z,1628896688.981 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:18:09.005Z,1628896689.005 [Micromodem](INFO): Nmea in: $SNTTA,0.129382,0.269313,,,231809.72*55

2021-08-13T23:18:09.398Z,1628896689.398 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 50.699997 m, bearing: 280.685313 deg, deltaT: 4.492788 s, approachRate: 0.066772 m/s, LOS rate: -1.547986 deg/s, posRepo size: 4
2021-08-13T23:18:11.822Z,1628896691.822 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:18:12.193Z,1628896692.193 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:18:12.193Z,1628896692.193 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:18:12.193Z,1628896692.193 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:18:12.194Z,1628896692.194 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:18:12.597Z,1628896692.597 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
329,000,005BE,189,80,80,5D,FF
2021-08-13T23:18:12.597Z,1628896692.597 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:18:12.597Z,1628896692.597 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:18:12.599Z,1628896692.599 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:18:13.041Z,1628896693.041 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:18:13.437Z,1628896693.437 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,328,000,005C0,189,80,80,67,FF
2021-08-13T23:18:13.437Z,1628896693.437 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:18:13.886Z,1628896693.886 [Micromodem](INFO): Nmea in: $SNTTA,0.115697,,,,231814.13*42

2021-08-13T23:18:13.961Z,1628896693.961 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 50.820004 m, bearing: 281.559304 deg, deltaT: 4.384628 s, approachRate: 0.027370 m/s, LOS rate: 0.199331 deg/s, posRepo size: 4
2021-08-13T23:18:16.300Z,1628896696.300 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:18:16.669Z,1628896696.669 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:18:16.669Z,1628896696.669 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:18:16.669Z,1628896696.669 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:18:16.670Z,1628896696.670 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:18:17.077Z,1628896697.077 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
328,000,005C0,189,80,80,67,FF
2021-08-13T23:18:17.077Z,1628896697.077 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:18:17.077Z,1628896697.077 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:18:17.079Z,1628896697.079 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:18:17.513Z,1628896697.513 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:18:17.917Z,1628896697.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,25E,000,005C0,189,80,80,65,FF
2021-08-13T23:18:17.918Z,1628896697.918 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:18:18.334Z,1628896698.334 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231818.61*58

2021-08-13T23:18:18.367Z,1628896698.367 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 50.820004 m, bearing: 292.874359 deg, deltaT: 4.470412 s, approachRate: 0.000000 m/s, LOS rate: 2.531099 deg/s, posRepo size: 4
2021-08-13T23:18:19.162Z,1628896699.162 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-13T23:18:20.768Z,1628896700.768 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:18:21.153Z,1628896701.153 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:18:21.153Z,1628896701.153 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:18:21.153Z,1628896701.153 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:18:21.154Z,1628896701.154 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:18:21.542Z,1628896701.542 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
25E,000,005C0,189,80,80,65,FF
2021-08-13T23:18:21.543Z,1628896701.543 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:18:21.544Z,1628896701.544 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:18:21.548Z,1628896701.548 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:18:21.953Z,1628896701.953 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:18:22.354Z,1628896702.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2BE,000,0060B,188,80,80,45,FF
2021-08-13T23:18:22.354Z,1628896702.354 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:18:22.802Z,1628896702.802 [Micromodem](INFO): Nmea in: $SNTTA,0.042541,,,,231823.08*47

2021-08-13T23:18:22.898Z,1628896702.898 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 55.320004 m, bearing: 289.839870 deg, deltaT: 4.487141 s, approachRate: 1.002866 m/s, LOS rate: -0.676263 deg/s, posRepo size: 4
2021-08-13T23:18:25.262Z,1628896705.262 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:18:25.589Z,1628896705.589 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:18:25.589Z,1628896705.589 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:18:25.589Z,1628896705.589 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:18:25.590Z,1628896705.590 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:18:25.993Z,1628896705.993 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2BE,000,0060B,188,80,80,45,FF
2021-08-13T23:18:25.993Z,1628896705.993 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:18:25.993Z,1628896705.993 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:18:25.995Z,1628896705.995 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:18:26.397Z,1628896706.397 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:18:26.806Z,1628896706.806 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1DF,000,0061C,187,80,80,89,FF
2021-08-13T23:18:26.807Z,1628896706.807 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:18:27.239Z,1628896707.239 [Micromodem](INFO): Nmea in: $SNTTA,0.323414,,,,231827.53*48

2021-08-13T23:18:27.316Z,1628896707.316 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 56.340000 m, bearing: 302.785920 deg, deltaT: 4.487807 s, approachRate: 0.227282 m/s, LOS rate: 2.884716 deg/s, posRepo size: 4
2021-08-13T23:18:28.908Z,1628896708.908 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T23:18:29.641Z,1628896709.641 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:18:30.029Z,1628896710.029 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:18:30.029Z,1628896710.029 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:18:30.029Z,1628896710.029 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:18:30.030Z,1628896710.030 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:18:30.429Z,1628896710.429 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1DF,000,0061C,187,80,80,89,FF
2021-08-13T23:18:30.429Z,1628896710.429 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:18:30.429Z,1628896710.429 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:18:30.431Z,1628896710.431 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:18:30.885Z,1628896710.885 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:18:31.237Z,1628896711.237 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0BD,000,005C9,186,80,80,98,FF
2021-08-13T23:18:31.237Z,1628896711.237 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:18:31.673Z,1628896711.673 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231831.96*5B

2021-08-13T23:18:31.710Z,1628896711.710 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.360001 m, bearing: 318.289985 deg, deltaT: 4.379982 s, approachRate: -1.136991 m/s, LOS rate: 3.539755 deg/s, posRepo size: 4
2021-08-13T23:18:34.097Z,1628896714.097 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:18:34.469Z,1628896714.469 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:18:34.469Z,1628896714.469 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:18:34.469Z,1628896714.469 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:18:34.470Z,1628896714.470 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:18:34.925Z,1628896714.925 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0BD,000,005C9,186,80,80,98,FF
2021-08-13T23:18:34.925Z,1628896714.925 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:18:34.925Z,1628896714.925 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:18:34.927Z,1628896714.927 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:18:35.385Z,1628896715.385 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:18:35.765Z,1628896715.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FFB,000,005CC,182,80,80,80,FF
2021-08-13T23:18:35.766Z,1628896715.766 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:18:36.209Z,1628896716.209 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231836.46*51

2021-08-13T23:18:36.256Z,1628896716.256 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.539997 m, bearing: 328.980159 deg, deltaT: 4.494886 s, approachRate: 0.040045 m/s, LOS rate: 2.378297 deg/s, posRepo size: 4
2021-08-13T23:18:38.638Z,1628896718.638 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:18:38.997Z,1628896718.997 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:18:38.997Z,1628896718.997 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:18:38.997Z,1628896718.997 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:18:38.998Z,1628896718.998 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:18:39.014Z,1628896719.014 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T23:18:39.413Z,1628896719.413 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FFB,000,005CC,182,80,80,80,FF
2021-08-13T23:18:39.414Z,1628896719.414 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:18:39.414Z,1628896719.414 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:18:39.416Z,1628896719.416 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:18:39.813Z,1628896719.813 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:18:40.628Z,1628896720.628 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231840.95*5E

2021-08-13T23:18:41.481Z,1628896721.481 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:18:43.045Z,1628896723.045 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,182,80,80,80,FF
2021-08-13T23:18:43.045Z,1628896723.045 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,182,80,80,80,FF
2021-08-13T23:18:43.045Z,1628896723.045 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T23:18:44.312Z,1628896724.312 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:18:44.661Z,1628896724.661 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:18:44.661Z,1628896724.661 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:18:44.661Z,1628896724.661 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:18:44.662Z,1628896724.662 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:18:45.065Z,1628896725.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,182,80,80,80,FF
2021-08-13T23:18:45.065Z,1628896725.065 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:18:45.065Z,1628896725.065 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:18:45.067Z,1628896725.067 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:18:45.486Z,1628896725.486 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:18:45.878Z,1628896725.878 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FAA,000,005D2,185,80,80,69,FF
2021-08-13T23:18:45.878Z,1628896725.878 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:18:46.305Z,1628896726.305 [Micromodem](INFO): Nmea in: $SNTTA,0.092613,,,,231846.60*43

2021-08-13T23:18:46.493Z,1628896726.493 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.899994 m, bearing: 335.983371 deg, deltaT: 10.155112 s, approachRate: 0.035450 m/s, LOS rate: 0.689624 deg/s, posRepo size: 4
2021-08-13T23:18:48.727Z,1628896728.727 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:18:49.104Z,1628896729.104 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:18:49.105Z,1628896729.105 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:18:49.105Z,1628896729.105 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:18:49.106Z,1628896729.106 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:18:49.515Z,1628896729.515 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FAA,000,005D2,185,80,80,69,FF
2021-08-13T23:18:49.515Z,1628896729.515 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:18:49.516Z,1628896729.516 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:18:49.517Z,1628896729.517 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:18:49.956Z,1628896729.956 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:18:50.322Z,1628896730.322 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB4,000,005D2,184,80,80,9F,FF
2021-08-13T23:18:50.322Z,1628896730.322 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:18:50.785Z,1628896730.785 [Micromodem](INFO): Nmea in: $SNTTA,0.043918,,,,231851.05*4E

2021-08-13T23:18:50.808Z,1628896730.808 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.899994 m, bearing: 336.379795 deg, deltaT: 4.438305 s, approachRate: 0.000000 m/s, LOS rate: 0.089319 deg/s, posRepo size: 4
2021-08-13T23:18:53.246Z,1628896733.246 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:18:53.557Z,1628896733.557 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:18:53.558Z,1628896733.558 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:18:53.558Z,1628896733.558 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:18:53.559Z,1628896733.559 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:18:53.965Z,1628896733.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB4,000,005D2,184,80,80,9F,FF
2021-08-13T23:18:53.965Z,1628896733.965 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:18:53.965Z,1628896733.965 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:18:53.967Z,1628896733.967 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:18:54.381Z,1628896734.381 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:18:54.772Z,1628896734.772 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED0,000,005D5,186,80,80,82,FF
2021-08-13T23:18:54.773Z,1628896734.773 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:18:55.229Z,1628896735.229 [Micromodem](INFO): Nmea in: $SNTTA,0.376753,,,,231855.50*4E

2021-08-13T23:18:55.291Z,1628896735.291 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.079994 m, bearing: 348.361504 deg, deltaT: 4.467807 s, approachRate: 0.040288 m/s, LOS rate: 2.681788 deg/s, posRepo size: 4
2021-08-13T23:18:57.633Z,1628896737.633 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:18:58.004Z,1628896738.004 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:18:58.004Z,1628896738.004 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:18:58.005Z,1628896738.005 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:18:58.005Z,1628896738.005 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:18:58.401Z,1628896738.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ED0,000,005D5,186,80,80,82,FF
2021-08-13T23:18:58.401Z,1628896738.401 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:18:58.401Z,1628896738.401 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:18:58.403Z,1628896738.403 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:18:58.890Z,1628896738.890 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:18:58.922Z,1628896738.922 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-13T23:18:59.217Z,1628896739.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F75,000,005E2,188,80,80,18,FF
2021-08-13T23:18:59.218Z,1628896739.218 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:18:59.645Z,1628896739.645 [Micromodem](INFO): Nmea in: $SNTTA,0.034270,,,,231859.94*4B

2021-08-13T23:18:59.691Z,1628896739.691 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.860004 m, bearing: 340.479439 deg, deltaT: 4.423257 s, approachRate: 0.176343 m/s, LOS rate: -1.781960 deg/s, posRepo size: 4
2021-08-13T23:19:02.093Z,1628896742.093 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:19:02.449Z,1628896742.449 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:19:02.450Z,1628896742.450 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:19:02.450Z,1628896742.450 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:19:02.451Z,1628896742.451 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:19:02.886Z,1628896742.886 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F75,000,005E2,188,80,80,18,FF
2021-08-13T23:19:02.886Z,1628896742.886 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:19:02.886Z,1628896742.886 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:19:02.893Z,1628896742.893 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:19:03.262Z,1628896743.262 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:19:03.653Z,1628896743.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E9C,000,005DE,185,80,80,4F,FF
2021-08-13T23:19:03.654Z,1628896743.654 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:19:04.079Z,1628896744.079 [Micromodem](INFO): Nmea in: $SNTTA,0.048079,,,,231904.43*48

2021-08-13T23:19:04.153Z,1628896744.153 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.620003 m, bearing: 351.298103 deg, deltaT: 4.530189 s, approachRate: -0.052978 m/s, LOS rate: 2.388127 deg/s, posRepo size: 4
2021-08-13T23:19:06.518Z,1628896746.518 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:19:06.933Z,1628896746.933 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:19:06.933Z,1628896746.933 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:19:06.933Z,1628896746.933 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:19:06.934Z,1628896746.934 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:19:07.298Z,1628896747.298 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E9C,000,005DE,185,80,80,4F,FF
2021-08-13T23:19:07.298Z,1628896747.298 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:19:07.298Z,1628896747.298 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:19:07.300Z,1628896747.300 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:19:07.721Z,1628896747.721 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:19:08.133Z,1628896748.133 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E89,000,005DA,186,80,80,81,FF
2021-08-13T23:19:08.134Z,1628896748.134 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:19:08.557Z,1628896748.557 [Micromodem](INFO): Nmea in: $SNTTA,0.091312,,,,231908.83*42

2021-08-13T23:19:08.579Z,1628896748.579 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.380001 m, bearing: 352.788368 deg, deltaT: 4.397449 s, approachRate: -0.054577 m/s, LOS rate: 0.338893 deg/s, posRepo size: 4
2021-08-13T23:19:11.010Z,1628896751.010 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:19:11.361Z,1628896751.361 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:19:11.361Z,1628896751.361 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:19:11.361Z,1628896751.361 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:19:11.362Z,1628896751.362 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:19:11.753Z,1628896751.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E89,000,005DA,186,80,80,81,FF
2021-08-13T23:19:11.753Z,1628896751.753 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:19:11.753Z,1628896751.753 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:19:11.755Z,1628896751.755 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:19:12.193Z,1628896752.193 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:19:12.568Z,1628896752.568 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA5,000,005DF,186,80,80,AA,FF
2021-08-13T23:19:12.569Z,1628896752.569 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:19:12.985Z,1628896752.985 [Micromodem](INFO): Nmea in: $SNTTA,0.442521,0.442421,,,231913.29*5F

2021-08-13T23:19:13.045Z,1628896753.045 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.680004 m, bearing: 351.581938 deg, deltaT: 4.419392 s, approachRate: 0.067883 m/s, LOS rate: -0.272986 deg/s, posRepo size: 4
2021-08-13T23:19:15.432Z,1628896755.432 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:19:15.797Z,1628896755.797 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:19:15.797Z,1628896755.797 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:19:15.797Z,1628896755.797 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:19:15.798Z,1628896755.798 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:19:16.197Z,1628896756.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EA5,000,005DF,186,80,80,AA,FF
2021-08-13T23:19:16.197Z,1628896756.197 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:19:16.197Z,1628896756.197 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:19:16.199Z,1628896756.199 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:19:16.605Z,1628896756.605 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:19:17.005Z,1628896757.005 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E8C,000,005E1,186,80,80,99,FF
2021-08-13T23:19:17.005Z,1628896757.005 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:19:17.457Z,1628896757.457 [Micromodem](INFO): Nmea in: $SNTTA,0.099429,,,,231917.73*44

2021-08-13T23:19:17.487Z,1628896757.487 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.799999 m, bearing: 352.825634 deg, deltaT: 4.474010 s, approachRate: 0.026820 m/s, LOS rate: 0.277982 deg/s, posRepo size: 4
2021-08-13T23:19:19.078Z,1628896759.078 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-13T23:19:19.877Z,1628896759.877 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:19:20.233Z,1628896760.233 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:19:20.233Z,1628896760.233 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:19:20.233Z,1628896760.233 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:19:20.234Z,1628896760.234 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:19:20.637Z,1628896760.637 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E8C,000,005E1,186,80,80,99,FF
2021-08-13T23:19:20.637Z,1628896760.637 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:19:20.638Z,1628896760.638 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:19:20.640Z,1628896760.640 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:19:21.049Z,1628896761.049 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:19:21.495Z,1628896761.495 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E69,000,005EA,186,80,80,7E,FF
2021-08-13T23:19:21.495Z,1628896761.495 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:19:21.902Z,1628896761.902 [Micromodem](INFO): Nmea in: $SNTTA,0.053214,,,,231922.18*41

2021-08-13T23:19:21.923Z,1628896761.923 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.339996 m, bearing: 354.879089 deg, deltaT: 4.429538 s, approachRate: 0.121908 m/s, LOS rate: 0.463582 deg/s, posRepo size: 4
2021-08-13T23:19:24.318Z,1628896764.318 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:19:24.689Z,1628896764.689 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:19:24.689Z,1628896764.689 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:19:24.689Z,1628896764.689 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:19:24.690Z,1628896764.690 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:19:25.098Z,1628896765.098 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E69,000,005EA,186,80,80,7E,FF
2021-08-13T23:19:25.098Z,1628896765.098 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:19:25.098Z,1628896765.098 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:19:25.099Z,1628896765.099 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:19:25.507Z,1628896765.507 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:19:26.340Z,1628896766.340 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231926.64*51

2021-08-13T23:19:27.212Z,1628896767.212 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:19:28.729Z,1628896768.729 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
A,186,80,80,7E,FF
2021-08-13T23:19:28.729Z,1628896768.729 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
A,186,80,80,7E,FF
2021-08-13T23:19:28.729Z,1628896768.729 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T23:19:29.171Z,1628896769.171 [RDI_Pathfinder](ERROR): only read 0 of 4 data items
2021-08-13T23:19:29.958Z,1628896769.958 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:19:30.358Z,1628896770.358 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:19:30.358Z,1628896770.358 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:19:30.358Z,1628896770.358 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:19:30.359Z,1628896770.359 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:19:30.741Z,1628896770.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
A,186,80,80,7E,FF
2021-08-13T23:19:30.741Z,1628896770.741 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:19:30.742Z,1628896770.742 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:19:30.743Z,1628896770.743 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:19:31.204Z,1628896771.204 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:19:31.558Z,1628896771.558 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E15,000,005E9,186,80,80,65,FF
2021-08-13T23:19:31.558Z,1628896771.558 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:19:32.001Z,1628896772.001 [Micromodem](INFO): Nmea in: $SNTTA,0.035117,,,,231932.28*43

2021-08-13T23:19:32.023Z,1628896772.023 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.280003 m, bearing: 359.378900 deg, deltaT: 10.061246 s, approachRate: -0.005963 m/s, LOS rate: 0.447242 deg/s, posRepo size: 4
2021-08-13T23:19:34.434Z,1628896774.434 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:19:34.781Z,1628896774.781 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:19:34.781Z,1628896774.781 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:19:34.781Z,1628896774.781 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:19:34.782Z,1628896774.782 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:19:35.210Z,1628896775.210 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E15,000,005E9,186,80,80,65,FF
2021-08-13T23:19:35.210Z,1628896775.210 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:19:35.210Z,1628896775.210 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:19:35.214Z,1628896775.214 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:19:35.740Z,1628896775.740 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:19:36.172Z,1628896776.172 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E63,000,005EE,186,80,80,42,FF
2021-08-13T23:19:36.173Z,1628896776.173 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:19:36.557Z,1628896776.557 [Micromodem](INFO): Nmea in: $SNTTA,0.047114,,,,231936.75*49

2021-08-13T23:19:36.579Z,1628896776.579 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.579998 m, bearing: 355.706799 deg, deltaT: 4.618800 s, approachRate: 0.064951 m/s, LOS rate: -0.795034 deg/s, posRepo size: 4
2021-08-13T23:19:39.028Z,1628896779.028 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:19:39.381Z,1628896779.381 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:19:39.382Z,1628896779.382 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:19:39.382Z,1628896779.382 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:19:39.383Z,1628896779.383 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:19:39.793Z,1628896779.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E63,000,005EE,186,80,80,42,FF
2021-08-13T23:19:39.793Z,1628896779.793 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:19:39.793Z,1628896779.793 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:19:39.795Z,1628896779.795 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:19:40.196Z,1628896780.196 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:19:40.597Z,1628896780.597 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DEF,000,005F0,187,80,80,6F,FF
2021-08-13T23:19:40.597Z,1628896780.597 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:19:41.009Z,1628896781.009 [Micromodem](INFO): Nmea in: $SNTTA,0.044402,0.423455,,,231941.33*55

2021-08-13T23:19:41.061Z,1628896781.061 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.700005 m, bearing: 2.118116 deg, deltaT: 4.453990 s, approachRate: 0.026944 m/s, LOS rate: 1.439456 deg/s, posRepo size: 4
2021-08-13T23:19:43.469Z,1628896783.469 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:19:43.825Z,1628896783.825 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:19:43.825Z,1628896783.825 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:19:43.825Z,1628896783.825 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:19:43.826Z,1628896783.826 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:19:44.241Z,1628896784.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DEF,000,005F0,187,80,80,6F,FF
2021-08-13T23:19:44.241Z,1628896784.241 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:19:44.241Z,1628896784.241 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:19:44.245Z,1628896784.245 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:19:44.650Z,1628896784.650 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:19:45.460Z,1628896785.460 [Micromodem](INFO): Nmea in: $SNTTA,0.053514,,,,231945.78*41

2021-08-13T23:19:45.845Z,1628896785.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D8B,000,02E9A,188,80,80,71,FF
2021-08-13T23:19:45.846Z,1628896785.846 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:19:46.290Z,1628896786.290 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 678.299988 m, bearing: 7.741152 deg, deltaT: 5.255044 s, approachRate: 118.857231 m/s, LOS rate: 1.070026 deg/s, posRepo size: 4
2021-08-13T23:19:48.703Z,1628896788.703 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:19:49.081Z,1628896789.081 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:19:49.081Z,1628896789.081 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:19:49.081Z,1628896789.081 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:19:49.082Z,1628896789.082 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:19:49.486Z,1628896789.486 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D8B,000,02E9A,188,80,80,71,FF
2021-08-13T23:19:49.486Z,1628896789.486 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:19:49.486Z,1628896789.486 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:19:49.487Z,1628896789.487 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:19:49.893Z,1628896789.893 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:19:50.297Z,1628896790.297 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D65,000,005F9,189,80,80,71,FF
2021-08-13T23:19:50.297Z,1628896790.297 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:19:50.725Z,1628896790.725 [Micromodem](INFO): Nmea in: $SNTTA,0.053430,,,,231951.02*4E

2021-08-13T23:19:50.760Z,1628896790.760 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 54.239998 m, bearing: 10.406650 deg, deltaT: 4.443984 s, approachRate: -140.428055 m/s, LOS rate: 0.599799 deg/s, posRepo size: 4
2021-08-13T23:19:53.216Z,1628896793.216 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:19:53.521Z,1628896793.521 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:19:53.521Z,1628896793.521 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:19:53.521Z,1628896793.521 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:19:53.522Z,1628896793.522 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:19:53.977Z,1628896793.977 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D65,000,005F9,189,80,80,71,FF
2021-08-13T23:19:53.977Z,1628896793.977 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:19:53.977Z,1628896793.977 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:19:53.979Z,1628896793.979 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:19:54.341Z,1628896794.341 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:19:54.745Z,1628896794.745 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D0B,000,005FA,189,80,80,7B,FF
2021-08-13T23:19:54.745Z,1628896794.745 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:19:55.165Z,1628896795.165 [Micromodem](INFO): Nmea in: $SNTTA,0.371211,0.371286,,,231955.51*5D

2021-08-13T23:19:55.251Z,1628896795.251 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 54.300003 m, bearing: 15.756321 deg, deltaT: 4.410093 s, approachRate: 0.013606 m/s, LOS rate: 1.213052 deg/s, posRepo size: 4
2021-08-13T23:19:57.266Z,1628896797.266 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:19:57.565Z,1628896797.565 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:19:57.565Z,1628896797.565 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:19:57.565Z,1628896797.565 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:19:57.566Z,1628896797.566 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:19:57.981Z,1628896797.981 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D0B,000,005FA,189,80,80,7B,FF
2021-08-13T23:19:57.981Z,1628896797.981 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:19:57.981Z,1628896797.981 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:19:57.983Z,1628896797.983 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:19:58.376Z,1628896798.376 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:19:58.789Z,1628896798.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D21,000,00600,189,80,80,7A,FF
2021-08-13T23:19:58.789Z,1628896798.789 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:19:59.209Z,1628896799.209 [Micromodem](INFO): Nmea in: $SNTTA,0.065316,0.328817,,,231959.52*5C

2021-08-13T23:19:59.274Z,1628896799.274 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 54.660000 m, bearing: 15.103211 deg, deltaT: 4.111231 s, approachRate: 0.087564 m/s, LOS rate: -0.158860 deg/s, posRepo size: 4
2021-08-13T23:20:01.623Z,1628896801.623 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:20:02.023Z,1628896802.023 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:20:02.023Z,1628896802.023 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:20:02.023Z,1628896802.023 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:20:02.024Z,1628896802.024 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:20:02.413Z,1628896802.413 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D21,000,00600,189,80,80,7A,FF
2021-08-13T23:20:02.413Z,1628896802.413 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:20:02.414Z,1628896802.414 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:20:02.415Z,1628896802.415 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:20:02.830Z,1628896802.830 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:20:03.221Z,1628896803.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D36,000,00603,189,80,80,82,FF
2021-08-13T23:20:03.222Z,1628896803.222 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:20:03.665Z,1628896803.665 [Micromodem](INFO): Nmea in: $SNTTA,0.048248,,,,232003.95*4E

2021-08-13T23:20:03.708Z,1628896803.708 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 54.840000 m, bearing: 14.315926 deg, deltaT: 4.375256 s, approachRate: 0.041141 m/s, LOS rate: -0.179940 deg/s, posRepo size: 4
2021-08-13T23:20:06.074Z,1628896806.074 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:20:06.457Z,1628896806.457 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:20:06.458Z,1628896806.458 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:20:06.458Z,1628896806.458 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:20:06.459Z,1628896806.459 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:20:06.902Z,1628896806.902 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D36,000,00603,189,80,80,82,FF
2021-08-13T23:20:06.902Z,1628896806.902 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:20:06.902Z,1628896806.902 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:20:06.906Z,1628896806.906 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:20:07.325Z,1628896807.325 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:20:08.166Z,1628896808.166 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232008.44*55

2021-08-13T23:20:09.008Z,1628896809.008 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:20:10.182Z,1628896810.182 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,8000,00603,189,80,80,82,FF
2021-08-13T23:20:10.182Z,1628896810.182 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,8000,00603,189,80,80,82,FF
2021-08-13T23:20:10.182Z,1628896810.182 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T23:20:11.802Z,1628896811.802 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:20:12.216Z,1628896812.216 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:20:12.216Z,1628896812.216 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:20:12.216Z,1628896812.216 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:20:12.217Z,1628896812.217 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:20:12.581Z,1628896812.581 [DUSBL_Hydroid](INFO): DUSBL response received:0,63,E4
!U1,P
00603,189,80,80,82,FF
2021-08-13T23:20:12.582Z,1628896812.582 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:20:12.582Z,1628896812.582 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:20:12.585Z,1628896812.585 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:20:12.993Z,1628896812.993 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:20:13.383Z,1628896813.383 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0DE,000,00612,186,80,80,79,FF
2021-08-13T23:20:13.383Z,1628896813.383 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:20:13.817Z,1628896813.817 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232014.12*5B

2021-08-13T23:20:13.847Z,1628896813.847 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 55.740002 m, bearing: 328.264847 deg, deltaT: 10.197748 s, approachRate: 0.088255 m/s, LOS rate: -4.515807 deg/s, posRepo size: 4
2021-08-13T23:20:16.247Z,1628896816.247 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:20:16.617Z,1628896816.617 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:20:16.617Z,1628896816.617 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:20:16.618Z,1628896816.618 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:20:16.619Z,1628896816.619 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:20:17.013Z,1628896817.013 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0DE,000,00612,186,80,80,79,FF
2021-08-13T23:20:17.014Z,1628896817.014 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:20:17.014Z,1628896817.014 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:20:17.015Z,1628896817.015 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:20:17.469Z,1628896817.469 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:20:17.845Z,1628896817.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,099,000,0060F,186,80,80,59,FF
2021-08-13T23:20:17.846Z,1628896817.846 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:20:18.293Z,1628896818.293 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232018.55*54

2021-08-13T23:20:18.318Z,1628896818.318 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 55.560005 m, bearing: 331.875176 deg, deltaT: 4.467151 s, approachRate: -0.040293 m/s, LOS rate: 0.808195 deg/s, posRepo size: 4
2021-08-13T23:20:20.714Z,1628896820.714 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:20:21.077Z,1628896821.077 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:20:21.077Z,1628896821.077 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:20:21.077Z,1628896821.077 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:20:21.078Z,1628896821.078 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:20:21.486Z,1628896821.486 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
099,000,0060F,186,80,80,59,FF
2021-08-13T23:20:21.486Z,1628896821.486 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:20:21.487Z,1628896821.487 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:20:21.490Z,1628896821.490 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:20:21.891Z,1628896821.891 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:20:22.297Z,1628896822.297 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0C2,000,0061A,186,80,80,3F,FF
2021-08-13T23:20:22.298Z,1628896822.298 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:20:22.729Z,1628896822.729 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232023.02*5E

2021-08-13T23:20:22.761Z,1628896822.761 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 56.219994 m, bearing: 329.669681 deg, deltaT: 4.471144 s, approachRate: 0.147611 m/s, LOS rate: -0.493273 deg/s, posRepo size: 4
2021-08-13T23:20:25.208Z,1628896825.208 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:20:25.521Z,1628896825.521 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:20:25.521Z,1628896825.521 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:20:25.521Z,1628896825.521 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:20:25.522Z,1628896825.522 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:20:25.933Z,1628896825.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0C2,000,0061A,186,80,80,3F,FF
2021-08-13T23:20:25.934Z,1628896825.934 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:20:25.934Z,1628896825.934 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:20:25.935Z,1628896825.935 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:20:26.346Z,1628896826.346 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:20:26.733Z,1628896826.733 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A3,000,00617,186,80,80,4B,FF
2021-08-13T23:20:26.733Z,1628896826.733 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:20:27.173Z,1628896827.173 [Micromodem](INFO): Nmea in: $SNTTA,0.352442,0.353067,,,232027.47*59

2021-08-13T23:20:27.251Z,1628896827.251 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 56.039997 m, bearing: 330.806825 deg, deltaT: 4.393470 s, approachRate: -0.040969 m/s, LOS rate: 0.258826 deg/s, posRepo size: 4
2021-08-13T23:20:29.590Z,1628896829.590 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:20:29.965Z,1628896829.965 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:20:29.965Z,1628896829.965 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:20:29.965Z,1628896829.965 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:20:29.966Z,1628896829.966 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:20:30.381Z,1628896830.381 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0A3,000,00617,186,80,80,4B,FF
2021-08-13T23:20:30.381Z,1628896830.381 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:20:30.381Z,1628896830.381 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:20:30.383Z,1628896830.383 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:20:30.783Z,1628896830.783 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:20:31.202Z,1628896831.202 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,058,000,0061C,184,80,80,3A,FF
2021-08-13T23:20:31.202Z,1628896831.202 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:20:31.610Z,1628896831.610 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232031.92*54

2021-08-13T23:20:31.631Z,1628896831.631 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 56.340000 m, bearing: 334.124603 deg, deltaT: 4.520230 s, approachRate: 0.066369 m/s, LOS rate: 0.733984 deg/s, posRepo size: 4
2021-08-13T23:20:34.023Z,1628896834.023 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:20:34.421Z,1628896834.421 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:20:34.421Z,1628896834.421 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:20:34.421Z,1628896834.421 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:20:34.422Z,1628896834.422 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:20:34.817Z,1628896834.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
058,000,0061C,184,80,80,3A,FF
2021-08-13T23:20:34.817Z,1628896834.817 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:20:34.818Z,1628896834.818 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:20:34.825Z,1628896834.825 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:20:35.229Z,1628896835.229 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:20:35.621Z,1628896835.621 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,053,000,00620,184,80,80,40,FF
2021-08-13T23:20:35.621Z,1628896835.621 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:20:36.062Z,1628896836.062 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232036.36*5D

2021-08-13T23:20:36.080Z,1628896836.080 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 56.580002 m, bearing: 334.520590 deg, deltaT: 4.367534 s, approachRate: 0.054951 m/s, LOS rate: 0.090666 deg/s, posRepo size: 4
2021-08-13T23:20:38.485Z,1628896838.485 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:20:38.890Z,1628896838.890 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:20:38.890Z,1628896838.890 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:20:38.890Z,1628896838.890 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:20:38.890Z,1628896838.890 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:20:39.257Z,1628896839.257 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
053,000,00620,184,80,80,40,FF
2021-08-13T23:20:39.257Z,1628896839.257 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:20:39.257Z,1628896839.257 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:20:39.259Z,1628896839.259 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:20:39.674Z,1628896839.674 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:20:40.065Z,1628896840.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,096,000,00625,186,80,80,7F,FF
2021-08-13T23:20:40.065Z,1628896840.065 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:20:40.502Z,1628896840.502 [Micromodem](INFO): Nmea in: $SNTTA,0.046738,,,,232040.80*41

2021-08-13T23:20:40.528Z,1628896840.528 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 56.879997 m, bearing: 331.097245 deg, deltaT: 4.473403 s, approachRate: 0.067062 m/s, LOS rate: -0.765267 deg/s, posRepo size: 4
2021-08-13T23:20:42.971Z,1628896842.971 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:20:43.301Z,1628896843.301 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:20:43.301Z,1628896843.301 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:20:43.301Z,1628896843.301 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:20:43.302Z,1628896843.302 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:20:43.697Z,1628896843.697 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
096,000,00625,186,80,80,7F,FF
2021-08-13T23:20:43.697Z,1628896843.697 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:20:43.697Z,1628896843.697 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:20:43.699Z,1628896843.699 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:20:44.133Z,1628896844.133 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:20:44.513Z,1628896844.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,020,000,00626,185,80,80,35,FF
2021-08-13T23:20:44.514Z,1628896844.514 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:20:44.958Z,1628896844.958 [Micromodem](INFO): Nmea in: $SNTTA,0.205587,,,,232045.24*49

2021-08-13T23:20:44.998Z,1628896844.998 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 56.939999 m, bearing: 336.793213 deg, deltaT: 4.411186 s, approachRate: 0.013602 m/s, LOS rate: 1.291255 deg/s, posRepo size: 4
2021-08-13T23:20:47.387Z,1628896847.387 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:20:47.745Z,1628896847.745 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:20:47.745Z,1628896847.745 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:20:47.745Z,1628896847.745 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:20:47.746Z,1628896847.746 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:20:48.181Z,1628896848.181 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
020,000,00626,185,80,80,35,FF
2021-08-13T23:20:48.181Z,1628896848.181 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:20:48.181Z,1628896848.181 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:20:48.183Z,1628896848.183 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:20:48.563Z,1628896848.563 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:20:49.001Z,1628896849.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,029,000,00629,184,80,80,56,FF
2021-08-13T23:20:49.001Z,1628896849.001 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:20:49.005Z,1628896849.005 [Micromodem](INFO): Nmea in: $SNTTA,0.268902,0.080909,,,232049.72*5A

2021-08-13T23:20:49.405Z,1628896849.405 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 57.119999 m, bearing: 336.286030 deg, deltaT: 4.521697 s, approachRate: 0.039808 m/s, LOS rate: -0.112166 deg/s, posRepo size: 4
2021-08-13T23:20:51.806Z,1628896851.806 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:20:52.193Z,1628896852.193 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:20:52.193Z,1628896852.193 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:20:52.193Z,1628896852.193 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:20:52.194Z,1628896852.194 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:20:52.593Z,1628896852.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
029,000,00629,184,80,80,56,FF
2021-08-13T23:20:52.593Z,1628896852.593 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:20:52.593Z,1628896852.593 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:20:52.595Z,1628896852.595 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:20:53.007Z,1628896853.007 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:20:53.405Z,1628896853.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,241,000,00628,189,80,80,6E,FF
2021-08-13T23:20:53.406Z,1628896853.406 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:20:53.840Z,1628896853.840 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 57.060005 m, bearing: 309.949531 deg, deltaT: 4.406910 s, approachRate: -0.013614 m/s, LOS rate: -5.976182 deg/s, posRepo size: 4
2021-08-13T23:20:56.257Z,1628896856.257 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:20:56.629Z,1628896856.629 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:20:56.629Z,1628896856.629 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:20:56.629Z,1628896856.629 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:20:56.630Z,1628896856.630 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:20:57.037Z,1628896857.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
241,000,00628,189,80,80,6E,FF
2021-08-13T23:20:57.037Z,1628896857.037 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:20:57.037Z,1628896857.037 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:20:57.039Z,1628896857.039 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:20:57.475Z,1628896857.475 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:20:57.878Z,1628896857.878 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE7,000,00630,183,80,80,63,FF
2021-08-13T23:20:57.878Z,1628896857.878 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:20:58.294Z,1628896858.294 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232058.57*52

2021-08-13T23:20:58.319Z,1628896858.319 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 57.540001 m, bearing: 340.001708 deg, deltaT: 4.447911 s, approachRate: 0.107915 m/s, LOS rate: 6.756470 deg/s, posRepo size: 4
2021-08-13T23:21:00.715Z,1628896860.715 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:21:01.116Z,1628896861.116 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:21:01.117Z,1628896861.117 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:21:01.117Z,1628896861.117 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:21:01.119Z,1628896861.119 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:21:01.509Z,1628896861.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE7,000,00630,183,80,80,63,FF
2021-08-13T23:21:01.509Z,1628896861.509 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:21:01.510Z,1628896861.510 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:21:01.511Z,1628896861.511 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:21:01.913Z,1628896861.913 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:21:02.309Z,1628896862.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE8,000,00634,183,80,80,4F,FF
2021-08-13T23:21:02.310Z,1628896862.310 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:21:02.749Z,1628896862.749 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232103.04*5B

2021-08-13T23:21:02.797Z,1628896862.797 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 57.780003 m, bearing: 340.281472 deg, deltaT: 4.409504 s, approachRate: 0.054428 m/s, LOS rate: 0.063446 deg/s, posRepo size: 4
2021-08-13T23:21:05.221Z,1628896865.221 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:21:05.553Z,1628896865.553 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:21:05.553Z,1628896865.553 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:21:05.553Z,1628896865.553 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:21:05.554Z,1628896865.554 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:21:05.957Z,1628896865.957 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE8,000,00634,183,80,80,4F,FF
2021-08-13T23:21:05.957Z,1628896865.957 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:21:05.957Z,1628896865.957 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:21:05.959Z,1628896865.959 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:21:06.367Z,1628896866.367 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:21:06.761Z,1628896866.761 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F83,000,00639,187,80,80,36,FF
2021-08-13T23:21:06.761Z,1628896866.761 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:21:07.213Z,1628896867.213 [Micromodem](INFO): Nmea in: $SNTTA,0.058867,,,,232107.50*44

2021-08-13T23:21:07.276Z,1628896867.276 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.080006 m, bearing: 344.986817 deg, deltaT: 4.508976 s, approachRate: 0.066535 m/s, LOS rate: 1.043551 deg/s, posRepo size: 4
2021-08-13T23:21:09.613Z,1628896869.613 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:21:09.993Z,1628896869.993 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:21:09.993Z,1628896869.993 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:21:09.993Z,1628896869.993 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:21:09.994Z,1628896869.994 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:21:10.393Z,1628896870.393 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F83,000,00639,187,80,80,36,FF
2021-08-13T23:21:10.393Z,1628896870.393 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:21:10.394Z,1628896870.394 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:21:10.395Z,1628896870.395 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:21:10.805Z,1628896870.805 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:21:11.210Z,1628896871.210 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB8,000,00640,184,80,80,85,FF
2021-08-13T23:21:11.210Z,1628896871.210 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:21:11.637Z,1628896871.637 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232111.93*56

2021-08-13T23:21:11.668Z,1628896871.668 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.500008 m, bearing: 341.864683 deg, deltaT: 4.427068 s, approachRate: 0.094871 m/s, LOS rate: -0.705237 deg/s, posRepo size: 4
2021-08-13T23:21:14.066Z,1628896874.066 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:21:14.449Z,1628896874.449 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:21:14.449Z,1628896874.449 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:21:14.449Z,1628896874.449 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:21:14.450Z,1628896874.450 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:21:14.861Z,1628896874.861 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB8,000,00640,184,80,80,85,FF
2021-08-13T23:21:14.861Z,1628896874.861 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:21:14.862Z,1628896874.862 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:21:14.873Z,1628896874.873 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:21:15.264Z,1628896875.264 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:21:15.665Z,1628896875.665 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF6,000,0063C,183,80,80,97,FF
2021-08-13T23:21:15.665Z,1628896875.665 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:21:16.104Z,1628896876.104 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232116.41*5E

2021-08-13T23:21:16.177Z,1628896876.177 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.260006 m, bearing: 338.289216 deg, deltaT: 4.408978 s, approachRate: -0.054435 m/s, LOS rate: -0.810952 deg/s, posRepo size: 4
2021-08-13T23:21:18.542Z,1628896878.542 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:21:18.921Z,1628896878.921 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:21:18.921Z,1628896878.921 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:21:18.921Z,1628896878.921 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:21:18.922Z,1628896878.922 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:21:19.305Z,1628896879.305 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF6,000,0063C,183,80,80,97,FF
2021-08-13T23:21:19.305Z,1628896879.305 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:21:19.306Z,1628896879.306 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:21:19.307Z,1628896879.307 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:21:19.705Z,1628896879.705 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:21:20.105Z,1628896880.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FAF,000,0063D,185,80,80,5D,FF
2021-08-13T23:21:20.106Z,1628896880.106 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:21:20.549Z,1628896880.549 [Micromodem](INFO): Nmea in: $SNTTA,0.045145,,,,232120.84*4D

2021-08-13T23:21:20.599Z,1628896880.599 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.319996 m, bearing: 341.789387 deg, deltaT: 4.488474 s, approachRate: 0.013365 m/s, LOS rate: 0.779813 deg/s, posRepo size: 4
2021-08-13T23:21:22.991Z,1628896882.991 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:21:23.346Z,1628896883.346 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:21:23.346Z,1628896883.346 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:21:23.347Z,1628896883.347 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:21:23.347Z,1628896883.348 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:21:23.741Z,1628896883.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FAF,000,0063D,185,80,80,5D,FF
2021-08-13T23:21:23.741Z,1628896883.741 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:21:23.741Z,1628896883.741 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:21:23.743Z,1628896883.743 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:21:24.189Z,1628896884.189 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:21:24.564Z,1628896884.564 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F88,000,00643,187,80,80,44,FF
2021-08-13T23:21:24.565Z,1628896884.565 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:21:25.001Z,1628896885.001 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232125.28*51

2021-08-13T23:21:25.060Z,1628896885.060 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.680004 m, bearing: 343.887047 deg, deltaT: 4.417653 s, approachRate: 0.081493 m/s, LOS rate: 0.474836 deg/s, posRepo size: 4
2021-08-13T23:21:27.422Z,1628896887.422 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:21:27.777Z,1628896887.777 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:21:27.777Z,1628896887.777 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:21:27.777Z,1628896887.777 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:21:27.778Z,1628896887.778 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:21:28.201Z,1628896888.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F88,000,00643,187,80,80,44,FF
2021-08-13T23:21:28.201Z,1628896888.201 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:21:28.201Z,1628896888.201 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:21:28.203Z,1628896888.203 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:21:28.593Z,1628896888.593 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:21:29.029Z,1628896889.029 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F8B,000,00646,186,80,80,50,FF
2021-08-13T23:21:29.030Z,1628896889.030 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:21:29.445Z,1628896889.445 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232129.74*54

2021-08-13T23:21:29.471Z,1628896889.471 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.860004 m, bearing: 343.746865 deg, deltaT: 4.505472 s, approachRate: 0.039951 m/s, LOS rate: -0.031114 deg/s, posRepo size: 4
2021-08-13T23:21:31.854Z,1628896891.854 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:21:32.238Z,1628896892.238 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:21:32.238Z,1628896892.238 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:21:32.238Z,1628896892.238 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:21:32.239Z,1628896892.239 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:21:32.633Z,1628896892.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F8B,000,00646,186,80,80,50,FF
2021-08-13T23:21:32.633Z,1628896892.633 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:21:32.633Z,1628896892.633 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:21:32.635Z,1628896892.635 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:21:33.058Z,1628896893.058 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:21:33.437Z,1628896893.437 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F9D,000,00648,187,80,80,7F,FF
2021-08-13T23:21:33.437Z,1628896893.437 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:21:33.887Z,1628896893.887 [Micromodem](INFO): Nmea in: $SNTTA,,0.047423,,,232134.17*45

2021-08-13T23:21:33.909Z,1628896893.909 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.980000 m, bearing: 342.917406 deg, deltaT: 4.395132 s, approachRate: 0.027302 m/s, LOS rate: -0.188722 deg/s, posRepo size: 4
2021-08-13T23:21:36.317Z,1628896896.317 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:21:36.666Z,1628896896.666 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:21:36.666Z,1628896896.666 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:21:36.667Z,1628896896.667 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:21:36.668Z,1628896896.668 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:21:37.078Z,1628896897.078 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F9D,000,00648,187,80,80,7F,FF
2021-08-13T23:21:37.079Z,1628896897.079 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:21:37.079Z,1628896897.079 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:21:37.081Z,1628896897.081 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:21:37.481Z,1628896897.481 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:21:37.886Z,1628896897.886 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F31,000,0064E,187,80,80,3F,FF
2021-08-13T23:21:37.887Z,1628896897.887 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:21:38.321Z,1628896898.321 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232138.62*53

2021-08-13T23:21:38.358Z,1628896898.358 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 59.340008 m, bearing: 348.586381 deg, deltaT: 4.457169 s, approachRate: 0.080771 m/s, LOS rate: 1.271878 deg/s, posRepo size: 4
2021-08-13T23:21:40.743Z,1628896900.743 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:21:41.122Z,1628896901.122 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:21:41.123Z,1628896901.123 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:21:41.123Z,1628896901.123 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:21:41.125Z,1628896901.125 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:21:41.521Z,1628896901.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F31,000,0064E,187,80,80,3F,FF
2021-08-13T23:21:41.521Z,1628896901.521 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:21:41.521Z,1628896901.521 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:21:41.523Z,1628896901.523 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:21:41.942Z,1628896901.942 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:21:42.325Z,1628896902.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,30C,000,0064D,188,80,80,38,FF
2021-08-13T23:21:42.325Z,1628896902.325 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:21:42.782Z,1628896902.782 [Micromodem](INFO): Nmea in: $SNTTA,0.047562,,,,232143.06*41

2021-08-13T23:21:42.881Z,1628896902.881 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 59.280003 m, bearing: 299.803422 deg, deltaT: 4.435170 s, approachRate: -0.013529 m/s, LOS rate: -10.999118 deg/s, posRepo size: 4
2021-08-13T23:21:45.266Z,1628896905.266 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:21:45.565Z,1628896905.565 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:21:45.565Z,1628896905.565 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:21:45.565Z,1628896905.565 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:21:45.566Z,1628896905.566 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:21:45.967Z,1628896905.967 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
30C,000,0064D,188,80,80,38,FF
2021-08-13T23:21:45.967Z,1628896905.967 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:21:45.967Z,1628896905.967 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:21:45.969Z,1628896905.969 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:21:46.369Z,1628896906.369 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:21:46.773Z,1628896906.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB7,000,00651,186,80,80,75,FF
2021-08-13T23:21:46.773Z,1628896906.773 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:21:47.209Z,1628896907.209 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232147.50*5A

2021-08-13T23:21:47.246Z,1628896907.246 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 59.520004 m, bearing: 355.859303 deg, deltaT: 4.526544 s, approachRate: 0.053021 m/s, LOS rate: 12.383814 deg/s, posRepo size: 4
2021-08-13T23:21:49.614Z,1628896909.614 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:21:50.007Z,1628896910.007 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:21:50.007Z,1628896910.007 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:21:50.007Z,1628896910.007 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:21:50.009Z,1628896910.009 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:21:50.405Z,1628896910.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EB7,000,00651,186,80,80,75,FF
2021-08-13T23:21:50.405Z,1628896910.405 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:21:50.406Z,1628896910.406 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:21:50.407Z,1628896910.407 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:21:50.829Z,1628896910.829 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:21:51.213Z,1628896911.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F29,000,00655,186,80,80,68,FF
2021-08-13T23:21:51.213Z,1628896911.213 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:21:51.657Z,1628896911.657 [Micromodem](INFO): Nmea in: $SNTTA,0.115774,,,,232151.94*4A

2021-08-13T23:21:51.679Z,1628896911.679 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 59.759998 m, bearing: 351.060522 deg, deltaT: 4.366802 s, approachRate: 0.054959 m/s, LOS rate: -1.098924 deg/s, posRepo size: 4
2021-08-13T23:21:54.133Z,1628896914.133 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:21:54.445Z,1628896914.445 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:21:54.445Z,1628896914.445 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:21:54.445Z,1628896914.445 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:21:54.446Z,1628896914.446 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:21:54.895Z,1628896914.895 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F29,000,00655,186,80,80,68,FF
2021-08-13T23:21:54.895Z,1628896914.895 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:21:54.895Z,1628896914.895 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:21:54.902Z,1628896914.902 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:21:55.309Z,1628896915.309 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:21:55.705Z,1628896915.705 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F42,000,00661,187,80,80,69,FF
2021-08-13T23:21:55.706Z,1628896915.706 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:21:56.157Z,1628896916.157 [Micromodem](INFO): Nmea in: $SNTTA,0.051176,,,,232156.44*45

2021-08-13T23:21:56.196Z,1628896916.196 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 60.480003 m, bearing: 350.035474 deg, deltaT: 4.457813 s, approachRate: 0.161515 m/s, LOS rate: -0.229944 deg/s, posRepo size: 4
2021-08-13T23:21:58.579Z,1628896918.579 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:21:58.945Z,1628896918.945 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:21:58.945Z,1628896918.945 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:21:58.945Z,1628896918.945 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:21:58.946Z,1628896918.946 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:21:59.349Z,1628896919.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F42,000,00661,187,80,80,69,FF
2021-08-13T23:21:59.350Z,1628896919.350 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:21:59.350Z,1628896919.350 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:21:59.351Z,1628896919.351 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:21:59.753Z,1628896919.753 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:22:00.181Z,1628896920.181 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F66,000,00662,186,80,80,56,FF
2021-08-13T23:22:00.181Z,1628896920.181 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:22:00.589Z,1628896920.589 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232200.88*5F

2021-08-13T23:22:00.623Z,1628896920.623 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 60.540005 m, bearing: 348.474366 deg, deltaT: 4.500289 s, approachRate: 0.013333 m/s, LOS rate: -0.346891 deg/s, posRepo size: 4
2021-08-13T23:22:03.041Z,1628896923.041 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:22:03.385Z,1628896923.385 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:22:03.385Z,1628896923.385 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:22:03.385Z,1628896923.385 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:22:03.386Z,1628896923.386 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:22:03.785Z,1628896923.785 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F66,000,00662,186,80,80,56,FF
2021-08-13T23:22:03.786Z,1628896923.786 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:22:03.786Z,1628896923.786 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:22:03.787Z,1628896923.787 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:22:04.197Z,1628896924.197 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:22:04.602Z,1628896924.602 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F30,000,00662,187,80,80,79,FF
2021-08-13T23:22:04.602Z,1628896924.602 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:22:05.033Z,1628896925.033 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232205.32*5B

2021-08-13T23:22:05.096Z,1628896925.096 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 60.540005 m, bearing: 351.410446 deg, deltaT: 4.386254 s, approachRate: 0.000000 m/s, LOS rate: 0.669382 deg/s, posRepo size: 4
2021-08-13T23:22:07.472Z,1628896927.472 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:22:07.837Z,1628896927.837 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:22:07.837Z,1628896927.837 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:22:07.837Z,1628896927.837 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:22:07.838Z,1628896927.838 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:22:08.233Z,1628896928.233 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F30,000,00662,187,80,80,79,FF
2021-08-13T23:22:08.233Z,1628896928.233 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:22:08.233Z,1628896928.233 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:22:08.235Z,1628896928.235 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:22:08.641Z,1628896928.641 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:22:09.073Z,1628896929.073 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F1F,000,00667,186,80,80,5F,FF
2021-08-13T23:22:09.073Z,1628896929.073 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:22:09.489Z,1628896929.489 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232209.77*56

2021-08-13T23:22:09.516Z,1628896929.516 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 60.840000 m, bearing: 352.597752 deg, deltaT: 4.562925 s, approachRate: 0.065746 m/s, LOS rate: 0.260207 deg/s, posRepo size: 4
2021-08-13T23:22:11.920Z,1628896931.920 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:22:12.273Z,1628896932.273 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:22:12.273Z,1628896932.273 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:22:12.273Z,1628896932.273 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:22:12.274Z,1628896932.274 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:22:12.681Z,1628896932.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F1F,000,00667,186,80,80,5F,FF
2021-08-13T23:22:12.681Z,1628896932.681 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:22:12.682Z,1628896932.682 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:22:12.683Z,1628896932.683 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:22:13.096Z,1628896933.096 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:22:13.163Z,1628896933.163 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-13T23:22:13.494Z,1628896933.494 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF3,000,0066A,186,80,80,88,FF
2021-08-13T23:22:13.494Z,1628896933.494 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:22:13.933Z,1628896933.933 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232214.22*5A

2021-08-13T23:22:13.975Z,1628896933.975 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 61.019997 m, bearing: 354.850075 deg, deltaT: 4.329256 s, approachRate: 0.041577 m/s, LOS rate: 0.520256 deg/s, posRepo size: 4
2021-08-13T23:22:16.347Z,1628896936.347 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:22:16.721Z,1628896936.721 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:22:16.721Z,1628896936.721 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:22:16.721Z,1628896936.721 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:22:16.722Z,1628896936.722 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:22:17.136Z,1628896937.136 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF3,000,0066A,186,80,80,88,FF
2021-08-13T23:22:17.137Z,1628896937.137 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:22:17.137Z,1628896937.137 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:22:17.143Z,1628896937.143 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:22:17.537Z,1628896937.537 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:22:17.937Z,1628896937.937 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EAE,000,00669,186,80,80,4E,FF
2021-08-13T23:22:17.937Z,1628896937.937 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:22:18.357Z,1628896938.357 [Micromodem](INFO): Nmea in: $SNTTA,0.058306,,,,232218.68*4E

2021-08-13T23:22:18.394Z,1628896938.394 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 60.960007 m, bearing: 358.102365 deg, deltaT: 4.475801 s, approachRate: -0.013403 m/s, LOS rate: 0.726639 deg/s, posRepo size: 4
2021-08-13T23:22:20.774Z,1628896940.774 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:22:21.193Z,1628896941.193 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:22:21.193Z,1628896941.193 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:22:21.193Z,1628896941.193 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:22:21.194Z,1628896941.194 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:22:21.561Z,1628896941.561 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EAE,000,00669,186,80,80,4E,FF
2021-08-13T23:22:21.562Z,1628896941.562 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:22:21.562Z,1628896941.562 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:22:21.564Z,1628896941.564 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:22:21.966Z,1628896941.966 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:22:22.382Z,1628896942.382 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F3B,000,00670,187,80,80,5C,FF
2021-08-13T23:22:22.383Z,1628896942.383 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:22:22.825Z,1628896942.825 [Micromodem](INFO): Nmea in: $SNTTA,0.092134,,,,232223.10*4C

2021-08-13T23:22:22.915Z,1628896942.915 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 61.380005 m, bearing: 350.871626 deg, deltaT: 4.423191 s, approachRate: 0.094954 m/s, LOS rate: -1.634734 deg/s, posRepo size: 4
2021-08-13T23:22:25.278Z,1628896945.278 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:22:25.605Z,1628896945.605 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:22:25.605Z,1628896945.605 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:22:25.605Z,1628896945.605 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:22:25.606Z,1628896945.606 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:22:26.009Z,1628896946.009 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F3B,000,00670,187,80,80,5C,FF
2021-08-13T23:22:26.009Z,1628896946.009 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:22:26.009Z,1628896946.009 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:22:26.011Z,1628896946.011 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:22:26.469Z,1628896946.469 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:22:26.821Z,1628896946.821 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F40,000,00678,186,80,80,74,FF
2021-08-13T23:22:26.822Z,1628896946.822 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:22:27.237Z,1628896947.237 [Micromodem](INFO): Nmea in: $SNTTA,0.352232,0.352232,,,232227.55*5A

2021-08-13T23:22:27.301Z,1628896947.301 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 61.860001 m, bearing: 350.861709 deg, deltaT: 4.522770 s, approachRate: 0.106129 m/s, LOS rate: -0.002193 deg/s, posRepo size: 4
2021-08-13T23:22:29.669Z,1628896949.669 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:22:30.053Z,1628896950.053 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:22:30.053Z,1628896950.053 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:22:30.053Z,1628896950.053 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:22:30.054Z,1628896950.054 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:22:30.453Z,1628896950.453 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F40,000,00678,186,80,80,74,FF
2021-08-13T23:22:30.453Z,1628896950.453 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:22:30.453Z,1628896950.453 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:22:30.455Z,1628896950.455 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:22:30.916Z,1628896950.916 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:22:31.269Z,1628896951.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EBF,000,00675,187,80,80,58,FF
2021-08-13T23:22:31.270Z,1628896951.270 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:22:31.701Z,1628896951.701 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232231.99*5D

2021-08-13T23:22:31.724Z,1628896951.724 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 61.680000 m, bearing: 357.447951 deg, deltaT: 4.363734 s, approachRate: -0.041249 m/s, LOS rate: 1.509313 deg/s, posRepo size: 4
2021-08-13T23:22:34.149Z,1628896954.149 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:22:34.501Z,1628896954.501 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:22:34.501Z,1628896954.501 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:22:34.501Z,1628896954.501 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:22:34.502Z,1628896954.502 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:22:34.925Z,1628896954.925 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EBF,000,00675,187,80,80,58,FF
2021-08-13T23:22:34.925Z,1628896954.925 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:22:34.925Z,1628896954.925 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:22:34.927Z,1628896954.927 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:22:35.305Z,1628896955.305 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:22:35.713Z,1628896955.713 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F48,000,00681,186,80,80,87,FF
2021-08-13T23:22:35.713Z,1628896955.713 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:22:36.140Z,1628896956.140 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232236.46*58

2021-08-13T23:22:36.178Z,1628896956.178 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 62.400005 m, bearing: 350.216857 deg, deltaT: 4.433527 s, approachRate: 0.162400 m/s, LOS rate: -1.631003 deg/s, posRepo size: 4
2021-08-13T23:22:38.559Z,1628896958.559 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:22:38.957Z,1628896958.957 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:22:38.957Z,1628896958.957 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:22:38.957Z,1628896958.957 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:22:38.958Z,1628896958.958 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:22:39.341Z,1628896959.341 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F48,000,00681,186,80,80,87,FF
2021-08-13T23:22:39.341Z,1628896959.341 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:22:39.341Z,1628896959.341 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:22:39.343Z,1628896959.343 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:22:39.757Z,1628896959.757 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:22:40.188Z,1628896960.188 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE1,000,00680,186,80,80,95,FF
2021-08-13T23:22:40.189Z,1628896960.189 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:22:40.581Z,1628896960.581 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232240.88*5B

2021-08-13T23:22:40.622Z,1628896960.622 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 62.340004 m, bearing: 355.096590 deg, deltaT: 4.485665 s, approachRate: -0.013376 m/s, LOS rate: 1.087851 deg/s, posRepo size: 4
2021-08-13T23:22:43.040Z,1628896963.040 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:22:43.385Z,1628896963.385 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:22:43.385Z,1628896963.385 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:22:43.385Z,1628896963.385 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:22:43.385Z,1628896963.385 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:22:43.797Z,1628896963.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE1,000,00680,186,80,80,95,FF
2021-08-13T23:22:43.798Z,1628896963.798 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:22:43.798Z,1628896963.798 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:22:43.799Z,1628896963.799 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:22:44.209Z,1628896964.209 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:22:44.601Z,1628896964.601 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EFA,000,0067E,187,80,80,64,FF
2021-08-13T23:22:44.602Z,1628896964.602 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:22:45.017Z,1628896965.017 [Micromodem](INFO): Nmea in: $SNTTA,0.059574,0.460178,,,232245.33*58

2021-08-13T23:22:45.076Z,1628896965.076 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 62.220009 m, bearing: 353.670009 deg, deltaT: 4.403118 s, approachRate: -0.027252 m/s, LOS rate: -0.323993 deg/s, posRepo size: 4
2021-08-13T23:22:47.448Z,1628896967.448 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:22:47.838Z,1628896967.838 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:22:47.838Z,1628896967.838 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:22:47.838Z,1628896967.838 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:22:47.839Z,1628896967.839 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:22:48.233Z,1628896968.233 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EFA,000,0067E,187,80,80,64,FF
2021-08-13T23:22:48.233Z,1628896968.233 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:22:48.233Z,1628896968.233 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:22:48.235Z,1628896968.235 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:22:48.647Z,1628896968.647 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:22:49.049Z,1628896969.049 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F0E,000,00688,186,80,80,80,FF
2021-08-13T23:22:49.049Z,1628896969.049 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:22:49.485Z,1628896969.485 [Micromodem](INFO): Nmea in: $SNTTA,0.076129,,,,232249.77*47

2021-08-13T23:22:49.535Z,1628896969.535 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 62.820007 m, bearing: 352.429647 deg, deltaT: 4.525016 s, approachRate: 0.132596 m/s, LOS rate: -0.274112 deg/s, posRepo size: 4
2021-08-13T23:22:51.918Z,1628896971.918 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:22:52.277Z,1628896972.277 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:22:52.277Z,1628896972.277 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:22:52.277Z,1628896972.277 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:22:52.278Z,1628896972.278 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:22:52.674Z,1628896972.674 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F0E,000,00688,186,80,80,80,FF
2021-08-13T23:22:52.674Z,1628896972.674 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:22:52.674Z,1628896972.674 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:22:52.677Z,1628896972.677 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:22:53.093Z,1628896973.093 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:22:53.494Z,1628896973.494 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,336,000,00689,18A,80,80,24,FF
2021-08-13T23:22:53.494Z,1628896973.494 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:22:53.921Z,1628896973.921 [Micromodem](INFO): Nmea in: $SNTTA,0.047493,,,,232254.21*4E

2021-08-13T23:22:53.943Z,1628896973.943 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 62.879997 m, bearing: 299.386316 deg, deltaT: 4.376100 s, approachRate: 0.013709 m/s, LOS rate: -12.121142 deg/s, posRepo size: 4
2021-08-13T23:22:56.336Z,1628896976.336 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:22:56.729Z,1628896976.729 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:22:56.729Z,1628896976.729 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:22:56.729Z,1628896976.729 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:22:56.730Z,1628896976.730 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:22:57.121Z,1628896977.121 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
336,000,00689,18A,80,80,24,FF
2021-08-13T23:22:57.122Z,1628896977.122 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:22:57.122Z,1628896977.122 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:22:57.128Z,1628896977.128 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:22:57.539Z,1628896977.539 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:22:57.945Z,1628896977.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E64,000,00690,185,80,80,59,FF
2021-08-13T23:22:57.945Z,1628896977.945 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:22:58.382Z,1628896978.382 [Micromodem](INFO): Nmea in: $SNTTA,0.066469,,,,232258.66*47

2021-08-13T23:22:58.430Z,1628896978.430 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 63.299999 m, bearing: 0.966697 deg, deltaT: 4.442283 s, approachRate: 0.094546 m/s, LOS rate: 13.862326 deg/s, posRepo size: 4
2021-08-13T23:23:00.795Z,1628896980.795 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:23:01.189Z,1628896981.189 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:23:01.189Z,1628896981.189 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:23:01.189Z,1628896981.189 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:23:01.190Z,1628896981.190 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:23:01.577Z,1628896981.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E64,000,00690,185,80,80,59,FF
2021-08-13T23:23:01.577Z,1628896981.577 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:23:01.577Z,1628896981.577 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:23:01.579Z,1628896981.579 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:23:01.981Z,1628896981.981 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:23:02.386Z,1628896982.386 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F0C,000,00695,187,80,80,69,FF
2021-08-13T23:23:02.386Z,1628896982.386 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:23:02.831Z,1628896982.831 [Micromodem](INFO): Nmea in: $SNTTA,0.065724,,,,232303.11*41

2021-08-13T23:23:02.911Z,1628896982.911 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 63.600002 m, bearing: 352.292579 deg, deltaT: 4.492416 s, approachRate: 0.066780 m/s, LOS rate: -1.930835 deg/s, posRepo size: 4
2021-08-13T23:23:05.279Z,1628896985.279 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:23:05.625Z,1628896985.625 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:23:05.625Z,1628896985.625 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:23:05.625Z,1628896985.625 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:23:05.626Z,1628896985.626 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:23:06.021Z,1628896986.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F0C,000,00695,187,80,80,69,FF
2021-08-13T23:23:06.022Z,1628896986.022 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:23:06.022Z,1628896986.022 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:23:06.023Z,1628896986.023 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:23:06.500Z,1628896986.500 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:23:06.838Z,1628896986.838 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA8,000,0069B,186,80,80,89,FF
2021-08-13T23:23:06.840Z,1628896986.840 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:23:06.875Z,1628896986.875 [Micromodem](INFO): Nmea in: $SNTTA,0.047763,0.309389,,,232307.56*53

2021-08-13T23:23:07.282Z,1628896987.282 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 63.959999 m, bearing: 356.921644 deg, deltaT: 4.489049 s, approachRate: 0.080194 m/s, LOS rate: 1.031191 deg/s, posRepo size: 4
2021-08-13T23:23:09.681Z,1628896989.681 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:23:10.057Z,1628896990.057 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:23:10.057Z,1628896990.057 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:23:10.057Z,1628896990.057 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:23:10.058Z,1628896990.058 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:23:10.467Z,1628896990.467 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EA8,000,0069B,186,80,80,89,FF
2021-08-13T23:23:10.467Z,1628896990.467 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:23:10.467Z,1628896990.467 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:23:10.469Z,1628896990.469 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:23:10.913Z,1628896990.913 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:23:11.273Z,1628896991.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE8,000,00698,186,80,80,A6,FF
2021-08-13T23:23:11.273Z,1628896991.273 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:23:11.701Z,1628896991.701 [Micromodem](INFO): Nmea in: $SNTTA,0.048976,,,,232312.00*47

2021-08-13T23:23:11.743Z,1628896991.743 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 63.780003 m, bearing: 353.836010 deg, deltaT: 4.419800 s, approachRate: -0.040725 m/s, LOS rate: -0.698139 deg/s, posRepo size: 4
2021-08-13T23:23:14.196Z,1628896994.196 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:23:14.505Z,1628896994.505 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:23:14.505Z,1628896994.505 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:23:14.505Z,1628896994.505 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:23:14.506Z,1628896994.506 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:23:14.925Z,1628896994.925 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE8,000,00698,186,80,80,A6,FF
2021-08-13T23:23:14.925Z,1628896994.925 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:23:14.925Z,1628896994.925 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:23:14.927Z,1628896994.927 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:23:15.328Z,1628896995.328 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:23:15.717Z,1628896995.717 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF6,000,006A2,186,80,80,7F,FF
2021-08-13T23:23:15.717Z,1628896995.717 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:23:16.165Z,1628896996.165 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232316.46*5B

2021-08-13T23:23:16.191Z,1628896996.191 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 64.380005 m, bearing: 352.973467 deg, deltaT: 4.394729 s, approachRate: 0.136528 m/s, LOS rate: -0.196268 deg/s, posRepo size: 4
2021-08-13T23:23:18.588Z,1628896998.588 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:23:18.953Z,1628896998.953 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:23:18.953Z,1628896998.953 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:23:18.953Z,1628896998.953 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:23:18.954Z,1628896998.954 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:23:19.361Z,1628896999.361 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF6,000,006A2,186,80,80,7F,FF
2021-08-13T23:23:19.361Z,1628896999.361 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:23:19.361Z,1628896999.361 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:23:19.363Z,1628896999.363 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:23:19.761Z,1628896999.761 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:23:20.185Z,1628897000.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F3F,000,006A2,186,80,80,83,FF
2021-08-13T23:23:20.185Z,1628897000.185 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:23:20.597Z,1628897000.597 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232320.90*55

2021-08-13T23:23:20.627Z,1628897000.627 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 64.380005 m, bearing: 348.994963 deg, deltaT: 4.478917 s, approachRate: 0.000000 m/s, LOS rate: -0.888273 deg/s, posRepo size: 4
2021-08-13T23:23:23.031Z,1628897003.031 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:23:23.397Z,1628897003.397 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:23:23.397Z,1628897003.397 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:23:23.397Z,1628897003.397 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:23:23.398Z,1628897003.398 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:23:23.805Z,1628897003.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F3F,000,006A2,186,80,80,83,FF
2021-08-13T23:23:23.805Z,1628897003.805 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:23:23.805Z,1628897003.805 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:23:23.807Z,1628897003.807 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:23:24.215Z,1628897004.215 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:23:24.609Z,1628897004.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE6,000,006AC,186,80,80,98,FF
2021-08-13T23:23:24.609Z,1628897004.609 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:23:25.025Z,1628897005.025 [Micromodem](INFO): Nmea in: $SNTTA,0.456654,0.456561,,,232325.34*5B

2021-08-13T23:23:25.072Z,1628897005.072 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 64.980003 m, bearing: 352.686216 deg, deltaT: 4.425478 s, approachRate: 0.135578 m/s, LOS rate: 0.834091 deg/s, posRepo size: 4
2021-08-13T23:23:27.465Z,1628897007.465 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:23:27.837Z,1628897007.837 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:23:27.837Z,1628897007.837 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:23:27.837Z,1628897007.837 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:23:27.838Z,1628897007.838 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:23:28.241Z,1628897008.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE6,000,006AC,186,80,80,98,FF
2021-08-13T23:23:28.241Z,1628897008.241 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:23:28.242Z,1628897008.242 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:23:28.243Z,1628897008.243 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:23:28.645Z,1628897008.645 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:23:29.049Z,1628897009.049 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F00,000,006AE,187,80,80,7D,FF
2021-08-13T23:23:29.049Z,1628897009.049 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:23:29.485Z,1628897009.485 [Micromodem](INFO): Nmea in: $SNTTA,0.196571,,,,232329.78*49

2021-08-13T23:23:29.517Z,1628897009.517 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 65.100006 m, bearing: 350.588283 deg, deltaT: 4.570912 s, approachRate: 0.026254 m/s, LOS rate: -0.458975 deg/s, posRepo size: 4
2021-08-13T23:23:31.918Z,1628897011.918 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:23:32.281Z,1628897012.281 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:23:32.281Z,1628897012.281 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:23:32.281Z,1628897012.281 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:23:32.282Z,1628897012.282 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:23:32.689Z,1628897012.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F00,000,006AE,187,80,80,7D,FF
2021-08-13T23:23:32.689Z,1628897012.689 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:23:32.690Z,1628897012.690 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:23:32.691Z,1628897012.691 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:23:33.093Z,1628897013.093 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:23:33.493Z,1628897013.493 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E3C,000,006AC,186,80,80,53,FF
2021-08-13T23:23:33.493Z,1628897013.493 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:23:33.925Z,1628897013.925 [Micromodem](INFO): Nmea in: $SNTTA,0.052888,,,,232334.22*48

2021-08-13T23:23:33.972Z,1628897013.972 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 64.980003 m, bearing: 359.914277 deg, deltaT: 4.334926 s, approachRate: -0.027683 m/s, LOS rate: 2.151362 deg/s, posRepo size: 4
2021-08-13T23:23:36.348Z,1628897016.348 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:23:36.729Z,1628897016.729 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:23:36.730Z,1628897016.730 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:23:36.730Z,1628897016.730 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:23:36.731Z,1628897016.731 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:23:37.156Z,1628897017.156 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E3C,000,006AC,186,80,80,53,FF
2021-08-13T23:23:37.157Z,1628897017.157 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:23:37.157Z,1628897017.157 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:23:37.158Z,1628897017.158 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:23:37.533Z,1628897017.533 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:23:37.945Z,1628897017.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DF0,000,006B3,188,80,80,25,FF
2021-08-13T23:23:37.945Z,1628897017.945 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:23:38.370Z,1628897018.370 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232338.69*5A

2021-08-13T23:23:38.406Z,1628897018.406 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 65.400002 m, bearing: 3.232747 deg, deltaT: 4.417043 s, approachRate: 0.095086 m/s, LOS rate: 0.751290 deg/s, posRepo size: 4
2021-08-13T23:23:40.822Z,1628897020.822 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:23:41.185Z,1628897021.185 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:23:41.185Z,1628897021.185 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:23:41.185Z,1628897021.185 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:23:41.186Z,1628897021.186 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:23:41.583Z,1628897021.583 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DF0,000,006B3,188,80,80,25,FF
2021-08-13T23:23:41.583Z,1628897021.583 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:23:41.584Z,1628897021.584 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:23:41.586Z,1628897021.586 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:23:41.980Z,1628897021.980 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:23:42.385Z,1628897022.385 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EDF,000,006B5,186,80,80,73,FF
2021-08-13T23:23:42.385Z,1628897022.385 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:23:42.844Z,1628897022.844 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232343.12*5A

2021-08-13T23:23:42.911Z,1628897022.911 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 65.520004 m, bearing: 351.003094 deg, deltaT: 4.427164 s, approachRate: 0.027106 m/s, LOS rate: -2.762415 deg/s, posRepo size: 4
2021-08-13T23:23:45.278Z,1628897025.278 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:23:45.613Z,1628897025.613 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:23:45.613Z,1628897025.613 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:23:45.613Z,1628897025.613 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:23:45.614Z,1628897025.614 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:23:46.017Z,1628897026.017 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EDF,000,006B5,186,80,80,73,FF
2021-08-13T23:23:46.017Z,1628897026.017 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:23:46.017Z,1628897026.017 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:23:46.019Z,1628897026.019 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:23:46.437Z,1628897026.437 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:23:46.857Z,1628897026.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE9,000,006C2,186,80,80,9A,FF
2021-08-13T23:23:46.858Z,1628897026.858 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:23:47.273Z,1628897027.273 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232347.55*5D

2021-08-13T23:23:47.298Z,1628897027.298 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 66.300003 m, bearing: 350.242757 deg, deltaT: 4.536480 s, approachRate: 0.171939 m/s, LOS rate: -0.167605 deg/s, posRepo size: 4
2021-08-13T23:23:49.681Z,1628897029.681 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:23:50.069Z,1628897030.069 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:23:50.069Z,1628897030.069 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:23:50.069Z,1628897030.069 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:23:50.070Z,1628897030.070 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:23:50.465Z,1628897030.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE9,000,006C2,186,80,80,9A,FF
2021-08-13T23:23:50.465Z,1628897030.465 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:23:50.465Z,1628897030.465 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:23:50.467Z,1628897030.467 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:23:50.909Z,1628897030.909 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:23:51.273Z,1628897031.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F0A,000,0044D,187,80,80,5B,FF
2021-08-13T23:23:51.273Z,1628897031.273 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:23:51.717Z,1628897031.717 [Micromodem](INFO): Nmea in: $SNTTA,0.047358,,,,232352.00*4A

2021-08-13T23:23:51.739Z,1628897031.739 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.559998 m, bearing: 348.310496 deg, deltaT: 4.371093 s, approachRate: -8.633997 m/s, LOS rate: -0.442054 deg/s, posRepo size: 4
2021-08-13T23:23:52.151Z,1628897032.151 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-13T23:23:52.151Z,1628897032.151 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T23:23:52.151Z,1628897032.151 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-13T23:23:52.152Z,1628897032.152 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-13T23:23:52.152Z,1628897032.152 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-13T23:23:52.152Z,1628897032.152 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-13T23:23:52.522Z,1628897032.522 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-13T23:23:52.522Z,1628897032.522 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T23:23:52.522Z,1628897032.522 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-13T23:23:52.522Z,1628897032.522 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T23:23:53.213Z,1628897033.213 [CTD_Seabird](ERROR): Failed to parse device response: 12,2632.83
2021-08-13T23:23:54.160Z,1628897034.160 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T23:23:54.175Z,1628897034.175 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:23:54.505Z,1628897034.505 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:23:54.505Z,1628897034.505 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:23:54.505Z,1628897034.505 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:23:54.506Z,1628897034.506 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:23:54.929Z,1628897034.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F0A,000,0044D,187,80,80,5B,FF
2021-08-13T23:23:54.929Z,1628897034.929 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:23:54.929Z,1628897034.929 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:23:54.931Z,1628897034.931 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:23:55.348Z,1628897035.348 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:23:55.753Z,1628897035.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,385,000,006C0,189,80,80,49,FF
2021-08-13T23:23:55.753Z,1628897035.753 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:23:55.772Z,1628897035.772 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:23:56.202Z,1628897036.202 [Micromodem](INFO): Nmea in: $SNTTA,0.043673,,,,232356.47*45

2021-08-13T23:23:56.232Z,1628897036.232 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 66.180000 m, bearing: 290.644493 deg, deltaT: 4.449966 s, approachRate: 8.453998 m/s, LOS rate: -12.958751 deg/s, posRepo size: 4
2021-08-13T23:23:56.579Z,1628897036.579 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-13T23:23:56.579Z,1628897036.579 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T23:23:56.579Z,1628897036.579 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-13T23:23:56.580Z,1628897036.580 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-13T23:23:56.580Z,1628897036.580 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-13T23:23:56.580Z,1628897036.580 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-13T23:23:57.014Z,1628897037.014 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-13T23:23:57.014Z,1628897037.014 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T23:23:57.014Z,1628897037.014 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-13T23:23:57.014Z,1628897037.014 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T23:23:58.609Z,1628897038.609 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:23:58.977Z,1628897038.977 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:23:58.977Z,1628897038.977 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:23:58.977Z,1628897038.977 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:23:58.978Z,1628897038.978 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:23:59.398Z,1628897039.398 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
385,000,006C0,189,80,80,49,FF
2021-08-13T23:23:59.398Z,1628897039.398 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:23:59.398Z,1628897039.398 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:23:59.399Z,1628897039.399 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:23:59.797Z,1628897039.797 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:24:00.197Z,1628897040.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E78,000,006CA,186,80,80,53,FF
2021-08-13T23:24:00.197Z,1628897040.197 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:24:00.625Z,1628897040.625 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232400.94*54

2021-08-13T23:24:00.667Z,1628897040.667 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 66.779999 m, bearing: 355.314090 deg, deltaT: 4.454767 s, approachRate: 0.134687 m/s, LOS rate: 14.516942 deg/s, posRepo size: 4
2021-08-13T23:24:03.072Z,1628897043.072 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:24:03.437Z,1628897043.437 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:24:03.437Z,1628897043.437 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:24:03.437Z,1628897043.437 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:24:03.438Z,1628897043.438 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:24:03.834Z,1628897043.834 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E78,000,006CA,186,80,80,53,FF
2021-08-13T23:24:03.834Z,1628897043.834 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:24:03.834Z,1628897043.834 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:24:03.836Z,1628897043.836 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:24:04.245Z,1628897044.245 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:24:04.278Z,1628897044.278 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T23:24:04.633Z,1628897044.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F8B,000,006CC,186,80,80,7C,FF
2021-08-13T23:24:04.633Z,1628897044.633 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:24:05.077Z,1628897045.077 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232405.37*58

2021-08-13T23:24:05.174Z,1628897045.174 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 66.900002 m, bearing: 341.411568 deg, deltaT: 4.425694 s, approachRate: 0.027115 m/s, LOS rate: -3.141320 deg/s, posRepo size: 4
2021-08-13T23:24:07.162Z,1628897047.162 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:24:07.474Z,1628897047.474 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:24:07.474Z,1628897047.474 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:24:07.474Z,1628897047.474 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:24:07.475Z,1628897047.475 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:24:07.866Z,1628897047.866 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F8B,000,006CC,186,80,80,7C,FF
2021-08-13T23:24:07.866Z,1628897047.866 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:24:07.866Z,1628897047.866 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:24:07.869Z,1628897047.869 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:24:08.301Z,1628897048.301 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:24:08.685Z,1628897048.685 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EDF,000,006CF,187,80,80,73,FF
2021-08-13T23:24:08.685Z,1628897048.685 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:24:09.176Z,1628897049.176 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T23:24:09.193Z,1628897049.193 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 67.080002 m, bearing: 350.113666 deg, deltaT: 4.071146 s, approachRate: 0.044214 m/s, LOS rate: 2.137506 deg/s, posRepo size: 4
2021-08-13T23:24:11.541Z,1628897051.541 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:24:11.913Z,1628897051.913 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:24:11.913Z,1628897051.913 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:24:11.913Z,1628897051.913 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:24:11.914Z,1628897051.914 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:24:12.318Z,1628897052.318 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EDF,000,006CF,187,80,80,73,FF
2021-08-13T23:24:12.318Z,1628897052.318 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:24:12.318Z,1628897052.318 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:24:12.321Z,1628897052.321 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:24:12.720Z,1628897052.720 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:24:13.131Z,1628897053.131 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F89,000,006D0,186,80,80,5F,FF
2021-08-13T23:24:13.133Z,1628897053.133 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:24:13.565Z,1628897053.565 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232413.86*55

2021-08-13T23:24:13.587Z,1628897053.587 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 67.140007 m, bearing: 341.607731 deg, deltaT: 4.511462 s, approachRate: 0.013301 m/s, LOS rate: -1.885405 deg/s, posRepo size: 4
2021-08-13T23:24:14.362Z,1628897054.362 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T23:24:15.981Z,1628897055.981 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:24:16.362Z,1628897056.362 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:24:16.362Z,1628897056.362 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:24:16.362Z,1628897056.362 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:24:16.363Z,1628897056.363 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:24:16.754Z,1628897056.754 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F89,000,006D0,186,80,80,5F,FF
2021-08-13T23:24:16.754Z,1628897056.754 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:24:16.754Z,1628897056.754 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:24:16.756Z,1628897056.756 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:24:17.196Z,1628897057.196 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:24:17.569Z,1628897057.569 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA6,000,006D8,187,80,80,73,FF
2021-08-13T23:24:17.569Z,1628897057.569 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:24:18.021Z,1628897058.021 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232418.29*5B

2021-08-13T23:24:18.070Z,1628897058.070 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 67.619995 m, bearing: 340.059546 deg, deltaT: 4.385528 s, approachRate: 0.109448 m/s, LOS rate: -0.353021 deg/s, posRepo size: 4
2021-08-13T23:24:19.238Z,1628897059.238 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T23:24:20.434Z,1628897060.434 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:24:20.795Z,1628897060.795 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:24:20.795Z,1628897060.795 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:24:20.795Z,1628897060.795 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:24:20.796Z,1628897060.796 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:24:21.205Z,1628897061.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA6,000,006D8,187,80,80,73,FF
2021-08-13T23:24:21.205Z,1628897061.205 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:24:21.205Z,1628897061.205 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:24:21.207Z,1628897061.207 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:24:21.616Z,1628897061.616 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:24:22.005Z,1628897062.005 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E9E,000,006D9,185,80,80,62,FF
2021-08-13T23:24:22.005Z,1628897062.005 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:24:22.450Z,1628897062.450 [Micromodem](INFO): Nmea in: $SNTTA,0.069032,,,,232422.74*4A

2021-08-13T23:24:22.476Z,1628897062.476 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 67.680000 m, bearing: 353.429505 deg, deltaT: 4.433393 s, approachRate: 0.013535 m/s, LOS rate: 3.015740 deg/s, posRepo size: 4
2021-08-13T23:24:24.458Z,1628897064.458 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T23:24:24.906Z,1628897064.906 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:24:25.237Z,1628897065.237 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:24:25.237Z,1628897065.237 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:24:25.237Z,1628897065.237 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:24:25.238Z,1628897065.238 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:24:25.641Z,1628897065.641 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E9E,000,006D9,185,80,80,62,FF
2021-08-13T23:24:25.641Z,1628897065.641 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:24:25.641Z,1628897065.641 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:24:25.643Z,1628897065.643 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:24:26.049Z,1628897066.049 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:24:26.458Z,1628897066.458 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2F0,000,006D8,18A,80,80,38,FF
2021-08-13T23:24:26.458Z,1628897066.458 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:24:26.909Z,1628897066.909 [Micromodem](INFO): Nmea in: $SNTTA,0.256177,,,,232427.18*4B

2021-08-13T23:24:27.001Z,1628897067.001 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 67.619995 m, bearing: 297.700598 deg, deltaT: 4.433630 s, approachRate: -0.013534 m/s, LOS rate: -12.569589 deg/s, posRepo size: 4
2021-08-13T23:24:29.306Z,1628897069.306 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:24:29.689Z,1628897069.689 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:24:29.689Z,1628897069.689 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:24:29.690Z,1628897069.690 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:24:29.690Z,1628897069.690 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:24:30.090Z,1628897070.090 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2F0,000,006D8,18A,80,80,38,FF
2021-08-13T23:24:30.090Z,1628897070.090 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:24:30.090Z,1628897070.090 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:24:30.092Z,1628897070.092 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:24:30.492Z,1628897070.492 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:24:30.510Z,1628897070.510 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T23:24:30.917Z,1628897070.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ECF,000,006DE,186,80,80,77,FF
2021-08-13T23:24:30.917Z,1628897070.917 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:24:31.333Z,1628897071.333 [Micromodem](INFO): Nmea in: $SNTTA,0.055610,,,,232431.63*47

2021-08-13T23:24:31.392Z,1628897071.392 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 67.980003 m, bearing: 349.841907 deg, deltaT: 4.496656 s, approachRate: 0.080061 m/s, LOS rate: 11.595575 deg/s, posRepo size: 4
2021-08-13T23:24:33.749Z,1628897073.749 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:24:34.152Z,1628897074.152 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:24:34.152Z,1628897074.152 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:24:34.152Z,1628897074.152 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:24:34.153Z,1628897074.153 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:24:34.184Z,1628897074.184 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T23:24:34.537Z,1628897074.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ECF,000,006DE,186,80,80,77,FF
2021-08-13T23:24:34.537Z,1628897074.537 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:24:34.537Z,1628897074.537 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:24:34.539Z,1628897074.539 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:24:34.946Z,1628897074.946 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:24:35.341Z,1628897075.341 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E3A,000,006DE,187,80,80,26,FF
2021-08-13T23:24:35.341Z,1628897075.341 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:24:35.785Z,1628897075.785 [Micromodem](INFO): Nmea in: $SNTTA,0.049962,,,,232436.07*45

2021-08-13T23:24:35.811Z,1628897075.811 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 67.980003 m, bearing: 356.364601 deg, deltaT: 4.430425 s, approachRate: 0.000000 m/s, LOS rate: 1.472250 deg/s, posRepo size: 4
2021-08-13T23:24:38.225Z,1628897078.225 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:24:38.569Z,1628897078.569 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:24:38.569Z,1628897078.569 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:24:38.569Z,1628897078.569 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:24:38.570Z,1628897078.570 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:24:38.973Z,1628897078.973 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E3A,000,006DE,187,80,80,26,FF
2021-08-13T23:24:38.973Z,1628897078.973 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:24:38.974Z,1628897078.974 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:24:38.975Z,1628897078.975 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:24:39.465Z,1628897079.465 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:24:39.483Z,1628897079.483 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T23:24:39.863Z,1628897079.863 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F83,000,006EF,186,80,80,6D,FF
2021-08-13T23:24:39.863Z,1628897079.863 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:24:40.275Z,1628897080.275 [Micromodem](INFO): Nmea in: $SNTTA,0.072686,,,,232440.51*4A

2021-08-13T23:24:40.309Z,1628897080.309 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 69.000008 m, bearing: 339.187850 deg, deltaT: 4.482204 s, approachRate: 0.227568 m/s, LOS rate: -3.832211 deg/s, posRepo size: 4
2021-08-13T23:24:42.709Z,1628897082.709 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:24:43.102Z,1628897083.102 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:24:43.103Z,1628897083.103 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:24:43.103Z,1628897083.103 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:24:43.105Z,1628897083.105 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:24:43.497Z,1628897083.497 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F83,000,006EF,186,80,80,6D,FF
2021-08-13T23:24:43.497Z,1628897083.497 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:24:43.498Z,1628897083.498 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:24:43.499Z,1628897083.499 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:24:43.905Z,1628897083.905 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:24:44.299Z,1628897084.299 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EFF,000,006EF,187,80,80,86,FF
2021-08-13T23:24:44.299Z,1628897084.299 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:24:44.753Z,1628897084.753 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232445.04*5C

2021-08-13T23:24:44.771Z,1628897084.771 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 69.000008 m, bearing: 344.906439 deg, deltaT: 4.428100 s, approachRate: 0.000000 m/s, LOS rate: 1.291432 deg/s, posRepo size: 4
2021-08-13T23:24:47.227Z,1628897087.227 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:24:47.541Z,1628897087.541 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:24:47.541Z,1628897087.541 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:24:47.541Z,1628897087.541 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:24:47.542Z,1628897087.542 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:24:47.945Z,1628897087.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EFF,000,006EF,187,80,80,86,FF
2021-08-13T23:24:47.946Z,1628897087.946 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:24:47.946Z,1628897087.946 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:24:47.947Z,1628897087.947 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:24:48.357Z,1628897088.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:24:48.745Z,1628897088.745 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F22,000,006F2,186,80,80,52,FF
2021-08-13T23:24:48.746Z,1628897088.746 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:24:49.229Z,1628897089.229 [Micromodem](INFO): Nmea in: $SNTTA,0.074776,,,,232449.48*43

2021-08-13T23:24:49.274Z,1628897089.274 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-13T23:24:49.287Z,1628897089.287 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 69.180008 m, bearing: 342.370499 deg, deltaT: 4.438953 s, approachRate: 0.040550 m/s, LOS rate: -0.571292 deg/s, posRepo size: 4
2021-08-13T23:24:51.590Z,1628897091.590 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:24:51.977Z,1628897091.977 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:24:51.977Z,1628897091.977 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:24:51.977Z,1628897091.977 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:24:51.978Z,1628897091.978 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:24:52.389Z,1628897092.389 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F22,000,006F2,186,80,80,52,FF
2021-08-13T23:24:52.389Z,1628897092.389 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:24:52.390Z,1628897092.390 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:24:52.391Z,1628897092.391 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:24:52.798Z,1628897092.798 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:24:53.193Z,1628897093.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F12,000,006F6,186,80,80,86,FF
2021-08-13T23:24:53.193Z,1628897093.193 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:24:53.626Z,1628897093.626 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232453.93*55

2021-08-13T23:24:53.642Z,1628897093.642 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 69.420006 m, bearing: 342.809927 deg, deltaT: 4.520407 s, approachRate: 0.053092 m/s, LOS rate: 0.097210 deg/s, posRepo size: 4
2021-08-13T23:24:54.431Z,1628897094.431 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-13T23:24:56.049Z,1628897096.049 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:24:56.421Z,1628897096.421 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:24:56.421Z,1628897096.421 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:24:56.421Z,1628897096.421 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:24:56.422Z,1628897096.422 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:24:56.845Z,1628897096.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F12,000,006F6,186,80,80,86,FF
2021-08-13T23:24:56.845Z,1628897096.845 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:24:56.846Z,1628897096.846 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:24:56.860Z,1628897096.860 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:24:57.274Z,1628897097.274 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:24:57.665Z,1628897097.665 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED7,000,006FD,187,80,80,33,FF
2021-08-13T23:24:57.665Z,1628897097.665 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:24:58.123Z,1628897098.123 [Micromodem](INFO): Nmea in: $SNTTA,0.146616,,,,232458.40*4C

2021-08-13T23:24:58.177Z,1628897098.177 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 69.840004 m, bearing: 345.480367 deg, deltaT: 4.436318 s, approachRate: 0.094673 m/s, LOS rate: 0.601950 deg/s, posRepo size: 4
2021-08-13T23:25:00.543Z,1628897100.543 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:25:00.921Z,1628897100.921 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:25:00.922Z,1628897100.922 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:25:00.922Z,1628897100.922 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:25:00.923Z,1628897100.923 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:25:01.301Z,1628897101.301 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ED7,000,006FD,187,80,80,33,FF
2021-08-13T23:25:01.301Z,1628897101.301 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:25:01.301Z,1628897101.301 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:25:01.303Z,1628897101.303 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:25:01.709Z,1628897101.709 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:25:02.547Z,1628897102.547 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232502.84*56

2021-08-13T23:25:03.344Z,1628897103.344 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:25:04.560Z,1628897104.560 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED5,000,080B5,186,80,80,51,FF
2021-08-13T23:25:04.561Z,1628897104.561 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:25:04.999Z,1628897104.999 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1939.440063 m, bearing: 344.617195 deg, deltaT: 6.863594 s, approachRate: 272.393738 m/s, LOS rate: -0.125761 deg/s, posRepo size: 4
2021-08-13T23:25:07.404Z,1628897107.404 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:25:07.765Z,1628897107.765 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:25:07.765Z,1628897107.765 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:25:07.765Z,1628897107.765 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:25:07.766Z,1628897107.766 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:25:08.185Z,1628897108.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ED5,000,080B5,186,80,80,51,FF
2021-08-13T23:25:08.185Z,1628897108.185 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:25:08.185Z,1628897108.185 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:25:08.187Z,1628897108.187 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:25:08.576Z,1628897108.576 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:25:08.985Z,1628897108.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F1E,000,00705,186,80,80,73,FF
2021-08-13T23:25:08.985Z,1628897108.985 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:25:08.989Z,1628897108.989 [Micromodem](INFO): Nmea in: $SNTTA,0.057550,0.226292,,,232509.72*59

2021-08-13T23:25:09.424Z,1628897109.424 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 70.320000 m, bearing: 340.526813 deg, deltaT: 4.472359 s, approachRate: -417.927124 m/s, LOS rate: -0.914592 deg/s, posRepo size: 4
2021-08-13T23:25:11.834Z,1628897111.834 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:25:12.209Z,1628897112.209 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:25:12.209Z,1628897112.209 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:25:12.209Z,1628897112.209 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:25:12.210Z,1628897112.210 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:25:12.621Z,1628897112.621 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F1E,000,00705,186,80,80,73,FF
2021-08-13T23:25:12.621Z,1628897112.621 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:25:12.622Z,1628897112.622 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:25:12.623Z,1628897112.623 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:25:13.021Z,1628897113.021 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:25:13.421Z,1628897113.421 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F19,000,0070D,187,80,80,56,FF
2021-08-13T23:25:13.422Z,1628897113.422 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:25:13.861Z,1628897113.861 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232514.16*5A

2021-08-13T23:25:13.905Z,1628897113.905 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 70.800003 m, bearing: 339.971737 deg, deltaT: 4.396202 s, approachRate: 0.109186 m/s, LOS rate: -0.126263 deg/s, posRepo size: 4
2021-08-13T23:25:16.293Z,1628897116.293 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:25:16.661Z,1628897116.661 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:25:16.661Z,1628897116.661 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:25:16.661Z,1628897116.661 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:25:16.662Z,1628897116.662 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:25:17.065Z,1628897117.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F19,000,0070D,187,80,80,56,FF
2021-08-13T23:25:17.065Z,1628897117.065 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:25:17.065Z,1628897117.065 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:25:17.067Z,1628897117.067 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:25:17.464Z,1628897117.464 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:25:17.861Z,1628897117.861 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EFF,000,0070F,187,80,80,3F,FF
2021-08-13T23:25:17.862Z,1628897117.862 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:25:18.305Z,1628897118.305 [Micromodem](INFO): Nmea in: $SNTTA,0.061065,,,,232518.60*4D

2021-08-13T23:25:18.365Z,1628897118.365 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 70.919998 m, bearing: 340.862066 deg, deltaT: 4.457625 s, approachRate: 0.026919 m/s, LOS rate: 0.199732 deg/s, posRepo size: 4
2021-08-13T23:25:20.714Z,1628897120.714 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:25:21.102Z,1628897121.102 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:25:21.102Z,1628897121.102 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:25:21.103Z,1628897121.103 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:25:21.104Z,1628897121.104 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:25:21.191Z,1628897121.191 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T23:25:21.501Z,1628897121.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EFF,000,0070F,187,80,80,3F,FF
2021-08-13T23:25:21.501Z,1628897121.501 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:25:21.501Z,1628897121.501 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:25:21.503Z,1628897121.503 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:25:21.916Z,1628897121.916 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:25:22.313Z,1628897122.313 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F24,000,00715,186,80,80,7D,FF
2021-08-13T23:25:22.313Z,1628897122.313 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:25:22.763Z,1628897122.763 [Micromodem](INFO): Nmea in: $SNTTA,0.089622,,,,232523.04*44

2021-08-13T23:25:22.784Z,1628897122.784 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 71.280006 m, bearing: 338.348365 deg, deltaT: 4.473964 s, approachRate: 0.080467 m/s, LOS rate: -0.561851 deg/s, posRepo size: 4
2021-08-13T23:25:25.223Z,1628897125.223 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:25:25.541Z,1628897125.541 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:25:25.541Z,1628897125.541 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:25:25.541Z,1628897125.541 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:25:25.542Z,1628897125.542 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:25:25.945Z,1628897125.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F24,000,00715,186,80,80,7D,FF
2021-08-13T23:25:25.945Z,1628897125.945 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:25:25.945Z,1628897125.945 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:25:25.947Z,1628897125.947 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:25:26.362Z,1628897126.362 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:25:26.753Z,1628897126.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F64,000,0071B,186,80,80,7A,FF
2021-08-13T23:25:26.753Z,1628897126.753 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:25:27.198Z,1628897127.198 [Micromodem](INFO): Nmea in: $SNTTA,0.386998,0.386692,,,232527.48*54

2021-08-13T23:25:27.270Z,1628897127.270 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 71.640007 m, bearing: 334.477833 deg, deltaT: 4.441957 s, approachRate: 0.081045 m/s, LOS rate: -0.871357 deg/s, posRepo size: 4
2021-08-13T23:25:29.614Z,1628897129.614 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:25:29.985Z,1628897129.985 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:25:29.985Z,1628897129.985 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:25:29.985Z,1628897129.985 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:25:29.986Z,1628897129.986 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:25:30.401Z,1628897130.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F64,000,0071B,186,80,80,7A,FF
2021-08-13T23:25:30.401Z,1628897130.401 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:25:30.401Z,1628897130.401 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:25:30.403Z,1628897130.403 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:25:30.799Z,1628897130.799 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:25:31.205Z,1628897131.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F30,000,0071F,186,80,80,75,FF
2021-08-13T23:25:31.206Z,1628897131.206 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:25:31.629Z,1628897131.629 [Micromodem](INFO): Nmea in: $SNTTA,0.091302,,,,232531.94*40

2021-08-13T23:25:31.654Z,1628897131.654 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 71.880005 m, bearing: 336.429738 deg, deltaT: 4.466243 s, approachRate: 0.053736 m/s, LOS rate: 0.437035 deg/s, posRepo size: 4
2021-08-13T23:25:34.050Z,1628897134.050 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:25:34.437Z,1628897134.437 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:25:34.437Z,1628897134.437 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:25:34.437Z,1628897134.437 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:25:34.438Z,1628897134.438 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:25:34.851Z,1628897134.851 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F30,000,0071F,186,80,80,75,FF
2021-08-13T23:25:34.851Z,1628897134.851 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:25:34.856Z,1628897134.856 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:25:34.866Z,1628897134.866 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:25:35.252Z,1628897135.252 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:25:35.649Z,1628897135.649 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F44,000,00722,186,80,80,8B,FF
2021-08-13T23:25:35.649Z,1628897135.649 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:25:36.077Z,1628897136.077 [Micromodem](INFO): Nmea in: $SNTTA,,0.070176,,,232536.40*40

2021-08-13T23:25:36.161Z,1628897136.161 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 72.060005 m, bearing: 334.781367 deg, deltaT: 4.375672 s, approachRate: 0.041137 m/s, LOS rate: -0.376713 deg/s, posRepo size: 4
2021-08-13T23:25:38.520Z,1628897138.520 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:25:38.909Z,1628897138.909 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:25:38.909Z,1628897138.909 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:25:38.909Z,1628897138.909 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:25:38.910Z,1628897138.910 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:25:39.291Z,1628897139.291 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F44,000,00722,186,80,80,8B,FF
2021-08-13T23:25:39.291Z,1628897139.291 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:25:39.291Z,1628897139.291 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:25:39.293Z,1628897139.293 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:25:39.697Z,1628897139.697 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:25:40.098Z,1628897140.098 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF3,000,0072A,187,80,80,69,FF
2021-08-13T23:25:40.099Z,1628897140.099 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:25:40.525Z,1628897140.525 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232540.83*57

2021-08-13T23:25:40.564Z,1628897140.564 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 72.540009 m, bearing: 338.196899 deg, deltaT: 4.508328 s, approachRate: 0.106470 m/s, LOS rate: 0.757605 deg/s, posRepo size: 4
2021-08-13T23:25:42.970Z,1628897142.970 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:25:43.318Z,1628897143.318 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:25:43.318Z,1628897143.318 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:25:43.319Z,1628897143.319 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:25:43.319Z,1628897143.319 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:25:43.724Z,1628897143.724 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF3,000,0072A,187,80,80,69,FF
2021-08-13T23:25:43.724Z,1628897143.724 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:25:43.724Z,1628897143.724 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:25:43.726Z,1628897143.726 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:25:44.192Z,1628897144.192 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:25:44.529Z,1628897144.529 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,108,000,0072B,185,80,80,61,FF
2021-08-13T23:25:44.530Z,1628897144.530 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:25:44.976Z,1628897144.976 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232545.26*5D

2021-08-13T23:25:45.051Z,1628897145.051 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 72.599998 m, bearing: 311.653882 deg, deltaT: 4.371977 s, approachRate: 0.013721 m/s, LOS rate: -6.071170 deg/s, posRepo size: 4
2021-08-13T23:25:47.426Z,1628897147.426 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:25:47.769Z,1628897147.769 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:25:47.769Z,1628897147.769 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:25:47.769Z,1628897147.769 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:25:47.770Z,1628897147.770 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:25:48.187Z,1628897148.187 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
108,000,0072B,185,80,80,61,FF
2021-08-13T23:25:48.187Z,1628897148.187 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:25:48.187Z,1628897148.187 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:25:48.189Z,1628897148.189 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:25:48.576Z,1628897148.576 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:25:48.977Z,1628897148.977 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB3,000,00314,184,80,80,46,FF
2021-08-13T23:25:48.977Z,1628897148.977 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:25:49.394Z,1628897149.394 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232549.73*51

2021-08-13T23:25:49.445Z,1628897149.445 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.780002 m, bearing: 329.358579 deg, deltaT: 4.521300 s, approachRate: -13.894233 m/s, LOS rate: 3.915842 deg/s, posRepo size: 4
2021-08-13T23:25:49.815Z,1628897149.815 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-13T23:25:49.816Z,1628897149.816 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T23:25:49.817Z,1628897149.817 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-13T23:25:49.818Z,1628897149.818 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-13T23:25:49.818Z,1628897149.818 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-13T23:25:49.818Z,1628897149.818 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-13T23:25:50.231Z,1628897150.231 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-13T23:25:50.231Z,1628897150.231 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T23:25:50.231Z,1628897150.231 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-13T23:25:50.231Z,1628897150.231 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T23:25:51.842Z,1628897151.842 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:25:52.206Z,1628897152.206 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:25:52.206Z,1628897152.206 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:25:52.207Z,1628897152.207 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:25:52.209Z,1628897152.209 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:25:52.613Z,1628897152.613 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB3,000,00314,184,80,80,46,FF
2021-08-13T23:25:52.613Z,1628897152.613 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:25:52.613Z,1628897152.613 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:25:52.615Z,1628897152.615 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:25:53.021Z,1628897153.021 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:25:53.425Z,1628897153.425 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EEE,000,00739,187,80,80,64,FF
2021-08-13T23:25:53.426Z,1628897153.426 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:25:53.455Z,1628897153.455 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:25:53.861Z,1628897153.861 [Micromodem](INFO): Nmea in: $SNTTA,0.083242,,,,232554.15*4C

2021-08-13T23:25:53.915Z,1628897153.915 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 73.440002 m, bearing: 340.019302 deg, deltaT: 4.384781 s, approachRate: 14.518399 m/s, LOS rate: 2.431301 deg/s, posRepo size: 4
2021-08-13T23:25:54.307Z,1628897154.307 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-13T23:25:54.310Z,1628897154.310 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T23:25:54.310Z,1628897154.310 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-13T23:25:54.310Z,1628897154.310 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-13T23:25:54.310Z,1628897154.310 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-13T23:25:54.310Z,1628897154.310 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-13T23:25:54.669Z,1628897154.669 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-13T23:25:54.669Z,1628897154.669 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T23:25:54.669Z,1628897154.669 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-13T23:25:54.670Z,1628897154.670 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T23:25:56.276Z,1628897156.276 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:25:56.661Z,1628897156.661 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:25:56.661Z,1628897156.661 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:25:56.662Z,1628897156.662 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:25:56.662Z,1628897156.662 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:25:57.057Z,1628897157.057 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EEE,000,00739,187,80,80,64,FF
2021-08-13T23:25:57.057Z,1628897157.057 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:25:57.057Z,1628897157.057 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:25:57.059Z,1628897157.059 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:25:57.481Z,1628897157.481 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:25:57.870Z,1628897157.870 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF2,000,0073D,187,80,80,65,FF
2021-08-13T23:25:57.871Z,1628897157.871 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:25:58.309Z,1628897158.309 [Micromodem](INFO): Nmea in: $SNTTA,0.084879,,,,232558.60*47

2021-08-13T23:25:58.351Z,1628897158.351 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 73.680000 m, bearing: 340.361959 deg, deltaT: 4.512105 s, approachRate: 0.053190 m/s, LOS rate: 0.075942 deg/s, posRepo size: 4
2021-08-13T23:26:00.738Z,1628897160.738 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:26:01.120Z,1628897161.120 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:26:01.121Z,1628897161.121 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:26:01.121Z,1628897161.121 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:26:01.123Z,1628897161.123 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:26:01.521Z,1628897161.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF2,000,0073D,187,80,80,65,FF
2021-08-13T23:26:01.521Z,1628897161.521 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:26:01.522Z,1628897161.522 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:26:01.523Z,1628897161.523 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:26:01.936Z,1628897161.936 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:26:02.322Z,1628897162.322 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F00,000,00749,186,80,80,37,FF
2021-08-13T23:26:02.322Z,1628897162.322 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:26:02.765Z,1628897162.765 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232603.06*5E

2021-08-13T23:26:02.821Z,1628897162.821 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 74.400009 m, bearing: 340.170386 deg, deltaT: 4.383820 s, approachRate: 0.164242 m/s, LOS rate: -0.043700 deg/s, posRepo size: 4
2021-08-13T23:26:05.257Z,1628897165.257 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:26:05.553Z,1628897165.553 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:26:05.553Z,1628897165.553 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:26:05.553Z,1628897165.553 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:26:05.554Z,1628897165.554 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:26:05.953Z,1628897165.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F00,000,00749,186,80,80,37,FF
2021-08-13T23:26:05.953Z,1628897165.953 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:26:05.953Z,1628897165.953 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:26:05.955Z,1628897165.955 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:26:06.429Z,1628897166.429 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:26:06.782Z,1628897166.782 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,34D,000,0073F,18A,80,80,4D,FF
2021-08-13T23:26:06.783Z,1628897166.783 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:26:07.213Z,1628897167.213 [Micromodem](INFO): Nmea in: $SNTTA,0.065365,,,,232607.49*4C

2021-08-13T23:26:07.291Z,1628897167.291 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 73.799995 m, bearing: 285.776809 deg, deltaT: 4.458723 s, approachRate: -0.134571 m/s, LOS rate: -12.199362 deg/s, posRepo size: 4
2021-08-13T23:26:09.620Z,1628897169.620 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:26:09.997Z,1628897169.997 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:26:09.998Z,1628897169.998 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:26:09.998Z,1628897169.998 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:26:09.999Z,1628897169.999 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:26:10.413Z,1628897170.413 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
34D,000,0073F,18A,80,80,4D,FF
2021-08-13T23:26:10.413Z,1628897170.413 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:26:10.413Z,1628897170.413 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:26:10.415Z,1628897170.415 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:26:10.825Z,1628897170.825 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:26:11.209Z,1628897171.209 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,00C,000,0074B,183,80,80,61,FF
2021-08-13T23:26:11.209Z,1628897171.209 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:26:11.678Z,1628897171.678 [Micromodem](INFO): Nmea in: $SNTTA,0.068986,,,,232611.95*40

2021-08-13T23:26:11.694Z,1628897171.694 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 74.520004 m, bearing: 328.432023 deg, deltaT: 4.476845 s, approachRate: 0.160830 m/s, LOS rate: 9.527963 deg/s, posRepo size: 4
2021-08-13T23:26:14.100Z,1628897174.100 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:26:14.469Z,1628897174.469 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:26:14.469Z,1628897174.469 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:26:14.469Z,1628897174.469 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:26:14.470Z,1628897174.470 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:26:14.921Z,1628897174.921 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
00C,000,0074B,183,80,80,61,FF
2021-08-13T23:26:14.921Z,1628897174.921 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:26:14.921Z,1628897174.921 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:26:14.922Z,1628897174.922 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:26:15.293Z,1628897175.293 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:26:15.708Z,1628897175.708 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,12B,000,0074D,186,80,80,65,FF
2021-08-13T23:26:15.709Z,1628897175.709 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:26:16.133Z,1628897176.133 [Micromodem](INFO): Nmea in: $SNTTA,0.058527,,,,232616.46*4D

2021-08-13T23:26:16.203Z,1628897176.203 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 74.639999 m, bearing: 314.623156 deg, deltaT: 4.440794 s, approachRate: 0.027021 m/s, LOS rate: -3.109549 deg/s, posRepo size: 4
2021-08-13T23:26:18.542Z,1628897178.542 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:26:18.933Z,1628897178.933 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:26:18.933Z,1628897178.933 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:26:18.933Z,1628897178.933 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:26:18.934Z,1628897178.934 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:26:19.321Z,1628897179.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
12B,000,0074D,186,80,80,65,FF
2021-08-13T23:26:19.321Z,1628897179.321 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:26:19.321Z,1628897179.321 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:26:19.323Z,1628897179.323 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:26:19.733Z,1628897179.733 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:26:20.149Z,1628897180.149 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EDA,000,00754,186,80,80,97,FF
2021-08-13T23:26:20.149Z,1628897180.149 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:26:20.569Z,1628897180.569 [Micromodem](INFO): Nmea in: $SNTTA,0.092338,,,,232620.86*4A

2021-08-13T23:26:20.595Z,1628897180.595 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 75.059998 m, bearing: 343.850055 deg, deltaT: 4.472785 s, approachRate: 0.093901 m/s, LOS rate: 6.534385 deg/s, posRepo size: 4
2021-08-13T23:26:23.034Z,1628897183.034 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:26:23.381Z,1628897183.381 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:26:23.381Z,1628897183.381 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:26:23.381Z,1628897183.381 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:26:23.382Z,1628897183.382 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:26:23.773Z,1628897183.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EDA,000,00754,186,80,80,97,FF
2021-08-13T23:26:23.773Z,1628897183.773 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:26:23.774Z,1628897183.774 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:26:23.776Z,1628897183.776 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:26:24.227Z,1628897184.227 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:26:24.994Z,1628897184.994 [Micromodem](INFO): Nmea in: $SNTTA,0.472626,0.472551,,,232625.31*5D

2021-08-13T23:26:25.789Z,1628897185.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ECF,000,03655,187,80,80,6E,FF
2021-08-13T23:26:25.789Z,1628897185.789 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:26:26.229Z,1628897186.229 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 797.040039 m, bearing: 343.876392 deg, deltaT: 5.608236 s, approachRate: 128.735672 m/s, LOS rate: 0.004696 deg/s, posRepo size: 4
2021-08-13T23:26:26.230Z,1628897186.230 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 797.04 m. Resuming terminal guidance.
2021-08-13T23:26:26.230Z,1628897186.230 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-13T23:26:26.627Z,1628897186.627 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-08-13T23:26:26.628Z,1628897186.628 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-13T23:26:26.628Z,1628897186.628 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-08-13T23:26:26.628Z,1628897186.628 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-08-13T23:26:26.628Z,1628897186.628 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2021-08-13T23:26:26.628Z,1628897186.628 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-08-13T23:26:26.628Z,1628897186.628 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-08-13T23:26:28.631Z,1628897188.631 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:26:29.017Z,1628897189.017 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:26:29.017Z,1628897189.017 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:26:29.017Z,1628897189.017 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:26:29.018Z,1628897189.018 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:26:29.417Z,1628897189.417 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ECF,000,03655,187,80,80,6E,FF
2021-08-13T23:26:29.417Z,1628897189.417 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:26:29.417Z,1628897189.417 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:26:29.419Z,1628897189.419 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:26:29.829Z,1628897189.829 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:26:30.225Z,1628897190.225 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2DC,000,0075E,189,80,80,57,FF
2021-08-13T23:26:30.225Z,1628897190.225 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:26:30.669Z,1628897190.669 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232630.95*54

2021-08-13T23:26:30.712Z,1628897190.712 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 75.659996 m, bearing: 291.675579 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-13T23:26:30.713Z,1628897190.713 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 291.675579deg and heading rate command to 0 deg/s.
2021-08-13T23:26:33.153Z,1628897193.153 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:26:33.465Z,1628897193.465 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:26:33.465Z,1628897193.465 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:26:33.466Z,1628897193.466 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:26:33.467Z,1628897193.467 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:26:33.866Z,1628897193.866 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2DC,000,0075E,189,80,80,57,FF
2021-08-13T23:26:33.866Z,1628897193.866 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:26:33.866Z,1628897193.866 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:26:33.869Z,1628897193.869 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:26:34.285Z,1628897194.285 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:26:34.674Z,1628897194.674 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,325,000,0076D,189,80,80,54,FF
2021-08-13T23:26:34.674Z,1628897194.674 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:26:35.116Z,1628897195.116 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232635.41*58

2021-08-13T23:26:35.206Z,1628897195.206 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 76.560005 m, bearing: 287.624949 deg, deltaT: 4.391470 s, approachRate: 0.204945 m/s, LOS rate: -0.922386 deg/s, posRepo size: 2
2021-08-13T23:26:35.208Z,1628897195.208 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 76.560005 m,
      bearing: 287.624949 deg,
      approachRate: 0.204945 m/s,
      LOS rate: -0.922386 deg/s,
      cmd update: -2.767158 deg/s,
      cmd heading: 291.675579 deg,
      new cmd heading: 291.675579 deg.

2021-08-13T23:26:37.203Z,1628897197.203 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:26:37.509Z,1628897197.509 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:26:37.509Z,1628897197.509 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:26:37.509Z,1628897197.509 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:26:37.510Z,1628897197.510 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:26:37.909Z,1628897197.909 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
325,000,0076D,189,80,80,54,FF
2021-08-13T23:26:37.909Z,1628897197.909 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:26:37.909Z,1628897197.909 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:26:37.911Z,1628897197.911 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:26:38.305Z,1628897198.305 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:26:38.710Z,1628897198.710 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,039,000,004C0,185,80,80,64,FF
2021-08-13T23:26:38.710Z,1628897198.710 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:26:39.157Z,1628897199.157 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232639.44*51

2021-08-13T23:26:39.252Z,1628897199.252 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.460003 m, bearing: 318.691764 deg, deltaT: 4.031285 s, approachRate: -10.195261 m/s, LOS rate: 7.706430 deg/s, posRepo size: 3
2021-08-13T23:26:39.253Z,1628897199.253 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 35.46 m.
2021-08-13T23:26:39.255Z,1628897199.255 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 35.460003 m,
      bearing: 318.691764 deg,
      approachRate: -10.195261 m/s,
      LOS rate: 7.706430 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 280.520145 deg,
      new cmd heading: 279.078489 deg.

2021-08-13T23:26:39.554Z,1628897199.554 [PowerOnly](INFO): Powering up loadControl
2021-08-13T23:26:39.589Z,1628897199.589 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-13T23:26:39.589Z,1628897199.589 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T23:26:39.590Z,1628897199.590 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-13T23:26:39.593Z,1628897199.593 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-13T23:26:39.593Z,1628897199.593 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-13T23:26:39.593Z,1628897199.593 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-13T23:26:39.986Z,1628897199.986 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-13T23:26:39.986Z,1628897199.986 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T23:26:39.986Z,1628897199.986 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-13T23:26:39.986Z,1628897199.986 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T23:26:41.255Z,1628897201.255 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:26:41.543Z,1628897201.543 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:26:41.543Z,1628897201.543 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:26:41.543Z,1628897201.543 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:26:41.544Z,1628897201.544 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:26:41.958Z,1628897201.958 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
039,000,004C0,185,80,80,64,FF
2021-08-13T23:26:41.958Z,1628897201.958 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:26:41.958Z,1628897201.958 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:26:41.960Z,1628897201.960 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:26:42.353Z,1628897202.353 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:26:43.198Z,1628897203.198 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232643.49*51

2021-08-13T23:26:43.999Z,1628897203.999 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:26:45.581Z,1628897205.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
0,185,80,80,64,FF
2021-08-13T23:26:45.581Z,1628897205.581 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
0,185,80,80,64,FF
2021-08-13T23:26:45.581Z,1628897205.581 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T23:26:46.893Z,1628897206.893 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:26:47.197Z,1628897207.197 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:26:47.197Z,1628897207.197 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:26:47.197Z,1628897207.197 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:26:47.198Z,1628897207.198 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:26:47.605Z,1628897207.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
0,185,80,80,64,FF
2021-08-13T23:26:47.605Z,1628897207.605 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:26:47.605Z,1628897207.605 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:26:47.607Z,1628897207.607 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:26:48.008Z,1628897208.008 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:26:48.865Z,1628897208.865 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232649.14*53

2021-08-13T23:26:49.411Z,1628897209.411 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:26:51.233Z,1628897211.233 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
0,185,80,80,64,FF
2021-08-13T23:26:51.233Z,1628897211.233 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
0,185,80,80,64,FF
2021-08-13T23:26:51.233Z,1628897211.233 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T23:26:52.059Z,1628897212.059 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:26:52.453Z,1628897212.453 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:26:52.453Z,1628897212.453 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:26:52.453Z,1628897212.453 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:26:52.454Z,1628897212.454 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:26:52.887Z,1628897212.887 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
0,185,80,80,64,FF
2021-08-13T23:26:52.887Z,1628897212.887 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:26:52.887Z,1628897212.887 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:26:52.891Z,1628897212.891 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:26:53.261Z,1628897213.261 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:26:54.091Z,1628897214.091 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232654.43*5D

2021-08-13T23:26:54.967Z,1628897214.967 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:26:56.517Z,1628897216.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
0,185,80,80,64,FF
2021-08-13T23:26:56.517Z,1628897216.517 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
0,185,80,80,64,FF
2021-08-13T23:26:56.517Z,1628897216.517 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T23:26:57.720Z,1628897217.720 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:26:58.130Z,1628897218.130 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:26:58.131Z,1628897218.131 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:26:58.132Z,1628897218.132 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:26:58.133Z,1628897218.133 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:26:58.513Z,1628897218.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
0,185,80,80,64,FF
2021-08-13T23:26:58.513Z,1628897218.513 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:26:58.513Z,1628897218.513 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:26:58.515Z,1628897218.515 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:26:58.935Z,1628897218.935 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:26:59.335Z,1628897219.335 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CBD,000,00864,188,80,80,7F,FF
2021-08-13T23:26:59.335Z,1628897219.335 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:26:59.366Z,1628897219.366 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:26:59.765Z,1628897219.765 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232700.05*5F

2021-08-13T23:26:59.788Z,1628897219.788 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 91.379997 m, bearing: 24.177982 deg, deltaT: 20.636671 s, approachRate: 2.709739 m/s, LOS rate: 3.173294 deg/s, posRepo size: 4
2021-08-13T23:26:59.790Z,1628897219.790 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 91.379997 m,
      bearing: 24.177982 deg,
      approachRate: 2.709739 m/s,
      LOS rate: 3.173294 deg/s,
      cmd update: 9.519884 deg/s,
      cmd heading: 168.156245 deg,
      new cmd heading: 173.248265 deg.

2021-08-13T23:27:00.180Z,1628897220.180 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-13T23:27:00.180Z,1628897220.180 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T23:27:00.180Z,1628897220.180 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-13T23:27:00.181Z,1628897220.181 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-13T23:27:00.181Z,1628897220.181 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-13T23:27:00.181Z,1628897220.181 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-13T23:27:00.574Z,1628897220.574 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-13T23:27:00.574Z,1628897220.574 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T23:27:00.574Z,1628897220.574 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-13T23:27:00.574Z,1628897220.574 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T23:27:02.231Z,1628897222.231 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:27:02.677Z,1628897222.677 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:27:02.677Z,1628897222.677 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:27:02.678Z,1628897222.678 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:27:02.678Z,1628897222.678 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:27:03.005Z,1628897223.005 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CBD,000,00864,188,80,80,7F,FF
2021-08-13T23:27:03.005Z,1628897223.005 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:27:03.005Z,1628897223.005 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:27:03.007Z,1628897223.007 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:27:03.408Z,1628897223.408 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:27:03.809Z,1628897223.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E3F,000,00888,186,80,80,86,FF
2021-08-13T23:27:03.809Z,1628897223.809 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:27:04.214Z,1628897224.214 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232704.54*5F

2021-08-13T23:27:04.296Z,1628897224.296 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 93.540009 m, bearing: 24.224056 deg, deltaT: 4.462878 s, approachRate: 0.483995 m/s, LOS rate: 0.010324 deg/s, posRepo size: 4
2021-08-13T23:27:04.299Z,1628897224.299 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 93.540009 m,
      bearing: 24.224056 deg,
      approachRate: 0.483995 m/s,
      LOS rate: 0.010324 deg/s,
      cmd update: 0.030972 deg/s,
      cmd heading: 210.645180 deg,
      new cmd heading: 215.078789 deg.

2021-08-13T23:27:06.623Z,1628897226.623 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:27:07.017Z,1628897227.017 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:27:07.018Z,1628897227.018 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:27:07.018Z,1628897227.018 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:27:07.019Z,1628897227.019 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:27:07.417Z,1628897227.417 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E3F,000,00888,186,80,80,86,FF
2021-08-13T23:27:07.417Z,1628897227.417 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:27:07.417Z,1628897227.417 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:27:07.419Z,1628897227.419 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:27:07.837Z,1628897227.837 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:27:08.221Z,1628897228.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FFF,000,008A1,183,80,80,6B,FF
2021-08-13T23:27:08.221Z,1628897228.221 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:27:08.661Z,1628897228.661 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232708.95*5E

2021-08-13T23:27:08.703Z,1628897228.703 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 95.040001 m, bearing: 351.967079 deg, deltaT: 4.422840 s, approachRate: 0.339147 m/s, LOS rate: -7.293273 deg/s, posRepo size: 4
2021-08-13T23:27:08.705Z,1628897228.705 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 95.040001 m,
      bearing: 351.967079 deg,
      approachRate: 0.339147 m/s,
      LOS rate: -7.293273 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 210.782155 deg,
      new cmd heading: 210.796211 deg.

2021-08-13T23:27:11.168Z,1628897231.168 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:27:11.453Z,1628897231.453 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:27:11.453Z,1628897231.453 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:27:11.453Z,1628897231.453 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:27:11.454Z,1628897231.454 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:27:11.871Z,1628897231.871 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FFF,000,008A1,183,80,80,6B,FF
2021-08-13T23:27:11.871Z,1628897231.871 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:27:11.872Z,1628897231.872 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:27:11.874Z,1628897231.874 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:27:12.268Z,1628897232.268 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:27:12.670Z,1628897232.670 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DB0,000,008CA,188,80,80,6B,FF
2021-08-13T23:27:12.670Z,1628897232.670 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:27:13.093Z,1628897233.093 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232713.41*5D

2021-08-13T23:27:13.196Z,1628897233.196 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 97.500008 m, bearing: 4.709159 deg, deltaT: 4.475726 s, approachRate: 0.549633 m/s, LOS rate: 2.846933 deg/s, posRepo size: 4
2021-08-13T23:27:13.198Z,1628897233.198 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 97.500008 m,
      bearing: 4.709159 deg,
      approachRate: 0.549633 m/s,
      LOS rate: 2.846933 deg/s,
      cmd update: 8.540798 deg/s,
      cmd heading: 157.411374 deg,
      new cmd heading: 151.420938 deg.

2021-08-13T23:27:15.518Z,1628897235.518 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:27:15.987Z,1628897235.987 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:27:15.987Z,1628897235.987 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:27:15.987Z,1628897235.987 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:27:16.018Z,1628897236.018 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:27:16.018Z,1628897236.018 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DB0,000,008CA,188,80,80,6B,FF
2021-08-13T23:27:16.018Z,1628897236.018 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:27:16.019Z,1628897236.019 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:27:16.025Z,1628897236.025 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:27:16.412Z,1628897236.412 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:27:16.738Z,1628897236.738 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EFA,000,008CA,188,80,80,6B,FF
2021-08-13T23:27:16.738Z,1628897236.738 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:27:17.257Z,1628897237.257 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 97.500008 m, bearing: 334.260524 deg, deltaT: 4.070776 s, approachRate: 0.000000 m/s, LOS rate: -7.479814 deg/s, posRepo size: 4
2021-08-13T23:27:17.259Z,1628897237.259 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 97.500008 m,
      bearing: 334.260524 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -7.479814 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 192.300987 deg,
      new cmd heading: 196.286525 deg.

2021-08-13T23:27:17.544Z,1628897237.544 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232717.56*5F

2021-08-13T23:27:19.551Z,1628897239.551 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:27:19.947Z,1628897239.947 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:27:19.947Z,1628897239.947 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:27:19.947Z,1628897239.947 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:27:19.948Z,1628897239.948 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:27:20.345Z,1628897240.345 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EFA,000,008CA,188,80,80,6B,FF
2021-08-13T23:27:20.345Z,1628897240.345 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:27:20.345Z,1628897240.345 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:27:20.347Z,1628897240.347 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:27:20.752Z,1628897240.752 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:27:21.588Z,1628897241.588 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232721.88*59

2021-08-13T23:27:22.444Z,1628897242.444 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:27:23.998Z,1628897243.998 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
A,188,80,80,6B,FF
2021-08-13T23:27:23.998Z,1628897243.998 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
A,188,80,80,6B,FF
2021-08-13T23:27:23.998Z,1628897243.998 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T23:27:25.285Z,1628897245.285 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:27:25.609Z,1628897245.609 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:27:25.609Z,1628897245.609 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:27:25.609Z,1628897245.609 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:27:25.610Z,1628897245.610 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:27:26.009Z,1628897246.009 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
A,188,80,80,6B,FF
2021-08-13T23:27:26.009Z,1628897246.009 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:27:26.009Z,1628897246.009 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:27:26.011Z,1628897246.011 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:27:26.417Z,1628897246.417 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:27:26.848Z,1628897246.848 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E0B,000,0096E,187,80,80,64,FF
2021-08-13T23:27:26.849Z,1628897246.849 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:27:27.262Z,1628897247.262 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232727.55*5F

2021-08-13T23:27:27.341Z,1628897247.341 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 107.340004 m, bearing: 307.290675 deg, deltaT: 10.125384 s, approachRate: 0.971815 m/s, LOS rate: -2.663588 deg/s, posRepo size: 4
2021-08-13T23:27:27.343Z,1628897247.343 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 107.340004 m,
      bearing: 307.290675 deg,
      approachRate: 0.971815 m/s,
      LOS rate: -2.663588 deg/s,
      cmd update: -7.990763 deg/s,
      cmd heading: 70.668840 deg,
      new cmd heading: 65.596692 deg.

2021-08-13T23:27:29.446Z,1628897249.446 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:27:29.821Z,1628897249.821 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:27:29.821Z,1628897249.821 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:27:29.821Z,1628897249.821 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:27:29.822Z,1628897249.822 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:27:30.129Z,1628897250.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E0B,000,0096E,187,80,80,64,FF
2021-08-13T23:27:30.129Z,1628897250.129 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:27:30.130Z,1628897250.130 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:27:30.147Z,1628897250.147 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:27:30.535Z,1628897250.535 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:27:30.946Z,1628897250.946 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2A3,000,00994,189,80,80,7F,FF
2021-08-13T23:27:30.947Z,1628897250.947 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:27:31.333Z,1628897251.333 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232731.68*56

2021-08-13T23:27:31.410Z,1628897251.410 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 109.620003 m, bearing: 236.670836 deg, deltaT: 4.084136 s, approachRate: 0.558257 m/s, LOS rate: -17.291256 deg/s, posRepo size: 4
2021-08-13T23:27:31.411Z,1628897251.411 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -17.291256 deg/s. Setting heading cmd to target bearing of 236.670836deg and heading rate command to 0 deg/s.
2021-08-13T23:27:33.761Z,1628897253.761 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:27:34.161Z,1628897254.161 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:27:34.162Z,1628897254.162 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:27:34.162Z,1628897254.162 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:27:34.163Z,1628897254.163 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:27:34.541Z,1628897254.541 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2A3,000,00994,189,80,80,7F,FF
2021-08-13T23:27:34.541Z,1628897254.541 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:27:34.541Z,1628897254.541 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:27:34.543Z,1628897254.543 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:27:34.961Z,1628897254.961 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:27:35.349Z,1628897255.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EAE,000,009C6,186,80,80,5B,FF
2021-08-13T23:27:35.350Z,1628897255.350 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:27:35.797Z,1628897255.797 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232736.08*57

2021-08-13T23:27:35.820Z,1628897255.820 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 112.620003 m, bearing: 298.385037 deg, deltaT: 4.438917 s, approachRate: 0.675840 m/s, LOS rate: 13.902986 deg/s, posRepo size: 4
2021-08-13T23:27:35.821Z,1628897255.821 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.902986 deg/s. Setting heading cmd to target bearing of 298.385037deg and heading rate command to 0 deg/s.
2021-08-13T23:27:38.226Z,1628897258.226 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:27:38.581Z,1628897258.581 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:27:38.581Z,1628897258.581 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:27:38.581Z,1628897258.581 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:27:38.582Z,1628897258.582 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:27:38.981Z,1628897258.981 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EAE,000,009C6,186,80,80,5B,FF
2021-08-13T23:27:38.981Z,1628897258.981 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:27:38.981Z,1628897258.981 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:27:38.983Z,1628897258.983 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:27:39.393Z,1628897259.393 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:27:39.805Z,1628897259.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,116,000,009F2,186,80,80,3C,FF
2021-08-13T23:27:39.805Z,1628897259.806 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:27:40.250Z,1628897260.250 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232740.52*59

2021-08-13T23:27:40.328Z,1628897260.328 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 115.259995 m, bearing: 282.170605 deg, deltaT: 4.398857 s, approachRate: 0.600154 m/s, LOS rate: -3.686056 deg/s, posRepo size: 4
2021-08-13T23:27:40.330Z,1628897260.330 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 115.259995 m,
      bearing: 282.170605 deg,
      approachRate: 0.600154 m/s,
      LOS rate: -3.686056 deg/s,
      cmd update: -11.058168 deg/s,
      cmd heading: 298.385037 deg,
      new cmd heading: 298.385037 deg.

2021-08-13T23:27:42.726Z,1628897262.726 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:27:43.045Z,1628897263.045 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:27:43.045Z,1628897263.045 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:27:43.045Z,1628897263.045 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:27:43.046Z,1628897263.046 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:27:43.506Z,1628897263.506 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
116,000,009F2,186,80,80,3C,FF
2021-08-13T23:27:43.507Z,1628897263.507 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:27:43.507Z,1628897263.507 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:27:43.509Z,1628897263.509 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:27:43.865Z,1628897263.865 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:27:44.243Z,1628897264.243 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F22,000,009F2,186,80,80,3C,FF
2021-08-13T23:27:44.244Z,1628897264.244 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:27:44.733Z,1628897264.733 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 115.259995 m, bearing: 320.706669 deg, deltaT: 4.529593 s, approachRate: 0.000000 m/s, LOS rate: 8.507622 deg/s, posRepo size: 4
2021-08-13T23:27:44.735Z,1628897264.735 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 115.259995 m,
      bearing: 320.706669 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 8.507622 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 248.385012 deg,
      new cmd heading: 244.354155 deg.

2021-08-13T23:27:45.069Z,1628897265.069 [Micromodem](INFO): Nmea in: $SNTTA,0.080927,,,,232745.05*44

2021-08-13T23:27:47.183Z,1628897267.183 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:27:47.474Z,1628897267.474 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:27:47.474Z,1628897267.474 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:27:47.474Z,1628897267.474 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:27:47.475Z,1628897267.475 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:27:47.874Z,1628897267.874 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F22,000,009F2,186,80,80,3C,FF
2021-08-13T23:27:47.874Z,1628897267.874 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:27:47.874Z,1628897267.874 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:27:47.877Z,1628897267.877 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:27:48.296Z,1628897268.296 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:27:48.689Z,1628897268.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,07C,000,00A5C,186,80,80,3A,FF
2021-08-13T23:27:48.689Z,1628897268.689 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:27:49.141Z,1628897269.141 [Micromodem](INFO): Nmea in: $SNTTA,0.102859,,,,232749.41*4B

2021-08-13T23:27:49.246Z,1628897269.246 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 121.620010 m, bearing: 292.147709 deg, deltaT: 4.362618 s, approachRate: 1.457844 m/s, LOS rate: -6.546289 deg/s, posRepo size: 4
2021-08-13T23:27:49.253Z,1628897269.253 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 121.620010 m,
      bearing: 292.147709 deg,
      approachRate: 1.457844 m/s,
      LOS rate: -6.546289 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 300.783518 deg,
      new cmd heading: 306.965762 deg.

2021-08-13T23:27:51.527Z,1628897271.527 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:27:51.925Z,1628897271.925 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:27:51.925Z,1628897271.925 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:27:51.925Z,1628897271.925 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:27:51.926Z,1628897271.926 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:27:52.321Z,1628897272.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
07C,000,00A5C,186,80,80,3A,FF
2021-08-13T23:27:52.321Z,1628897272.321 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:27:52.322Z,1628897272.322 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:27:52.323Z,1628897272.323 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:27:52.724Z,1628897272.724 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:27:53.562Z,1628897273.562 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232753.86*52

2021-08-13T23:27:54.410Z,1628897274.410 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:27:56.017Z,1628897276.017 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,186,80,80,3A,FF
2021-08-13T23:27:56.017Z,1628897276.017 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,186,80,80,3A,FF
2021-08-13T23:27:56.017Z,1628897276.017 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T23:27:57.290Z,1628897277.290 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:27:57.637Z,1628897277.637 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:27:57.637Z,1628897277.637 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:27:57.637Z,1628897277.637 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:27:57.638Z,1628897277.638 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:27:58.001Z,1628897278.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,186,80,80,3A,FF
2021-08-13T23:27:58.001Z,1628897278.001 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:27:58.001Z,1628897278.001 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:27:58.003Z,1628897278.003 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:27:58.389Z,1628897278.389 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:27:59.206Z,1628897279.206 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232759.54*57

2021-08-13T23:28:00.023Z,1628897280.023 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:28:01.617Z,1628897281.617 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,186,80,80,3A,FF
2021-08-13T23:28:01.618Z,1628897281.618 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,186,80,80,3A,FF
2021-08-13T23:28:01.618Z,1628897281.618 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T23:28:02.914Z,1628897282.914 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:28:03.233Z,1628897283.233 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:28:03.233Z,1628897283.233 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:28:03.233Z,1628897283.233 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:28:03.234Z,1628897283.234 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:28:03.629Z,1628897283.629 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,186,80,80,3A,FF
2021-08-13T23:28:03.629Z,1628897283.629 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:28:03.630Z,1628897283.630 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:28:03.631Z,1628897283.631 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:28:04.041Z,1628897284.041 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:28:04.445Z,1628897284.445 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,36E,000,00B03,189,80,80,6A,FF
2021-08-13T23:28:04.445Z,1628897284.445 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:28:04.902Z,1628897284.902 [Micromodem](INFO): Nmea in: $SNTTA,0.097657,,,,232805.17*42

2021-08-13T23:28:04.955Z,1628897284.955 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 131.639999 m, bearing: 212.189143 deg, deltaT: 15.779963 s, approachRate: 0.634982 m/s, LOS rate: -5.067095 deg/s, posRepo size: 4
2021-08-13T23:28:04.958Z,1628897284.958 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 131.639999 m,
      bearing: 212.189143 deg,
      approachRate: 0.634982 m/s,
      LOS rate: -5.067095 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 111.496352 deg,
      new cmd heading: 106.091552 deg.

2021-08-13T23:28:07.322Z,1628897287.322 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:28:07.673Z,1628897287.673 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:28:07.673Z,1628897287.673 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:28:07.673Z,1628897287.673 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:28:07.674Z,1628897287.674 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:28:08.073Z,1628897288.073 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
36E,000,00B03,189,80,80,6A,FF
2021-08-13T23:28:08.073Z,1628897288.073 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:28:08.073Z,1628897288.073 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:28:08.075Z,1628897288.075 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:28:08.485Z,1628897288.485 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:28:09.318Z,1628897289.318 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232809.63*59

2021-08-13T23:28:10.170Z,1628897290.170 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:28:11.725Z,1628897291.725 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
3,189,80,80,6A,FF
2021-08-13T23:28:11.725Z,1628897291.725 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
3,189,80,80,6A,FF
2021-08-13T23:28:11.725Z,1628897291.725 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T23:28:12.975Z,1628897292.975 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:28:13.325Z,1628897293.325 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:28:13.325Z,1628897293.325 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:28:13.325Z,1628897293.325 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:28:13.326Z,1628897293.326 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:28:13.737Z,1628897293.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
3,189,80,80,6A,FF
2021-08-13T23:28:13.737Z,1628897293.737 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:28:13.738Z,1628897293.738 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:28:13.739Z,1628897293.739 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:28:14.163Z,1628897294.163 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:28:14.545Z,1628897294.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,228,000,00B40,188,80,80,79,FF
2021-08-13T23:28:14.545Z,1628897294.545 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:28:14.985Z,1628897294.985 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232815.27*54

2021-08-13T23:28:15.033Z,1628897295.033 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 135.300003 m, bearing: 189.599754 deg, deltaT: 10.047562 s, approachRate: 0.364268 m/s, LOS rate: -2.248246 deg/s, posRepo size: 4
2021-08-13T23:28:15.035Z,1628897295.035 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 135.300003 m,
      bearing: 189.599754 deg,
      approachRate: 0.364268 m/s,
      LOS rate: -2.248246 deg/s,
      cmd update: -6.744738 deg/s,
      cmd heading: 350.803841 deg,
      new cmd heading: 345.161261 deg.

2021-08-13T23:28:17.418Z,1628897297.418 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:28:17.769Z,1628897297.769 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:28:17.769Z,1628897297.769 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:28:17.769Z,1628897297.769 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:28:17.770Z,1628897297.770 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:28:18.185Z,1628897298.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
228,000,00B40,188,80,80,79,FF
2021-08-13T23:28:18.185Z,1628897298.185 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:28:18.186Z,1628897298.186 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:28:18.187Z,1628897298.187 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:28:18.584Z,1628897298.584 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:28:19.435Z,1628897299.435 [Micromodem](INFO): Nmea in: $SNTTA,0.097746,,,,232819.72*4D

2021-08-13T23:28:20.222Z,1628897300.222 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:28:21.809Z,1628897301.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
0,188,80,80,79,FF
2021-08-13T23:28:21.810Z,1628897301.810 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
0,188,80,80,79,FF
2021-08-13T23:28:21.810Z,1628897301.810 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T23:28:23.073Z,1628897303.073 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:28:23.493Z,1628897303.493 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:28:23.493Z,1628897303.493 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:28:23.493Z,1628897303.493 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:28:23.494Z,1628897303.494 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:28:23.905Z,1628897303.905 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
0,188,80,80,79,FF
2021-08-13T23:28:23.905Z,1628897303.905 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:28:23.905Z,1628897303.905 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:28:23.907Z,1628897303.907 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:28:24.260Z,1628897304.260 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:28:25.454Z,1628897305.454 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232825.44*52

2021-08-13T23:28:25.880Z,1628897305.880 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:28:27.465Z,1628897307.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
0,188,80,80,79,FF
2021-08-13T23:28:27.465Z,1628897307.465 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
0,188,80,80,79,FF
2021-08-13T23:28:27.465Z,1628897307.465 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T23:28:28.717Z,1628897308.717 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:28:29.089Z,1628897309.089 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:28:29.089Z,1628897309.089 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:28:29.089Z,1628897309.089 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:28:29.090Z,1628897309.090 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:28:29.493Z,1628897309.493 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
0,188,80,80,79,FF
2021-08-13T23:28:29.493Z,1628897309.493 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:28:29.493Z,1628897309.493 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:28:29.494Z,1628897309.494 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:28:29.895Z,1628897309.895 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:28:30.297Z,1628897310.297 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CE3,000,00BAF,189,80,80,5F,FF
2021-08-13T23:28:30.298Z,1628897310.298 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:28:30.746Z,1628897310.746 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232831.03*54

2021-08-13T23:28:30.767Z,1628897310.767 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 141.960007 m, bearing: 305.178207 deg, deltaT: 15.790867 s, approachRate: 0.421763 m/s, LOS rate: 7.319323 deg/s, posRepo size: 4
2021-08-13T23:28:30.770Z,1628897310.770 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 141.960007 m,
      bearing: 305.178207 deg,
      approachRate: 0.421763 m/s,
      LOS rate: 7.319323 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 244.316239 deg,
      new cmd heading: 241.506442 deg.

2021-08-13T23:28:33.203Z,1628897313.203 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:28:33.533Z,1628897313.533 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:28:33.533Z,1628897313.533 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:28:33.534Z,1628897313.534 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:28:33.534Z,1628897313.534 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:28:33.949Z,1628897313.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CE3,000,00BAF,189,80,80,5F,FF
2021-08-13T23:28:33.950Z,1628897313.950 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:28:33.950Z,1628897313.950 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:28:33.951Z,1628897313.951 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:28:34.361Z,1628897314.361 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:28:35.178Z,1628897315.178 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232835.48*5F

2021-08-13T23:28:35.981Z,1628897315.981 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:28:37.645Z,1628897317.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
F,189,80,80,5F,FF
2021-08-13T23:28:37.645Z,1628897317.645 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
F,189,80,80,5F,FF
2021-08-13T23:28:37.645Z,1628897317.645 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T23:28:38.896Z,1628897318.896 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:28:39.197Z,1628897319.197 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:28:39.197Z,1628897319.197 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:28:39.197Z,1628897319.197 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:28:39.198Z,1628897319.198 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:28:39.593Z,1628897319.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
F,189,80,80,5F,FF
2021-08-13T23:28:39.593Z,1628897319.593 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:28:39.593Z,1628897319.593 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:28:39.595Z,1628897319.595 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:28:39.997Z,1628897319.997 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:28:40.407Z,1628897320.407 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E86,000,00C1B,186,80,80,66,FF
2021-08-13T23:28:40.409Z,1628897320.409 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:28:40.869Z,1628897320.869 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232841.13*52

2021-08-13T23:28:40.932Z,1628897320.932 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 148.440002 m, bearing: 291.297951 deg, deltaT: 10.127316 s, approachRate: 0.639853 m/s, LOS rate: -1.370576 deg/s, posRepo size: 4
2021-08-13T23:28:40.935Z,1628897320.935 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 148.440002 m,
      bearing: 291.297951 deg,
      approachRate: 0.639853 m/s,
      LOS rate: -1.370576 deg/s,
      cmd update: -4.111728 deg/s,
      cmd heading: 5.860041 deg,
      new cmd heading: 11.290881 deg.

2021-08-13T23:28:43.270Z,1628897323.270 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:28:43.637Z,1628897323.637 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:28:43.637Z,1628897323.637 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:28:43.638Z,1628897323.638 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:28:43.639Z,1628897323.639 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:28:44.034Z,1628897324.034 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E86,000,00C1B,186,80,80,66,FF
2021-08-13T23:28:44.034Z,1628897324.034 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:28:44.034Z,1628897324.034 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:28:44.035Z,1628897324.035 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:28:44.462Z,1628897324.462 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:28:45.264Z,1628897325.264 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232845.57*56

2021-08-13T23:28:46.139Z,1628897326.139 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:28:47.666Z,1628897327.666 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
B,186,80,80,66,FF
2021-08-13T23:28:47.667Z,1628897327.667 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
B,186,80,80,66,FF
2021-08-13T23:28:47.667Z,1628897327.667 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T23:28:48.967Z,1628897328.967 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:28:49.291Z,1628897329.291 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:28:49.291Z,1628897329.291 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:28:49.291Z,1628897329.291 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:28:49.292Z,1628897329.292 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:28:49.691Z,1628897329.691 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
B,186,80,80,66,FF
2021-08-13T23:28:49.691Z,1628897329.691 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:28:49.691Z,1628897329.691 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:28:49.693Z,1628897329.693 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:28:50.201Z,1628897330.201 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:28:50.589Z,1628897330.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E89,000,00C9F,186,80,80,2A,FF
2021-08-13T23:28:50.589Z,1628897330.589 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:28:51.073Z,1628897331.073 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232851.23*50

2021-08-13T23:28:51.159Z,1628897331.159 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 156.360016 m, bearing: 333.435547 deg, deltaT: 10.153331 s, approachRate: 0.780041 m/s, LOS rate: 4.150125 deg/s, posRepo size: 4
2021-08-13T23:28:51.172Z,1628897331.172 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 156.360016 m,
      bearing: 333.435547 deg,
      approachRate: 0.780041 m/s,
      LOS rate: 4.150125 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 324.122707 deg,
      new cmd heading: 321.950020 deg.

2021-08-13T23:28:53.438Z,1628897333.438 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:28:53.789Z,1628897333.789 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:28:53.789Z,1628897333.789 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:28:53.789Z,1628897333.789 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:28:53.790Z,1628897333.790 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:28:54.209Z,1628897334.209 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E89,000,00C9F,186,80,80,2A,FF
2021-08-13T23:28:54.209Z,1628897334.209 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:28:54.209Z,1628897334.209 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:28:54.211Z,1628897334.211 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:28:54.605Z,1628897334.605 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:28:55.438Z,1628897335.438 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232855.74*56

2021-08-13T23:28:56.217Z,1628897336.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E61,000,03773,187,80,80,5D,FF
2021-08-13T23:28:56.217Z,1628897336.217 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:28:56.673Z,1628897336.673 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 814.200012 m, bearing: 356.937790 deg, deltaT: 5.635883 s, approachRate: 116.723495 m/s, LOS rate: 4.170108 deg/s, posRepo size: 4
2021-08-13T23:28:56.675Z,1628897336.675 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 814.200012 m,
      bearing: 356.937790 deg,
      approachRate: 116.723495 m/s,
      LOS rate: 4.170108 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 31.751097 deg,
      new cmd heading: 36.634281 deg.

2021-08-13T23:28:59.156Z,1628897339.156 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:28:59.449Z,1628897339.449 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:28:59.449Z,1628897339.449 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:28:59.449Z,1628897339.449 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:28:59.450Z,1628897339.450 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:28:59.854Z,1628897339.854 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E61,000,03773,187,80,80,5D,FF
2021-08-13T23:28:59.854Z,1628897339.854 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:28:59.854Z,1628897339.854 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:28:59.858Z,1628897339.858 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:29:00.260Z,1628897340.260 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:29:00.666Z,1628897340.666 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E1B,000,00D0B,187,80,80,5D,FF
2021-08-13T23:29:00.666Z,1628897340.666 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:29:01.097Z,1628897341.097 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232901.39*5F

2021-08-13T23:29:01.134Z,1628897341.134 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-13T23:29:01.201Z,1628897341.201 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 162.840012 m, bearing: 18.063171 deg, deltaT: 4.450868 s, approachRate: -146.344482 m/s, LOS rate: 4.746351 deg/s, posRepo size: 4
2021-08-13T23:29:01.208Z,1628897341.208 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 162.840012 m,
      bearing: 18.063171 deg,
      approachRate: -146.344482 m/s,
      LOS rate: 4.746351 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 85.153222 deg,
      new cmd heading: 90.975994 deg.

2021-08-13T23:29:03.591Z,1628897343.591 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:29:03.945Z,1628897343.945 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:29:03.945Z,1628897343.945 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:29:03.945Z,1628897343.945 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:29:03.946Z,1628897343.946 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:29:04.401Z,1628897344.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E1B,000,00D0B,187,80,80,5D,FF
2021-08-13T23:29:04.401Z,1628897344.401 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:29:04.401Z,1628897344.401 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:29:04.403Z,1628897344.403 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:29:04.818Z,1628897344.818 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:29:05.598Z,1628897345.598 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232905.94*5C

2021-08-13T23:29:06.512Z,1628897346.512 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:29:07.996Z,1628897347.996 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
B,187,80,80,5D,FF
2021-08-13T23:29:07.996Z,1628897347.996 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
B,187,80,80,5D,FF
2021-08-13T23:29:07.996Z,1628897347.996 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T23:29:09.263Z,1628897349.263 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:29:09.589Z,1628897349.589 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:29:09.589Z,1628897349.589 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:29:09.590Z,1628897349.590 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:29:09.591Z,1628897349.591 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:29:09.989Z,1628897349.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
B,187,80,80,5D,FF
2021-08-13T23:29:09.989Z,1628897349.989 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:29:09.990Z,1628897349.990 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:29:09.991Z,1628897349.991 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:29:10.407Z,1628897350.407 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:29:10.825Z,1628897350.825 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D74,000,00D0C,189,80,80,7F,FF
2021-08-13T23:29:10.826Z,1628897350.826 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:29:11.250Z,1628897351.250 [Micromodem](INFO): Nmea in: $SNTTA,0.110974,,,,232911.52*47

2021-08-13T23:29:11.315Z,1628897351.315 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 162.899994 m, bearing: 65.828578 deg, deltaT: 10.190811 s, approachRate: 0.005886 m/s, LOS rate: 4.687105 deg/s, posRepo size: 4
2021-08-13T23:29:11.317Z,1628897351.317 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 162.899994 m,
      bearing: 65.828578 deg,
      approachRate: 0.005886 m/s,
      LOS rate: 4.687105 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 207.453733 deg,
      new cmd heading: 212.337013 deg.

2021-08-13T23:29:13.671Z,1628897353.671 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:29:14.037Z,1628897354.037 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:29:14.037Z,1628897354.037 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:29:14.037Z,1628897354.037 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:29:14.038Z,1628897354.038 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:29:14.433Z,1628897354.433 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D74,000,00D0C,189,80,80,7F,FF
2021-08-13T23:29:14.433Z,1628897354.433 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:29:14.434Z,1628897354.434 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:29:14.436Z,1628897354.436 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:29:14.886Z,1628897354.886 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:29:15.691Z,1628897355.691 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232915.97*5E

2021-08-13T23:29:16.501Z,1628897356.501 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:29:17.833Z,1628897357.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,189,80,80,7F,FF
2021-08-13T23:29:17.834Z,1628897357.834 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,189,80,80,7F,FF
2021-08-13T23:29:17.834Z,1628897357.834 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T23:29:19.392Z,1628897359.392 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:29:19.689Z,1628897359.689 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:29:19.689Z,1628897359.689 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:29:19.689Z,1628897359.689 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:29:19.690Z,1628897359.690 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:29:20.093Z,1628897360.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,189,80,80,7F,FF
2021-08-13T23:29:20.093Z,1628897360.093 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:29:20.094Z,1628897360.094 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:29:20.095Z,1628897360.095 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:29:20.500Z,1628897360.500 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:29:20.922Z,1628897360.922 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,00CF5,189,80,80,A1,FF
2021-08-13T23:29:20.922Z,1628897360.922 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:29:21.333Z,1628897361.333 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232921.63*52

2021-08-13T23:29:21.377Z,1628897361.377 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 161.520004 m, bearing: 109.449431 deg, deltaT: 10.104331 s, approachRate: -0.136574 m/s, LOS rate: 4.317045 deg/s, posRepo size: 4
2021-08-13T23:29:21.379Z,1628897361.379 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 161.520004 m,
      bearing: 109.449431 deg,
      approachRate: -0.136574 m/s,
      LOS rate: 4.317045 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 328.754524 deg,
      new cmd heading: 333.075964 deg.

2021-08-13T23:29:23.768Z,1628897363.768 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:29:24.144Z,1628897364.144 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:29:24.145Z,1628897364.145 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:29:24.145Z,1628897364.145 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:29:24.146Z,1628897364.146 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:29:24.537Z,1628897364.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,00CF5,189,80,80,A1,FF
2021-08-13T23:29:24.537Z,1628897364.537 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:29:24.537Z,1628897364.537 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:29:24.539Z,1628897364.539 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:29:24.948Z,1628897364.948 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:29:25.350Z,1628897365.350 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E5A,000,00CEE,185,80,80,A1,FF
2021-08-13T23:29:25.350Z,1628897365.350 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:29:25.781Z,1628897365.781 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232926.07*57

2021-08-13T23:29:25.828Z,1628897365.828 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 161.100006 m, bearing: 52.059237 deg, deltaT: 4.398366 s, approachRate: -0.095490 m/s, LOS rate: -13.048072 deg/s, posRepo size: 4
2021-08-13T23:29:25.829Z,1628897365.829 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -13.048072 deg/s. Setting heading cmd to target bearing of 52.059237deg and heading rate command to 0 deg/s.
2021-08-13T23:29:28.231Z,1628897368.231 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:29:28.581Z,1628897368.581 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:29:28.581Z,1628897368.581 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:29:28.581Z,1628897368.581 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:29:28.582Z,1628897368.582 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:29:28.989Z,1628897368.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E5A,000,00CEE,185,80,80,A1,FF
2021-08-13T23:29:28.990Z,1628897368.990 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:29:28.990Z,1628897368.990 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:29:28.991Z,1628897368.991 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:29:29.503Z,1628897369.503 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:29:29.901Z,1628897369.901 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4D2,000,00CF8,189,80,80,6A,FF
2021-08-13T23:29:29.901Z,1628897369.901 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:29:30.301Z,1628897370.301 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232930.53*51

2021-08-13T23:29:30.327Z,1628897370.327 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 161.699997 m, bearing: 318.042622 deg, deltaT: 4.552283 s, approachRate: 0.131800 m/s, LOS rate: -20.652629 deg/s, posRepo size: 4
2021-08-13T23:29:30.354Z,1628897370.354 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -20.652629 deg/s. Setting heading cmd to target bearing of 318.042622deg and heading rate command to 0 deg/s.
2021-08-13T23:29:32.763Z,1628897372.763 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:29:33.121Z,1628897373.121 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:29:33.122Z,1628897373.122 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:29:33.122Z,1628897373.122 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:29:33.124Z,1628897373.124 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:29:33.533Z,1628897373.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
4D2,000,00CF8,189,80,80,6A,FF
2021-08-13T23:29:33.533Z,1628897373.533 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:29:33.533Z,1628897373.533 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:29:33.535Z,1628897373.535 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:29:33.953Z,1628897373.953 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:29:34.338Z,1628897374.338 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D39,000,00DF8,189,80,80,6A,FF
2021-08-13T23:29:34.338Z,1628897374.338 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:29:34.765Z,1628897374.765 [Micromodem](INFO): Nmea in: $SNTTA,0.110413,,,,232935.07*4D

2021-08-13T23:29:34.879Z,1628897374.879 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 177.059998 m, bearing: 58.029506 deg, deltaT: 4.483484 s, approachRate: 3.425907 m/s, LOS rate: 22.301158 deg/s, posRepo size: 4
2021-08-13T23:29:34.885Z,1628897374.885 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 22.301158 deg/s. Setting heading cmd to target bearing of 58.029506deg and heading rate command to 0 deg/s.
2021-08-13T23:29:37.296Z,1628897377.296 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:29:37.577Z,1628897377.577 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:29:37.577Z,1628897377.577 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:29:37.577Z,1628897377.577 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:29:37.578Z,1628897377.578 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:29:37.973Z,1628897377.973 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D39,000,00DF8,189,80,80,6A,FF
2021-08-13T23:29:37.974Z,1628897377.974 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:29:37.974Z,1628897377.974 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:29:37.976Z,1628897377.976 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:29:38.381Z,1628897378.381 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:29:38.781Z,1628897378.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E50,000,00D0A,189,80,80,6A,FF
2021-08-13T23:29:38.782Z,1628897378.782 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:29:39.229Z,1628897379.229 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232939.51*5A

2021-08-13T23:29:39.298Z,1628897379.298 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 162.780014 m, bearing: 52.478659 deg, deltaT: 4.434522 s, approachRate: -3.220186 m/s, LOS rate: -1.251735 deg/s, posRepo size: 4
2021-08-13T23:29:39.301Z,1628897379.301 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 162.780014 m,
      bearing: 52.478659 deg,
      approachRate: -3.220186 m/s,
      LOS rate: -1.251735 deg/s,
      cmd update: -3.755206 deg/s,
      cmd heading: 58.029506 deg,
      new cmd heading: 58.029506 deg.

2021-08-13T23:29:41.640Z,1628897381.640 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:29:42.013Z,1628897382.013 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:29:42.013Z,1628897382.013 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:29:42.013Z,1628897382.013 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:29:42.014Z,1628897382.014 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:29:42.417Z,1628897382.417 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E50,000,00D0A,189,80,80,6A,FF
2021-08-13T23:29:42.417Z,1628897382.417 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:29:42.417Z,1628897382.417 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:29:42.419Z,1628897382.419 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:29:42.854Z,1628897382.854 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:29:43.222Z,1628897383.222 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B58,000,00D0A,189,80,80,6A,FF
2021-08-13T23:29:43.222Z,1628897383.222 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:29:43.670Z,1628897383.670 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232943.95*5F

2021-08-13T23:29:43.704Z,1628897383.704 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 162.780014 m, bearing: 80.755423 deg, deltaT: 4.405009 s, approachRate: 0.000000 m/s, LOS rate: 6.419229 deg/s, posRepo size: 4
2021-08-13T23:29:43.708Z,1628897383.708 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 162.780014 m,
      bearing: 80.755423 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 6.419229 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 41.427505 deg,
      new cmd heading: 39.860574 deg.

2021-08-13T23:29:46.191Z,1628897386.191 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:29:46.505Z,1628897386.505 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:29:46.505Z,1628897386.505 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:29:46.505Z,1628897386.505 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:29:46.506Z,1628897386.506 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:29:46.917Z,1628897386.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B58,000,00D0A,189,80,80,6A,FF
2021-08-13T23:29:46.918Z,1628897386.918 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:29:46.918Z,1628897386.918 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:29:46.922Z,1628897386.922 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:29:47.308Z,1628897387.308 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:29:48.144Z,1628897388.144 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DB5,000,00D1C,189,80,80,8C,FF
2021-08-13T23:29:48.144Z,1628897388.144 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:29:48.147Z,1628897388.147 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232948.45*59

2021-08-13T23:29:48.540Z,1628897388.540 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 163.860001 m, bearing: 62.784417 deg, deltaT: 4.930735 s, approachRate: 0.219032 m/s, LOS rate: -3.644691 deg/s, posRepo size: 4
2021-08-13T23:29:48.543Z,1628897388.543 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 163.860001 m,
      bearing: 62.784417 deg,
      approachRate: 0.219032 m/s,
      LOS rate: -3.644691 deg/s,
      cmd update: -10.934072 deg/s,
      cmd heading: 100.536410 deg,
      new cmd heading: 104.470010 deg.

2021-08-13T23:29:51.018Z,1628897391.018 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:29:51.349Z,1628897391.349 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:29:51.349Z,1628897391.349 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:29:51.349Z,1628897391.349 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:29:51.350Z,1628897391.350 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:29:51.749Z,1628897391.749 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DB5,000,00D1C,189,80,80,8C,FF
2021-08-13T23:29:51.749Z,1628897391.749 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:29:51.749Z,1628897391.749 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:29:51.751Z,1628897391.751 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:29:52.193Z,1628897392.193 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:29:52.990Z,1628897392.990 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232953.28*58

2021-08-13T23:29:53.814Z,1628897393.814 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:29:55.391Z,1628897395.391 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,189,80,80,8C,FF
2021-08-13T23:29:55.392Z,1628897395.392 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,189,80,80,8C,FF
2021-08-13T23:29:55.392Z,1628897395.392 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T23:29:56.603Z,1628897396.603 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:29:56.993Z,1628897396.993 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:29:56.993Z,1628897396.993 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:29:56.993Z,1628897396.993 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:29:56.994Z,1628897396.994 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:29:57.413Z,1628897397.413 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,189,80,80,8C,FF
2021-08-13T23:29:57.413Z,1628897397.413 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:29:57.414Z,1628897397.414 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:29:57.415Z,1628897397.415 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:29:57.804Z,1628897397.804 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:29:58.679Z,1628897398.679 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232958.95*55

2021-08-13T23:29:59.497Z,1628897399.497 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:30:01.037Z,1628897401.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,189,80,80,8C,FF
2021-08-13T23:30:01.038Z,1628897401.038 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,189,80,80,8C,FF
2021-08-13T23:30:01.038Z,1628897401.038 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T23:30:02.270Z,1628897402.270 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:30:02.661Z,1628897402.661 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:30:02.661Z,1628897402.661 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:30:02.661Z,1628897402.661 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:30:02.661Z,1628897402.661 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:30:03.068Z,1628897403.068 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,189,80,80,8C,FF
2021-08-13T23:30:03.068Z,1628897403.068 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:30:03.069Z,1628897403.069 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:30:03.070Z,1628897403.070 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:30:03.468Z,1628897403.468 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:30:04.286Z,1628897404.286 [Micromodem](INFO): Nmea in: $SNTTA,,,,,233004.61*5F

2021-08-13T23:30:05.185Z,1628897405.185 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:30:06.706Z,1628897406.706 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,189,80,80,8C,FF
2021-08-13T23:30:06.707Z,1628897406.707 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,189,80,80,8C,FF
2021-08-13T23:30:06.707Z,1628897406.707 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T23:30:07.946Z,1628897407.946 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:30:08.321Z,1628897408.321 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:30:08.321Z,1628897408.321 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:30:08.321Z,1628897408.321 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:30:08.322Z,1628897408.322 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:30:08.719Z,1628897408.719 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,189,80,80,8C,FF
2021-08-13T23:30:08.719Z,1628897408.719 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:30:08.720Z,1628897408.720 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:30:08.721Z,1628897408.721 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:30:09.146Z,1628897409.146 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:30:09.958Z,1628897409.958 [Micromodem](INFO): Nmea in: $SNTTA,,,,,233010.26*59

2021-08-13T23:30:10.751Z,1628897410.751 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:30:12.089Z,1628897412.089 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,189,80,80,8C,FF
2021-08-13T23:30:12.089Z,1628897412.089 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,189,80,80,8C,FF
2021-08-13T23:30:12.090Z,1628897412.090 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T23:30:13.275Z,1628897413.275 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:30:13.563Z,1628897413.563 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:30:13.563Z,1628897413.563 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:30:13.563Z,1628897413.563 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:30:13.565Z,1628897413.565 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:30:13.961Z,1628897413.961 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,189,80,80,8C,FF
2021-08-13T23:30:13.961Z,1628897413.961 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:30:13.961Z,1628897413.961 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:30:13.963Z,1628897413.963 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:30:14.372Z,1628897414.372 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:30:15.198Z,1628897415.198 [Micromodem](INFO): Nmea in: $SNTTA,,,,,233015.50*5D

2021-08-13T23:30:16.003Z,1628897416.003 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:30:17.605Z,1628897417.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,189,80,80,8C,FF
2021-08-13T23:30:17.605Z,1628897417.605 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,189,80,80,8C,FF
2021-08-13T23:30:17.605Z,1628897417.605 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T23:30:18.903Z,1628897418.903 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:30:19.221Z,1628897419.221 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:30:19.221Z,1628897419.221 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:30:19.222Z,1628897419.222 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:30:19.222Z,1628897419.222 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:30:19.629Z,1628897419.629 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,189,80,80,8C,FF
2021-08-13T23:30:19.629Z,1628897419.629 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:30:19.629Z,1628897419.629 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:30:19.631Z,1628897419.631 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:30:20.024Z,1628897420.024 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:30:20.433Z,1628897420.433 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EDC,000,0E4
C,189,80,80,8C,FF
2021-08-13T23:30:20.434Z,1628897420.434 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,EDC,000,0E4
C,189,80,80,8C,FF
2021-08-13T23:30:20.887Z,1628897420.887 [Micromodem](INFO): Nmea in: $SNTTA,,,,,233021.17*59

2021-08-13T23:30:21.679Z,1628897421.679 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:30:24.506Z,1628897424.506 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:30:25.300Z,1628897425.300 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.077519
2021-08-13T23:30:27.326Z,1628897427.326 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:30:27.697Z,1628897427.697 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:30:27.697Z,1628897427.697 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:30:27.697Z,1628897427.697 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:30:27.698Z,1628897427.698 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:30:28.113Z,1628897428.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EDC,000,0E4
C,189,80,80,8C,FF
2021-08-13T23:30:28.113Z,1628897428.113 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:30:28.114Z,1628897428.114 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:30:28.119Z,1628897428.119 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:30:28.508Z,1628897428.508 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:30:28.929Z,1628897428.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,135,000,0E4
C,189,80,80,8C,FF
2021-08-13T23:30:28.930Z,1628897428.930 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,135,000,0E4
C,189,80,80,8C,FF
2021-08-13T23:30:29.335Z,1628897429.335 [Micromodem](INFO): Nmea in: $SNTTA,,,,,233029.66*57

2021-08-13T23:30:30.171Z,1628897430.171 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:30:33.000Z,1628897433.000 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:30:33.768Z,1628897433.768 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.069905
2021-08-13T23:30:35.806Z,1628897435.806 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:30:36.189Z,1628897436.189 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:30:36.189Z,1628897436.189 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:30:36.189Z,1628897436.189 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:30:36.190Z,1628897436.190 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:30:36.581Z,1628897436.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
135,000,0E4
C,189,80,80,8C,FF
2021-08-13T23:30:36.581Z,1628897436.581 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:30:36.582Z,1628897436.582 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:30:36.583Z,1628897436.583 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:30:37.000Z,1628897437.000 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:30:37.394Z,1628897437.394 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D39,000,00D
C,189,80,80,8C,FF
2021-08-13T23:30:37.394Z,1628897437.394 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,D39,000,00D
C,189,80,80,8C,FF
2021-08-13T23:30:37.818Z,1628897437.818 [Micromodem](INFO): Nmea in: $SNTTA,,,,,233038.12*54

2021-08-13T23:30:38.693Z,1628897438.693 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:30:41.470Z,1628897441.470 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:30:42.268Z,1628897442.268 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.077997
2021-08-13T23:30:44.298Z,1628897444.298 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:30:44.677Z,1628897444.677 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:30:44.678Z,1628897444.678 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:30:44.678Z,1628897444.678 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:30:44.679Z,1628897444.679 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:30:45.073Z,1628897445.073 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D39,000,00D
C,189,80,80,8C,FF
2021-08-13T23:30:45.073Z,1628897445.073 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:30:45.073Z,1628897445.073 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:30:45.075Z,1628897445.075 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:30:45.476Z,1628897445.476 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:30:45.878Z,1628897445.878 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E18,000,00D
C,189,80,80,8C,FF
2021-08-13T23:30:45.879Z,1628897445.879 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,E18,000,00D
C,189,80,80,8C,FF
2021-08-13T23:30:46.316Z,1628897446.316 [Micromodem](INFO): Nmea in: $SNTTA,0.117688,,,,233046.61*46

2021-08-13T23:30:47.182Z,1628897447.182 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:30:49.946Z,1628897449.946 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:30:50.740Z,1628897450.740 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.061346
2021-08-13T23:30:52.831Z,1628897452.831 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:30:53.204Z,1628897453.204 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:30:53.204Z,1628897453.204 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:30:53.205Z,1628897453.205 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:30:53.206Z,1628897453.206 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:30:53.573Z,1628897453.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E18,000,00D
C,189,80,80,8C,FF
2021-08-13T23:30:53.574Z,1628897453.574 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:30:53.574Z,1628897453.574 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:30:53.575Z,1628897453.575 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:30:53.960Z,1628897453.960 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:30:54.786Z,1628897454.786 [Micromodem](INFO): Nmea in: $SNTTA,,,,,233055.11*5C

2021-08-13T23:30:55.591Z,1628897455.591 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:30:57.194Z,1628897457.194 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,189,80,80,8C,FF
2021-08-13T23:30:57.194Z,1628897457.194 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,189,80,80,8C,FF
2021-08-13T23:30:57.194Z,1628897457.194 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T23:30:58.455Z,1628897458.455 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:30:58.811Z,1628897458.811 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:30:58.812Z,1628897458.812 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:30:58.812Z,1628897458.812 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:30:58.814Z,1628897458.814 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:30:59.207Z,1628897459.207 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,189,80,80,8C,FF
2021-08-13T23:30:59.207Z,1628897459.207 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:30:59.207Z,1628897459.207 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:30:59.226Z,1628897459.226 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:30:59.625Z,1628897459.625 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:31:00.045Z,1628897460.045 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,06A,0003,E4
C,189,80,80,8C,FF
2021-08-13T23:31:00.045Z,1628897460.045 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,06A,0003,E4
C,189,80,80,8C,FF
2021-08-13T23:31:00.442Z,1628897460.442 [Micromodem](INFO): Nmea in: $SNTTA,,,,,233100.76*5C

2021-08-13T23:31:01.267Z,1628897461.267 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:31:04.147Z,1628897464.147 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:31:04.928Z,1628897464.928 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.114473
2021-08-13T23:31:06.975Z,1628897466.975 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:31:07.298Z,1628897467.298 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:31:07.298Z,1628897467.298 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:31:07.299Z,1628897467.299 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:31:07.300Z,1628897467.300 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:31:07.704Z,1628897467.704 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
06A,0003,E4
C,189,80,80,8C,FF
2021-08-13T23:31:07.704Z,1628897467.704 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:31:07.705Z,1628897467.705 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:31:07.706Z,1628897467.706 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:31:08.111Z,1628897468.111 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:31:08.935Z,1628897468.935 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA6,000,00EA5,186,80,80,87,FF
2021-08-13T23:31:08.935Z,1628897468.935 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:31:08.939Z,1628897468.939 [Micromodem](INFO): Nmea in: $SNTTA,,,,,233109.24*52

2021-08-13T23:31:09.364Z,1628897469.364 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 187.440002 m, bearing: 13.988095 deg, deltaT: 80.840501 s, approachRate: 0.291685 m/s, LOS rate: -0.603612 deg/s, posRepo size: 4
2021-08-13T23:31:09.366Z,1628897469.366 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 187.440002 m,
      bearing: 13.988095 deg,
      approachRate: 0.291685 m/s,
      LOS rate: -0.603612 deg/s,
      cmd update: -1.810837 deg/s,
      cmd heading: 296.630027 deg,
      new cmd heading: 293.211971 deg.

2021-08-13T23:31:11.751Z,1628897471.751 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:31:12.165Z,1628897472.165 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:31:12.165Z,1628897472.165 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:31:12.165Z,1628897472.165 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:31:12.166Z,1628897472.166 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:31:12.541Z,1628897472.541 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EA6,000,00EA5,186,80,80,87,FF
2021-08-13T23:31:12.541Z,1628897472.541 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:31:12.541Z,1628897472.541 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:31:12.543Z,1628897472.543 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:31:12.953Z,1628897472.953 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:31:13.781Z,1628897473.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E46,000,00ED2,186,80,80,77,FF
2021-08-13T23:31:13.782Z,1628897473.782 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:31:13.784Z,1628897473.784 [Micromodem](INFO): Nmea in: $SNTTA,,,,,233114.08*50

2021-08-13T23:31:14.232Z,1628897474.232 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 190.139984 m, bearing: 5.986910 deg, deltaT: 4.748071 s, approachRate: 0.568648 m/s, LOS rate: -1.685144 deg/s, posRepo size: 4
2021-08-13T23:31:14.234Z,1628897474.234 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 190.139984 m,
      bearing: 5.986910 deg,
      approachRate: 0.568648 m/s,
      LOS rate: -1.685144 deg/s,
      cmd update: -5.055434 deg/s,
      cmd heading: 288.019074 deg,
      new cmd heading: 287.249186 deg.

2021-08-13T23:31:16.603Z,1628897476.603 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:31:16.985Z,1628897476.985 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:31:16.985Z,1628897476.985 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:31:16.985Z,1628897476.985 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:31:16.986Z,1628897476.986 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:31:17.389Z,1628897477.389 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E46,000,00ED2,186,80,80,77,FF
2021-08-13T23:31:17.389Z,1628897477.389 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:31:17.389Z,1628897477.389 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:31:17.391Z,1628897477.391 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:31:17.797Z,1628897477.797 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:31:18.619Z,1628897478.619 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F44,000,00F11,186,80,80,85,FF
2021-08-13T23:31:18.621Z,1628897478.621 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:31:18.625Z,1628897478.625 [Micromodem](INFO): Nmea in: $SNTTA,,,,,233118.93*5E

2021-08-13T23:31:19.227Z,1628897479.227 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 193.919998 m, bearing: 332.382222 deg, deltaT: 4.832404 s, approachRate: 0.782222 m/s, LOS rate: -6.954030 deg/s, posRepo size: 4
2021-08-13T23:31:19.230Z,1628897479.230 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 193.919998 m,
      bearing: 332.382222 deg,
      approachRate: 0.782222 m/s,
      LOS rate: -6.954030 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 263.575861 deg,
      new cmd heading: 260.614236 deg.

2021-08-13T23:31:21.147Z,1628897481.147 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:31:21.433Z,1628897481.433 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:31:21.433Z,1628897481.433 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:31:21.433Z,1628897481.433 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:31:21.434Z,1628897481.434 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:31:21.833Z,1628897481.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F44,000,00F11,186,80,80,85,FF
2021-08-13T23:31:21.833Z,1628897481.833 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:31:21.834Z,1628897481.834 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:31:21.835Z,1628897481.835 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:31:22.252Z,1628897482.252 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:31:23.077Z,1628897483.077 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DFF,000,00F45,188,80,80,39,FF
2021-08-13T23:31:23.077Z,1628897483.077 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:31:23.081Z,1628897483.081 [Micromodem](INFO): Nmea in: $SNTTA,0.133028,,,,233123.37*4D

2021-08-13T23:31:23.490Z,1628897483.490 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 197.039993 m, bearing: 329.656512 deg, deltaT: 4.545973 s, approachRate: 0.686321 m/s, LOS rate: -0.599588 deg/s, posRepo size: 4
2021-08-13T23:31:23.516Z,1628897483.516 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 197.039993 m,
      bearing: 329.656512 deg,
      approachRate: 0.686321 m/s,
      LOS rate: -0.599588 deg/s,
      cmd update: -1.798763 deg/s,
      cmd heading: 209.162027 deg,
      new cmd heading: 205.395251 deg.

2021-08-13T23:31:25.906Z,1628897485.906 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:31:26.277Z,1628897486.277 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:31:26.277Z,1628897486.277 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:31:26.277Z,1628897486.277 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:31:26.278Z,1628897486.278 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:31:26.681Z,1628897486.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DFF,000,00F45,188,80,80,39,FF
2021-08-13T23:31:26.682Z,1628897486.682 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:31:26.682Z,1628897486.682 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:31:26.683Z,1628897486.683 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:31:27.092Z,1628897487.092 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:31:27.917Z,1628897487.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0EB,000,00F72,186,80,80,77,FF
2021-08-13T23:31:27.917Z,1628897487.917 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:31:27.920Z,1628897487.920 [Micromodem](INFO): Nmea in: $SNTTA,,,,,233128.22*57

2021-08-13T23:31:28.347Z,1628897488.347 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 199.739990 m, bearing: 274.121091 deg, deltaT: 4.748209 s, approachRate: 0.568635 m/s, LOS rate: -11.696077 deg/s, posRepo size: 4
2021-08-13T23:31:28.348Z,1628897488.348 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -11.696077 deg/s. Setting heading cmd to target bearing of 274.121091deg and heading rate command to 0 deg/s.
2021-08-13T23:31:30.750Z,1628897490.750 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:31:31.157Z,1628897491.157 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:31:31.157Z,1628897491.157 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:31:31.157Z,1628897491.157 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:31:31.158Z,1628897491.158 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:31:31.529Z,1628897491.529 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0EB,000,00F72,186,80,80,77,FF
2021-08-13T23:31:31.529Z,1628897491.529 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:31:31.529Z,1628897491.529 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:31:31.531Z,1628897491.531 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:31:32.001Z,1628897492.001 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:31:32.867Z,1628897492.867 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,35A,000,00F9E,189,80,80,AD,FF
2021-08-13T23:31:32.869Z,1628897492.869 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:31:32.899Z,1628897492.899 [Micromodem](INFO): Nmea in: $SNTTA,,,,,233133.06*5B

2021-08-13T23:31:33.250Z,1628897493.250 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 202.380005 m, bearing: 225.075347 deg, deltaT: 5.018037 s, approachRate: 0.526105 m/s, LOS rate: -9.773891 deg/s, posRepo size: 4
2021-08-13T23:31:33.256Z,1628897493.256 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 202.380005 m,
      bearing: 225.075347 deg,
      approachRate: 0.526105 m/s,
      LOS rate: -9.773891 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 274.121091 deg,
      new cmd heading: 274.121091 deg.

2021-08-13T23:31:33.265Z,1628897493.265 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-08-13T23:31:33.265Z,1628897493.265 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-08-13T23:31:33.265Z,1628897493.265 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-08-13T23:31:33.265Z,1628897493.265 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-13T23:31:33.265Z,1628897493.265 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-08-13T23:31:33.793Z,1628897493.793 [Micromodem](INFO): Outgoing frame #1, 60 bytes: B2AB1661450000005D00000400260000000000000000151D80030C5669C08C7998730927A110173547E7F67957EDBA840A30BD69426CF88232C6FC00
2021-08-13T23:31:33.793Z,1628897493.793 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-08-13T23:31:34.077Z,1628897494.077 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-08-13T23:31:34.469Z,1628897494.469 [Micromodem](INFO): Nmea in: $CADRQ,233135,1,10,0,64,1*73

2021-08-13T23:31:34.470Z,1628897494.470 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,B2AB1661450000005D00000400260000000000000000151D80030C5669C08C7998730927A110173547E7F67957EDBA840A30BD69426CF88232C6FC00*3F

2021-08-13T23:31:34.929Z,1628897494.929 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,60*4D

2021-08-13T23:31:35.269Z,1628897495.269 [Micromodem](INFO): Nmea in: $CATXP,60*74

2021-08-13T23:31:35.479Z,1628897495.479 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:31:35.665Z,1628897495.665 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:31:35.665Z,1628897495.665 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:31:35.665Z,1628897495.665 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:31:35.666Z,1628897495.666 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:31:36.069Z,1628897496.069 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
35A,000,00F9E,189,80,80,AD,FF
2021-08-13T23:31:36.069Z,1628897496.069 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:31:36.069Z,1628897496.069 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:31:36.071Z,1628897496.071 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:31:36.486Z,1628897496.486 [Micromodem](INFO): Nmea in: $CATXF,60*62

2021-08-13T23:31:36.486Z,1628897496.486 [Micromodem](ERROR): Response from modem unexpected: $CATXF,60*62

2021-08-13T23:31:36.919Z,1628897496.919 [Micromodem](INFO): Nmea in: $CAXST,7,20210813,233136.027204,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*56

2021-08-13T23:31:36.919Z,1628897496.919 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210813,233136.027204,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*56

2021-08-13T23:31:38.177Z,1628897498.177 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:31:38.919Z,1628897498.919 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-08-13T23:31:38.919Z,1628897498.919 [Micromodem](INFO): Sent 52 bytes from file Logs/20210813T172818/Courier0069.lzma.parts
2021-08-13T23:31:38.920Z,1628897498.920 [Micromodem](INFO): Packets left to send: 0
2021-08-13T23:31:39.306Z,1628897499.306 [Micromodem](INFO): Nmea in: $CACST,6,0,20210813233139.121705,06,30176,44,0187,0150,14,01,01,00,02,1,010,001,0,4,1,0,150,12.0,6.96,15,-3.96,-01,0.36,38,14500,4000*6D

2021-08-13T23:31:39.306Z,1628897499.306 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210813233139.121705,06,30176,44,0187,0150,14,01,01,00,02,1,010,001,0,4,1,0,150,12.0,6.96,15,-3.96,-01,0.36,38,14500,4000*6D

2021-08-13T23:31:39.542Z,1628897499.542 [lineCaptureDepth:MicromodemComms] Stopped
2021-08-13T23:31:39.543Z,1628897499.543 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-08-13T23:31:39.543Z,1628897499.543 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-08-13T23:31:39.543Z,1628897499.543 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-13T23:31:39.543Z,1628897499.543 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-08-13T23:31:41.101Z,1628897501.101 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:31:41.872Z,1628897501.872 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.206023
2021-08-13T23:31:43.958Z,1628897503.958 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:31:44.277Z,1628897504.277 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:31:44.277Z,1628897504.277 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:31:44.277Z,1628897504.277 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:31:44.278Z,1628897504.278 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:31:44.681Z,1628897504.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
35A,000,00F9E,189,80,80,AD,FF
2021-08-13T23:31:44.682Z,1628897504.682 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:31:44.682Z,1628897504.682 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:31:46.466Z,1628897506.466 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:31:47.149Z,1628897507.149 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:31:47.524Z,1628897507.524 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:31:48.319Z,1628897508.319 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,024,000,01005,184,80,80,88,FF
2021-08-13T23:31:48.320Z,1628897508.320 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:31:48.343Z,1628897508.343 [Micromodem](INFO): Nmea in: $SNTTA,0.141423,,,,233148.68*40

2021-08-13T23:31:48.772Z,1628897508.772 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 208.559998 m, bearing: 220.248616 deg, deltaT: 15.451524 s, approachRate: 0.399960 m/s, LOS rate: -0.312379 deg/s, posRepo size: 4
2021-08-13T23:31:48.775Z,1628897508.775 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 208.559998 m,
      bearing: 220.248616 deg,
      approachRate: 0.399960 m/s,
      LOS rate: -0.312379 deg/s,
      cmd update: -0.937137 deg/s,
      cmd heading: 88.804473 deg,
      new cmd heading: 84.320061 deg.

2021-08-13T23:31:51.254Z,1628897511.254 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:31:51.549Z,1628897511.549 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:31:51.549Z,1628897511.549 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:31:51.549Z,1628897511.549 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:31:51.550Z,1628897511.550 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:31:51.953Z,1628897511.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
024,000,01005,184,80,80,88,FF
2021-08-13T23:31:51.953Z,1628897511.953 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:31:51.953Z,1628897511.953 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:31:51.955Z,1628897511.955 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:31:52.357Z,1628897512.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:31:53.201Z,1628897513.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D03,000,0100B,188,80,80,9C,FF
2021-08-13T23:31:53.201Z,1628897513.201 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:31:53.204Z,1628897513.204 [Micromodem](INFO): Nmea in: $SNTTA,,,,,233153.49*56

2021-08-13T23:31:53.627Z,1628897513.627 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 208.919983 m, bearing: 241.465246 deg, deltaT: 4.923423 s, approachRate: 0.073117 m/s, LOS rate: 4.309325 deg/s, posRepo size: 4
2021-08-13T23:31:53.630Z,1628897513.630 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 208.919983 m,
      bearing: 241.465246 deg,
      approachRate: 0.073117 m/s,
      LOS rate: 4.309325 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 84.199755 deg,
      new cmd heading: 83.903973 deg.

2021-08-13T23:31:56.030Z,1628897516.030 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:31:56.409Z,1628897516.409 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:31:56.409Z,1628897516.409 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:31:56.409Z,1628897516.409 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:31:56.410Z,1628897516.410 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:31:56.807Z,1628897516.807 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D03,000,0100B,188,80,80,9C,FF
2021-08-13T23:31:56.807Z,1628897516.807 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:31:56.808Z,1628897516.808 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:31:56.814Z,1628897516.814 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:31:57.208Z,1628897517.208 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:31:58.037Z,1628897518.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D01,000,01002,189,80,80,A1,FF
2021-08-13T23:31:58.037Z,1628897518.037 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:31:58.041Z,1628897518.041 [Micromodem](INFO): Nmea in: $SNTTA,0.141430,,,,233158.35*4B

2021-08-13T23:31:58.494Z,1628897518.494 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 208.379990 m, bearing: 224.354243 deg, deltaT: 4.761584 s, approachRate: -0.113406 m/s, LOS rate: -3.593553 deg/s, posRepo size: 4
2021-08-13T23:31:58.500Z,1628897518.500 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 208.379990 m,
      bearing: 224.354243 deg,
      approachRate: -0.113406 m/s,
      LOS rate: -3.593553 deg/s,
      cmd update: -10.780659 deg/s,
      cmd heading: 141.392968 deg,
      new cmd heading: 146.327200 deg.

2021-08-13T23:32:00.966Z,1628897520.966 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:32:01.261Z,1628897521.261 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:32:01.261Z,1628897521.261 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:32:01.261Z,1628897521.261 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:32:01.262Z,1628897521.262 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:32:01.661Z,1628897521.661 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D01,000,01002,189,80,80,A1,FF
2021-08-13T23:32:01.661Z,1628897521.661 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:32:01.661Z,1628897521.661 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:32:01.663Z,1628897521.663 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:32:02.060Z,1628897522.060 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:32:02.922Z,1628897522.922 [Micromodem](INFO): Nmea in: $SNTTA,,,,,233203.20*5F

2021-08-13T23:32:03.688Z,1628897523.688 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:32:04.921Z,1628897524.921 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,375,000,07621,189,80,80,A9,FF
2021-08-13T23:32:04.921Z,1628897524.921 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:32:05.343Z,1628897525.343 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1776.960083 m, bearing: 119.071084 deg, deltaT: 6.928706 s, approachRate: 226.388611 m/s, LOS rate: -15.195212 deg/s, posRepo size: 4
2021-08-13T23:32:05.344Z,1628897525.344 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -15.195212 deg/s. Setting heading cmd to target bearing of 119.071084deg and heading rate command to 0 deg/s.
2021-08-13T23:32:07.891Z,1628897527.891 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:32:08.277Z,1628897528.277 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:32:08.278Z,1628897528.278 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:32:08.278Z,1628897528.278 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:32:08.279Z,1628897528.279 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:32:08.661Z,1628897528.661 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
375,000,07621,189,80,80,A9,FF
2021-08-13T23:32:08.661Z,1628897528.661 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:32:08.662Z,1628897528.662 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:32:08.663Z,1628897528.663 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:32:09.090Z,1628897529.090 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:32:09.909Z,1628897529.909 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,27A,000,00FC0,189,80,80,AA,FF
2021-08-13T23:32:09.909Z,1628897529.909 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:32:09.913Z,1628897529.913 [Micromodem](INFO): Nmea in: $SNTTA,,,,,233210.20*5D

2021-08-13T23:32:10.290Z,1628897530.290 [NAL9602](INFO): Not Powering down - fast GPS
2021-08-13T23:32:10.345Z,1628897530.345 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 204.419998 m, bearing: 113.292225 deg, deltaT: 4.909967 s, approachRate: -320.275085 m/s, LOS rate: -1.176965 deg/s, posRepo size: 4
2021-08-13T23:32:10.347Z,1628897530.347 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 204.419998 m,
      bearing: 113.292225 deg,
      approachRate: -320.275085 m/s,
      LOS rate: -1.176965 deg/s,
      cmd update: -3.530895 deg/s,
      cmd heading: 119.071084 deg,
      new cmd heading: 119.071084 deg.

2021-08-13T23:32:12.802Z,1628897532.802 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:32:13.248Z,1628897533.248 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:32:13.248Z,1628897533.248 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:32:13.248Z,1628897533.248 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:32:13.249Z,1628897533.249 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:32:13.553Z,1628897533.553 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
27A,000,00FC0,189,80,80,AA,FF
2021-08-13T23:32:13.553Z,1628897533.553 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:32:13.554Z,1628897533.554 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:32:13.555Z,1628897533.555 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:32:13.972Z,1628897533.972 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:32:14.748Z,1628897534.748 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,10F,000,00F8D,185,80,80,AF,FF
2021-08-13T23:32:14.749Z,1628897534.749 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:32:14.756Z,1628897534.756 [Micromodem](INFO): Nmea in: $SNTTA,,,,,233215.09*53

2021-08-13T23:32:15.211Z,1628897535.211 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 201.360001 m, bearing: 115.771051 deg, deltaT: 4.913276 s, approachRate: -0.622802 m/s, LOS rate: 0.504516 deg/s, posRepo size: 4
2021-08-13T23:32:15.213Z,1628897535.213 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 201.360001 m,
      bearing: 115.771051 deg,
      approachRate: -0.622802 m/s,
      LOS rate: 0.504516 deg/s,
      cmd update: 1.513548 deg/s,
      cmd heading: 101.855588 deg,
      new cmd heading: 100.420569 deg.

2021-08-13T23:32:17.585Z,1628897537.585 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:32:17.965Z,1628897537.965 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:32:17.965Z,1628897537.965 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:32:17.966Z,1628897537.966 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:32:17.966Z,1628897537.966 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:32:18.379Z,1628897538.379 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
10F,000,00F8D,185,80,80,AF,FF
2021-08-13T23:32:18.379Z,1628897538.379 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:32:18.379Z,1628897538.379 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:32:18.381Z,1628897538.381 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:32:18.799Z,1628897538.799 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:32:19.619Z,1628897539.619 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FDB,000,00F60,185,80,80,A1,FF
2021-08-13T23:32:19.619Z,1628897539.619 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:32:19.623Z,1628897539.623 [Micromodem](INFO): Nmea in: $SNTTA,,,,,233219.92*5D

2021-08-13T23:32:20.038Z,1628897540.038 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 198.660004 m, bearing: 117.338415 deg, deltaT: 4.798879 s, approachRate: -0.562631 m/s, LOS rate: 0.326611 deg/s, posRepo size: 4
2021-08-13T23:32:20.040Z,1628897540.040 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 198.660004 m,
      bearing: 117.338415 deg,
      approachRate: -0.562631 m/s,
      LOS rate: 0.326611 deg/s,
      cmd update: 0.979832 deg/s,
      cmd heading: 109.175857 deg,
      new cmd heading: 109.772958 deg.

2021-08-13T23:32:22.447Z,1628897542.447 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:32:22.850Z,1628897542.850 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:32:22.851Z,1628897542.851 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:32:22.856Z,1628897542.856 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:32:22.858Z,1628897542.858 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:32:23.221Z,1628897543.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FDB,000,00F60,185,80,80,A1,FF
2021-08-13T23:32:23.221Z,1628897543.221 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:32:23.222Z,1628897543.222 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:32:23.223Z,1628897543.223 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:32:23.647Z,1628897543.647 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:32:24.463Z,1628897544.463 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FBD,000,00F2E,184,80,80,B8,FF
2021-08-13T23:32:24.464Z,1628897544.464 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:32:24.469Z,1628897544.469 [Micromodem](INFO): Nmea in: $SNTTA,,,,,233224.76*59

2021-08-13T23:32:24.923Z,1628897544.923 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 195.659988 m, bearing: 118.599541 deg, deltaT: 4.935489 s, approachRate: -0.607846 m/s, LOS rate: 0.255522 deg/s, posRepo size: 4
2021-08-13T23:32:24.949Z,1628897544.949 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 195.659988 m,
      bearing: 118.599541 deg,
      approachRate: -0.607846 m/s,
      LOS rate: 0.255522 deg/s,
      cmd update: 0.766566 deg/s,
      cmd heading: 114.003827 deg,
      new cmd heading: 114.351158 deg.

2021-08-13T23:32:27.308Z,1628897547.308 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:32:27.661Z,1628897547.661 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:32:27.661Z,1628897547.661 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:32:27.661Z,1628897547.661 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:32:27.662Z,1628897547.662 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:32:28.061Z,1628897548.061 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FBD,000,00F2E,184,80,80,B8,FF
2021-08-13T23:32:28.061Z,1628897548.061 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:32:28.062Z,1628897548.062 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:32:28.063Z,1628897548.063 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:32:28.478Z,1628897548.478 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:32:28.906Z,1628897548.906 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,029,000,00F09,184,80,80,B8,FF
2021-08-13T23:32:28.906Z,1628897548.906 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:32:29.301Z,1628897549.301 [Micromodem](INFO): Nmea in: $SNTTA,0.131071,,,,233229.60*48

2021-08-13T23:32:29.389Z,1628897549.389 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 193.440002 m, bearing: 117.848125 deg, deltaT: 4.405561 s, approachRate: -0.503905 m/s, LOS rate: -0.170561 deg/s, posRepo size: 4
2021-08-13T23:32:29.391Z,1628897549.391 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 193.440002 m,
      bearing: 117.848125 deg,
      approachRate: -0.503905 m/s,
      LOS rate: -0.170561 deg/s,
      cmd update: -0.511683 deg/s,
      cmd heading: 117.387195 deg,
      new cmd heading: 117.695362 deg.

2021-08-13T23:32:31.717Z,1628897551.717 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:32:32.142Z,1628897552.142 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:32:32.142Z,1628897552.142 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:32:32.142Z,1628897552.142 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:32:32.142Z,1628897552.142 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:32:32.523Z,1628897552.523 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
029,000,00F09,184,80,80,B8,FF
2021-08-13T23:32:32.523Z,1628897552.523 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:32:32.523Z,1628897552.523 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:32:32.525Z,1628897552.525 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:32:32.941Z,1628897552.941 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:32:33.745Z,1628897553.745 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,072,000,00ED6,186,80,80,AF,FF
2021-08-13T23:32:33.745Z,1628897553.745 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:32:33.749Z,1628897553.749 [Micromodem](INFO): Nmea in: $SNTTA,0.129456,,,,233234.06*4C

2021-08-13T23:32:34.213Z,1628897554.213 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 190.380005 m, bearing: 117.175133 deg, deltaT: 4.818901 s, approachRate: -0.634999 m/s, LOS rate: -0.139657 deg/s, posRepo size: 4
2021-08-13T23:32:34.221Z,1628897554.221 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 190.380005 m,
      bearing: 117.175133 deg,
      approachRate: -0.634999 m/s,
      LOS rate: -0.139657 deg/s,
      cmd update: -0.418970 deg/s,
      cmd heading: 114.925530 deg,
      new cmd heading: 114.713047 deg.

2021-08-13T23:32:36.574Z,1628897556.574 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:32:36.953Z,1628897556.953 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:32:36.953Z,1628897556.953 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:32:36.953Z,1628897556.953 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:32:36.954Z,1628897556.954 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:32:37.354Z,1628897557.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
072,000,00ED6,186,80,80,AF,FF
2021-08-13T23:32:37.354Z,1628897557.354 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:32:37.354Z,1628897557.354 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:32:37.356Z,1628897557.356 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:32:37.765Z,1628897557.765 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:32:38.194Z,1628897558.194 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,058,000,00E9C,186,80,80,AF,FF
2021-08-13T23:32:38.194Z,1628897558.194 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:32:38.665Z,1628897558.665 [Micromodem](INFO): Nmea in: $SNTTA,,,,,233238.89*54

2021-08-13T23:32:38.715Z,1628897558.715 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 186.899994 m, bearing: 117.965044 deg, deltaT: 4.476183 s, approachRate: -0.777451 m/s, LOS rate: 0.176470 deg/s, posRepo size: 4
2021-08-13T23:32:38.717Z,1628897558.717 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 186.899994 m,
      bearing: 117.965044 deg,
      approachRate: -0.777451 m/s,
      LOS rate: 0.176470 deg/s,
      cmd update: 0.529410 deg/s,
      cmd heading: 113.051745 deg,
      new cmd heading: 112.864752 deg.

2021-08-13T23:32:38.964Z,1628897558.964 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2021-08-13T23:32:38.967Z,1628897558.967 [BPC1](INFO): Received data from all battery sticks.
2021-08-13T23:32:41.042Z,1628897561.042 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:32:41.477Z,1628897561.477 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:32:41.477Z,1628897561.477 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:32:41.477Z,1628897561.477 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:32:41.478Z,1628897561.478 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:32:41.801Z,1628897561.801 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
058,000,00E9C,186,80,80,AF,FF
2021-08-13T23:32:41.801Z,1628897561.801 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:32:41.802Z,1628897561.802 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:32:41.803Z,1628897561.803 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:32:42.204Z,1628897562.204 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:32:43.041Z,1628897563.041 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,035,000,00E6B,184,80,80,AD,FF
2021-08-13T23:32:43.041Z,1628897563.041 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:32:43.044Z,1628897563.044 [Micromodem](INFO): Nmea in: $SNTTA,0.122394,,,,233243.34*4F

2021-08-13T23:32:43.458Z,1628897563.458 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 183.960007 m, bearing: 118.406083 deg, deltaT: 4.872001 s, approachRate: -0.603446 m/s, LOS rate: 0.090525 deg/s, posRepo size: 4
2021-08-13T23:32:43.460Z,1628897563.460 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 183.960007 m,
      bearing: 118.406083 deg,
      approachRate: -0.603446 m/s,
      LOS rate: 0.090525 deg/s,
      cmd update: 0.271576 deg/s,
      cmd heading: 115.634092 deg,
      new cmd heading: 115.800857 deg.

2021-08-13T23:32:45.869Z,1628897565.869 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:32:46.241Z,1628897566.241 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:32:46.241Z,1628897566.241 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:32:46.241Z,1628897566.241 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:32:46.242Z,1628897566.242 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:32:46.641Z,1628897566.641 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
035,000,00E6B,184,80,80,AD,FF
2021-08-13T23:32:46.641Z,1628897566.641 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:32:46.641Z,1628897566.641 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:32:46.643Z,1628897566.643 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:32:47.061Z,1628897567.061 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:32:47.462Z,1628897567.462 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,03E,000,00E6B,184,80,80,AD,FF
2021-08-13T23:32:47.462Z,1628897567.462 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:32:47.902Z,1628897567.902 [Micromodem](INFO): Nmea in: $SNTTA,0.123258,,,,233248.18*4A

2021-08-13T23:32:47.933Z,1628897567.933 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 183.960007 m, bearing: 118.580499 deg, deltaT: 4.390518 s, approachRate: 0.000000 m/s, LOS rate: 0.039726 deg/s, posRepo size: 4
2021-08-13T23:32:47.935Z,1628897567.935 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 183.960007 m,
      bearing: 118.580499 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.039726 deg/s,
      cmd update: 0.119177 deg/s,
      cmd heading: 116.827050 deg,
      new cmd heading: 116.933841 deg.

2021-08-13T23:32:50.324Z,1628897570.324 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:32:50.697Z,1628897570.697 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:32:50.697Z,1628897570.697 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:32:50.697Z,1628897570.697 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:32:50.698Z,1628897570.698 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:32:51.089Z,1628897571.089 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
03E,000,00E6B,184,80,80,AD,FF
2021-08-13T23:32:51.089Z,1628897571.089 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:32:51.089Z,1628897571.089 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:32:51.091Z,1628897571.091 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:32:51.501Z,1628897571.501 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:32:51.910Z,1628897571.910 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,062,000,00E6B,184,80,80,AD,FF
2021-08-13T23:32:51.910Z,1628897571.910 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:32:52.345Z,1628897572.345 [Micromodem](INFO): Nmea in: $SNTTA,,,,,233252.62*5D

2021-08-13T23:32:52.388Z,1628897572.388 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 183.960007 m, bearing: 118.348873 deg, deltaT: 4.415379 s, approachRate: 0.000000 m/s, LOS rate: -0.052459 deg/s, posRepo size: 4
2021-08-13T23:32:52.390Z,1628897572.390 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 183.960007 m,
      bearing: 118.348873 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.052459 deg/s,
      cmd update: -0.157376 deg/s,
      cmd heading: 117.351304 deg,
      new cmd heading: 117.405267 deg.

2021-08-13T23:32:54.743Z,1628897574.743 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:32:55.153Z,1628897575.153 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:32:55.153Z,1628897575.153 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:32:55.153Z,1628897575.153 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:32:55.154Z,1628897575.154 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:32:55.537Z,1628897575.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
062,000,00E6B,184,80,80,AD,FF
2021-08-13T23:32:55.537Z,1628897575.537 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:32:55.537Z,1628897575.537 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:32:55.539Z,1628897575.539 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:32:55.945Z,1628897575.945 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:32:56.354Z,1628897576.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,077,000,00E6B,184,80,80,AD,FF
2021-08-13T23:32:56.355Z,1628897576.355 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:32:56.781Z,1628897576.781 [Micromodem](INFO): Nmea in: $SNTTA,,,,,233257.08*54

2021-08-13T23:32:56.805Z,1628897576.805 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 183.960007 m, bearing: 118.301854 deg, deltaT: 4.455938 s, approachRate: 0.000000 m/s, LOS rate: -0.010552 deg/s, posRepo size: 4
2021-08-13T23:32:56.833Z,1628897576.833 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 183.960007 m,
      bearing: 118.301854 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.010552 deg/s,
      cmd update: -0.031656 deg/s,
      cmd heading: 116.649981 deg,
      new cmd heading: 116.585072 deg.

2021-08-13T23:32:59.267Z,1628897579.267 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:32:59.585Z,1628897579.585 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:32:59.585Z,1628897579.585 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:32:59.585Z,1628897579.585 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:32:59.586Z,1628897579.586 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:32:59.985Z,1628897579.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
077,000,00E6B,184,80,80,AD,FF
2021-08-13T23:32:59.985Z,1628897579.985 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:32:59.985Z,1628897579.985 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:32:59.987Z,1628897579.987 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:33:00.392Z,1628897580.392 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:33:00.797Z,1628897580.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,07C,000,00E6B,184,80,80,AD,FF
2021-08-13T23:33:00.797Z,1628897580.797 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:33:01.221Z,1628897581.221 [Micromodem](INFO): Nmea in: $SNTTA,0.117538,,,,233301.52*4E

2021-08-13T23:33:01.288Z,1628897581.288 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 183.960007 m, bearing: 117.860720 deg, deltaT: 4.488026 s, approachRate: 0.000000 m/s, LOS rate: -0.098291 deg/s, posRepo size: 4
2021-08-13T23:33:01.290Z,1628897581.290 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 183.960007 m,
      bearing: 117.860720 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.098291 deg/s,
      cmd update: -0.294874 deg/s,
      cmd heading: 116.507675 deg,
      new cmd heading: 116.494974 deg.

2021-08-13T23:33:03.646Z,1628897583.646 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:33:04.017Z,1628897584.017 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:33:04.017Z,1628897584.017 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:33:04.017Z,1628897584.017 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:33:04.018Z,1628897584.018 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:33:04.425Z,1628897584.425 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
07C,000,00E6B,184,80,80,AD,FF
2021-08-13T23:33:04.425Z,1628897584.425 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:33:04.425Z,1628897584.425 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:33:04.427Z,1628897584.427 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:33:04.873Z,1628897584.873 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:33:05.230Z,1628897585.230 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,066,000,00E6B,184,80,80,AD,FF
2021-08-13T23:33:05.230Z,1628897585.230 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:33:05.677Z,1628897585.677 [Micromodem](INFO): Nmea in: $SNTTA,,,,,233305.96*55

2021-08-13T23:33:05.698Z,1628897585.698 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 183.960007 m, bearing: 117.867263 deg, deltaT: 4.409651 s, approachRate: 0.000000 m/s, LOS rate: 0.001484 deg/s, posRepo size: 4
2021-08-13T23:33:05.701Z,1628897585.701 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 183.960007 m,
      bearing: 117.867263 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.001484 deg/s,
      cmd update: 0.004452 deg/s,
      cmd heading: 115.204888 deg,
      new cmd heading: 115.088834 deg.

2021-08-13T23:33:08.098Z,1628897588.098 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:33:08.461Z,1628897588.461 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:33:08.461Z,1628897588.461 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:33:08.461Z,1628897588.461 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:33:08.462Z,1628897588.462 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:33:08.911Z,1628897588.911 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
066,000,00E6B,184,80,80,AD,FF
2021-08-13T23:33:08.911Z,1628897588.911 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:33:08.911Z,1628897588.911 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:33:08.913Z,1628897588.913 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:33:09.277Z,1628897589.277 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:33:10.079Z,1628897590.079 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,060,000,00D4D,186,80,80,8A,FF
2021-08-13T23:33:10.080Z,1628897590.080 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:33:10.089Z,1628897590.089 [Micromodem](INFO): Nmea in: $SNTTA,,,,,233310.45*5F

2021-08-13T23:33:10.547Z,1628897590.547 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 166.800003 m, bearing: 117.400884 deg, deltaT: 4.858270 s, approachRate: -3.532122 m/s, LOS rate: -0.095997 deg/s, posRepo size: 4
2021-08-13T23:33:10.550Z,1628897590.550 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 166.800003 m,
      bearing: 117.400884 deg,
      approachRate: -3.532122 m/s,
      LOS rate: -0.095997 deg/s,
      cmd update: -0.287991 deg/s,
      cmd heading: 115.226516 deg,
      new cmd heading: 115.228226 deg.

2021-08-13T23:33:12.980Z,1628897592.980 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:33:13.321Z,1628897593.321 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:33:13.321Z,1628897593.321 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:33:13.321Z,1628897593.321 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:33:13.322Z,1628897593.322 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:33:13.724Z,1628897593.724 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
060,000,00D4D,186,80,80,8A,FF
2021-08-13T23:33:13.724Z,1628897593.724 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:33:13.725Z,1628897593.725 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:33:13.726Z,1628897593.726 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:33:14.153Z,1628897594.153 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:33:14.536Z,1628897594.536 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,079,000,00D19,186,80,80,8A,FF
2021-08-13T23:33:14.541Z,1628897594.541 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:33:14.967Z,1628897594.967 [Micromodem](INFO): Nmea in: $SNTTA,0.111795,,,,233315.26*4B

2021-08-13T23:33:15.017Z,1628897595.017 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 163.680008 m, bearing: 116.712688 deg, deltaT: 4.444287 s, approachRate: -0.702024 m/s, LOS rate: -0.154850 deg/s, posRepo size: 4
2021-08-13T23:33:15.019Z,1628897595.019 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 163.680008 m,
      bearing: 116.712688 deg,
      approachRate: -0.702024 m/s,
      LOS rate: -0.154850 deg/s,
      cmd update: -0.464549 deg/s,
      cmd heading: 113.947732 deg,
      new cmd heading: 113.828818 deg.

2021-08-13T23:33:17.383Z,1628897597.383 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:33:17.753Z,1628897597.753 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:33:17.753Z,1628897597.753 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:33:17.753Z,1628897597.753 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:33:17.754Z,1628897597.754 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:33:18.189Z,1628897598.189 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
079,000,00D19,186,80,80,8A,FF
2021-08-13T23:33:18.189Z,1628897598.189 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:33:18.189Z,1628897598.189 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:33:18.191Z,1628897598.191 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:33:18.565Z,1628897598.565 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:33:18.974Z,1628897598.974 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,069,000,00D19,186,80,80,8A,FF
2021-08-13T23:33:18.974Z,1628897598.974 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:33:19.397Z,1628897599.397 [Micromodem](INFO): Nmea in: $SNTTA,,,,,233319.73*53

2021-08-13T23:33:19.434Z,1628897599.434 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 163.680008 m, bearing: 116.584185 deg, deltaT: 4.428143 s, approachRate: 0.000000 m/s, LOS rate: -0.029020 deg/s, posRepo size: 4
2021-08-13T23:33:19.445Z,1628897599.445 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 163.680008 m,
      bearing: 116.584185 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.029020 deg/s,
      cmd update: -0.087059 deg/s,
      cmd heading: 111.886917 deg,
      new cmd heading: 111.703608 deg.

2021-08-13T23:33:21.834Z,1628897601.834 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:33:22.209Z,1628897602.209 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:33:22.209Z,1628897602.209 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:33:22.209Z,1628897602.209 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:33:22.210Z,1628897602.210 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:33:22.605Z,1628897602.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
069,000,00D19,186,80,80,8A,FF
2021-08-13T23:33:22.606Z,1628897602.606 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:33:22.606Z,1628897602.606 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:33:22.607Z,1628897602.607 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:33:23.017Z,1628897603.017 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:33:23.410Z,1628897603.410 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,067,000,00CCC,186,80,80,8A,FF
2021-08-13T23:33:23.410Z,1628897603.410 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:33:23.853Z,1628897603.853 [Micromodem](INFO): Nmea in: $SNTTA,,,,,233324.14*5C

2021-08-13T23:33:23.909Z,1628897603.909 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 159.060013 m, bearing: 114.452988 deg, deltaT: 4.437810 s, approachRate: -1.041053 m/s, LOS rate: -0.480236 deg/s, posRepo size: 4
2021-08-13T23:33:23.911Z,1628897603.911 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 159.060013 m,
      bearing: 114.452988 deg,
      approachRate: -1.041053 m/s,
      LOS rate: -0.480236 deg/s,
      cmd update: -1.440708 deg/s,
      cmd heading: 111.501303 deg,
      new cmd heading: 111.465156 deg.

2021-08-13T23:33:26.270Z,1628897606.270 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:33:26.656Z,1628897606.656 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:33:26.656Z,1628897606.656 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:33:26.656Z,1628897606.656 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:33:26.657Z,1628897606.657 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:33:27.065Z,1628897607.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
067,000,00CCC,186,80,80,8A,FF
2021-08-13T23:33:27.065Z,1628897607.065 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:33:27.065Z,1628897607.065 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:33:27.067Z,1628897607.067 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:33:27.457Z,1628897607.457 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:33:27.871Z,1628897607.871 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,027,000,00C8F,184,80,80,8A,FF
2021-08-13T23:33:27.871Z,1628897607.871 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:33:28.285Z,1628897608.285 [Micromodem](INFO): Nmea in: $SNTTA,0.114389,,,,233328.60*4B

2021-08-13T23:33:28.312Z,1628897608.312 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 155.400009 m, bearing: 115.697257 deg, deltaT: 4.421951 s, approachRate: -0.827690 m/s, LOS rate: 0.281385 deg/s, posRepo size: 4
2021-08-13T23:33:28.314Z,1628897608.314 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 155.400009 m,
      bearing: 115.697257 deg,
      approachRate: -0.827690 m/s,
      LOS rate: 0.281385 deg/s,
      cmd update: 0.844154 deg/s,
      cmd heading: 105.121924 deg,
      new cmd heading: 104.524429 deg.

2021-08-13T23:33:30.711Z,1628897610.711 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:33:31.120Z,1628897611.120 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:33:31.121Z,1628897611.121 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:33:31.122Z,1628897611.122 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:33:31.123Z,1628897611.123 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:33:31.497Z,1628897611.497 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
027,000,00C8F,184,80,80,8A,FF
2021-08-13T23:33:31.497Z,1628897611.497 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:33:31.497Z,1628897611.497 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:33:31.499Z,1628897611.499 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:33:31.911Z,1628897611.911 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:33:32.301Z,1628897612.301 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB9,000,00C61,185,80,80,8A,FF
2021-08-13T23:33:32.302Z,1628897612.302 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:33:32.753Z,1628897612.753 [Micromodem](INFO): Nmea in: $SNTTA,,,,,233333.03*5C

2021-08-13T23:33:32.778Z,1628897612.778 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 152.640015 m, bearing: 117.710442 deg, deltaT: 4.458850 s, approachRate: -0.618992 m/s, LOS rate: 0.451503 deg/s, posRepo size: 4
2021-08-13T23:33:32.808Z,1628897612.808 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 152.640015 m,
      bearing: 117.710442 deg,
      approachRate: -0.618992 m/s,
      LOS rate: 0.451503 deg/s,
      cmd update: 1.354509 deg/s,
      cmd heading: 108.887984 deg,
      new cmd heading: 109.240267 deg.

2021-08-13T23:33:35.203Z,1628897615.203 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:33:35.529Z,1628897615.529 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:33:35.529Z,1628897615.529 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:33:35.529Z,1628897615.529 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:33:35.530Z,1628897615.530 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:33:35.950Z,1628897615.950 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB9,000,00C61,185,80,80,8A,FF
2021-08-13T23:33:35.950Z,1628897615.950 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:33:35.950Z,1628897615.950 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:33:35.952Z,1628897615.952 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:33:36.341Z,1628897616.341 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:33:36.754Z,1628897616.754 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD0,000,00C32,184,80,80,8A,FF
2021-08-13T23:33:36.754Z,1628897616.754 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:33:37.201Z,1628897617.201 [Micromodem](INFO): Nmea in: $SNTTA,,,,,233337.49*56

2021-08-13T23:33:37.219Z,1628897617.219 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-13T23:33:37.265Z,1628897617.265 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 149.820007 m, bearing: 117.862701 deg, deltaT: 4.441785 s, approachRate: -0.634882 m/s, LOS rate: 0.034279 deg/s, posRepo size: 4
2021-08-13T23:33:37.267Z,1628897617.267 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 149.820007 m,
      bearing: 117.862701 deg,
      approachRate: -0.634882 m/s,
      LOS rate: 0.034279 deg/s,
      cmd update: 0.102836 deg/s,
      cmd heading: 114.870709 deg,
      new cmd heading: 115.506818 deg.

2021-08-13T23:33:39.617Z,1628897619.617 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:33:39.985Z,1628897619.985 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:33:39.986Z,1628897619.986 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:33:39.986Z,1628897619.986 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:33:39.987Z,1628897619.987 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:33:40.377Z,1628897620.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD0,000,00C32,184,80,80,8A,FF
2021-08-13T23:33:40.378Z,1628897620.378 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:33:40.378Z,1628897620.378 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:33:40.379Z,1628897620.379 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:33:40.799Z,1628897620.799 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:33:41.213Z,1628897621.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,007,000,00C04,183,80,80,82,FF
2021-08-13T23:33:41.213Z,1628897621.213 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:33:41.633Z,1628897621.633 [Micromodem](INFO): Nmea in: $SNTTA,0.103366,,,,233341.91*4D

2021-08-13T23:33:41.655Z,1628897621.655 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 147.059998 m, bearing: 117.975890 deg, deltaT: 4.500244 s, approachRate: -0.613302 m/s, LOS rate: 0.025152 deg/s, posRepo size: 4
2021-08-13T23:33:41.657Z,1628897621.657 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 147.059998 m,
      bearing: 117.975890 deg,
      approachRate: -0.613302 m/s,
      LOS rate: 0.025152 deg/s,
      cmd update: 0.075456 deg/s,
      cmd heading: 115.335640 deg,
      new cmd heading: 115.372507 deg.

2021-08-13T23:33:44.070Z,1628897624.070 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:33:44.421Z,1628897624.421 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:33:44.421Z,1628897624.421 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:33:44.421Z,1628897624.421 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:33:44.422Z,1628897624.422 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:33:44.837Z,1628897624.837 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
007,000,00C04,183,80,80,82,FF
2021-08-13T23:33:44.837Z,1628897624.837 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:33:44.838Z,1628897624.838 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:33:44.845Z,1628897624.845 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:33:45.236Z,1628897625.236 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:33:45.626Z,1628897625.626 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,031,000,00BD6,183,80,80,82,FF
2021-08-13T23:33:45.626Z,1628897625.626 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:33:46.057Z,1628897626.057 [Micromodem](INFO): Nmea in: $SNTTA,,,,,233346.38*56

2021-08-13T23:33:46.073Z,1628897626.073 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 144.300003 m, bearing: 117.572172 deg, deltaT: 4.392630 s, approachRate: -0.628324 m/s, LOS rate: -0.091908 deg/s, posRepo size: 4
2021-08-13T23:33:46.075Z,1628897626.075 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 144.300003 m,
      bearing: 117.572172 deg,
      approachRate: -0.628324 m/s,
      LOS rate: -0.091908 deg/s,
      cmd update: -0.275725 deg/s,
      cmd heading: 115.664811 deg,
      new cmd heading: 115.696059 deg.

2021-08-13T23:33:48.500Z,1628897628.500 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:33:48.910Z,1628897628.910 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:33:48.910Z,1628897628.910 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:33:48.910Z,1628897628.910 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:33:48.911Z,1628897628.911 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:33:49.281Z,1628897629.281 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
031,000,00BD6,183,80,80,82,FF
2021-08-13T23:33:49.281Z,1628897629.281 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:33:49.281Z,1628897629.281 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:33:49.283Z,1628897629.283 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:33:49.681Z,1628897629.681 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:33:50.092Z,1628897630.092 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,03D,000,00BAC,184,80,80,67,FF
2021-08-13T23:33:50.092Z,1628897630.092 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:33:50.518Z,1628897630.518 [Micromodem](INFO): Nmea in: $SNTTA,,,,,233350.82*50

2021-08-13T23:33:50.585Z,1628897630.585 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 141.779999 m, bearing: 117.668218 deg, deltaT: 4.454673 s, approachRate: -0.565699 m/s, LOS rate: 0.021561 deg/s, posRepo size: 4
2021-08-13T23:33:50.587Z,1628897630.587 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 141.779999 m,
      bearing: 117.668218 deg,
      approachRate: -0.565699 m/s,
      LOS rate: 0.021561 deg/s,
      cmd update: 0.064682 deg/s,
      cmd heading: 114.434173 deg,
      new cmd heading: 114.307644 deg.

2021-08-13T23:33:53.020Z,1628897633.020 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:33:53.314Z,1628897633.314 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:33:53.314Z,1628897633.314 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:33:53.315Z,1628897633.315 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:33:53.315Z,1628897633.315 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:33:53.709Z,1628897633.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
03D,000,00BAC,184,80,80,67,FF
2021-08-13T23:33:53.709Z,1628897633.709 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:33:53.709Z,1628897633.709 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:33:53.711Z,1628897633.711 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:33:54.150Z,1628897634.150 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:33:54.529Z,1628897634.529 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,01F,000,00B7C,184,80,80,A4,FF
2021-08-13T23:33:54.529Z,1628897634.529 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:33:54.961Z,1628897634.961 [Micromodem](INFO): Nmea in: $SNTTA,,,,,233355.25*58

2021-08-13T23:33:55.010Z,1628897635.010 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 138.900009 m, bearing: 118.214606 deg, deltaT: 4.481533 s, approachRate: -0.642635 m/s, LOS rate: 0.121920 deg/s, posRepo size: 4
2021-08-13T23:33:55.013Z,1628897635.013 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 138.900009 m,
      bearing: 118.214606 deg,
      approachRate: -0.642635 m/s,
      LOS rate: 0.121920 deg/s,
      cmd update: 0.365760 deg/s,
      cmd heading: 114.725154 deg,
      new cmd heading: 114.750362 deg.

2021-08-13T23:33:57.374Z,1628897637.374 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:33:57.763Z,1628897637.763 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:33:57.763Z,1628897637.763 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:33:57.764Z,1628897637.764 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:33:57.765Z,1628897637.765 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:33:58.193Z,1628897638.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
01F,000,00B7C,184,80,80,A4,FF
2021-08-13T23:33:58.193Z,1628897638.193 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:33:58.193Z,1628897638.193 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:33:58.195Z,1628897638.195 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:33:58.560Z,1628897638.560 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:33:58.965Z,1628897638.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,016,000,00B4C,183,80,80,A4,FF
2021-08-13T23:33:58.966Z,1628897638.966 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:33:59.390Z,1628897639.390 [Micromodem](INFO): Nmea in: $SNTTA,,,,,233359.73*57

2021-08-13T23:33:59.448Z,1628897639.448 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 136.020004 m, bearing: 117.836404 deg, deltaT: 4.417455 s, approachRate: -0.651960 m/s, LOS rate: -0.085615 deg/s, posRepo size: 4
2021-08-13T23:33:59.456Z,1628897639.456 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 136.020004 m,
      bearing: 117.836404 deg,
      approachRate: -0.651960 m/s,
      LOS rate: -0.085615 deg/s,
      cmd update: -0.256846 deg/s,
      cmd heading: 116.343943 deg,
      new cmd heading: 116.488753 deg.

2021-08-13T23:34:01.824Z,1628897641.824 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:34:02.201Z,1628897642.201 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:34:02.201Z,1628897642.201 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:34:02.202Z,1628897642.202 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:34:02.203Z,1628897642.203 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:34:02.608Z,1628897642.608 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
016,000,00B4C,183,80,80,A4,FF
2021-08-13T23:34:02.608Z,1628897642.608 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:34:02.609Z,1628897642.609 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:34:02.610Z,1628897642.610 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:34:03.017Z,1628897643.017 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:34:03.409Z,1628897643.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,009,000,00B1F,183,80,80,AD,FF
2021-08-13T23:34:03.409Z,1628897643.409 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:34:03.853Z,1628897643.853 [Micromodem](INFO): Nmea in: $SNTTA,0.088643,,,,233404.14*46

2021-08-13T23:34:03.896Z,1628897643.896 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 133.320007 m, bearing: 117.783675 deg, deltaT: 4.390791 s, approachRate: -0.614923 m/s, LOS rate: -0.012009 deg/s, posRepo size: 4
2021-08-13T23:34:03.899Z,1628897643.899 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 133.320007 m,
      bearing: 117.783675 deg,
      approachRate: -0.614923 m/s,
      LOS rate: -0.012009 deg/s,
      cmd update: -0.036027 deg/s,
      cmd heading: 115.216251 deg,
      new cmd heading: 115.098480 deg.

2021-08-13T23:34:06.282Z,1628897646.282 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:34:06.649Z,1628897646.649 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:34:06.649Z,1628897646.649 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:34:06.649Z,1628897646.649 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:34:06.650Z,1628897646.650 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:34:07.049Z,1628897647.049 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
009,000,00B1F,183,80,80,AD,FF
2021-08-13T23:34:07.049Z,1628897647.049 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:34:07.049Z,1628897647.049 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:34:07.051Z,1628897647.051 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:34:07.453Z,1628897647.453 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:34:07.853Z,1628897647.853 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FFE,000,00AF0,182,80,80,AA,FF
2021-08-13T23:34:07.853Z,1628897647.853 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:34:08.285Z,1628897648.285 [Micromodem](INFO): Nmea in: $SNTTA,,,,,233408.58*5D

2021-08-13T23:34:08.329Z,1628897648.329 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 130.500000 m, bearing: 117.326558 deg, deltaT: 4.462042 s, approachRate: -0.631999 m/s, LOS rate: -0.102446 deg/s, posRepo size: 4
2021-08-13T23:34:08.331Z,1628897648.330 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 130.500000 m,
      bearing: 117.326558 deg,
      approachRate: -0.631999 m/s,
      LOS rate: -0.102446 deg/s,
      cmd update: -0.307337 deg/s,
      cmd heading: 115.056433 deg,
      new cmd heading: 115.040034 deg.

2021-08-13T23:34:10.706Z,1628897650.706 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:34:11.093Z,1628897651.093 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:34:11.093Z,1628897651.093 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:34:11.093Z,1628897651.093 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:34:11.094Z,1628897651.094 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:34:11.485Z,1628897651.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FFE,000,00AF0,182,80,80,AA,FF
2021-08-13T23:34:11.485Z,1628897651.485 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:34:11.485Z,1628897651.485 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:34:11.487Z,1628897651.487 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:34:11.906Z,1628897651.906 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:34:12.301Z,1628897652.301 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,001,000,00AC3,183,80,80,C2,FF
2021-08-13T23:34:12.301Z,1628897652.301 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:34:12.742Z,1628897652.742 [Micromodem](INFO): Nmea in: $SNTTA,,,,,233413.02*58

2021-08-13T23:34:12.764Z,1628897652.764 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 127.800003 m, bearing: 116.454780 deg, deltaT: 4.501795 s, approachRate: -0.599760 m/s, LOS rate: -0.193651 deg/s, posRepo size: 4
2021-08-13T23:34:12.766Z,1628897652.766 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 127.800003 m,
      bearing: 116.454780 deg,
      approachRate: -0.599760 m/s,
      LOS rate: -0.193651 deg/s,
      cmd update: -0.580954 deg/s,
      cmd heading: 113.667295 deg,
      new cmd heading: 113.553369 deg.

2021-08-13T23:34:15.202Z,1628897655.202 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:34:15.534Z,1628897655.534 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:34:15.534Z,1628897655.534 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:34:15.534Z,1628897655.534 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:34:15.535Z,1628897655.535 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:34:15.937Z,1628897655.937 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
001,000,00AC3,183,80,80,C2,FF
2021-08-13T23:34:15.937Z,1628897655.937 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:34:15.937Z,1628897655.937 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:34:15.939Z,1628897655.939 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:34:16.341Z,1628897656.341 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:34:16.741Z,1628897656.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,00B,000,00A97,183,80,80,B7,FF
2021-08-13T23:34:16.741Z,1628897656.741 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:34:17.197Z,1628897657.197 [Micromodem](INFO): Nmea in: $SNTTA,0.086854,,,,233417.48*4B

2021-08-13T23:34:17.262Z,1628897657.262 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 125.159996 m, bearing: 115.680155 deg, deltaT: 4.357581 s, approachRate: -0.605842 m/s, LOS rate: -0.177765 deg/s, posRepo size: 4
2021-08-13T23:34:17.265Z,1628897657.265 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 125.159996 m,
      bearing: 115.680155 deg,
      approachRate: -0.605842 m/s,
      LOS rate: -0.177765 deg/s,
      cmd update: -0.533295 deg/s,
      cmd heading: 111.130961 deg,
      new cmd heading: 110.838346 deg.

2021-08-13T23:34:19.288Z,1628897659.288 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:34:19.565Z,1628897659.565 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:34:19.565Z,1628897659.565 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:34:19.565Z,1628897659.565 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:34:19.566Z,1628897659.566 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:34:19.595Z,1628897659.595 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
00B,000,00A97,183,80,80,B7,FF
2021-08-13T23:34:19.595Z,1628897659.595 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:34:19.601Z,1628897659.601 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:34:19.610Z,1628897659.610 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:34:19.981Z,1628897659.981 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:34:20.377Z,1628897660.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD2,000,00A72,184,80,80,B7,FF
2021-08-13T23:34:20.378Z,1628897660.378 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:34:20.795Z,1628897660.795 [Micromodem](INFO): Nmea in: $SNTTA,,,,,233421.15*5F

2021-08-13T23:34:20.914Z,1628897660.914 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 122.940002 m, bearing: 117.613713 deg, deltaT: 3.698617 s, approachRate: -0.600223 m/s, LOS rate: 0.522779 deg/s, posRepo size: 4
2021-08-13T23:34:20.921Z,1628897660.921 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 122.940002 m,
      bearing: 117.613713 deg,
      approachRate: -0.600223 m/s,
      LOS rate: 0.522779 deg/s,
      cmd update: 1.568336 deg/s,
      cmd heading: 109.162983 deg,
      new cmd heading: 108.914871 deg.

2021-08-13T23:34:23.263Z,1628897663.263 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:34:23.609Z,1628897663.609 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:34:23.609Z,1628897663.609 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:34:23.609Z,1628897663.609 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:34:23.610Z,1628897663.610 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:34:24.015Z,1628897664.015 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD2,000,00A72,184,80,80,B7,FF
2021-08-13T23:34:24.016Z,1628897664.016 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:34:24.016Z,1628897664.016 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:34:24.018Z,1628897664.018 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:34:24.417Z,1628897664.417 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:34:24.833Z,1628897664.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC1,000,00A44,184,80,80,C2,FF
2021-08-13T23:34:24.834Z,1628897664.834 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:34:25.265Z,1628897665.265 [Micromodem](INFO): Nmea in: $SNTTA,,,,,233425.55*5F

2021-08-13T23:34:25.305Z,1628897665.305 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 120.180008 m, bearing: 117.412605 deg, deltaT: 4.500631 s, approachRate: -0.613246 m/s, LOS rate: -0.044684 deg/s, posRepo size: 4
2021-08-13T23:34:25.307Z,1628897665.307 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 120.180008 m,
      bearing: 117.412605 deg,
      approachRate: -0.613246 m/s,
      LOS rate: -0.044684 deg/s,
      cmd update: -0.134053 deg/s,
      cmd heading: 116.228413 deg,
      new cmd heading: 116.778354 deg.

2021-08-13T23:34:27.663Z,1628897667.663 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:34:28.049Z,1628897668.049 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:34:28.049Z,1628897668.049 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:34:28.049Z,1628897668.049 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:34:28.050Z,1628897668.050 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:34:28.465Z,1628897668.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC1,000,00A44,184,80,80,C2,FF
2021-08-13T23:34:28.465Z,1628897668.465 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:34:28.465Z,1628897668.465 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:34:28.467Z,1628897668.467 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:34:28.922Z,1628897668.922 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:34:29.269Z,1628897669.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,015,000,00A16,183,80,80,B9,FF
2021-08-13T23:34:29.269Z,1628897669.269 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:34:29.717Z,1628897669.717 [Micromodem](INFO): Nmea in: $SNTTA,0.080419,,,,233430.00*41

2021-08-13T23:34:29.739Z,1628897669.739 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 117.420006 m, bearing: 116.855753 deg, deltaT: 4.364304 s, approachRate: -0.632404 m/s, LOS rate: -0.127592 deg/s, posRepo size: 4
2021-08-13T23:34:29.742Z,1628897669.742 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 117.420006 m,
      bearing: 116.855753 deg,
      approachRate: -0.632404 m/s,
      LOS rate: -0.127592 deg/s,
      cmd update: -0.382777 deg/s,
      cmd heading: 115.642852 deg,
      new cmd heading: 115.586918 deg.

2021-08-13T23:34:32.155Z,1628897672.155 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:34:32.497Z,1628897672.497 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:34:32.498Z,1628897672.498 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:34:32.498Z,1628897672.498 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:34:32.499Z,1628897672.499 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:34:32.925Z,1628897672.925 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
015,000,00A16,183,80,80,B9,FF
2021-08-13T23:34:32.925Z,1628897672.925 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:34:32.925Z,1628897672.925 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:34:32.927Z,1628897672.927 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:34:33.305Z,1628897673.305 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:34:33.714Z,1628897673.714 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,025,000,009EA,185,80,80,AF,FF
2021-08-13T23:34:33.714Z,1628897673.714 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:34:34.144Z,1628897674.144 [Micromodem](INFO): Nmea in: $SNTTA,,,,,233434.46*5D

2021-08-13T23:34:34.178Z,1628897674.178 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 114.780006 m, bearing: 116.366998 deg, deltaT: 4.413432 s, approachRate: -0.598174 m/s, LOS rate: -0.110743 deg/s, posRepo size: 4
2021-08-13T23:34:34.200Z,1628897674.200 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 114.780006 m,
      bearing: 116.366998 deg,
      approachRate: -0.598174 m/s,
      LOS rate: -0.110743 deg/s,
      cmd update: -0.332228 deg/s,
      cmd heading: 113.953422 deg,
      new cmd heading: 113.784210 deg.

2021-08-13T23:34:36.622Z,1628897676.622 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:34:36.957Z,1628897676.957 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:34:36.957Z,1628897676.957 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:34:36.957Z,1628897676.957 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:34:36.958Z,1628897676.958 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:34:37.337Z,1628897677.337 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
025,000,009EA,185,80,80,AF,FF
2021-08-13T23:34:37.337Z,1628897677.337 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:34:37.338Z,1628897677.338 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:34:37.339Z,1628897677.339 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:34:37.749Z,1628897677.749 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:34:38.189Z,1628897678.189 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,00B,000,009C1,183,80,80,A0,FF
2021-08-13T23:34:38.189Z,1628897678.189 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:34:38.585Z,1628897678.585 [Micromodem](INFO): Nmea in: $SNTTA,,,,,233438.87*5C

2021-08-13T23:34:38.618Z,1628897678.618 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 112.320007 m, bearing: 117.136515 deg, deltaT: 4.484117 s, approachRate: -0.548603 m/s, LOS rate: 0.171609 deg/s, posRepo size: 4
2021-08-13T23:34:38.620Z,1628897678.620 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 112.320007 m,
      bearing: 117.136515 deg,
      approachRate: -0.548603 m/s,
      LOS rate: 0.171609 deg/s,
      cmd update: 0.514828 deg/s,
      cmd heading: 112.463702 deg,
      new cmd heading: 112.331435 deg.

2021-08-13T23:34:41.035Z,1628897681.035 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:34:41.389Z,1628897681.389 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:34:41.389Z,1628897681.389 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:34:41.390Z,1628897681.390 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:34:41.391Z,1628897681.391 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:34:41.789Z,1628897681.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
00B,000,009C1,183,80,80,A0,FF
2021-08-13T23:34:41.789Z,1628897681.789 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:34:41.789Z,1628897681.789 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:34:41.791Z,1628897681.791 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:34:42.196Z,1628897682.196 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:34:42.593Z,1628897682.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,004,000,0098F,182,80,80,4A,FF
2021-08-13T23:34:42.593Z,1628897682.593 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:34:43.041Z,1628897683.041 [Micromodem](INFO): Nmea in: $SNTTA,,,,,233443.32*5E

2021-08-13T23:34:43.095Z,1628897683.095 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 109.320000 m, bearing: 115.527172 deg, deltaT: 4.391006 s, approachRate: -0.683216 m/s, LOS rate: -0.366509 deg/s, posRepo size: 4
2021-08-13T23:34:43.098Z,1628897683.098 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 109.320000 m,
      bearing: 115.527172 deg,
      approachRate: -0.683216 m/s,
      LOS rate: -0.366509 deg/s,
      cmd update: -1.099527 deg/s,
      cmd heading: 114.724339 deg,
      new cmd heading: 114.973737 deg.

2021-08-13T23:34:45.479Z,1628897685.479 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:34:45.829Z,1628897685.829 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:34:45.830Z,1628897685.830 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:34:45.830Z,1628897685.830 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:34:45.831Z,1628897685.831 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:34:46.229Z,1628897686.229 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
004,000,0098F,182,80,80,4A,FF
2021-08-13T23:34:46.229Z,1628897686.229 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:34:46.229Z,1628897686.229 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:34:46.231Z,1628897686.231 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:34:46.637Z,1628897686.637 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:34:47.037Z,1628897687.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FFC,000,00960,183,80,80,A8,FF
2021-08-13T23:34:47.038Z,1628897687.038 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:34:47.482Z,1628897687.482 [Micromodem](INFO): Nmea in: $SNTTA,0.076939,,,,233447.76*46

2021-08-13T23:34:47.528Z,1628897687.528 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 106.500000 m, bearing: 116.460258 deg, deltaT: 4.498311 s, approachRate: -0.626902 m/s, LOS rate: 0.207430 deg/s, posRepo size: 4
2021-08-13T23:34:47.530Z,1628897687.530 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 106.500000 m,
      bearing: 116.460258 deg,
      approachRate: -0.626902 m/s,
      LOS rate: 0.207430 deg/s,
      cmd update: 0.622291 deg/s,
      cmd heading: 109.785265 deg,
      new cmd heading: 109.340198 deg.

2021-08-13T23:34:49.899Z,1628897689.899 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:34:50.278Z,1628897690.278 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:34:50.278Z,1628897690.278 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:34:50.279Z,1628897690.279 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:34:50.280Z,1628897690.280 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:34:50.681Z,1628897690.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FFC,000,00960,183,80,80,A8,FF
2021-08-13T23:34:50.682Z,1628897690.682 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:34:50.682Z,1628897690.682 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:34:50.704Z,1628897690.704 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:34:51.087Z,1628897691.087 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:34:51.493Z,1628897691.493 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FDA,000,00936,184,80,80,A5,FF
2021-08-13T23:34:51.493Z,1628897691.493 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:34:51.905Z,1628897691.905 [Micromodem](INFO): Nmea in: $SNTTA,,,,,233452.24*59

2021-08-13T23:34:51.942Z,1628897691.942 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 103.980003 m, bearing: 116.521962 deg, deltaT: 4.430003 s, approachRate: -0.568848 m/s, LOS rate: 0.013929 deg/s, posRepo size: 4
2021-08-13T23:34:51.945Z,1628897691.945 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 103.980003 m,
      bearing: 116.521962 deg,
      approachRate: -0.568848 m/s,
      LOS rate: 0.013929 deg/s,
      cmd update: 0.041786 deg/s,
      cmd heading: 112.543475 deg,
      new cmd heading: 112.796787 deg.

2021-08-13T23:34:54.358Z,1628897694.358 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:34:54.729Z,1628897694.729 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:34:54.729Z,1628897694.729 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:34:54.729Z,1628897694.729 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:34:54.730Z,1628897694.730 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:34:55.133Z,1628897695.133 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FDA,000,00936,184,80,80,A5,FF
2021-08-13T23:34:55.133Z,1628897695.133 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:34:55.134Z,1628897695.134 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:34:55.139Z,1628897695.139 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:34:55.545Z,1628897695.545 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:34:55.933Z,1628897695.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD0,000,0090A,185,80,80,A8,FF
2021-08-13T23:34:55.933Z,1628897695.933 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:34:56.365Z,1628897696.365 [Micromodem](INFO): Nmea in: $SNTTA,0.067287,,,,233456.68*47

2021-08-13T23:34:56.412Z,1628897696.412 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 101.340004 m, bearing: 117.091039 deg, deltaT: 4.411478 s, approachRate: -0.598439 m/s, LOS rate: 0.128999 deg/s, posRepo size: 4
2021-08-13T23:34:56.414Z,1628897696.414 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 101.340004 m,
      bearing: 117.091039 deg,
      approachRate: -0.598439 m/s,
      LOS rate: 0.128999 deg/s,
      cmd update: 0.386998 deg/s,
      cmd heading: 112.727981 deg,
      new cmd heading: 112.747069 deg.

2021-08-13T23:34:58.815Z,1628897698.815 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:34:59.185Z,1628897699.185 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:34:59.185Z,1628897699.185 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:34:59.185Z,1628897699.185 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:34:59.186Z,1628897699.186 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:34:59.577Z,1628897699.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD0,000,0090A,185,80,80,A8,FF
2021-08-13T23:34:59.577Z,1628897699.577 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:34:59.577Z,1628897699.577 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:34:59.579Z,1628897699.579 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:34:59.973Z,1628897699.973 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:35:00.382Z,1628897700.382 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE0,000,008DE,184,80,80,86,FF
2021-08-13T23:35:00.382Z,1628897700.382 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:35:00.798Z,1628897700.798 [Micromodem](INFO): Nmea in: $SNTTA,,,,,233501.12*5B

2021-08-13T23:35:00.876Z,1628897700.876 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 98.700005 m, bearing: 117.239459 deg, deltaT: 4.461331 s, approachRate: -0.591752 m/s, LOS rate: 0.033268 deg/s, posRepo size: 4
2021-08-13T23:35:00.886Z,1628897700.886 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 98.700005 m,
      bearing: 117.239459 deg,
      approachRate: -0.591752 m/s,
      LOS rate: 0.033268 deg/s,
      cmd update: 0.099804 deg/s,
      cmd heading: 114.454492 deg,
      new cmd heading: 114.624730 deg.

2021-08-13T23:35:03.278Z,1628897703.278 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:35:03.613Z,1628897703.613 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:35:03.613Z,1628897703.613 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:35:03.614Z,1628897703.614 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:35:03.614Z,1628897703.614 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:35:04.009Z,1628897704.009 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE0,000,008DE,184,80,80,86,FF
2021-08-13T23:35:04.009Z,1628897704.009 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:35:04.010Z,1628897704.010 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:35:04.011Z,1628897704.011 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:35:04.419Z,1628897704.419 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:35:04.829Z,1628897704.829 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,02A,000,008B2,185,80,80,75,FF
2021-08-13T23:35:04.830Z,1628897704.830 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:35:05.265Z,1628897705.265 [Micromodem](INFO): Nmea in: $SNTTA,,,,,233505.55*5C

2021-08-13T23:35:05.323Z,1628897705.323 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 96.060005 m, bearing: 114.822843 deg, deltaT: 4.503070 s, approachRate: -0.586267 m/s, LOS rate: -0.536660 deg/s, posRepo size: 4
2021-08-13T23:35:05.325Z,1628897705.325 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 96.060005 m,
      bearing: 114.822843 deg,
      approachRate: -0.586267 m/s,
      LOS rate: -0.536660 deg/s,
      cmd update: -1.609979 deg/s,
      cmd heading: 114.903496 deg,
      new cmd heading: 114.944647 deg.

2021-08-13T23:35:07.698Z,1628897707.698 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:35:08.049Z,1628897708.049 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:35:08.049Z,1628897708.049 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:35:08.049Z,1628897708.049 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:35:08.050Z,1628897708.050 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:35:08.462Z,1628897708.462 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
02A,000,008B2,185,80,80,75,FF
2021-08-13T23:35:08.463Z,1628897708.463 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:35:08.463Z,1628897708.463 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:35:08.465Z,1628897708.465 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:35:08.904Z,1628897708.904 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:35:09.266Z,1628897709.266 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,00C,000,00886,183,80,80,AE,FF
2021-08-13T23:35:09.267Z,1628897709.267 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:35:09.717Z,1628897709.717 [Micromodem](INFO): Nmea in: $SNTTA,,,,,233510.00*58

2021-08-13T23:35:09.759Z,1628897709.759 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 93.419998 m, bearing: 116.023850 deg, deltaT: 4.428930 s, approachRate: -0.596082 m/s, LOS rate: 0.271173 deg/s, posRepo size: 4
2021-08-13T23:35:09.766Z,1628897709.766 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 93.419998 m,
      bearing: 116.023850 deg,
      approachRate: -0.596082 m/s,
      LOS rate: 0.271173 deg/s,
      cmd update: 0.813519 deg/s,
      cmd heading: 107.772620 deg,
      new cmd heading: 107.097500 deg.

2021-08-13T23:35:12.147Z,1628897712.147 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:35:12.497Z,1628897712.497 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:35:12.497Z,1628897712.497 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:35:12.498Z,1628897712.498 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:35:12.498Z,1628897712.498 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:35:12.921Z,1628897712.921 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
00C,000,00886,183,80,80,AE,FF
2021-08-13T23:35:12.921Z,1628897712.921 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:35:12.921Z,1628897712.921 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:35:12.922Z,1628897712.922 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:35:13.313Z,1628897713.313 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:35:13.710Z,1628897713.710 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD3,000,00858,184,80,80,9A,FF
2021-08-13T23:35:13.710Z,1628897713.710 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:35:14.155Z,1628897714.155 [Micromodem](INFO): Nmea in: $SNTTA,0.060237,,,,233514.46*40

2021-08-13T23:35:14.210Z,1628897714.210 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 90.660004 m, bearing: 116.047646 deg, deltaT: 4.382788 s, approachRate: -0.629735 m/s, LOS rate: 0.005430 deg/s, posRepo size: 4
2021-08-13T23:35:14.218Z,1628897714.218 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 90.660004 m,
      bearing: 116.047646 deg,
      approachRate: -0.629735 m/s,
      LOS rate: 0.005430 deg/s,
      cmd update: 0.016289 deg/s,
      cmd heading: 111.341344 deg,
      new cmd heading: 111.734509 deg.

2021-08-13T23:35:16.558Z,1628897716.558 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:35:16.946Z,1628897716.946 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:35:16.947Z,1628897716.947 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:35:16.947Z,1628897716.947 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:35:16.948Z,1628897716.948 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:35:17.337Z,1628897717.337 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD3,000,00858,184,80,80,9A,FF
2021-08-13T23:35:17.337Z,1628897717.337 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:35:17.337Z,1628897717.337 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:35:17.339Z,1628897717.339 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:35:17.745Z,1628897717.745 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:35:18.187Z,1628897718.187 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FDA,000,0082C,184,80,80,AA,FF
2021-08-13T23:35:18.188Z,1628897718.188 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:35:18.585Z,1628897718.585 [Micromodem](INFO): Nmea in: $SNTTA,,,,,233518.87*5F

2021-08-13T23:35:18.608Z,1628897718.608 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 88.019997 m, bearing: 116.310103 deg, deltaT: 4.546359 s, approachRate: -0.580686 m/s, LOS rate: 0.057729 deg/s, posRepo size: 4
2021-08-13T23:35:18.610Z,1628897718.610 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 88.019997 m,
      bearing: 116.310103 deg,
      approachRate: -0.580686 m/s,
      LOS rate: 0.057729 deg/s,
      cmd update: 0.173187 deg/s,
      cmd heading: 111.415265 deg,
      new cmd heading: 111.420847 deg.

2021-08-13T23:35:21.025Z,1628897721.025 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:35:21.377Z,1628897721.377 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:35:21.377Z,1628897721.377 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:35:21.377Z,1628897721.377 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:35:21.378Z,1628897721.378 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:35:21.785Z,1628897721.785 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FDA,000,0082C,184,80,80,AA,FF
2021-08-13T23:35:21.785Z,1628897721.785 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:35:21.785Z,1628897721.785 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:35:21.787Z,1628897721.787 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:35:22.209Z,1628897722.209 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:35:22.593Z,1628897722.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,003,000,00800,183,80,80,BC,FF
2021-08-13T23:35:22.593Z,1628897722.593 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:35:23.029Z,1628897723.029 [Micromodem](INFO): Nmea in: $SNTTA,,,,,233523.32*59

2021-08-13T23:35:23.145Z,1628897723.145 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 85.379997 m, bearing: 114.698178 deg, deltaT: 4.337638 s, approachRate: -0.608626 m/s, LOS rate: -0.371613 deg/s, posRepo size: 4
2021-08-13T23:35:23.147Z,1628897723.147 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 85.379997 m,
      bearing: 114.698178 deg,
      approachRate: -0.608626 m/s,
      LOS rate: -0.371613 deg/s,
      cmd update: -1.114840 deg/s,
      cmd heading: 112.167907 deg,
      new cmd heading: 112.259713 deg.

2021-08-13T23:35:25.453Z,1628897725.453 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:35:25.817Z,1628897725.817 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:35:25.817Z,1628897725.817 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:35:25.817Z,1628897725.817 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:35:25.818Z,1628897725.818 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:35:26.221Z,1628897726.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
003,000,00800,183,80,80,BC,FF
2021-08-13T23:35:26.222Z,1628897726.222 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:35:26.222Z,1628897726.222 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:35:26.223Z,1628897726.223 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:35:26.656Z,1628897726.656 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:35:27.049Z,1628897727.049 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,008,000,007D2,183,80,80,B5,FF
2021-08-13T23:35:27.049Z,1628897727.049 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:35:27.497Z,1628897727.497 [Micromodem](INFO): Nmea in: $SNTTA,,,,,233527.76*5D

2021-08-13T23:35:27.557Z,1628897727.557 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 82.620003 m, bearing: 113.853543 deg, deltaT: 4.558023 s, approachRate: -0.605524 m/s, LOS rate: -0.185307 deg/s, posRepo size: 4
2021-08-13T23:35:27.559Z,1628897727.559 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 82.620003 m,
      bearing: 113.853543 deg,
      approachRate: -0.605524 m/s,
      LOS rate: -0.185307 deg/s,
      cmd update: -0.555922 deg/s,
      cmd heading: 107.095592 deg,
      new cmd heading: 106.681022 deg.

2021-08-13T23:35:29.934Z,1628897729.934 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:35:30.297Z,1628897730.297 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:35:30.297Z,1628897730.297 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:35:30.297Z,1628897730.297 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:35:30.298Z,1628897730.298 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:35:30.701Z,1628897730.701 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
008,000,007D2,183,80,80,B5,FF
2021-08-13T23:35:30.701Z,1628897730.701 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:35:30.701Z,1628897730.701 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:35:30.703Z,1628897730.703 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:35:31.135Z,1628897731.135 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:35:31.522Z,1628897731.522 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB3,000,007A7,184,80,80,A8,FF
2021-08-13T23:35:31.522Z,1628897731.522 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:35:31.957Z,1628897731.957 [Micromodem](INFO): Nmea in: $SNTTA,,,,,233532.24*5E

2021-08-13T23:35:31.980Z,1628897731.980 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 80.040001 m, bearing: 116.644140 deg, deltaT: 4.370489 s, approachRate: -0.590323 m/s, LOS rate: 0.638509 deg/s, posRepo size: 4
2021-08-13T23:35:31.982Z,1628897731.982 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 80.040001 m,
      bearing: 116.644140 deg,
      approachRate: -0.590323 m/s,
      LOS rate: 0.638509 deg/s,
      cmd update: 1.915527 deg/s,
      cmd heading: 104.661446 deg,
      new cmd heading: 104.416625 deg.

2021-08-13T23:35:34.371Z,1628897734.371 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:35:34.741Z,1628897734.741 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:35:34.741Z,1628897734.741 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:35:34.741Z,1628897734.741 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:35:34.742Z,1628897734.742 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:35:35.194Z,1628897735.194 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB3,000,007A7,184,80,80,A8,FF
2021-08-13T23:35:35.194Z,1628897735.194 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:35:35.194Z,1628897735.194 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:35:35.196Z,1628897735.196 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:35:35.569Z,1628897735.569 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:35:35.961Z,1628897735.961 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F8E,000,0077A,187,80,80,A6,FF
2021-08-13T23:35:35.961Z,1628897735.961 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:35:36.387Z,1628897736.387 [Micromodem](INFO): Nmea in: $SNTTA,0.051301,,,,233536.73*40

2021-08-13T23:35:36.431Z,1628897736.431 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 77.339996 m, bearing: 116.689943 deg, deltaT: 4.467527 s, approachRate: -0.604362 m/s, LOS rate: 0.010252 deg/s, posRepo size: 4
2021-08-13T23:35:36.433Z,1628897736.433 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 77.339996 m,
      bearing: 116.689943 deg,
      approachRate: -0.604362 m/s,
      LOS rate: 0.010252 deg/s,
      cmd update: 0.030757 deg/s,
      cmd heading: 113.211544 deg,
      new cmd heading: 114.031750 deg.

2021-08-13T23:35:38.884Z,1628897738.884 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:35:39.193Z,1628897739.193 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:35:39.193Z,1628897739.193 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:35:39.193Z,1628897739.193 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:35:39.194Z,1628897739.194 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:35:39.593Z,1628897739.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F8E,000,0077A,187,80,80,A6,FF
2021-08-13T23:35:39.593Z,1628897739.593 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:35:39.593Z,1628897739.593 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:35:39.595Z,1628897739.595 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:35:40.001Z,1628897740.001 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:35:40.405Z,1628897740.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FDF,000,0074E,184,80,80,B9,FF
2021-08-13T23:35:40.406Z,1628897740.406 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:35:40.857Z,1628897740.857 [Micromodem](INFO): Nmea in: $SNTTA,0.049578,,,,233541.13*47

2021-08-13T23:35:40.950Z,1628897740.950 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 74.700005 m, bearing: 116.439125 deg, deltaT: 4.426654 s, approachRate: -0.596385 m/s, LOS rate: -0.056661 deg/s, posRepo size: 4
2021-08-13T23:35:40.958Z,1628897740.958 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 74.700005 m,
      bearing: 116.439125 deg,
      approachRate: -0.596385 m/s,
      LOS rate: -0.056661 deg/s,
      cmd update: -0.169983 deg/s,
      cmd heading: 113.347823 deg,
      new cmd heading: 113.363552 deg.

2021-08-13T23:35:43.274Z,1628897743.274 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:35:43.629Z,1628897743.629 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:35:43.629Z,1628897743.629 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:35:43.629Z,1628897743.629 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:35:43.630Z,1628897743.630 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:35:44.033Z,1628897744.033 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FDF,000,0074E,184,80,80,B9,FF
2021-08-13T23:35:44.033Z,1628897744.033 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:35:44.033Z,1628897744.033 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:35:44.035Z,1628897744.035 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:35:44.449Z,1628897744.449 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:35:44.878Z,1628897744.878 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,016,000,00721,183,80,80,BE,FF
2021-08-13T23:35:44.879Z,1628897744.879 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:35:45.298Z,1628897745.298 [Micromodem](INFO): Nmea in: $SNTTA,0.056045,,,,233545.57*46

2021-08-13T23:35:45.324Z,1628897745.324 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 72.000000 m, bearing: 115.437492 deg, deltaT: 4.508995 s, approachRate: -0.598804 m/s, LOS rate: -0.222141 deg/s, posRepo size: 4
2021-08-13T23:35:45.326Z,1628897745.326 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 72.000000 m,
      bearing: 115.437492 deg,
      approachRate: -0.598804 m/s,
      LOS rate: -0.222141 deg/s,
      cmd update: -0.666424 deg/s,
      cmd heading: 112.581377 deg,
      new cmd heading: 112.516516 deg.

2021-08-13T23:35:47.694Z,1628897747.694 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:35:48.073Z,1628897748.073 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:35:48.073Z,1628897748.073 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:35:48.074Z,1628897748.074 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:35:48.075Z,1628897748.075 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:35:48.487Z,1628897748.487 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
016,000,00721,183,80,80,BE,FF
2021-08-13T23:35:48.487Z,1628897748.487 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:35:48.487Z,1628897748.487 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:35:48.489Z,1628897748.489 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:35:48.916Z,1628897748.916 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:35:49.298Z,1628897749.298 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,01E,000,006F3,185,80,80,8A,FF
2021-08-13T23:35:49.298Z,1628897749.298 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:35:49.753Z,1628897749.753 [Micromodem](INFO): Nmea in: $SNTTA,,,,,233550.02*5E

2021-08-13T23:35:49.776Z,1628897749.776 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 69.240005 m, bearing: 114.539076 deg, deltaT: 4.403132 s, approachRate: -0.626825 m/s, LOS rate: -0.204040 deg/s, posRepo size: 4
2021-08-13T23:35:49.778Z,1628897749.778 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 69.240005 m,
      bearing: 114.539076 deg,
      approachRate: -0.626825 m/s,
      LOS rate: -0.204040 deg/s,
      cmd update: -0.612120 deg/s,
      cmd heading: 109.647059 deg,
      new cmd heading: 109.360466 deg.

2021-08-13T23:35:52.173Z,1628897752.173 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:35:52.525Z,1628897752.525 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:35:52.526Z,1628897752.526 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:35:52.526Z,1628897752.526 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:35:52.527Z,1628897752.527 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:35:52.929Z,1628897752.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
01E,000,006F3,185,80,80,8A,FF
2021-08-13T23:35:52.929Z,1628897752.929 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:35:52.929Z,1628897752.929 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:35:52.931Z,1628897752.931 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:35:53.341Z,1628897753.341 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:35:54.166Z,1628897754.166 [Micromodem](INFO): Nmea in: $SNTTA,,,,,233554.46*5A

2021-08-13T23:35:54.983Z,1628897754.983 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:35:56.181Z,1628897756.181 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FCE,000,07F2A,184,80,80,A4,FF
2021-08-13T23:35:56.181Z,1628897756.181 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:35:56.587Z,1628897756.587 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1915.740112 m, bearing: 115.415977 deg, deltaT: 6.900337 s, approachRate: 267.595642 m/s, LOS rate: 0.127081 deg/s, posRepo size: 4
2021-08-13T23:35:56.590Z,1628897756.590 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 1915.740112 m,
      bearing: 115.415977 deg,
      approachRate: 267.595642 m/s,
      LOS rate: 0.127081 deg/s,
      cmd update: 0.381243 deg/s,
      cmd heading: 105.430544 deg,
      new cmd heading: 105.214149 deg.

2021-08-13T23:35:59.022Z,1628897759.022 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:35:59.385Z,1628897759.385 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:35:59.385Z,1628897759.385 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:35:59.385Z,1628897759.385 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:35:59.386Z,1628897759.386 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:35:59.793Z,1628897759.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FCE,000,07F2A,184,80,80,A4,FF
2021-08-13T23:35:59.793Z,1628897759.793 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:35:59.793Z,1628897759.793 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:35:59.795Z,1628897759.795 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:36:00.201Z,1628897760.201 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:36:00.597Z,1628897760.597 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FAC,000,00681,185,80,80,BC,FF
2021-08-13T23:36:00.597Z,1628897760.597 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:36:01.041Z,1628897761.041 [Micromodem](INFO): Nmea in: $SNTTA,,,,,233601.33*5B

2021-08-13T23:36:01.103Z,1628897761.103 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 62.400005 m, bearing: 114.634289 deg, deltaT: 4.405081 s, approachRate: -420.727814 m/s, LOS rate: -0.177451 deg/s, posRepo size: 4
2021-08-13T23:36:01.124Z,1628897761.124 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 62.400005 m,
      bearing: 114.634289 deg,
      approachRate: -420.727814 m/s,
      LOS rate: -0.177451 deg/s,
      cmd update: -0.532354 deg/s,
      cmd heading: 107.112974 deg,
      new cmd heading: 107.284328 deg.

2021-08-13T23:36:03.466Z,1628897763.466 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:36:03.829Z,1628897763.829 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:36:03.829Z,1628897763.829 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:36:03.829Z,1628897763.829 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:36:03.830Z,1628897763.830 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:36:04.233Z,1628897764.233 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FAC,000,00681,185,80,80,BC,FF
2021-08-13T23:36:04.233Z,1628897764.233 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:36:04.234Z,1628897764.234 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:36:04.235Z,1628897764.235 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:36:04.636Z,1628897764.636 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:36:05.037Z,1628897765.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC6,000,00655,184,80,80,6F,FF
2021-08-13T23:36:05.038Z,1628897765.038 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:36:05.487Z,1628897765.487 [Micromodem](INFO): Nmea in: $SNTTA,,,,,233605.77*5F

2021-08-13T23:36:05.513Z,1628897765.513 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 59.759998 m, bearing: 113.384180 deg, deltaT: 4.489929 s, approachRate: -0.587984 m/s, LOS rate: -0.278425 deg/s, posRepo size: 4
2021-08-13T23:36:05.515Z,1628897765.515 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 59.759998 m,
      bearing: 113.384180 deg,
      approachRate: -0.587984 m/s,
      LOS rate: -0.278425 deg/s,
      cmd update: -0.835275 deg/s,
      cmd heading: 104.737554 deg,
      new cmd heading: 104.522491 deg.

2021-08-13T23:36:07.920Z,1628897767.920 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:36:08.281Z,1628897768.281 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:36:08.282Z,1628897768.282 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:36:08.282Z,1628897768.282 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:36:08.283Z,1628897768.283 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:36:08.686Z,1628897768.686 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC6,000,00655,184,80,80,6F,FF
2021-08-13T23:36:08.686Z,1628897768.686 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:36:08.687Z,1628897768.687 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:36:08.720Z,1628897768.720 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:36:09.181Z,1628897769.181 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:36:09.553Z,1628897769.553 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F5A,000,0062C,187,80,80,9A,FF
2021-08-13T23:36:09.553Z,1628897769.553 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:36:09.977Z,1628897769.977 [Micromodem](INFO): Nmea in: $SNTTA,0.052930,,,,233610.30*4B

2021-08-13T23:36:10.008Z,1628897770.008 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 57.299999 m, bearing: 116.233386 deg, deltaT: 4.461802 s, approachRate: -0.551347 m/s, LOS rate: 0.638578 deg/s, posRepo size: 4
2021-08-13T23:36:10.010Z,1628897770.010 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 57.299999 m,
      bearing: 116.233386 deg,
      approachRate: -0.551347 m/s,
      LOS rate: 0.638578 deg/s,
      cmd update: 1.915733 deg/s,
      cmd heading: 100.987452 deg,
      new cmd heading: 100.645455 deg.

2021-08-13T23:36:12.418Z,1628897772.418 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:36:12.786Z,1628897772.786 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:36:12.786Z,1628897772.786 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:36:12.787Z,1628897772.787 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:36:12.788Z,1628897772.788 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:36:13.189Z,1628897773.189 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F5A,000,0062C,187,80,80,9A,FF
2021-08-13T23:36:13.189Z,1628897773.189 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:36:13.189Z,1628897773.189 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:36:13.191Z,1628897773.191 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:36:13.593Z,1628897773.593 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:36:13.999Z,1628897773.999 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F11,000,005FE,186,80,80,96,FF
2021-08-13T23:36:13.000Z,1628897774.000 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:36:14.449Z,1628897774.449 [Micromodem](INFO): Nmea in: $SNTTA,,,,,233614.73*5B

2021-08-13T23:36:14.503Z,1628897774.503 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 54.540005 m, bearing: 118.353108 deg, deltaT: 4.413611 s, approachRate: -0.625337 m/s, LOS rate: 0.480269 deg/s, posRepo size: 4
2021-08-13T23:36:14.509Z,1628897774.509 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 54.540005 m,
      bearing: 118.353108 deg,
      approachRate: -0.625337 m/s,
      LOS rate: 0.480269 deg/s,
      cmd update: 1.440808 deg/s,
      cmd heading: 109.450401 deg,
      new cmd heading: 110.382493 deg.

2021-08-13T23:36:16.923Z,1628897776.923 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:36:17.225Z,1628897777.225 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:36:17.225Z,1628897777.225 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:36:17.225Z,1628897777.225 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:36:17.226Z,1628897777.226 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:36:17.633Z,1628897777.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F11,000,005FE,186,80,80,96,FF
2021-08-13T23:36:17.633Z,1628897777.633 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:36:17.633Z,1628897777.633 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:36:17.635Z,1628897777.635 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:36:18.044Z,1628897778.044 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:36:18.437Z,1628897778.437 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FAE,000,005D3,185,80,80,AE,FF
2021-08-13T23:36:18.437Z,1628897778.437 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:36:18.905Z,1628897778.905 [Micromodem](INFO): Nmea in: $SNTTA,,,,,233619.17*54

2021-08-13T23:36:18.957Z,1628897778.957 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.959999 m, bearing: 114.658741 deg, deltaT: 4.476965 s, approachRate: -0.576285 m/s, LOS rate: -0.825195 deg/s, posRepo size: 4
2021-08-13T23:36:18.959Z,1628897778.959 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 51.959999 m,
      bearing: 114.658741 deg,
      approachRate: -0.576285 m/s,
      LOS rate: -0.825195 deg/s,
      cmd update: -2.475584 deg/s,
      cmd heading: 115.894756 deg,
      new cmd heading: 116.567972 deg.

2021-08-13T23:36:21.303Z,1628897781.303 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:36:21.669Z,1628897781.669 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:36:21.669Z,1628897781.669 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:36:21.669Z,1628897781.669 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:36:21.670Z,1628897781.670 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:36:22.077Z,1628897782.077 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FAE,000,005D3,185,80,80,AE,FF
2021-08-13T23:36:22.077Z,1628897782.077 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:36:22.077Z,1628897782.077 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:36:22.079Z,1628897782.079 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:36:22.485Z,1628897782.485 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:36:22.917Z,1628897782.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE0,000,005A7,185,80,80,94,FF
2021-08-13T23:36:22.917Z,1628897782.917 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:36:23.317Z,1628897783.317 [Micromodem](INFO): Nmea in: $SNTTA,,,,,233623.61*5C

2021-08-13T23:36:23.360Z,1628897783.360 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.320000 m, bearing: 115.710645 deg, deltaT: 4.460914 s, approachRate: -0.591807 m/s, LOS rate: 0.235805 deg/s, posRepo size: 4
2021-08-13T23:36:23.362Z,1628897783.362 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 49.320000 m,
      bearing: 115.710645 deg,
      approachRate: -0.591807 m/s,
      LOS rate: 0.235805 deg/s,
      cmd update: 0.707414 deg/s,
      cmd heading: 104.840869 deg,
      new cmd heading: 103.836663 deg.

2021-08-13T23:36:25.751Z,1628897785.751 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:36:26.119Z,1628897786.119 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:36:26.120Z,1628897786.120 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:36:26.121Z,1628897786.121 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:36:26.122Z,1628897786.122 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:36:26.525Z,1628897786.525 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE0,000,005A7,185,80,80,94,FF
2021-08-13T23:36:26.525Z,1628897786.525 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:36:26.526Z,1628897786.526 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:36:26.527Z,1628897786.527 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:36:26.929Z,1628897786.929 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:36:27.325Z,1628897787.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F7E,000,00575,186,80,80,61,FF
2021-08-13T23:36:27.326Z,1628897787.326 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:36:27.769Z,1628897787.769 [Micromodem](INFO): Nmea in: $SNTTA,,,,,233628.06*56

2021-08-13T23:36:27.800Z,1628897787.800 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.320000 m, bearing: 116.527713 deg, deltaT: 4.431084 s, approachRate: -0.677035 m/s, LOS rate: 0.184395 deg/s, posRepo size: 4
2021-08-13T23:36:27.802Z,1628897787.802 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 46.320000 m,
      bearing: 116.527713 deg,
      approachRate: -0.677035 m/s,
      LOS rate: 0.184395 deg/s,
      cmd update: 0.553184 deg/s,
      cmd heading: 107.966846 deg,
      new cmd heading: 108.268786 deg.

2021-08-13T23:36:30.230Z,1628897790.230 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:36:30.561Z,1628897790.561 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:36:30.561Z,1628897790.561 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:36:30.561Z,1628897790.561 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:36:30.562Z,1628897790.562 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:36:30.965Z,1628897790.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F7E,000,00575,186,80,80,61,FF
2021-08-13T23:36:30.965Z,1628897790.965 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:36:30.965Z,1628897790.965 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:36:30.967Z,1628897790.967 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:36:31.374Z,1628897791.374 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:36:32.213Z,1628897792.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F9C,000,01D78,187,80,80,5B,FF
2021-08-13T23:36:32.213Z,1628897792.213 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:36:32.216Z,1628897792.216 [Micromodem](INFO): Nmea in: $SNTTA,,,,,233632.50*5E

2021-08-13T23:36:32.619Z,1628897792.619 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 415.139984 m, bearing: 114.923984 deg, deltaT: 4.893603 s, approachRate: 75.367775 m/s, LOS rate: -0.327719 deg/s, posRepo size: 4
2021-08-13T23:36:32.622Z,1628897792.622 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 415.139984 m,
      bearing: 114.923984 deg,
      approachRate: 75.367775 m/s,
      LOS rate: -0.327719 deg/s,
      cmd update: -0.983158 deg/s,
      cmd heading: 110.676162 deg,
      new cmd heading: 110.869057 deg.

2021-08-13T23:36:35.069Z,1628897795.069 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:36:35.417Z,1628897795.417 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:36:35.417Z,1628897795.417 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:36:35.417Z,1628897795.417 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:36:35.418Z,1628897795.418 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:36:35.809Z,1628897795.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F9C,000,01D78,187,80,80,5B,FF
2021-08-13T23:36:35.809Z,1628897795.809 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:36:35.809Z,1628897795.809 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:36:35.811Z,1628897795.811 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:36:36.233Z,1628897796.233 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:36:36.614Z,1628897796.614 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD6,000,00519,184,80,80,78,FF
2021-08-13T23:36:36.614Z,1628897796.614 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:36:37.066Z,1628897797.066 [Micromodem](INFO): Nmea in: $SNTTA,,,,,233637.35*58

2021-08-13T23:36:37.106Z,1628897797.106 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.799999 m, bearing: 112.709951 deg, deltaT: 4.382405 s, approachRate: -85.418854 m/s, LOS rate: -0.505210 deg/s, posRepo size: 4
2021-08-13T23:36:37.154Z,1628897797.154 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 40.799999 m,
      bearing: 112.709951 deg,
      approachRate: -85.418854 m/s,
      LOS rate: -0.505210 deg/s,
      cmd update: -1.515629 deg/s,
      cmd heading: 106.385034 deg,
      new cmd heading: 105.923302 deg.

2021-08-13T23:36:39.498Z,1628897799.498 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:36:39.853Z,1628897799.853 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:36:39.853Z,1628897799.853 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:36:39.853Z,1628897799.853 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:36:39.854Z,1628897799.854 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:36:40.261Z,1628897800.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD6,000,00519,184,80,80,78,FF
2021-08-13T23:36:40.261Z,1628897800.261 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:36:40.261Z,1628897800.261 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:36:40.263Z,1628897800.263 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:36:40.657Z,1628897800.657 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:36:41.086Z,1628897801.086 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F63,000,004F0,186,80,80,7D,FF
2021-08-13T23:36:41.087Z,1628897801.087 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:36:41.521Z,1628897801.521 [Micromodem](INFO): Nmea in: $SNTTA,,,,,233641.80*57

2021-08-13T23:36:41.543Z,1628897801.543 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.340000 m, bearing: 116.204836 deg, deltaT: 4.549080 s, approachRate: -0.540769 m/s, LOS rate: 0.768262 deg/s, posRepo size: 4
2021-08-13T23:36:41.544Z,1628897801.544 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 38.34 m.
2021-08-13T23:36:41.545Z,1628897801.545 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 38.34 m.
2021-08-13T23:36:41.545Z,1628897801.545 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-13T23:36:41.547Z,1628897801.547 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 38.340000 m,
      bearing: 116.204836 deg,
      approachRate: -0.540769 m/s,
      LOS rate: 0.768262 deg/s,
      cmd update: 2.304786 deg/s,
      cmd heading: 99.457036 deg,
      new cmd heading: 98.946274 deg.

2021-08-13T23:36:41.928Z,1628897801.928 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-13T23:36:41.929Z,1628897801.929 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T23:36:41.929Z,1628897801.929 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-13T23:36:41.930Z,1628897801.930 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-13T23:36:41.930Z,1628897801.930 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-13T23:36:41.930Z,1628897801.930 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-13T23:36:42.323Z,1628897802.323 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-13T23:36:42.323Z,1628897802.323 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T23:36:42.323Z,1628897802.323 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-13T23:36:42.324Z,1628897802.324 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T23:36:43.920Z,1628897803.920 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:36:44.306Z,1628897804.306 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:36:44.306Z,1628897804.306 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:36:44.306Z,1628897804.306 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:36:44.307Z,1628897804.307 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:36:44.707Z,1628897804.707 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F63,000,004F0,186,80,80,7D,FF
2021-08-13T23:36:44.709Z,1628897804.709 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:36:44.710Z,1628897804.710 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:36:44.748Z,1628897804.748 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:36:45.121Z,1628897805.121 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:36:45.517Z,1628897805.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E60,000,004BE,186,80,80,69,FF
2021-08-13T23:36:45.517Z,1628897805.517 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:36:45.561Z,1628897805.561 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:36:45.951Z,1628897805.951 [Micromodem](INFO): Nmea in: $SNTTA,0.054254,,,,233646.28*4E

2021-08-13T23:36:45.968Z,1628897805.968 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.340000 m, bearing: 124.095357 deg, deltaT: 4.348003 s, approachRate: -0.689972 m/s, LOS rate: 1.814746 deg/s, posRepo size: 4
2021-08-13T23:36:45.970Z,1628897805.970 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 35.340000 m,
      bearing: 124.095357 deg,
      approachRate: -0.689972 m/s,
      LOS rate: 1.814746 deg/s,
      cmd update: 5.444238 deg/s,
      cmd heading: 109.477328 deg,
      new cmd heading: 110.430566 deg.

2021-08-13T23:36:48.402Z,1628897808.402 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:36:48.737Z,1628897808.737 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:36:48.737Z,1628897808.737 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:36:48.737Z,1628897808.737 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:36:48.738Z,1628897808.738 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:36:49.162Z,1628897809.162 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E60,000,004BE,186,80,80,69,FF
2021-08-13T23:36:49.162Z,1628897809.162 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:36:49.163Z,1628897809.163 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:36:49.165Z,1628897809.165 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:36:49.553Z,1628897809.553 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:36:49.946Z,1628897809.946 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FAF,000,0049A,184,80,80,74,FF
2021-08-13T23:36:49.947Z,1628897809.947 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:36:50.011Z,1628897810.011 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:36:50.385Z,1628897810.385 [Micromodem](INFO): Nmea in: $SNTTA,0.034615,,,,233650.70*43

2021-08-13T23:36:50.411Z,1628897810.411 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 33.180000 m, bearing: 114.823444 deg, deltaT: 4.449370 s, approachRate: -0.485462 m/s, LOS rate: -2.083871 deg/s, posRepo size: 4
2021-08-13T23:36:50.413Z,1628897810.413 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 33.180000 m,
      bearing: 114.823444 deg,
      approachRate: -0.485462 m/s,
      LOS rate: -2.083871 deg/s,
      cmd update: -6.251613 deg/s,
      cmd heading: 133.700615 deg,
      new cmd heading: 135.919768 deg.

2021-08-13T23:36:52.840Z,1628897812.840 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:36:53.190Z,1628897813.190 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:36:53.190Z,1628897813.190 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:36:53.191Z,1628897813.191 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:36:53.191Z,1628897813.191 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:36:53.597Z,1628897813.597 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FAF,000,0049A,184,80,80,74,FF
2021-08-13T23:36:53.597Z,1628897813.597 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:36:53.597Z,1628897813.597 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:36:53.599Z,1628897813.599 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:36:53.993Z,1628897813.993 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:36:54.393Z,1628897814.393 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,063,000,00469,186,80,80,64,FF
2021-08-13T23:36:54.393Z,1628897814.393 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:36:54.424Z,1628897814.424 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:36:54.854Z,1628897814.854 [Micromodem](INFO): Nmea in: $SNTTA,0.041879,,,,233655.13*45

2021-08-13T23:36:54.927Z,1628897814.927 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.239998 m, bearing: 116.977563 deg, deltaT: 4.413423 s, approachRate: -0.666150 m/s, LOS rate: 0.488083 deg/s, posRepo size: 4
2021-08-13T23:36:54.930Z,1628897814.930 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 30.239998 m,
      bearing: 116.977563 deg,
      approachRate: -0.666150 m/s,
      LOS rate: 0.488083 deg/s,
      cmd update: 1.464250 deg/s,
      cmd heading: 106.086264 deg,
      new cmd heading: 102.917490 deg.

2021-08-13T23:36:56.926Z,1628897816.926 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:36:57.225Z,1628897817.225 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:36:57.225Z,1628897817.225 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:36:57.226Z,1628897817.226 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:36:57.227Z,1628897817.227 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:36:57.634Z,1628897817.634 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
063,000,00469,186,80,80,64,FF
2021-08-13T23:36:57.634Z,1628897817.634 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:36:57.635Z,1628897817.635 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:36:57.636Z,1628897817.636 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:36:58.032Z,1628897818.032 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:36:58.437Z,1628897818.437 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,047,000,00442,185,80,80,8A,FF
2021-08-13T23:36:58.438Z,1628897818.438 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:36:58.496Z,1628897818.496 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:36:58.905Z,1628897818.905 [Micromodem](INFO): Nmea in: $SNTTA,,,,,233659.17*50

2021-08-13T23:36:58.962Z,1628897818.962 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.900000 m, bearing: 118.141236 deg, deltaT: 4.072419 s, approachRate: -0.574597 m/s, LOS rate: 0.285745 deg/s, posRepo size: 4
2021-08-13T23:36:58.964Z,1628897818.964 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 27.900000 m,
      bearing: 118.141236 deg,
      approachRate: -0.574597 m/s,
      LOS rate: 0.285745 deg/s,
      cmd update: 0.857235 deg/s,
      cmd heading: 112.037417 deg,
      new cmd heading: 112.735959 deg.

2021-08-13T23:37:01.293Z,1628897821.293 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:37:01.665Z,1628897821.665 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:37:01.665Z,1628897821.665 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:37:01.665Z,1628897821.665 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:37:01.666Z,1628897821.666 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:37:02.077Z,1628897822.077 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
047,000,00442,185,80,80,8A,FF
2021-08-13T23:37:02.078Z,1628897822.078 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:37:02.078Z,1628897822.078 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:37:02.079Z,1628897822.079 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:37:02.477Z,1628897822.477 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:37:02.909Z,1628897822.909 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F4B,000,00414,186,80,80,89,FF
2021-08-13T23:37:02.909Z,1628897822.909 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:37:03.002Z,1628897823.002 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:37:03.325Z,1628897823.325 [Micromodem](INFO): Nmea in: $SNTTA,0.030845,,,,233703.61*4B

2021-08-13T23:37:03.347Z,1628897823.347 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.140001 m, bearing: 118.751650 deg, deltaT: 4.505486 s, approachRate: -0.612586 m/s, LOS rate: 0.135482 deg/s, posRepo size: 4
2021-08-13T23:37:03.350Z,1628897823.350 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 25.140001 m,
      bearing: 118.751650 deg,
      approachRate: -0.612586 m/s,
      LOS rate: 0.135482 deg/s,
      cmd update: 0.406447 deg/s,
      cmd heading: 115.906888 deg,
      new cmd heading: 116.205797 deg.

2021-08-13T23:37:05.723Z,1628897825.723 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:37:06.120Z,1628897826.120 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:37:06.120Z,1628897826.120 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:37:06.121Z,1628897826.121 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:37:06.122Z,1628897826.122 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:37:06.521Z,1628897826.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F4B,000,00414,186,80,80,89,FF
2021-08-13T23:37:06.521Z,1628897826.521 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:37:06.522Z,1628897826.522 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:37:06.523Z,1628897826.523 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:37:06.937Z,1628897826.937 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:37:07.746Z,1628897827.746 [Micromodem](INFO): Nmea in: $SNTTA,,,,,233708.06*55

2021-08-13T23:37:08.555Z,1628897828.555 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:37:10.181Z,1628897830.181 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
4,186,80,80,89,FF
2021-08-13T23:37:10.181Z,1628897830.181 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
4,186,80,80,89,FF
2021-08-13T23:37:10.181Z,1628897830.181 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T23:37:11.393Z,1628897831.393 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:37:11.761Z,1628897831.761 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:37:11.761Z,1628897831.761 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:37:11.761Z,1628897831.761 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:37:11.762Z,1628897831.762 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:37:12.202Z,1628897832.202 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
4,186,80,80,89,FF
2021-08-13T23:37:12.202Z,1628897832.202 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:37:12.203Z,1628897832.203 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:37:12.204Z,1628897832.204 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:37:12.584Z,1628897832.584 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:37:12.982Z,1628897832.982 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FFC,000,003AF,183,80,80,83,FF
2021-08-13T23:37:12.982Z,1628897832.982 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:37:13.048Z,1628897833.048 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:37:13.417Z,1628897833.417 [Micromodem](INFO): Nmea in: $SNTTA,0.042479,,,,233713.74*48

2021-08-13T23:37:13.463Z,1628897833.463 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.079998 m, bearing: 121.355659 deg, deltaT: 10.045884 s, approachRate: -0.603232 m/s, LOS rate: 0.259212 deg/s, posRepo size: 4
2021-08-13T23:37:13.469Z,1628897833.469 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.079998 m,
      bearing: 121.355659 deg,
      approachRate: -0.603232 m/s,
      LOS rate: 0.259212 deg/s,
      cmd update: 0.777635 deg/s,
      cmd heading: 119.988318 deg,
      new cmd heading: 120.159977 deg.

2021-08-13T23:37:15.846Z,1628897835.846 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:37:16.209Z,1628897836.209 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:37:16.209Z,1628897836.209 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:37:16.209Z,1628897836.209 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:37:16.210Z,1628897836.210 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:37:16.641Z,1628897836.641 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FFC,000,003AF,183,80,80,83,FF
2021-08-13T23:37:16.641Z,1628897836.641 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:37:16.641Z,1628897836.641 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:37:16.643Z,1628897836.643 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:37:17.031Z,1628897837.031 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:37:17.421Z,1628897837.421 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FEC,000,0038D,183,80,80,79,FF
2021-08-13T23:37:17.421Z,1628897837.421 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:37:17.479Z,1628897837.479 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:37:17.861Z,1628897837.861 [Micromodem](INFO): Nmea in: $SNTTA,,,,,233718.18*5B

2021-08-13T23:37:17.890Z,1628897837.890 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.039999 m, bearing: 122.943583 deg, deltaT: 4.435876 s, approachRate: -0.459886 m/s, LOS rate: 0.357973 deg/s, posRepo size: 4
2021-08-13T23:37:17.893Z,1628897837.893 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.039999 m,
      bearing: 122.943583 deg,
      approachRate: -0.459886 m/s,
      LOS rate: 0.357973 deg/s,
      cmd update: 1.073919 deg/s,
      cmd heading: 123.434652 deg,
      new cmd heading: 123.758737 deg.

2021-08-13T23:37:20.296Z,1628897840.296 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:37:20.657Z,1628897840.657 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:37:20.657Z,1628897840.657 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:37:20.657Z,1628897840.657 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:37:20.658Z,1628897840.658 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:37:21.057Z,1628897841.057 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FEC,000,0038D,183,80,80,79,FF
2021-08-13T23:37:21.057Z,1628897841.057 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:37:21.057Z,1628897841.057 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:37:21.059Z,1628897841.059 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:37:21.469Z,1628897841.469 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:37:21.866Z,1628897841.866 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,05D,000,00358,186,80,80,8B,FF
2021-08-13T23:37:21.866Z,1628897841.866 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:37:21.918Z,1628897841.918 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:37:22.311Z,1628897842.311 [Micromodem](INFO): Nmea in: $SNTTA,0.009015,,,,233722.59*44

2021-08-13T23:37:22.338Z,1628897842.338 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.860000 m, bearing: 120.847343 deg, deltaT: 4.434051 s, approachRate: -0.717177 m/s, LOS rate: -0.472759 deg/s, posRepo size: 4
2021-08-13T23:37:22.340Z,1628897842.340 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.860000 m,
      bearing: 120.847343 deg,
      approachRate: -0.717177 m/s,
      LOS rate: -0.472759 deg/s,
      cmd update: -1.418279 deg/s,
      cmd heading: 128.201024 deg,
      new cmd heading: 128.659865 deg.

2021-08-13T23:37:24.705Z,1628897844.705 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:37:25.097Z,1628897845.097 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:37:25.097Z,1628897845.097 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:37:25.097Z,1628897845.097 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:37:25.098Z,1628897845.098 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:37:25.497Z,1628897845.497 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
05D,000,00358,186,80,80,8B,FF
2021-08-13T23:37:25.498Z,1628897845.498 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:37:25.498Z,1628897845.498 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:37:25.499Z,1628897845.499 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:37:25.916Z,1628897845.916 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:37:26.310Z,1628897846.310 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0C0,000,0033C,186,80,80,A9,FF
2021-08-13T23:37:26.310Z,1628897846.310 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:37:26.434Z,1628897846.434 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:37:26.757Z,1628897846.757 [Micromodem](INFO): Nmea in: $SNTTA,0.060222,,,,233727.03*47

2021-08-13T23:37:26.780Z,1628897846.780 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.179997 m, bearing: 119.197934 deg, deltaT: 4.515971 s, approachRate: -0.372014 m/s, LOS rate: -0.365239 deg/s, posRepo size: 4
2021-08-13T23:37:26.782Z,1628897846.782 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.179997 m,
      bearing: 119.197934 deg,
      approachRate: -0.372014 m/s,
      LOS rate: -0.365239 deg/s,
      cmd update: -1.095717 deg/s,
      cmd heading: 121.796443 deg,
      new cmd heading: 121.295091 deg.

2021-08-13T23:37:29.216Z,1628897849.216 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:37:29.541Z,1628897849.541 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:37:29.541Z,1628897849.541 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:37:29.541Z,1628897849.541 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:37:29.542Z,1628897849.542 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:37:29.941Z,1628897849.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0C0,000,0033C,186,80,80,A9,FF
2021-08-13T23:37:29.941Z,1628897849.941 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:37:29.941Z,1628897849.941 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:37:29.943Z,1628897849.943 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:37:30.353Z,1628897850.353 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:37:30.793Z,1628897850.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,009,000,00307,183,80,80,75,FF
2021-08-13T23:37:30.793Z,1628897850.793 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:37:30.887Z,1628897850.887 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:37:31.205Z,1628897851.205 [Micromodem](INFO): Nmea in: $SNTTA,0.127542,,,,233731.48*4C

2021-08-13T23:37:31.288Z,1628897851.288 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.999999 m, bearing: 122.054060 deg, deltaT: 4.453331 s, approachRate: -0.714072 m/s, LOS rate: 0.641346 deg/s, posRepo size: 4
2021-08-13T23:37:31.290Z,1628897851.290 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.999999 m,
      bearing: 122.054060 deg,
      approachRate: -0.714072 m/s,
      LOS rate: 0.641346 deg/s,
      cmd update: 1.924038 deg/s,
      cmd heading: 116.929092 deg,
      new cmd heading: 116.473830 deg.

2021-08-13T23:37:33.618Z,1628897853.618 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:37:33.989Z,1628897853.989 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:37:33.989Z,1628897853.989 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:37:33.989Z,1628897853.989 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:37:33.990Z,1628897853.990 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:37:34.389Z,1628897854.389 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
009,000,00307,183,80,80,75,FF
2021-08-13T23:37:34.389Z,1628897854.389 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:37:34.389Z,1628897854.389 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:37:34.391Z,1628897854.391 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:37:34.857Z,1628897854.857 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:37:35.197Z,1628897855.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,027,000,002DF,184,80,80,B1,FF
2021-08-13T23:37:35.198Z,1628897855.197 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:37:35.256Z,1628897855.256 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:37:35.641Z,1628897855.641 [Micromodem](INFO): Nmea in: $SNTTA,,,,,233735.92*56

2021-08-13T23:37:35.667Z,1628897855.667 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 6.600000 m, bearing: 117.676455 deg, deltaT: 4.369439 s, approachRate: -0.549269 m/s, LOS rate: -1.001869 deg/s, posRepo size: 4
2021-08-13T23:37:35.670Z,1628897855.670 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.600000 m,
      bearing: 117.676455 deg,
      approachRate: -0.549269 m/s,
      LOS rate: -1.001869 deg/s,
      cmd update: -3.005607 deg/s,
      cmd heading: 125.358058 deg,
      new cmd heading: 126.162304 deg.

2021-08-13T23:37:38.073Z,1628897858.073 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:37:38.425Z,1628897858.425 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:37:38.425Z,1628897858.425 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:37:38.425Z,1628897858.425 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:37:38.426Z,1628897858.426 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:37:38.852Z,1628897858.852 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
027,000,002DF,184,80,80,B1,FF
2021-08-13T23:37:38.853Z,1628897858.853 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:37:38.853Z,1628897858.853 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:37:38.863Z,1628897858.863 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:37:39.240Z,1628897859.240 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:37:39.645Z,1628897859.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,09D,000,002C7,187,80,80,88,FF
2021-08-13T23:37:39.645Z,1628897859.645 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:37:39.666Z,1628897859.666 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:37:40.071Z,1628897860.071 [Micromodem](INFO): Nmea in: $SNTTA,0.031922,,,,233740.40*4E

2021-08-13T23:37:40.131Z,1628897860.131 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.160000 m, bearing: 117.668368 deg, deltaT: 4.409293 s, approachRate: -0.326583 m/s, LOS rate: -0.001834 deg/s, posRepo size: 4
2021-08-13T23:37:40.146Z,1628897860.146 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.160000 m,
      bearing: 117.668368 deg,
      approachRate: -0.326583 m/s,
      LOS rate: -0.001834 deg/s,
      cmd update: -0.005502 deg/s,
      cmd heading: 112.093518 deg,
      new cmd heading: 110.711059 deg.

2021-08-13T23:37:42.513Z,1628897862.513 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:37:42.917Z,1628897862.917 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:37:42.917Z,1628897862.917 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:37:42.917Z,1628897862.917 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:37:42.918Z,1628897862.918 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:37:43.281Z,1628897863.281 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
09D,000,002C7,187,80,80,88,FF
2021-08-13T23:37:43.282Z,1628897863.282 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:37:43.282Z,1628897863.282 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:37:43.283Z,1628897863.283 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:37:43.681Z,1628897863.681 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:37:44.093Z,1628897864.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,041,000,002C5,184,80,80,BA,FF
2021-08-13T23:37:44.093Z,1628897864.093 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:37:44.170Z,1628897864.170 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:37:44.530Z,1628897864.530 [Micromodem](INFO): Nmea in: $SNTTA,0.092228,,,,233744.82*4C

2021-08-13T23:37:44.556Z,1628897864.556 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.039999 m, bearing: 114.121628 deg, deltaT: 4.504729 s, approachRate: -0.026639 m/s, LOS rate: -0.787337 deg/s, posRepo size: 4
2021-08-13T23:37:44.562Z,1628897864.562 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.039999 m,
      bearing: 114.121628 deg,
      approachRate: -0.026639 m/s,
      LOS rate: -0.787337 deg/s,
      cmd update: -2.362011 deg/s,
      cmd heading: 112.068735 deg,
      new cmd heading: 112.066594 deg.

2021-08-13T23:37:46.975Z,1628897866.975 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:37:47.317Z,1628897867.317 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:37:47.317Z,1628897867.317 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:37:47.317Z,1628897867.317 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:37:47.318Z,1628897867.318 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:37:47.729Z,1628897867.729 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
041,000,002C5,184,80,80,BA,FF
2021-08-13T23:37:47.729Z,1628897867.729 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:37:47.729Z,1628897867.729 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:37:47.731Z,1628897867.731 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:37:48.146Z,1628897868.146 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:37:48.533Z,1628897868.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD2,000,002D1,185,80,80,AB,FF
2021-08-13T23:37:48.533Z,1628897868.533 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:37:48.557Z,1628897868.557 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:37:48.973Z,1628897868.973 [Micromodem](INFO): Nmea in: $SNTTA,,,,,233749.27*53

2021-08-13T23:37:49.021Z,1628897869.021 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.759999 m, bearing: 117.153467 deg, deltaT: 4.387968 s, approachRate: 0.164085 m/s, LOS rate: 0.690944 deg/s, posRepo size: 4
2021-08-13T23:37:49.023Z,1628897869.023 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.759999 m,
      bearing: 117.153467 deg,
      approachRate: 0.164085 m/s,
      LOS rate: 0.690944 deg/s,
      cmd update: 2.072831 deg/s,
      cmd heading: 101.714409 deg,
      new cmd heading: 100.604472 deg.

2021-08-13T23:37:51.391Z,1628897871.391 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:37:51.783Z,1628897871.783 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:37:51.784Z,1628897871.784 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:37:51.784Z,1628897871.784 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:37:51.785Z,1628897871.785 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:37:52.195Z,1628897872.195 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD2,000,002D1,185,80,80,AB,FF
2021-08-13T23:37:52.195Z,1628897872.195 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:37:52.195Z,1628897872.195 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:37:52.197Z,1628897872.197 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:37:52.572Z,1628897872.572 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:37:52.978Z,1628897872.978 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F57,000,00317,186,80,80,88,FF
2021-08-13T23:37:52.978Z,1628897872.978 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:37:53.034Z,1628897873.034 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:37:53.405Z,1628897873.405 [Micromodem](INFO): Nmea in: $SNTTA,,,,,233753.73*59

2021-08-13T23:37:53.431Z,1628897873.431 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.960000 m, bearing: 114.314943 deg, deltaT: 4.475248 s, approachRate: 0.938496 m/s, LOS rate: -0.634272 deg/s, posRepo size: 4
2021-08-13T23:37:53.434Z,1628897873.434 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.960000 m,
      bearing: 114.314943 deg,
      approachRate: 0.938496 m/s,
      LOS rate: -0.634272 deg/s,
      cmd update: -1.902816 deg/s,
      cmd heading: 110.967427 deg,
      new cmd heading: 111.831368 deg.

2021-08-13T23:37:55.846Z,1628897875.846 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:37:56.205Z,1628897876.205 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:37:56.205Z,1628897876.205 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:37:56.205Z,1628897876.205 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:37:56.206Z,1628897876.206 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:37:56.617Z,1628897876.617 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F57,000,00317,186,80,80,88,FF
2021-08-13T23:37:56.617Z,1628897876.617 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:37:56.617Z,1628897876.617 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:37:56.619Z,1628897876.619 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:37:57.029Z,1628897877.029 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:37:57.429Z,1628897877.429 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F97,000,00327,187,80,80,8D,FF
2021-08-13T23:37:57.429Z,1628897877.429 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:37:57.485Z,1628897877.485 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:37:57.870Z,1628897877.870 [Micromodem](INFO): Nmea in: $SNTTA,,,,,233758.15*52

2021-08-13T23:37:57.902Z,1628897877.902 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.920002 m, bearing: 114.543980 deg, deltaT: 4.451789 s, approachRate: 0.215644 m/s, LOS rate: 0.051448 deg/s, posRepo size: 4
2021-08-13T23:37:57.928Z,1628897877.928 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.920002 m,
      bearing: 114.543980 deg,
      approachRate: 0.215644 m/s,
      LOS rate: 0.051448 deg/s,
      cmd update: 0.154345 deg/s,
      cmd heading: 102.466017 deg,
      new cmd heading: 101.668701 deg.

2021-08-13T23:38:00.290Z,1628897880.290 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:38:00.653Z,1628897880.653 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:38:00.653Z,1628897880.653 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:38:00.654Z,1628897880.654 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:38:00.655Z,1628897880.655 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:38:01.053Z,1628897881.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F97,000,00327,187,80,80,8D,FF
2021-08-13T23:38:01.053Z,1628897881.053 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:38:01.053Z,1628897881.053 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:38:01.055Z,1628897881.055 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:38:01.469Z,1628897881.469 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:38:01.866Z,1628897881.866 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FED,000,00342,183,80,80,6A,FF
2021-08-13T23:38:01.866Z,1628897881.866 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:38:01.918Z,1628897881.918 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:38:02.293Z,1628897882.293 [Micromodem](INFO): Nmea in: $SNTTA,0.052487,,,,233802.59*48

2021-08-13T23:38:02.344Z,1628897882.344 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.540001 m, bearing: 107.412368 deg, deltaT: 4.432961 s, approachRate: 0.365444 m/s, LOS rate: -1.608769 deg/s, posRepo size: 4
2021-08-13T23:38:02.346Z,1628897882.346 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.540001 m,
      bearing: 107.412368 deg,
      approachRate: 0.365444 m/s,
      LOS rate: -1.608769 deg/s,
      cmd update: -4.826308 deg/s,
      cmd heading: 103.149607 deg,
      new cmd heading: 103.215722 deg.

2021-08-13T23:38:04.719Z,1628897884.719 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:38:05.093Z,1628897885.093 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:38:05.093Z,1628897885.093 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:38:05.093Z,1628897885.093 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:38:05.094Z,1628897885.094 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:38:05.510Z,1628897885.510 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FED,000,00342,183,80,80,6A,FF
2021-08-13T23:38:05.510Z,1628897885.510 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:38:05.510Z,1628897885.510 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:38:05.539Z,1628897885.539 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:38:05.908Z,1628897885.908 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:38:06.727Z,1628897886.727 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EDF,000,01615,187,80,80,42,FF
2021-08-13T23:38:06.729Z,1628897886.729 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:38:06.739Z,1628897886.739 [Micromodem](INFO): Nmea in: $SNTTA,,,,,233807.08*5B

2021-08-13T23:38:06.779Z,1628897886.779 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:38:07.209Z,1628897887.209 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 301.679993 m, bearing: 114.481033 deg, deltaT: 4.860646 s, approachRate: 59.485916 m/s, LOS rate: 1.454265 deg/s, posRepo size: 4
2021-08-13T23:38:07.209Z,1628897887.209 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 301.68 m. Rolling out.
2021-08-13T23:38:07.210Z,1628897887.210 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-08-13T23:38:07.552Z,1628897887.552 [ElevatorOffsetCalculator](INFO): Removing expired estimator for commanded vars: speed 1.00 m/s, pitch 30.00 deg, mass-position -26.00 mm.
2021-08-13T23:38:07.558Z,1628897887.558 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-13T23:38:07.558Z,1628897887.558 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T23:38:07.559Z,1628897887.559 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-13T23:38:07.559Z,1628897887.559 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-13T23:38:07.559Z,1628897887.559 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-13T23:38:07.559Z,1628897887.559 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-13T23:38:07.562Z,1628897887.562 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2021-08-13T23:38:07.563Z,1628897887.563 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-13T23:38:07.563Z,1628897887.563 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2021-08-13T23:38:07.563Z,1628897887.563 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2021-08-13T23:38:07.563Z,1628897887.563 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2021-08-13T23:38:07.563Z,1628897887.563 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2021-08-13T23:38:07.563Z,1628897887.563 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-08-13T23:38:07.971Z,1628897887.971 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-13T23:38:07.971Z,1628897887.971 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T23:38:07.971Z,1628897887.971 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-13T23:38:07.971Z,1628897887.971 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T23:38:09.574Z,1628897889.574 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:38:09.949Z,1628897889.949 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:38:09.949Z,1628897889.949 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:38:09.950Z,1628897889.950 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:38:09.950Z,1628897889.950 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:38:10.363Z,1628897890.363 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EDF,000,01615,187,80,80,42,FF
2021-08-13T23:38:10.363Z,1628897890.363 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:38:10.363Z,1628897890.363 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:38:10.365Z,1628897890.365 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:38:10.764Z,1628897890.764 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:38:11.571Z,1628897891.571 [Micromodem](INFO): Nmea in: $SNTTA,0.013669,,,,233811.90*48

2021-08-13T23:38:11.966Z,1628897891.966 [PowerOnly](INFO): Powering down loadControl
2021-08-13T23:38:12.397Z,1628897892.397 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:38:13.986Z,1628897893.986 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
5,187,80,80,42,FF
2021-08-13T23:38:13.987Z,1628897893.987 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
5,187,80,80,42,FF
2021-08-13T23:38:13.987Z,1628897893.987 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T23:38:14.934Z,1628897894.934 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:38:15.197Z,1628897895.197 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:38:15.197Z,1628897895.197 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:38:15.197Z,1628897895.197 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:38:15.198Z,1628897895.198 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:38:15.597Z,1628897895.597 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
5,187,80,80,42,FF
2021-08-13T23:38:15.597Z,1628897895.597 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:38:15.597Z,1628897895.597 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:38:15.599Z,1628897895.599 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:38:16.005Z,1628897896.005 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:38:16.417Z,1628897896.417 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1D2,000,003AD,186,80,80,87,FF
2021-08-13T23:38:16.418Z,1628897896.418 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:38:16.871Z,1628897896.871 [Micromodem](INFO): Nmea in: $SNTTA,,,,,233817.13*50

2021-08-13T23:38:16.944Z,1628897896.944 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.960001 m, bearing: 55.618217 deg, deltaT: 9.710848 s, approachRate: -29.113832 m/s, LOS rate: -6.061553 deg/s, posRepo size: 4
2021-08-13T23:38:17.256Z,1628897897.256 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-13T23:38:17.256Z,1628897897.256 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T23:38:17.256Z,1628897897.256 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-13T23:38:17.257Z,1628897897.257 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-13T23:38:17.257Z,1628897897.257 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-13T23:38:17.257Z,1628897897.257 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-13T23:38:17.737Z,1628897897.737 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-13T23:38:17.737Z,1628897897.737 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T23:38:17.737Z,1628897897.737 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-13T23:38:17.737Z,1628897897.737 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T23:38:19.279Z,1628897899.279 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:38:19.642Z,1628897899.642 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:38:19.642Z,1628897899.642 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:38:19.642Z,1628897899.642 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:38:19.643Z,1628897899.643 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:38:20.045Z,1628897900.045 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1D2,000,003AD,186,80,80,87,FF
2021-08-13T23:38:20.045Z,1628897900.045 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:38:20.045Z,1628897900.045 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:38:20.047Z,1628897900.047 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:38:20.545Z,1628897900.545 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:38:20.891Z,1628897900.891 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1DF,000,003C0,186,80,80,92,FF
2021-08-13T23:38:20.891Z,1628897900.891 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:38:20.982Z,1628897900.982 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:38:21.297Z,1628897901.297 [Micromodem](INFO): Nmea in: $SNTTA,,,,,233821.58*5A

2021-08-13T23:38:21.327Z,1628897901.327 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.100002 m, bearing: 53.893198 deg, deltaT: 4.492210 s, approachRate: 0.253773 m/s, LOS rate: -0.384002 deg/s, posRepo size: 4
2021-08-13T23:38:23.706Z,1628897903.706 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:38:24.077Z,1628897904.077 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:38:24.078Z,1628897904.078 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:38:24.078Z,1628897904.078 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:38:24.079Z,1628897904.079 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:38:24.489Z,1628897904.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1DF,000,003C0,186,80,80,92,FF
2021-08-13T23:38:24.489Z,1628897904.489 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:38:24.489Z,1628897904.489 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:38:24.491Z,1628897904.491 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:38:24.929Z,1628897904.929 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:38:25.308Z,1628897905.308 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0C7,000,003CA,187,80,80,52,FF
2021-08-13T23:38:25.309Z,1628897905.309 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:38:25.343Z,1628897905.343 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:38:25.734Z,1628897905.734 [Micromodem](INFO): Nmea in: $SNTTA,0.049830,,,,233826.02*4A

2021-08-13T23:38:25.758Z,1628897905.758 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.700001 m, bearing: 68.804621 deg, deltaT: 4.361341 s, approachRate: 0.137572 m/s, LOS rate: 3.419000 deg/s, posRepo size: 4
2021-08-13T23:38:26.959Z,1628897906.959 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T23:38:28.189Z,1628897908.189 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:38:28.533Z,1628897908.533 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:38:28.533Z,1628897908.533 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:38:28.533Z,1628897908.533 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:38:28.534Z,1628897908.534 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:38:28.933Z,1628897908.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0C7,000,003CA,187,80,80,52,FF
2021-08-13T23:38:28.933Z,1628897908.933 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:38:28.934Z,1628897908.934 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:38:28.935Z,1628897908.935 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:38:29.345Z,1628897909.345 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:38:29.745Z,1628897909.745 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,25D,000,003D4,188,80,80,A4,FF
2021-08-13T23:38:29.745Z,1628897909.745 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:38:29.823Z,1628897909.823 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:38:30.201Z,1628897910.201 [Micromodem](INFO): Nmea in: $SNTTA,0.054960,,,,233830.47*44

2021-08-13T23:38:30.255Z,1628897910.255 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.299999 m, bearing: 48.308924 deg, deltaT: 4.484620 s, approachRate: 0.133790 m/s, LOS rate: -4.570219 deg/s, posRepo size: 4
2021-08-13T23:38:32.598Z,1628897912.598 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:38:32.977Z,1628897912.977 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:38:32.977Z,1628897912.977 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:38:32.977Z,1628897912.977 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:38:32.978Z,1628897912.978 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:38:33.385Z,1628897913.385 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
25D,000,003D4,188,80,80,A4,FF
2021-08-13T23:38:33.385Z,1628897913.385 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:38:33.385Z,1628897913.385 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:38:33.387Z,1628897913.387 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:38:33.780Z,1628897913.780 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:38:34.189Z,1628897914.189 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,245,000,003DC,189,80,80,86,FF
2021-08-13T23:38:34.189Z,1628897914.189 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:38:34.242Z,1628897914.242 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:38:34.617Z,1628897914.617 [Micromodem](INFO): Nmea in: $SNTTA,0.033308,,,,233834.92*4D

2021-08-13T23:38:34.649Z,1628897914.649 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.779999 m, bearing: 45.503618 deg, deltaT: 4.414402 s, approachRate: 0.108735 m/s, LOS rate: -0.635489 deg/s, posRepo size: 4
2021-08-13T23:38:35.015Z,1628897915.015 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T23:38:37.061Z,1628897917.061 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:38:37.413Z,1628897917.413 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:38:37.413Z,1628897917.413 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:38:37.413Z,1628897917.413 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:38:37.414Z,1628897917.414 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:38:37.825Z,1628897917.825 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
245,000,003DC,189,80,80,86,FF
2021-08-13T23:38:37.826Z,1628897917.826 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:38:37.826Z,1628897917.826 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:38:37.827Z,1628897917.827 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:38:38.229Z,1628897918.229 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:38:38.629Z,1628897918.629 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,276,000,003E2,189,80,80,8C,FF
2021-08-13T23:38:38.629Z,1628897918.629 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:38:38.649Z,1628897918.649 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:38:39.057Z,1628897919.057 [Micromodem](INFO): Nmea in: $SNTTA,,,,,233839.36*5B

2021-08-13T23:38:39.147Z,1628897919.147 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.140001 m, bearing: 41.758766 deg, deltaT: 4.406514 s, approachRate: 0.081698 m/s, LOS rate: -0.849845 deg/s, posRepo size: 4
2021-08-13T23:38:41.505Z,1628897921.505 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:38:41.857Z,1628897921.857 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:38:41.857Z,1628897921.857 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:38:41.857Z,1628897921.857 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:38:41.858Z,1628897921.858 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:38:42.257Z,1628897922.257 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
276,000,003E2,189,80,80,8C,FF
2021-08-13T23:38:42.257Z,1628897922.257 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:38:42.258Z,1628897922.258 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:38:42.259Z,1628897922.259 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:38:42.669Z,1628897922.669 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:38:43.063Z,1628897923.063 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,29D,000,003E7,189,80,80,5F,FF
2021-08-13T23:38:43.063Z,1628897923.063 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:38:43.151Z,1628897923.151 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:38:43.505Z,1628897923.505 [Micromodem](INFO): Nmea in: $SNTTA,0.061565,,,,233843.80*44

2021-08-13T23:38:43.548Z,1628897923.548 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.440001 m, bearing: 39.068043 deg, deltaT: 4.506840 s, approachRate: 0.066565 m/s, LOS rate: -0.597031 deg/s, posRepo size: 4
2021-08-13T23:38:45.143Z,1628897925.143 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-13T23:38:45.939Z,1628897925.939 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:38:46.310Z,1628897926.310 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:38:46.310Z,1628897926.310 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:38:46.310Z,1628897926.310 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:38:46.311Z,1628897926.311 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:38:46.709Z,1628897926.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
29D,000,003E7,189,80,80,5F,FF
2021-08-13T23:38:46.709Z,1628897926.709 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:38:46.709Z,1628897926.709 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:38:46.711Z,1628897926.711 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:38:47.143Z,1628897927.143 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:38:47.513Z,1628897927.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,182,000,003ED,186,80,80,63,FF
2021-08-13T23:38:47.513Z,1628897927.513 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:38:47.560Z,1628897927.560 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:38:47.961Z,1628897927.961 [Micromodem](INFO): Nmea in: $SNTTA,,,,,233848.25*5F

2021-08-13T23:38:47.987Z,1628897927.987 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.799997 m, bearing: 52.886575 deg, deltaT: 4.404593 s, approachRate: 0.081732 m/s, LOS rate: 3.137300 deg/s, posRepo size: 4
2021-08-13T23:38:50.374Z,1628897930.374 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:38:50.745Z,1628897930.745 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:38:50.745Z,1628897930.745 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:38:50.745Z,1628897930.745 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:38:50.746Z,1628897930.746 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:38:51.181Z,1628897931.181 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
182,000,003ED,186,80,80,63,FF
2021-08-13T23:38:51.181Z,1628897931.181 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:38:51.181Z,1628897931.181 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:38:51.183Z,1628897931.183 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:38:51.569Z,1628897931.569 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:38:52.382Z,1628897932.382 [Micromodem](INFO): Nmea in: $SNTTA,,,,,233852.72*56

2021-08-13T23:38:53.253Z,1628897933.253 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:38:54.800Z,1628897934.800 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,186,80,80,63,FF
2021-08-13T23:38:54.800Z,1628897934.800 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,186,80,80,63,FF
2021-08-13T23:38:54.800Z,1628897934.800 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T23:38:55.206Z,1628897935.206 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T23:38:56.033Z,1628897936.033 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:38:56.423Z,1628897936.423 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:38:56.423Z,1628897936.423 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:38:56.423Z,1628897936.423 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:38:56.424Z,1628897936.424 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:38:56.844Z,1628897936.844 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,186,80,80,63,FF
2021-08-13T23:38:56.845Z,1628897936.845 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:38:56.845Z,1628897936.845 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:38:56.855Z,1628897936.855 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:38:57.224Z,1628897937.224 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:38:57.629Z,1628897937.629 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,16C,000,003F4,186,80,80,79,FF
2021-08-13T23:38:57.630Z,1628897937.630 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:38:57.649Z,1628897937.649 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:38:58.055Z,1628897938.055 [Micromodem](INFO): Nmea in: $SNTTA,0.063797,,,,233858.39*41

2021-08-13T23:38:58.087Z,1628897938.087 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.219997 m, bearing: 52.904767 deg, deltaT: 10.088089 s, approachRate: 0.041633 m/s, LOS rate: 0.001803 deg/s, posRepo size: 4
2021-08-13T23:39:00.485Z,1628897940.485 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:39:00.890Z,1628897940.890 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:39:00.890Z,1628897940.890 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:39:00.890Z,1628897940.890 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:39:00.891Z,1628897940.891 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:39:01.274Z,1628897941.274 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
16C,000,003F4,186,80,80,79,FF
2021-08-13T23:39:01.274Z,1628897941.274 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:39:01.274Z,1628897941.274 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:39:01.296Z,1628897941.296 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:39:01.688Z,1628897941.688 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:39:02.081Z,1628897942.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,22F,000,003F5,189,80,80,80,FF
2021-08-13T23:39:02.081Z,1628897942.081 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:39:02.168Z,1628897942.168 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:39:02.505Z,1628897942.505 [Micromodem](INFO): Nmea in: $SNTTA,0.304053,,,,233902.83*43

2021-08-13T23:39:02.539Z,1628897942.539 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.280001 m, bearing: 42.965192 deg, deltaT: 4.519659 s, approachRate: 0.013276 m/s, LOS rate: -2.199187 deg/s, posRepo size: 4
2021-08-13T23:39:04.984Z,1628897944.984 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:39:05.305Z,1628897945.305 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:39:05.305Z,1628897945.305 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:39:05.305Z,1628897945.305 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:39:05.306Z,1628897945.306 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:39:05.717Z,1628897945.717 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
22F,000,003F5,189,80,80,80,FF
2021-08-13T23:39:05.717Z,1628897945.717 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:39:05.717Z,1628897945.717 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:39:05.719Z,1628897945.719 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:39:06.149Z,1628897946.149 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:39:06.517Z,1628897946.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1CA,000,003F7,186,80,80,6F,FF
2021-08-13T23:39:06.517Z,1628897946.517 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:39:06.537Z,1628897946.537 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:39:06.945Z,1628897946.945 [Micromodem](INFO): Nmea in: $SNTTA,0.045779,0.457557,,,233907.26*5F

2021-08-13T23:39:06.992Z,1628897946.992 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.400002 m, bearing: 48.011524 deg, deltaT: 4.368631 s, approachRate: 0.027469 m/s, LOS rate: 1.155129 deg/s, posRepo size: 4
2021-08-13T23:39:09.393Z,1628897949.393 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:39:09.749Z,1628897949.749 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:39:09.749Z,1628897949.749 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:39:09.749Z,1628897949.749 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:39:09.750Z,1628897949.750 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:39:10.185Z,1628897950.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1CA,000,003F7,186,80,80,6F,FF
2021-08-13T23:39:10.185Z,1628897950.185 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:39:10.185Z,1628897950.185 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:39:10.187Z,1628897950.187 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:39:10.561Z,1628897950.561 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:39:10.963Z,1628897950.963 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,248,000,003F8,189,80,80,96,FF
2021-08-13T23:39:10.963Z,1628897950.963 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:39:11.018Z,1628897951.018 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:39:11.391Z,1628897951.391 [Micromodem](INFO): Nmea in: $SNTTA,0.058313,,,,233911.72*42

2021-08-13T23:39:11.436Z,1628897951.436 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.459999 m, bearing: 41.484646 deg, deltaT: 4.480753 s, approachRate: 0.013390 m/s, LOS rate: -1.456647 deg/s, posRepo size: 4
2021-08-13T23:39:13.803Z,1628897953.803 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:39:14.193Z,1628897954.193 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:39:14.193Z,1628897954.193 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:39:14.194Z,1628897954.194 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:39:14.195Z,1628897954.195 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:39:14.598Z,1628897954.598 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
248,000,003F8,189,80,80,96,FF
2021-08-13T23:39:14.599Z,1628897954.599 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:39:14.599Z,1628897954.599 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:39:14.601Z,1628897954.601 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:39:15.008Z,1628897955.008 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:39:15.834Z,1628897955.834 [Micromodem](INFO): Nmea in: $SNTTA,,,,,233916.14*57

2021-08-13T23:39:16.634Z,1628897956.634 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:39:18.239Z,1628897958.239 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
8,189,80,80,96,FF
2021-08-13T23:39:18.239Z,1628897958.239 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
8,189,80,80,96,FF
2021-08-13T23:39:18.239Z,1628897958.239 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T23:39:19.476Z,1628897959.476 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:39:19.854Z,1628897959.854 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:39:19.854Z,1628897959.854 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:39:19.876Z,1628897959.876 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:39:19.877Z,1628897959.877 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:39:20.253Z,1628897960.253 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
8,189,80,80,96,FF
2021-08-13T23:39:20.253Z,1628897960.253 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:39:20.253Z,1628897960.253 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:39:20.255Z,1628897960.255 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:39:20.666Z,1628897960.666 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:39:21.065Z,1628897961.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,15B,000,003FE,185,80,80,7E,FF
2021-08-13T23:39:21.065Z,1628897961.065 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:39:21.196Z,1628897961.196 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:39:21.505Z,1628897961.505 [Micromodem](INFO): Nmea in: $SNTTA,,,,,233921.79*58

2021-08-13T23:39:21.524Z,1628897961.524 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.819998 m, bearing: 53.497426 deg, deltaT: 10.178731 s, approachRate: 0.035368 m/s, LOS rate: 1.180184 deg/s, posRepo size: 4
2021-08-13T23:39:23.916Z,1628897963.916 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:39:24.297Z,1628897964.297 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:39:24.297Z,1628897964.297 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:39:24.297Z,1628897964.297 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:39:24.298Z,1628897964.298 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:39:24.697Z,1628897964.697 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
15B,000,003FE,185,80,80,7E,FF
2021-08-13T23:39:24.697Z,1628897964.697 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:39:24.697Z,1628897964.697 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:39:24.699Z,1628897964.699 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:39:25.155Z,1628897965.155 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:39:25.934Z,1628897965.934 [Micromodem](INFO): Nmea in: $SNTTA,0.041733,,,,233926.23*4C

2021-08-13T23:39:26.729Z,1628897966.729 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,191,000,03713,186,80,80,8F,FF
2021-08-13T23:39:26.729Z,1628897966.729 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:39:26.748Z,1628897966.748 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:39:27.208Z,1628897967.208 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 808.440063 m, bearing: 50.889369 deg, deltaT: 5.552210 s, approachRate: 141.316711 m/s, LOS rate: -0.469733 deg/s, posRepo size: 4
2021-08-13T23:39:27.557Z,1628897967.557 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-13T23:39:27.558Z,1628897967.558 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T23:39:27.558Z,1628897967.558 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-13T23:39:27.558Z,1628897967.558 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-13T23:39:27.559Z,1628897967.559 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-13T23:39:27.559Z,1628897967.559 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-13T23:39:27.966Z,1628897967.966 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-13T23:39:27.966Z,1628897967.966 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T23:39:27.966Z,1628897967.966 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-13T23:39:27.966Z,1628897967.966 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T23:39:29.280Z,1628897969.280 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:39:29.541Z,1628897969.541 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:39:29.541Z,1628897969.541 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:39:29.541Z,1628897969.541 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:39:29.542Z,1628897969.542 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:39:29.962Z,1628897969.962 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
191,000,03713,186,80,80,8F,FF
2021-08-13T23:39:29.962Z,1628897969.962 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:39:29.963Z,1628897969.963 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:39:29.965Z,1628897969.965 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:39:30.348Z,1628897970.348 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:39:30.761Z,1628897970.761 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,10A,000,00403,186,80,80,69,FF
2021-08-13T23:39:30.762Z,1628897970.762 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:39:31.229Z,1628897971.229 [Micromodem](INFO): Nmea in: $SNTTA,,,,,233931.50*52

2021-08-13T23:39:31.296Z,1628897971.296 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.120003 m, bearing: 57.445176 deg, deltaT: 4.089912 s, approachRate: -191.769424 m/s, LOS rate: 1.602921 deg/s, posRepo size: 4
2021-08-13T23:39:31.605Z,1628897971.605 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-13T23:39:31.606Z,1628897971.606 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T23:39:31.606Z,1628897971.606 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-13T23:39:31.606Z,1628897971.606 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-13T23:39:31.606Z,1628897971.606 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-13T23:39:31.606Z,1628897971.606 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-13T23:39:32.009Z,1628897972.009 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-13T23:39:32.009Z,1628897972.009 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T23:39:32.009Z,1628897972.009 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-13T23:39:32.009Z,1628897972.009 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T23:39:33.606Z,1628897973.606 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:39:33.993Z,1628897973.993 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:39:33.993Z,1628897973.993 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:39:33.994Z,1628897973.994 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:39:33.995Z,1628897973.995 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:39:34.400Z,1628897974.400 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
10A,000,00403,186,80,80,69,FF
2021-08-13T23:39:34.400Z,1628897974.400 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:39:34.401Z,1628897974.401 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:39:34.402Z,1628897974.402 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:39:34.875Z,1628897974.875 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:39:34.917Z,1628897974.917 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-13T23:39:35.209Z,1628897975.209 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,035,000,00404,184,80,80,5B,FF
2021-08-13T23:39:35.209Z,1628897975.209 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:39:35.243Z,1628897975.243 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:39:35.650Z,1628897975.650 [Micromodem](INFO): Nmea in: $SNTTA,0.044686,,,,233935.94*48

2021-08-13T23:39:35.685Z,1628897975.685 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.180000 m, bearing: 67.484434 deg, deltaT: 4.425085 s, approachRate: 0.013559 m/s, LOS rate: 2.268715 deg/s, posRepo size: 4
2021-08-13T23:39:38.053Z,1628897978.053 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:39:38.429Z,1628897978.429 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:39:38.430Z,1628897978.430 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:39:38.430Z,1628897978.430 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:39:38.431Z,1628897978.431 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:39:38.854Z,1628897978.854 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
035,000,00404,184,80,80,5B,FF
2021-08-13T23:39:38.855Z,1628897978.855 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:39:38.855Z,1628897978.855 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:39:38.870Z,1628897978.870 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:39:39.280Z,1628897979.280 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:39:39.674Z,1628897979.674 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,111,000,003FB,186,80,80,7E,FF
2021-08-13T23:39:39.675Z,1628897979.675 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:39:39.735Z,1628897979.735 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:39:40.113Z,1628897980.113 [Micromodem](INFO): Nmea in: $SNTTA,0.033107,,,,233940.41*4C

2021-08-13T23:39:40.173Z,1628897980.173 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.639997 m, bearing: 56.033380 deg, deltaT: 4.471134 s, approachRate: -0.120775 m/s, LOS rate: -2.561107 deg/s, posRepo size: 4
2021-08-13T23:39:42.540Z,1628897982.540 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:39:42.918Z,1628897982.918 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:39:42.918Z,1628897982.918 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:39:42.918Z,1628897982.918 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:39:42.919Z,1628897982.919 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:39:43.305Z,1628897983.305 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
111,000,003FB,186,80,80,7E,FF
2021-08-13T23:39:43.305Z,1628897983.305 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:39:43.305Z,1628897983.305 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:39:43.307Z,1628897983.307 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:39:43.705Z,1628897983.705 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:39:44.106Z,1628897984.106 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,09C,000,003FE,187,80,80,60,FF
2021-08-13T23:39:44.108Z,1628897984.108 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:39:44.174Z,1628897984.174 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:39:44.538Z,1628897984.538 [Micromodem](INFO): Nmea in: $SNTTA,0.036654,,,,233944.84*45

2021-08-13T23:39:44.594Z,1628897984.594 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.819998 m, bearing: 61.852841 deg, deltaT: 4.439115 s, approachRate: 0.040549 m/s, LOS rate: 1.310951 deg/s, posRepo size: 4
2021-08-13T23:39:47.024Z,1628897987.024 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:39:47.341Z,1628897987.341 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:39:47.341Z,1628897987.341 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:39:47.341Z,1628897987.341 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:39:47.342Z,1628897987.342 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:39:47.741Z,1628897987.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
09C,000,003FE,187,80,80,60,FF
2021-08-13T23:39:47.741Z,1628897987.741 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:39:47.741Z,1628897987.741 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:39:47.743Z,1628897987.743 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:39:48.173Z,1628897988.173 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:39:48.549Z,1628897988.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4C9,000,00403,189,80,80,3F,FF
2021-08-13T23:39:48.549Z,1628897988.549 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:39:48.569Z,1628897988.569 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:39:48.998Z,1628897988.998 [Micromodem](INFO): Nmea in: $SNTTA,0.074498,,,,233949.28*4A

2021-08-13T23:39:49.033Z,1628897989.033 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.120003 m, bearing: 7.608902 deg, deltaT: 4.394783 s, approachRate: 0.068264 m/s, LOS rate: -12.342802 deg/s, posRepo size: 4
2021-08-13T23:39:51.433Z,1628897991.433 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:39:51.785Z,1628897991.785 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:39:51.785Z,1628897991.785 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:39:51.785Z,1628897991.785 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:39:51.786Z,1628897991.786 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:39:52.201Z,1628897992.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
4C9,000,00403,189,80,80,3F,FF
2021-08-13T23:39:52.201Z,1628897992.201 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:39:52.201Z,1628897992.201 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:39:52.203Z,1628897992.203 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:39:52.589Z,1628897992.589 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:39:53.005Z,1628897993.005 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,14C,000,003FD,186,80,80,7E,FF
2021-08-13T23:39:53.006Z,1628897993.006 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:39:53.009Z,1628897993.009 [Micromodem](INFO): Nmea in: $SNTTA,0.215640,0.214634,,,233953.74*52

2021-08-13T23:39:53.088Z,1628897993.088 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:39:53.458Z,1628897993.458 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.760000 m, bearing: 51.875017 deg, deltaT: 4.520728 s, approachRate: -0.079634 m/s, LOS rate: 9.791811 deg/s, posRepo size: 4
2021-08-13T23:39:55.056Z,1628897995.056 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-13T23:39:55.855Z,1628897995.855 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:39:56.225Z,1628897996.225 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:39:56.225Z,1628897996.225 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:39:56.225Z,1628897996.225 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:39:56.226Z,1628897996.226 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:39:56.637Z,1628897996.637 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
14C,000,003FD,186,80,80,7E,FF
2021-08-13T23:39:56.637Z,1628897996.637 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:39:56.637Z,1628897996.637 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:39:56.639Z,1628897996.639 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:39:57.045Z,1628897997.045 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:39:57.437Z,1628897997.437 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,076,000,00404,187,80,80,93,FF
2021-08-13T23:39:57.437Z,1628897997.437 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:39:57.492Z,1628897997.492 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:39:57.883Z,1628897997.883 [Micromodem](INFO): Nmea in: $SNTTA,,,,,233958.17*5E

2021-08-13T23:39:57.910Z,1628897997.910 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.180000 m, bearing: 61.852998 deg, deltaT: 4.402985 s, approachRate: 0.095390 m/s, LOS rate: 2.266185 deg/s, posRepo size: 4
2021-08-13T23:40:00.312Z,1628898000.312 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:40:00.681Z,1628898000.681 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:40:00.681Z,1628898000.681 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:40:00.682Z,1628898000.682 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:40:00.682Z,1628898000.682 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:40:01.073Z,1628898001.073 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
076,000,00404,187,80,80,93,FF
2021-08-13T23:40:01.073Z,1628898001.073 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:40:01.073Z,1628898001.073 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:40:01.075Z,1628898001.075 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:40:01.477Z,1628898001.477 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:40:01.897Z,1628898001.897 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,154,000,003FB,185,80,80,63,FF
2021-08-13T23:40:01.898Z,1628898001.898 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:40:01.949Z,1628898001.949 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:40:02.329Z,1628898002.329 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234002.61*5E

2021-08-13T23:40:02.377Z,1628898002.377 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.639997 m, bearing: 49.774737 deg, deltaT: 4.457107 s, approachRate: -0.121155 m/s, LOS rate: -2.709888 deg/s, posRepo size: 4
2021-08-13T23:40:04.722Z,1628898004.722 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:40:05.112Z,1628898005.112 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:40:05.113Z,1628898005.113 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:40:05.113Z,1628898005.113 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:40:05.115Z,1628898005.115 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:40:05.521Z,1628898005.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
154,000,003FB,185,80,80,63,FF
2021-08-13T23:40:05.521Z,1628898005.521 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:40:05.521Z,1628898005.521 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:40:05.523Z,1628898005.523 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:40:05.928Z,1628898005.928 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:40:06.315Z,1628898006.315 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1E7,000,003FA,187,80,80,8C,FF
2021-08-13T23:40:06.315Z,1628898006.315 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:40:06.378Z,1628898006.378 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:40:06.769Z,1628898006.769 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234007.06*5A

2021-08-13T23:40:06.861Z,1628898006.861 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.580000 m, bearing: 41.278716 deg, deltaT: 4.428597 s, approachRate: -0.013548 m/s, LOS rate: -1.918445 deg/s, posRepo size: 4
2021-08-13T23:40:09.234Z,1628898009.234 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:40:09.553Z,1628898009.553 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:40:09.553Z,1628898009.553 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:40:09.553Z,1628898009.553 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:40:09.554Z,1628898009.554 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:40:09.957Z,1628898009.957 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1E7,000,003FA,187,80,80,8C,FF
2021-08-13T23:40:09.957Z,1628898009.957 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:40:09.957Z,1628898009.957 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:40:09.959Z,1628898009.959 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:40:10.365Z,1628898010.365 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:40:10.773Z,1628898010.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1E9,000,003F6,186,80,80,84,FF
2021-08-13T23:40:10.773Z,1628898010.773 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:40:10.798Z,1628898010.798 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:40:11.213Z,1628898011.213 [Micromodem](INFO): Nmea in: $SNTTA,0.334751,0.334688,,,234011.50*5B

2021-08-13T23:40:11.279Z,1628898011.279 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.339998 m, bearing: 40.123485 deg, deltaT: 4.420219 s, approachRate: -0.054296 m/s, LOS rate: -0.261352 deg/s, posRepo size: 4
2021-08-13T23:40:13.615Z,1628898013.615 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:40:14.002Z,1628898014.002 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:40:14.002Z,1628898014.002 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:40:14.003Z,1628898014.003 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:40:14.004Z,1628898014.004 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:40:14.405Z,1628898014.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1E9,000,003F6,186,80,80,84,FF
2021-08-13T23:40:14.405Z,1628898014.405 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:40:14.405Z,1628898014.405 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:40:14.407Z,1628898014.407 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:40:14.821Z,1628898014.821 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:40:15.213Z,1628898015.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1A2,000,003F7,186,80,80,57,FF
2021-08-13T23:40:15.213Z,1628898015.213 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:40:15.312Z,1628898015.312 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:40:15.661Z,1628898015.661 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234015.94*52

2021-08-13T23:40:15.683Z,1628898015.683 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.400002 m, bearing: 42.445374 deg, deltaT: 4.513678 s, approachRate: 0.013294 m/s, LOS rate: 0.514412 deg/s, posRepo size: 4
2021-08-13T23:40:18.065Z,1628898018.065 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:40:18.441Z,1628898018.441 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:40:18.441Z,1628898018.441 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:40:18.441Z,1628898018.441 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:40:18.442Z,1628898018.442 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:40:18.878Z,1628898018.878 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1A2,000,003F7,186,80,80,57,FF
2021-08-13T23:40:18.878Z,1628898018.878 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:40:18.878Z,1628898018.878 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:40:18.897Z,1628898018.897 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:40:19.257Z,1628898019.257 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:40:19.653Z,1628898019.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1C3,000,003F5,186,80,80,92,FF
2021-08-13T23:40:19.654Z,1628898019.654 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:40:19.673Z,1628898019.673 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:40:20.070Z,1628898020.070 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234020.43*5E

2021-08-13T23:40:20.124Z,1628898020.124 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.280001 m, bearing: 40.460477 deg, deltaT: 4.361044 s, approachRate: -0.027517 m/s, LOS rate: -0.455143 deg/s, posRepo size: 4
2021-08-13T23:40:22.537Z,1628898022.537 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:40:22.909Z,1628898022.909 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:40:22.909Z,1628898022.909 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:40:22.909Z,1628898022.909 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:40:22.910Z,1628898022.910 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:40:23.289Z,1628898023.289 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1C3,000,003F5,186,80,80,92,FF
2021-08-13T23:40:23.289Z,1628898023.289 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:40:23.289Z,1628898023.289 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:40:23.291Z,1628898023.291 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:40:23.710Z,1628898023.710 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:40:24.097Z,1628898024.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1EF,000,003F5,187,80,80,96,FF
2021-08-13T23:40:24.097Z,1628898024.097 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:40:24.157Z,1628898024.157 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:40:24.542Z,1628898024.542 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234024.82*57

2021-08-13T23:40:24.568Z,1628898024.568 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.280001 m, bearing: 38.595538 deg, deltaT: 4.484252 s, approachRate: 0.000000 m/s, LOS rate: -0.415886 deg/s, posRepo size: 4
2021-08-13T23:40:26.975Z,1628898026.975 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:40:27.329Z,1628898027.329 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:40:27.329Z,1628898027.329 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:40:27.329Z,1628898027.329 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:40:27.330Z,1628898027.330 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:40:27.737Z,1628898027.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1EF,000,003F5,187,80,80,96,FF
2021-08-13T23:40:27.737Z,1628898027.737 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:40:27.737Z,1628898027.737 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:40:27.739Z,1628898027.739 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:40:28.161Z,1628898028.161 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:40:28.545Z,1628898028.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1AC,000,003F3,185,80,80,A5,FF
2021-08-13T23:40:28.545Z,1628898028.545 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:40:28.597Z,1628898028.597 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:40:28.982Z,1628898028.982 [Micromodem](INFO): Nmea in: $SNTTA,0.040366,,,,234029.28*43

2021-08-13T23:40:29.018Z,1628898029.018 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.160000 m, bearing: 42.928589 deg, deltaT: 4.440204 s, approachRate: -0.027026 m/s, LOS rate: 0.975868 deg/s, posRepo size: 4
2021-08-13T23:40:31.405Z,1628898031.405 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:40:31.777Z,1628898031.777 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:40:31.777Z,1628898031.777 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:40:31.777Z,1628898031.777 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:40:31.778Z,1628898031.778 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:40:32.189Z,1628898032.189 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1AC,000,003F3,185,80,80,A5,FF
2021-08-13T23:40:32.189Z,1628898032.189 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:40:32.189Z,1628898032.189 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:40:32.191Z,1628898032.191 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:40:32.588Z,1628898032.588 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:40:32.989Z,1628898032.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0AD,000,003F3,187,80,80,7D,FF
2021-08-13T23:40:32.990Z,1628898032.990 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:40:33.066Z,1628898033.066 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:40:33.425Z,1628898033.425 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234033.73*5F

2021-08-13T23:40:33.469Z,1628898033.469 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.160000 m, bearing: 56.525293 deg, deltaT: 4.468625 s, approachRate: 0.000000 m/s, LOS rate: 3.042704 deg/s, posRepo size: 4
2021-08-13T23:40:35.853Z,1628898035.853 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:40:36.217Z,1628898036.217 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:40:36.217Z,1628898036.217 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:40:36.217Z,1628898036.217 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:40:36.218Z,1628898036.218 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:40:36.633Z,1628898036.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0AD,000,003F3,187,80,80,7D,FF
2021-08-13T23:40:36.633Z,1628898036.633 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:40:36.633Z,1628898036.633 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:40:36.635Z,1628898036.635 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:40:37.037Z,1628898037.037 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:40:37.457Z,1628898037.457 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,07D,000,003EF,186,80,80,93,FF
2021-08-13T23:40:37.457Z,1628898037.457 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:40:37.487Z,1628898037.487 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:40:37.867Z,1628898037.867 [Micromodem](INFO): Nmea in: $SNTTA,0.035402,,,,234038.17*48

2021-08-13T23:40:37.891Z,1628898037.891 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.919998 m, bearing: 60.398974 deg, deltaT: 4.420889 s, approachRate: -0.054288 m/s, LOS rate: 0.876222 deg/s, posRepo size: 4
2021-08-13T23:40:40.296Z,1628898040.296 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:40:40.674Z,1628898040.674 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:40:40.674Z,1628898040.674 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:40:40.674Z,1628898040.674 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:40:40.675Z,1628898040.675 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:40:41.069Z,1628898041.069 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
07D,000,003EF,186,80,80,93,FF
2021-08-13T23:40:41.069Z,1628898041.069 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:40:41.069Z,1628898041.069 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:40:41.071Z,1628898041.071 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:40:41.499Z,1628898041.499 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:40:41.874Z,1628898041.874 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F79,000,003F6,187,80,80,45,FF
2021-08-13T23:40:41.875Z,1628898041.875 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:40:41.929Z,1628898041.929 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:40:42.321Z,1628898042.321 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234042.61*5A

2021-08-13T23:40:42.357Z,1628898042.357 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.339998 m, bearing: 74.845145 deg, deltaT: 4.442426 s, approachRate: 0.094543 m/s, LOS rate: 3.251865 deg/s, posRepo size: 4
2021-08-13T23:40:44.751Z,1628898044.751 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:40:45.116Z,1628898045.116 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:40:45.116Z,1628898045.116 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:40:45.117Z,1628898045.117 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:40:45.119Z,1628898045.119 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:40:45.526Z,1628898045.526 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F79,000,003F6,187,80,80,45,FF
2021-08-13T23:40:45.526Z,1628898045.526 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:40:45.526Z,1628898045.526 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:40:45.529Z,1628898045.529 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:40:45.924Z,1628898045.924 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:40:46.331Z,1628898046.331 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE4,000,003EC,185,80,80,97,FF
2021-08-13T23:40:46.348Z,1628898046.348 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:40:46.414Z,1628898046.414 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:40:46.750Z,1628898046.750 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234047.07*5F

2021-08-13T23:40:46.766Z,1628898046.766 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.740000 m, bearing: 70.828672 deg, deltaT: 4.485031 s, approachRate: -0.133778 m/s, LOS rate: -0.895528 deg/s, posRepo size: 4
2021-08-13T23:40:48.961Z,1628898048.961 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:40:49.173Z,1628898049.173 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:40:49.173Z,1628898049.173 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:40:49.173Z,1628898049.173 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:40:49.174Z,1628898049.174 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:40:49.558Z,1628898049.558 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE4,000,003EC,185,80,80,97,FF
2021-08-13T23:40:49.558Z,1628898049.558 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:40:49.559Z,1628898049.559 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:40:49.562Z,1628898049.562 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:40:49.961Z,1628898049.961 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:40:50.354Z,1628898050.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F90,000,003F3,186,80,80,80,FF
2021-08-13T23:40:50.354Z,1628898050.354 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:40:50.426Z,1628898050.426 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:40:50.809Z,1628898050.809 [Micromodem](INFO): Nmea in: $SNTTA,0.059494,,,,234051.10*45

2021-08-13T23:40:50.898Z,1628898050.898 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.160000 m, bearing: 76.091982 deg, deltaT: 4.011207 s, approachRate: 0.104707 m/s, LOS rate: 1.312151 deg/s, posRepo size: 4
2021-08-13T23:40:53.259Z,1628898053.259 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:40:53.597Z,1628898053.597 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:40:53.597Z,1628898053.597 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:40:53.597Z,1628898053.597 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:40:53.598Z,1628898053.598 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:40:53.990Z,1628898053.990 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F90,000,003F3,186,80,80,80,FF
2021-08-13T23:40:53.990Z,1628898053.990 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:40:53.990Z,1628898053.990 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:40:53.991Z,1628898053.991 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:40:54.410Z,1628898054.410 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:40:54.801Z,1628898054.801 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EED,000,003F3,187,80,80,49,FF
2021-08-13T23:40:54.802Z,1628898054.802 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:40:54.903Z,1628898054.903 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:40:55.248Z,1628898055.248 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234055.53*5D

2021-08-13T23:40:55.326Z,1628898055.326 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.160000 m, bearing: 85.569389 deg, deltaT: 4.477413 s, approachRate: 0.000000 m/s, LOS rate: 2.116715 deg/s, posRepo size: 4
2021-08-13T23:40:57.666Z,1628898057.666 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:40:58.033Z,1628898058.033 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:40:58.033Z,1628898058.033 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:40:58.033Z,1628898058.033 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:40:58.034Z,1628898058.034 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:40:58.445Z,1628898058.445 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EED,000,003F3,187,80,80,49,FF
2021-08-13T23:40:58.446Z,1628898058.446 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:40:58.446Z,1628898058.446 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:40:58.447Z,1628898058.447 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:40:58.891Z,1628898058.891 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:40:59.245Z,1628898059.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F6B,000,003EC,187,80,80,60,FF
2021-08-13T23:40:59.245Z,1628898059.245 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:40:59.249Z,1628898059.249 [Micromodem](INFO): Nmea in: $SNTTA,0.036380,0.196310,,,234059.98*54

2021-08-13T23:40:59.277Z,1628898059.277 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:40:59.687Z,1628898059.687 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.740000 m, bearing: 79.789204 deg, deltaT: 4.373952 s, approachRate: -0.096023 m/s, LOS rate: -1.321501 deg/s, posRepo size: 4
2021-08-13T23:41:02.094Z,1628898062.094 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:41:02.477Z,1628898062.477 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:41:02.477Z,1628898062.477 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:41:02.477Z,1628898062.477 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:41:02.478Z,1628898062.478 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:41:02.909Z,1628898062.909 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F6B,000,003EC,187,80,80,60,FF
2021-08-13T23:41:02.909Z,1628898062.909 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:41:02.909Z,1628898062.909 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:41:02.911Z,1628898062.911 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:41:03.293Z,1628898063.293 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:41:03.695Z,1628898063.695 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3A2,000,003F3,188,80,80,35,FF
2021-08-13T23:41:03.695Z,1628898063.695 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:41:03.714Z,1628898063.714 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:41:04.113Z,1628898064.113 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234104.45*5F

2021-08-13T23:41:04.166Z,1628898064.166 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.160000 m, bearing: 26.831001 deg, deltaT: 4.436748 s, approachRate: 0.094664 m/s, LOS rate: -11.936266 deg/s, posRepo size: 4
2021-08-13T23:41:06.546Z,1628898066.546 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:41:06.918Z,1628898066.918 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:41:06.918Z,1628898066.918 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:41:06.919Z,1628898066.919 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:41:06.919Z,1628898066.919 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:41:07.325Z,1628898067.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3A2,000,003F3,188,80,80,35,FF
2021-08-13T23:41:07.325Z,1628898067.325 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:41:07.326Z,1628898067.326 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:41:07.327Z,1628898067.327 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:41:07.733Z,1628898067.733 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:41:08.157Z,1628898068.157 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,377,000,003F1,18A,80,80,4C,FF
2021-08-13T23:41:08.158Z,1628898068.158 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:41:08.206Z,1628898068.206 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:41:08.565Z,1628898068.565 [Micromodem](INFO): Nmea in: $SNTTA,0.040429,,,,234108.86*49

2021-08-13T23:41:08.605Z,1628898068.605 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.039999 m, bearing: 29.696488 deg, deltaT: 4.492703 s, approachRate: -0.026710 m/s, LOS rate: 0.637809 deg/s, posRepo size: 4
2021-08-13T23:41:11.012Z,1628898071.012 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:41:11.385Z,1628898071.385 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:41:11.385Z,1628898071.385 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:41:11.386Z,1628898071.386 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:41:11.387Z,1628898071.387 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:41:11.769Z,1628898071.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
377,000,003F1,18A,80,80,4C,FF
2021-08-13T23:41:11.769Z,1628898071.769 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:41:11.769Z,1628898071.769 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:41:11.771Z,1628898071.771 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:41:12.203Z,1628898072.203 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:41:12.582Z,1628898072.582 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EC9,000,003F0,187,80,80,6D,FF
2021-08-13T23:41:12.582Z,1628898072.582 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:41:12.606Z,1628898072.606 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:41:13.013Z,1628898073.013 [Micromodem](INFO): Nmea in: $SNTTA,0.044124,,,,234113.30*42

2021-08-13T23:41:13.059Z,1628898073.059 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.980001 m, bearing: 90.039406 deg, deltaT: 4.399555 s, approachRate: -0.013637 m/s, LOS rate: 13.715687 deg/s, posRepo size: 4
2021-08-13T23:41:15.455Z,1628898075.455 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:41:15.817Z,1628898075.817 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:41:15.817Z,1628898075.817 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:41:15.817Z,1628898075.817 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:41:15.818Z,1628898075.818 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:41:16.221Z,1628898076.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EC9,000,003F0,187,80,80,6D,FF
2021-08-13T23:41:16.222Z,1628898076.222 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:41:16.222Z,1628898076.222 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:41:16.223Z,1628898076.223 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:41:16.637Z,1628898076.637 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:41:17.033Z,1628898077.033 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F5A,000,003E7,186,80,80,55,FF
2021-08-13T23:41:17.033Z,1628898077.033 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:41:17.037Z,1628898077.037 [Micromodem](INFO): Nmea in: $SNTTA,0.050800,0.205917,,,234117.76*58

2021-08-13T23:41:17.154Z,1628898077.154 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:41:17.474Z,1628898077.474 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.440001 m, bearing: 83.127657 deg, deltaT: 4.547843 s, approachRate: -0.118738 m/s, LOS rate: -1.519786 deg/s, posRepo size: 4
2021-08-13T23:41:19.875Z,1628898079.875 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:41:20.262Z,1628898080.262 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:41:20.263Z,1628898080.263 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:41:20.263Z,1628898080.263 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:41:20.264Z,1628898080.264 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:41:20.674Z,1628898080.674 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F5A,000,003E7,186,80,80,55,FF
2021-08-13T23:41:20.675Z,1628898080.675 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:41:20.675Z,1628898080.675 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:41:20.677Z,1628898080.677 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:41:21.068Z,1628898081.068 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:41:21.157Z,1628898081.157 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T23:41:21.469Z,1628898081.469 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F22,000,003E3,186,80,80,78,FF
2021-08-13T23:41:21.469Z,1628898081.469 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:41:21.489Z,1628898081.489 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:41:21.917Z,1628898081.917 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234122.21*59

2021-08-13T23:41:21.948Z,1628898081.948 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.199999 m, bearing: 86.218113 deg, deltaT: 4.335054 s, approachRate: -0.055363 m/s, LOS rate: 0.712899 deg/s, posRepo size: 4
2021-08-13T23:41:24.340Z,1628898084.340 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:41:24.709Z,1628898084.709 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:41:24.709Z,1628898084.709 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:41:24.709Z,1628898084.709 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:41:24.710Z,1628898084.710 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:41:25.120Z,1628898085.120 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F22,000,003E3,186,80,80,78,FF
2021-08-13T23:41:25.121Z,1628898085.121 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:41:25.121Z,1628898085.121 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:41:25.136Z,1628898085.136 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:41:25.561Z,1628898085.561 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:41:25.957Z,1628898085.957 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ECD,000,003E3,187,80,80,69,FF
2021-08-13T23:41:25.958Z,1628898085.958 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:41:25.976Z,1628898085.976 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:41:26.385Z,1628898086.385 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234126.67*5F

2021-08-13T23:41:26.444Z,1628898086.444 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.199999 m, bearing: 91.127967 deg, deltaT: 4.487447 s, approachRate: 0.000000 m/s, LOS rate: 1.094131 deg/s, posRepo size: 4
2021-08-13T23:41:28.872Z,1628898088.872 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:41:29.197Z,1628898089.197 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:41:29.197Z,1628898089.197 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:41:29.197Z,1628898089.197 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:41:29.198Z,1628898089.198 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:41:29.597Z,1628898089.597 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ECD,000,003E3,187,80,80,69,FF
2021-08-13T23:41:29.597Z,1628898089.597 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:41:29.598Z,1628898089.598 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:41:29.599Z,1628898089.599 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:41:30.013Z,1628898090.013 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:41:30.401Z,1628898090.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF8,000,003E2,186,80,80,70,FF
2021-08-13T23:41:30.401Z,1628898090.401 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:41:30.430Z,1628898090.430 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:41:30.861Z,1628898090.861 [Micromodem](INFO): Nmea in: $SNTTA,0.064033,,,,234131.13*46

2021-08-13T23:41:30.927Z,1628898090.927 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.140001 m, bearing: 89.165750 deg, deltaT: 4.454097 s, approachRate: -0.013470 m/s, LOS rate: -0.440542 deg/s, posRepo size: 4
2021-08-13T23:41:33.273Z,1628898093.273 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:41:33.637Z,1628898093.637 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:41:33.637Z,1628898093.637 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:41:33.637Z,1628898093.637 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:41:33.638Z,1628898093.638 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:41:34.041Z,1628898094.041 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF8,000,003E2,186,80,80,70,FF
2021-08-13T23:41:34.041Z,1628898094.041 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:41:34.041Z,1628898094.041 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:41:34.043Z,1628898094.043 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:41:34.445Z,1628898094.445 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:41:34.885Z,1628898094.885 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2CC,000,003E9,188,80,80,40,FF
2021-08-13T23:41:34.886Z,1628898094.886 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:41:34.973Z,1628898094.973 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:41:35.281Z,1628898095.281 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234135.58*51

2021-08-13T23:41:35.317Z,1628898095.317 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.560001 m, bearing: 39.595713 deg, deltaT: 4.542665 s, approachRate: 0.092457 m/s, LOS rate: -10.912105 deg/s, posRepo size: 4
2021-08-13T23:41:37.715Z,1628898097.715 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:41:38.077Z,1628898098.077 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:41:38.077Z,1628898098.077 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:41:38.077Z,1628898098.077 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:41:38.078Z,1628898098.078 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:41:38.481Z,1628898098.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2CC,000,003E9,188,80,80,40,FF
2021-08-13T23:41:38.481Z,1628898098.481 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:41:38.481Z,1628898098.481 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:41:38.483Z,1628898098.483 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:41:38.917Z,1628898098.917 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:41:39.289Z,1628898099.289 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EC7,000,003E5,187,80,80,67,FF
2021-08-13T23:41:39.289Z,1628898099.289 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:41:39.339Z,1628898099.339 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:41:39.739Z,1628898099.739 [Micromodem](INFO): Nmea in: $SNTTA,0.025126,,,,234140.02*40

2021-08-13T23:41:39.763Z,1628898099.763 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.320000 m, bearing: 90.293960 deg, deltaT: 4.365990 s, approachRate: -0.054971 m/s, LOS rate: 11.612085 deg/s, posRepo size: 4
2021-08-13T23:41:42.200Z,1628898102.200 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:41:42.525Z,1628898102.525 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:41:42.525Z,1628898102.525 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:41:42.525Z,1628898102.525 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:41:42.526Z,1628898102.526 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:41:42.933Z,1628898102.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EC7,000,003E5,187,80,80,67,FF
2021-08-13T23:41:42.933Z,1628898102.933 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:41:42.933Z,1628898102.933 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:41:42.935Z,1628898102.935 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:41:43.337Z,1628898103.337 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:41:43.733Z,1628898103.733 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,136,000,003E1,186,80,80,7B,FF
2021-08-13T23:41:43.733Z,1628898103.733 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:41:43.752Z,1628898103.752 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:41:44.193Z,1628898104.193 [Micromodem](INFO): Nmea in: $SNTTA,0.037568,,,,234144.47*48

2021-08-13T23:41:44.219Z,1628898104.219 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.079998 m, bearing: 59.173159 deg, deltaT: 4.413449 s, approachRate: -0.054380 m/s, LOS rate: -7.051356 deg/s, posRepo size: 4
2021-08-13T23:41:46.594Z,1628898106.594 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:41:46.965Z,1628898106.965 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:41:46.965Z,1628898106.965 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:41:46.965Z,1628898106.965 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:41:46.966Z,1628898106.966 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:41:47.377Z,1628898107.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
136,000,003E1,186,80,80,7B,FF
2021-08-13T23:41:47.377Z,1628898107.377 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:41:47.378Z,1628898107.378 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:41:47.379Z,1628898107.379 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:41:47.785Z,1628898107.785 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:41:48.197Z,1628898108.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,21D,000,003E3,187,80,80,74,FF
2021-08-13T23:41:48.197Z,1628898108.197 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:41:48.226Z,1628898108.226 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:41:48.625Z,1628898108.625 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234148.91*5E

2021-08-13T23:41:48.647Z,1628898108.647 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.199999 m, bearing: 47.827157 deg, deltaT: 4.473699 s, approachRate: 0.026824 m/s, LOS rate: -2.536157 deg/s, posRepo size: 4
2021-08-13T23:41:51.049Z,1628898111.049 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:41:51.437Z,1628898111.437 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:41:51.437Z,1628898111.437 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:41:51.437Z,1628898111.437 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:41:51.438Z,1628898111.438 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:41:51.817Z,1628898111.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
21D,000,003E3,187,80,80,74,FF
2021-08-13T23:41:51.817Z,1628898111.817 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:41:51.817Z,1628898111.817 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:41:51.819Z,1628898111.819 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:41:52.230Z,1628898112.230 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:41:52.621Z,1628898112.621 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E96,000,003D9,186,80,80,75,FF
2021-08-13T23:41:52.622Z,1628898112.622 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:41:52.680Z,1628898112.680 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:41:53.069Z,1628898113.069 [Micromodem](INFO): Nmea in: $SNTTA,0.041860,,,,234153.35*4F

2021-08-13T23:41:53.161Z,1628898113.161 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.600000 m, bearing: 92.383759 deg, deltaT: 4.454151 s, approachRate: -0.134705 m/s, LOS rate: 10.003388 deg/s, posRepo size: 4
2021-08-13T23:41:55.493Z,1628898115.493 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:41:55.857Z,1628898115.857 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:41:55.857Z,1628898115.857 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:41:55.857Z,1628898115.857 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:41:55.858Z,1628898115.858 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:41:56.269Z,1628898116.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E96,000,003D9,186,80,80,75,FF
2021-08-13T23:41:56.269Z,1628898116.269 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:41:56.270Z,1628898116.270 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:41:56.271Z,1628898116.271 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:41:56.895Z,1628898116.895 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EC5,000,003D6,187,80,80,75,FF
2021-08-13T23:41:56.895Z,1628898116.895 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:41:56.903Z,1628898116.903 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:41:56.991Z,1628898116.991 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:41:57.306Z,1628898117.306 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.420002 m, bearing: 89.224400 deg, deltaT: 4.311563 s, approachRate: -0.041748 m/s, LOS rate: -0.732764 deg/s, posRepo size: 4
2021-08-13T23:41:57.673Z,1628898117.673 [Micromodem](INFO): Nmea in: $SNTTA,0.039547,,,,234157.80*42

2021-08-13T23:41:59.707Z,1628898119.707 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:42:00.077Z,1628898120.077 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:42:00.077Z,1628898120.077 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:42:00.077Z,1628898120.077 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:42:00.078Z,1628898120.078 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:42:00.489Z,1628898120.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EC5,000,003D6,187,80,80,75,FF
2021-08-13T23:42:00.489Z,1628898120.489 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:42:00.489Z,1628898120.489 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:42:00.491Z,1628898120.491 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:42:00.916Z,1628898120.916 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:42:01.297Z,1628898121.297 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F31,000,003D5,186,80,80,60,FF
2021-08-13T23:42:01.297Z,1628898121.297 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:42:01.360Z,1628898121.360 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:42:01.725Z,1628898121.725 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234202.02*59

2021-08-13T23:42:01.761Z,1628898121.761 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.359999 m, bearing: 83.457262 deg, deltaT: 4.368126 s, approachRate: -0.013737 m/s, LOS rate: -1.320277 deg/s, posRepo size: 4
2021-08-13T23:42:04.176Z,1628898124.176 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:42:04.529Z,1628898124.529 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:42:04.529Z,1628898124.529 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:42:04.529Z,1628898124.529 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:42:04.530Z,1628898124.530 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:42:04.937Z,1628898124.937 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F31,000,003D5,186,80,80,60,FF
2021-08-13T23:42:04.937Z,1628898124.937 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:42:04.937Z,1628898124.937 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:42:04.939Z,1628898124.939 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:42:05.341Z,1628898125.341 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:42:05.737Z,1628898125.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F0A,000,003D4,187,80,80,68,FF
2021-08-13T23:42:05.737Z,1628898125.737 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:42:05.756Z,1628898125.756 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:42:06.201Z,1628898126.201 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234206.47*5C

2021-08-13T23:42:06.227Z,1628898126.227 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.299999 m, bearing: 84.988768 deg, deltaT: 4.396509 s, approachRate: -0.013647 m/s, LOS rate: 0.348346 deg/s, posRepo size: 4
2021-08-13T23:42:08.601Z,1628898128.601 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:42:08.965Z,1628898128.965 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:42:08.965Z,1628898128.965 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:42:08.965Z,1628898128.965 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:42:08.966Z,1628898128.966 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:42:09.377Z,1628898129.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F0A,000,003D4,187,80,80,68,FF
2021-08-13T23:42:09.377Z,1628898129.377 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:42:09.377Z,1628898129.377 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:42:09.379Z,1628898129.379 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:42:09.785Z,1628898129.785 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:42:10.201Z,1628898130.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F2E,000,003D0,186,80,80,63,FF
2021-08-13T23:42:10.201Z,1628898130.201 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:42:10.269Z,1628898130.269 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:42:10.621Z,1628898130.621 [Micromodem](INFO): Nmea in: $SNTTA,0.034795,,,,234210.91*42

2021-08-13T23:42:10.658Z,1628898130.658 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.059998 m, bearing: 82.895479 deg, deltaT: 4.512956 s, approachRate: -0.053181 m/s, LOS rate: -0.463840 deg/s, posRepo size: 4
2021-08-13T23:42:13.053Z,1628898133.053 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:42:13.417Z,1628898133.417 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:42:13.417Z,1628898133.417 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:42:13.417Z,1628898133.417 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:42:13.418Z,1628898133.418 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:42:13.813Z,1628898133.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F2E,000,003D0,186,80,80,63,FF
2021-08-13T23:42:13.813Z,1628898133.813 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:42:13.813Z,1628898133.813 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:42:13.815Z,1628898133.815 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:42:14.225Z,1628898134.225 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:42:14.621Z,1628898134.621 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EDE,000,003CF,186,80,80,7B,FF
2021-08-13T23:42:14.621Z,1628898134.621 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:42:14.646Z,1628898134.646 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:42:15.108Z,1628898135.108 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234215.35*5B

2021-08-13T23:42:15.213Z,1628898135.213 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.000000 m, bearing: 86.736845 deg, deltaT: 4.376285 s, approachRate: -0.013710 m/s, LOS rate: 0.877769 deg/s, posRepo size: 4
2021-08-13T23:42:17.505Z,1628898137.505 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:42:17.866Z,1628898137.866 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:42:17.866Z,1628898137.866 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:42:17.866Z,1628898137.866 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:42:17.867Z,1628898137.867 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:42:18.272Z,1628898138.272 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EDE,000,003CF,186,80,80,7B,FF
2021-08-13T23:42:18.273Z,1628898138.273 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:42:18.273Z,1628898138.273 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:42:18.274Z,1628898138.274 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:42:18.668Z,1628898138.668 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:42:19.087Z,1628898139.087 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EEA,000,003D4,186,80,80,5E,FF
2021-08-13T23:42:19.088Z,1628898139.088 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:42:19.213Z,1628898139.213 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:42:19.549Z,1628898139.549 [Micromodem](INFO): Nmea in: $SNTTA,0.030351,,,,234219.81*42

2021-08-13T23:42:19.572Z,1628898139.572 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.299999 m, bearing: 86.177603 deg, deltaT: 4.567547 s, approachRate: 0.065681 m/s, LOS rate: -0.122438 deg/s, posRepo size: 4
2021-08-13T23:42:21.977Z,1628898141.977 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:42:22.363Z,1628898142.363 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:42:22.363Z,1628898142.363 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:42:22.363Z,1628898142.363 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:42:22.365Z,1628898142.365 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:42:22.757Z,1628898142.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EEA,000,003D4,186,80,80,5E,FF
2021-08-13T23:42:22.757Z,1628898142.757 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:42:22.758Z,1628898142.758 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:42:22.759Z,1628898142.759 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:42:23.193Z,1628898143.193 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:42:23.570Z,1628898143.570 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F11,000,003C7,187,80,80,51,FF
2021-08-13T23:42:23.570Z,1628898143.570 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:42:23.621Z,1628898143.621 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:42:24.013Z,1628898144.013 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234224.29*54

2021-08-13T23:42:24.036Z,1628898144.036 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.519997 m, bearing: 84.983714 deg, deltaT: 4.407917 s, approachRate: -0.176955 m/s, LOS rate: -0.270851 deg/s, posRepo size: 4
2021-08-13T23:42:26.435Z,1628898146.435 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:42:26.803Z,1628898146.803 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:42:26.804Z,1628898146.804 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:42:26.804Z,1628898146.804 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:42:26.806Z,1628898146.806 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:42:27.212Z,1628898147.212 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F11,000,003C7,187,80,80,51,FF
2021-08-13T23:42:27.212Z,1628898147.212 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:42:27.212Z,1628898147.212 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:42:27.214Z,1628898147.214 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:42:27.624Z,1628898147.624 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:42:28.014Z,1628898148.014 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EFB,000,003C6,187,80,80,4A,FF
2021-08-13T23:42:28.014Z,1628898148.014 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:42:28.071Z,1628898148.071 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:42:28.454Z,1628898148.454 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234228.75*51

2021-08-13T23:42:28.479Z,1628898148.479 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.459999 m, bearing: 87.818426 deg, deltaT: 4.449311 s, approachRate: -0.013485 m/s, LOS rate: 0.637113 deg/s, posRepo size: 4
2021-08-13T23:42:30.939Z,1628898150.939 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:42:31.249Z,1628898151.249 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:42:31.249Z,1628898151.249 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:42:31.249Z,1628898151.249 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:42:31.250Z,1628898151.250 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:42:31.650Z,1628898151.650 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EFB,000,003C6,187,80,80,4A,FF
2021-08-13T23:42:31.650Z,1628898151.650 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:42:31.650Z,1628898151.650 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:42:31.651Z,1628898151.651 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:42:32.069Z,1628898152.069 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:42:32.458Z,1628898152.458 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EC9,000,003C4,186,80,80,6C,FF
2021-08-13T23:42:32.458Z,1628898152.458 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:42:32.521Z,1628898152.521 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:42:32.921Z,1628898152.921 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234233.19*51

2021-08-13T23:42:32.975Z,1628898152.975 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.339998 m, bearing: 91.615260 deg, deltaT: 4.450510 s, approachRate: -0.026963 m/s, LOS rate: 0.853123 deg/s, posRepo size: 4
2021-08-13T23:42:35.348Z,1628898155.348 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:42:35.685Z,1628898155.685 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:42:35.685Z,1628898155.685 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:42:35.686Z,1628898155.686 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:42:35.687Z,1628898155.687 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:42:36.099Z,1628898156.099 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EC9,000,003C4,186,80,80,6C,FF
2021-08-13T23:42:36.102Z,1628898156.102 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:42:36.102Z,1628898156.102 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:42:36.108Z,1628898156.108 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:42:36.497Z,1628898156.497 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:42:36.917Z,1628898156.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,328,000,003C2,189,80,80,68,FF
2021-08-13T23:42:36.917Z,1628898156.917 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:42:36.981Z,1628898156.981 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:42:37.337Z,1628898157.337 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234237.64*5F

2021-08-13T23:42:37.363Z,1628898157.363 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.219997 m, bearing: 36.739557 deg, deltaT: 4.459898 s, approachRate: -0.026907 m/s, LOS rate: -12.304251 deg/s, posRepo size: 4
2021-08-13T23:42:39.746Z,1628898159.746 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:42:40.161Z,1628898160.161 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:42:40.161Z,1628898160.161 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:42:40.161Z,1628898160.161 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:42:40.162Z,1628898160.162 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:42:40.537Z,1628898160.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
328,000,003C2,189,80,80,68,FF
2021-08-13T23:42:40.537Z,1628898160.537 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:42:40.537Z,1628898160.537 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:42:40.539Z,1628898160.539 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:42:40.957Z,1628898160.957 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:42:41.350Z,1628898161.350 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,288,000,003C0,18A,80,80,69,FF
2021-08-13T23:42:41.350Z,1628898161.350 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:42:41.380Z,1628898161.380 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:42:41.822Z,1628898161.822 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234242.07*58

2021-08-13T23:42:41.843Z,1628898161.843 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.100002 m, bearing: 45.265122 deg, deltaT: 4.398872 s, approachRate: -0.027279 m/s, LOS rate: 1.938125 deg/s, posRepo size: 4
2021-08-13T23:42:44.245Z,1628898164.245 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:42:44.577Z,1628898164.577 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:42:44.577Z,1628898164.577 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:42:44.577Z,1628898164.577 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:42:44.578Z,1628898164.578 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:42:45.023Z,1628898165.023 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
288,000,003C0,18A,80,80,69,FF
2021-08-13T23:42:45.026Z,1628898165.026 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:42:45.026Z,1628898165.026 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:42:45.030Z,1628898165.030 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:42:45.393Z,1628898165.393 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:42:45.795Z,1628898165.795 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1D9,000,003BE,186,80,80,6D,FF
2021-08-13T23:42:45.800Z,1628898165.800 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:42:45.849Z,1628898165.849 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:42:46.223Z,1628898166.223 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234246.56*58

2021-08-13T23:42:46.274Z,1628898166.274 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.980001 m, bearing: 54.580048 deg, deltaT: 4.469627 s, approachRate: -0.026848 m/s, LOS rate: 2.084050 deg/s, posRepo size: 4
2021-08-13T23:42:48.650Z,1628898168.650 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:42:49.027Z,1628898169.027 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:42:49.027Z,1628898169.027 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:42:49.027Z,1628898169.027 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:42:49.028Z,1628898169.028 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:42:49.425Z,1628898169.425 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1D9,000,003BE,186,80,80,6D,FF
2021-08-13T23:42:49.425Z,1628898169.425 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:42:49.425Z,1628898169.425 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:42:49.427Z,1628898169.427 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:42:49.868Z,1628898169.868 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:42:50.249Z,1628898170.249 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,342,000,003B9,189,80,80,58,FF
2021-08-13T23:42:50.250Z,1628898170.250 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:42:50.303Z,1628898170.303 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:42:50.691Z,1628898170.691 [Micromodem](INFO): Nmea in: $SNTTA,0.087579,,,,234250.96*49

2021-08-13T23:42:50.716Z,1628898170.716 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.680002 m, bearing: 36.800171 deg, deltaT: 4.453300 s, approachRate: -0.067366 m/s, LOS rate: -3.992517 deg/s, posRepo size: 4
2021-08-13T23:42:53.194Z,1628898173.194 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:42:53.481Z,1628898173.481 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:42:53.481Z,1628898173.481 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:42:53.481Z,1628898173.481 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:42:53.482Z,1628898173.482 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:42:53.887Z,1628898173.887 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
342,000,003B9,189,80,80,58,FF
2021-08-13T23:42:53.887Z,1628898173.887 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:42:53.887Z,1628898173.887 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:42:53.890Z,1628898173.890 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:42:54.293Z,1628898174.293 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:42:54.690Z,1628898174.690 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EC6,000,003B4,186,80,80,6B,FF
2021-08-13T23:42:54.690Z,1628898174.690 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:42:54.767Z,1628898174.767 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:42:55.149Z,1628898175.149 [Micromodem](INFO): Nmea in: $SNTTA,0.285828,,,,234255.42*4C

2021-08-13T23:42:55.215Z,1628898175.216 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.379997 m, bearing: 94.159711 deg, deltaT: 4.464232 s, approachRate: -0.067202 m/s, LOS rate: 12.848691 deg/s, posRepo size: 4
2021-08-13T23:42:57.552Z,1628898177.552 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:42:57.933Z,1628898177.933 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:42:57.933Z,1628898177.933 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:42:57.933Z,1628898177.933 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:42:57.934Z,1628898177.934 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:42:58.337Z,1628898178.337 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EC6,000,003B4,186,80,80,6B,FF
2021-08-13T23:42:58.337Z,1628898178.337 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:42:58.337Z,1628898178.337 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:42:58.339Z,1628898178.339 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:42:58.733Z,1628898178.733 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:42:59.157Z,1628898179.157 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,21D,000,003B3,188,80,80,70,FF
2021-08-13T23:42:59.157Z,1628898179.157 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:42:59.243Z,1628898179.243 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:42:59.570Z,1628898179.570 [Micromodem](INFO): Nmea in: $SNTTA,0.047989,,,,234259.87*4F

2021-08-13T23:42:59.638Z,1628898179.638 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.320000 m, bearing: 51.594402 deg, deltaT: 4.476048 s, approachRate: -0.013404 m/s, LOS rate: -9.509573 deg/s, posRepo size: 4
2021-08-13T23:43:01.978Z,1628898181.978 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:43:02.374Z,1628898182.374 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:43:02.375Z,1628898182.375 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:43:02.375Z,1628898182.375 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:43:02.376Z,1628898182.376 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:43:02.769Z,1628898182.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
21D,000,003B3,188,80,80,70,FF
2021-08-13T23:43:02.769Z,1628898182.769 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:43:02.769Z,1628898182.769 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:43:02.771Z,1628898182.771 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:43:03.189Z,1628898183.189 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:43:04.006Z,1628898184.006 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234304.30*5F

2021-08-13T23:43:04.882Z,1628898184.882 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:43:06.437Z,1628898186.437 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
3,188,80,80,70,FF
2021-08-13T23:43:06.437Z,1628898186.437 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
3,188,80,80,70,FF
2021-08-13T23:43:06.437Z,1628898186.437 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T23:43:07.641Z,1628898187.641 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:43:08.021Z,1628898188.021 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:43:08.022Z,1628898188.022 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:43:08.022Z,1628898188.022 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:43:08.023Z,1628898188.023 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:43:08.435Z,1628898188.435 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
3,188,80,80,70,FF
2021-08-13T23:43:08.435Z,1628898188.435 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:43:08.435Z,1628898188.435 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:43:08.437Z,1628898188.437 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:43:08.870Z,1628898188.870 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:43:09.242Z,1628898189.242 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,016,000,003B7,183,80,80,9F,FF
2021-08-13T23:43:09.242Z,1628898189.242 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:43:09.273Z,1628898189.273 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:43:09.685Z,1628898189.685 [Micromodem](INFO): Nmea in: $SNTTA,0.030956,,,,234309.97*48

2021-08-13T23:43:09.719Z,1628898189.719 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.560001 m, bearing: 76.882672 deg, deltaT: 10.029607 s, approachRate: 0.023929 m/s, LOS rate: 2.521362 deg/s, posRepo size: 4
2021-08-13T23:43:12.114Z,1628898192.114 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:43:12.475Z,1628898192.475 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:43:12.475Z,1628898192.475 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:43:12.475Z,1628898192.475 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:43:12.476Z,1628898192.476 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:43:12.913Z,1628898192.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
016,000,003B7,183,80,80,9F,FF
2021-08-13T23:43:12.913Z,1628898192.913 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:43:12.913Z,1628898192.913 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:43:12.915Z,1628898192.915 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:43:13.408Z,1628898193.408 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:43:13.801Z,1628898193.801 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2E3,000,003AD,188,80,80,5C,FF
2021-08-13T23:43:13.801Z,1628898193.801 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:43:13.820Z,1628898193.820 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:43:14.234Z,1628898194.234 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234314.45*5C

2021-08-13T23:43:14.287Z,1628898194.287 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.960001 m, bearing: 41.357294 deg, deltaT: 4.547771 s, approachRate: -0.131933 m/s, LOS rate: -7.811602 deg/s, posRepo size: 4
2021-08-13T23:43:16.333Z,1628898196.333 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:43:16.721Z,1628898196.721 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:43:16.721Z,1628898196.721 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:43:16.721Z,1628898196.721 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:43:16.722Z,1628898196.722 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:43:17.116Z,1628898197.116 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2E3,000,003AD,188,80,80,5C,FF
2021-08-13T23:43:17.117Z,1628898197.117 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:43:17.117Z,1628898197.117 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:43:17.123Z,1628898197.123 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:43:17.537Z,1628898197.537 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:43:17.945Z,1628898197.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1A1,000,003A8,186,80,80,3C,FF
2021-08-13T23:43:17.945Z,1628898197.945 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:43:17.965Z,1628898197.965 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:43:18.373Z,1628898198.373 [Micromodem](INFO): Nmea in: $SNTTA,0.049129,,,,234318.66*48

2021-08-13T23:43:18.410Z,1628898198.410 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.659996 m, bearing: 57.768531 deg, deltaT: 4.144412 s, approachRate: -0.072388 m/s, LOS rate: 3.959847 deg/s, posRepo size: 4
2021-08-13T23:43:20.870Z,1628898200.870 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:43:21.193Z,1628898201.193 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:43:21.193Z,1628898201.193 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:43:21.193Z,1628898201.193 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:43:21.194Z,1628898201.194 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:43:21.582Z,1628898201.582 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1A1,000,003A8,186,80,80,3C,FF
2021-08-13T23:43:21.582Z,1628898201.582 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:43:21.583Z,1628898201.583 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:43:21.585Z,1628898201.585 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:43:21.977Z,1628898201.977 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:43:22.394Z,1628898202.394 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,236,000,003A9,189,80,80,6B,FF
2021-08-13T23:43:22.395Z,1628898202.395 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:43:22.426Z,1628898202.426 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:43:22.825Z,1628898202.825 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234323.12*5A

2021-08-13T23:43:22.909Z,1628898202.909 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.719999 m, bearing: 49.652736 deg, deltaT: 4.461432 s, approachRate: 0.013449 m/s, LOS rate: -1.819101 deg/s, posRepo size: 4
2021-08-13T23:43:25.269Z,1628898205.269 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:43:25.625Z,1628898205.625 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:43:25.625Z,1628898205.625 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:43:25.625Z,1628898205.625 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:43:25.626Z,1628898205.626 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:43:26.013Z,1628898206.013 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
236,000,003A9,189,80,80,6B,FF
2021-08-13T23:43:26.013Z,1628898206.013 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:43:26.013Z,1628898206.013 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:43:26.015Z,1628898206.015 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:43:26.440Z,1628898206.440 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:43:26.829Z,1628898206.829 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F5D,000,003B1,187,80,80,65,FF
2021-08-13T23:43:26.830Z,1628898206.830 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:43:26.918Z,1628898206.918 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:43:27.269Z,1628898207.269 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234327.55*5D

2021-08-13T23:43:27.358Z,1628898207.358 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.199999 m, bearing: 85.298578 deg, deltaT: 4.491512 s, approachRate: 0.106868 m/s, LOS rate: 7.936267 deg/s, posRepo size: 4
2021-08-13T23:43:29.687Z,1628898209.687 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:43:30.060Z,1628898210.060 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:43:30.062Z,1628898210.062 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:43:30.063Z,1628898210.063 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:43:30.078Z,1628898210.078 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:43:30.457Z,1628898210.457 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F5D,000,003B1,187,80,80,65,FF
2021-08-13T23:43:30.457Z,1628898210.457 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:43:30.457Z,1628898210.457 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:43:30.459Z,1628898210.459 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:43:30.908Z,1628898210.908 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:43:31.265Z,1628898211.265 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FFF,000,003AC,182,80,80,8C,FF
2021-08-13T23:43:31.265Z,1628898211.265 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:43:31.301Z,1628898211.301 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:43:31.709Z,1628898211.709 [Micromodem](INFO): Nmea in: $SNTTA,0.036486,,,,234331.99*4B

2021-08-13T23:43:31.743Z,1628898211.743 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.899998 m, bearing: 77.037492 deg, deltaT: 4.383429 s, approachRate: -0.068440 m/s, LOS rate: -1.884617 deg/s, posRepo size: 4
2021-08-13T23:43:34.151Z,1628898214.151 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:43:34.505Z,1628898214.505 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:43:34.505Z,1628898214.505 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:43:34.505Z,1628898214.505 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:43:34.506Z,1628898214.506 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:43:34.917Z,1628898214.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FFF,000,003AC,182,80,80,8C,FF
2021-08-13T23:43:34.917Z,1628898214.917 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:43:34.917Z,1628898214.917 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:43:34.919Z,1628898214.919 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:43:35.448Z,1628898215.448 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:43:35.810Z,1628898215.810 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F35,000,003A4,186,80,80,58,FF
2021-08-13T23:43:35.810Z,1628898215.810 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:43:35.829Z,1628898215.829 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:43:36.249Z,1628898216.249 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234336.46*5F

2021-08-13T23:43:36.296Z,1628898216.296 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.420000 m, bearing: 86.925010 deg, deltaT: 4.527718 s, approachRate: -0.106013 m/s, LOS rate: 2.183775 deg/s, posRepo size: 4
2021-08-13T23:43:38.676Z,1628898218.676 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:43:39.041Z,1628898219.041 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:43:39.041Z,1628898219.041 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:43:39.041Z,1628898219.041 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:43:39.042Z,1628898219.042 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:43:39.446Z,1628898219.446 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F35,000,003A4,186,80,80,58,FF
2021-08-13T23:43:39.446Z,1628898219.446 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:43:39.447Z,1628898219.447 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:43:39.451Z,1628898219.451 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:43:39.857Z,1628898219.857 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:43:40.273Z,1628898220.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2A3,000,003A1,189,80,80,54,FF
2021-08-13T23:43:40.273Z,1628898220.273 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:43:40.342Z,1628898220.342 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:43:40.697Z,1628898220.697 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234340.99*5C

2021-08-13T23:43:40.721Z,1628898220.721 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.240002 m, bearing: 43.101373 deg, deltaT: 4.513434 s, approachRate: -0.039881 m/s, LOS rate: -9.709600 deg/s, posRepo size: 4
2021-08-13T23:43:43.167Z,1628898223.167 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:43:43.481Z,1628898223.481 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:43:43.481Z,1628898223.481 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:43:43.481Z,1628898223.481 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:43:43.482Z,1628898223.482 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:43:43.894Z,1628898223.894 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2A3,000,003A1,189,80,80,54,FF
2021-08-13T23:43:43.894Z,1628898223.894 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:43:43.894Z,1628898223.894 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:43:43.897Z,1628898223.897 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:43:44.293Z,1628898224.293 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:43:44.701Z,1628898224.701 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2A2,000,0039E,18A,80,80,6C,FF
2021-08-13T23:43:44.701Z,1628898224.701 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:43:44.722Z,1628898224.722 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:43:45.213Z,1628898225.213 [Micromodem](INFO): Nmea in: $SNTTA,0.031216,,,,234345.43*47

2021-08-13T23:43:45.295Z,1628898225.295 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.059998 m, bearing: 42.406360 deg, deltaT: 4.379493 s, approachRate: -0.041102 m/s, LOS rate: -0.158697 deg/s, posRepo size: 4
2021-08-13T23:43:47.557Z,1628898227.557 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:43:47.933Z,1628898227.933 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:43:47.933Z,1628898227.933 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:43:47.933Z,1628898227.933 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:43:47.934Z,1628898227.934 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:43:48.333Z,1628898228.333 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2A2,000,0039E,18A,80,80,6C,FF
2021-08-13T23:43:48.333Z,1628898228.333 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:43:48.333Z,1628898228.333 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:43:48.335Z,1628898228.335 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:43:48.741Z,1628898228.741 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:43:49.153Z,1628898229.153 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,251,000,0039A,189,80,80,65,FF
2021-08-13T23:43:49.154Z,1628898229.154 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:43:49.157Z,1628898229.157 [Micromodem](INFO): Nmea in: $SNTTA,0.037532,0.150421,,,234349.87*59

2021-08-13T23:43:49.294Z,1628898229.294 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:43:49.579Z,1628898229.579 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.820002 m, bearing: 46.159832 deg, deltaT: 4.572380 s, approachRate: -0.052488 m/s, LOS rate: 0.820901 deg/s, posRepo size: 4
2021-08-13T23:43:51.995Z,1628898231.995 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:43:52.377Z,1628898232.377 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:43:52.377Z,1628898232.377 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:43:52.377Z,1628898232.377 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:43:52.378Z,1628898232.378 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:43:52.773Z,1628898232.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
251,000,0039A,189,80,80,65,FF
2021-08-13T23:43:52.773Z,1628898232.773 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:43:52.773Z,1628898232.773 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:43:52.775Z,1628898232.775 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:43:53.205Z,1628898233.205 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:43:53.581Z,1628898233.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,259,000,00396,188,80,80,76,FF
2021-08-13T23:43:53.581Z,1628898233.581 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:43:53.637Z,1628898233.637 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:43:54.021Z,1628898234.021 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234354.31*5B

2021-08-13T23:43:54.043Z,1628898234.043 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.580000 m, bearing: 45.419327 deg, deltaT: 4.342566 s, approachRate: -0.055267 m/s, LOS rate: -0.170523 deg/s, posRepo size: 4
2021-08-13T23:43:56.455Z,1628898236.455 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:43:56.828Z,1628898236.828 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:43:56.829Z,1628898236.829 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:43:56.829Z,1628898236.829 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:43:56.831Z,1628898236.831 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:43:57.221Z,1628898237.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
259,000,00396,188,80,80,76,FF
2021-08-13T23:43:57.221Z,1628898237.221 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:43:57.221Z,1628898237.221 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:43:57.223Z,1628898237.223 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:43:57.633Z,1628898237.633 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:43:58.033Z,1628898238.033 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,271,000,00395,189,80,80,28,FF
2021-08-13T23:43:58.033Z,1628898238.033 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:43:58.053Z,1628898238.053 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:43:58.473Z,1628898238.473 [Micromodem](INFO): Nmea in: $SNTTA,0.051952,,,,234358.76*40

2021-08-13T23:43:58.511Z,1628898238.511 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.520002 m, bearing: 44.327969 deg, deltaT: 4.415757 s, approachRate: -0.013587 m/s, LOS rate: -0.247151 deg/s, posRepo size: 4
2021-08-13T23:44:00.962Z,1628898240.962 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:44:01.257Z,1628898241.257 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:44:01.257Z,1628898241.257 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:44:01.258Z,1628898241.258 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:44:01.259Z,1628898241.259 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:44:01.670Z,1628898241.670 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
271,000,00395,189,80,80,28,FF
2021-08-13T23:44:01.670Z,1628898241.670 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:44:01.670Z,1628898241.670 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:44:01.672Z,1628898241.672 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:44:02.077Z,1628898242.077 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:44:02.473Z,1628898242.473 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F09,000,0039E,187,80,80,3E,FF
2021-08-13T23:44:02.473Z,1628898242.473 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:44:02.503Z,1628898242.503 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:44:02.934Z,1628898242.934 [Micromodem](INFO): Nmea in: $SNTTA,0.144812,,,,234403.21*4B

2021-08-13T23:44:02.973Z,1628898242.973 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.059998 m, bearing: 88.182073 deg, deltaT: 4.451148 s, approachRate: 0.121316 m/s, LOS rate: 9.852313 deg/s, posRepo size: 4
2021-08-13T23:44:05.362Z,1628898245.362 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:44:05.717Z,1628898245.717 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:44:05.717Z,1628898245.717 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:44:05.717Z,1628898245.717 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:44:05.718Z,1628898245.718 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:44:06.126Z,1628898246.126 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F09,000,0039E,187,80,80,3E,FF
2021-08-13T23:44:06.127Z,1628898246.127 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:44:06.127Z,1628898246.127 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:44:06.140Z,1628898246.140 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:44:06.525Z,1628898246.525 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:44:06.931Z,1628898246.931 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,183,000,0038C,185,80,80,8C,FF
2021-08-13T23:44:06.931Z,1628898246.931 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:44:06.934Z,1628898246.934 [Micromodem](INFO): Nmea in: $SNTTA,0.247494,0.247338,,,234407.67*58

2021-08-13T23:44:06.992Z,1628898246.992 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:44:07.371Z,1628898247.371 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.980001 m, bearing: 56.890439 deg, deltaT: 4.488702 s, approachRate: -0.240603 m/s, LOS rate: -6.971199 deg/s, posRepo size: 4
2021-08-13T23:44:09.774Z,1628898249.774 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:44:10.185Z,1628898250.185 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:44:10.185Z,1628898250.185 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:44:10.185Z,1628898250.185 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:44:10.186Z,1628898250.186 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:44:10.557Z,1628898250.557 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
183,000,0038C,185,80,80,8C,FF
2021-08-13T23:44:10.557Z,1628898250.557 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:44:10.557Z,1628898250.557 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:44:10.559Z,1628898250.559 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:44:10.960Z,1628898250.960 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:44:11.364Z,1628898251.364 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F79,000,00391,187,80,80,6D,FF
2021-08-13T23:44:11.364Z,1628898251.364 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:44:11.393Z,1628898251.393 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:44:11.801Z,1628898251.801 [Micromodem](INFO): Nmea in: $SNTTA,0.037739,,,,234412.09*42

2021-08-13T23:44:11.837Z,1628898251.837 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.280001 m, bearing: 84.364687 deg, deltaT: 4.400966 s, approachRate: 0.068167 m/s, LOS rate: 6.242777 deg/s, posRepo size: 4
2021-08-13T23:44:14.220Z,1628898254.220 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:44:14.601Z,1628898254.601 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:44:14.601Z,1628898254.601 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:44:14.602Z,1628898254.602 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:44:14.602Z,1628898254.602 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:44:15.009Z,1628898255.009 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F79,000,00391,187,80,80,6D,FF
2021-08-13T23:44:15.009Z,1628898255.009 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:44:15.010Z,1628898255.010 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:44:15.011Z,1628898255.011 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:44:15.424Z,1628898255.424 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:44:15.809Z,1628898255.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F3B,000,00393,186,80,80,38,FF
2021-08-13T23:44:15.809Z,1628898255.809 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:44:15.849Z,1628898255.849 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:44:16.251Z,1628898256.251 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234416.55*58

2021-08-13T23:44:16.277Z,1628898256.277 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.400002 m, bearing: 88.921591 deg, deltaT: 4.455489 s, approachRate: 0.026933 m/s, LOS rate: 1.022762 deg/s, posRepo size: 4
2021-08-13T23:44:18.671Z,1628898258.671 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:44:19.041Z,1628898259.041 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:44:19.041Z,1628898259.041 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:44:19.041Z,1628898259.041 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:44:19.042Z,1628898259.042 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:44:19.445Z,1628898259.445 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F3B,000,00393,186,80,80,38,FF
2021-08-13T23:44:19.445Z,1628898259.445 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:44:19.446Z,1628898259.446 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:44:19.447Z,1628898259.447 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:44:19.853Z,1628898259.853 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:44:20.265Z,1628898260.265 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F53,000,00398,187,80,80,4D,FF
2021-08-13T23:44:20.265Z,1628898260.265 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:44:20.340Z,1628898260.340 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:44:20.702Z,1628898260.702 [Micromodem](INFO): Nmea in: $SNTTA,0.072916,,,,234420.98*49

2021-08-13T23:44:20.739Z,1628898260.739 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.700001 m, bearing: 88.626335 deg, deltaT: 4.491104 s, approachRate: 0.066799 m/s, LOS rate: -0.065742 deg/s, posRepo size: 4
2021-08-13T23:44:23.174Z,1628898263.174 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:44:23.485Z,1628898263.485 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:44:23.485Z,1628898263.485 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:44:23.485Z,1628898263.485 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:44:23.486Z,1628898263.486 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:44:23.898Z,1628898263.898 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F53,000,00398,187,80,80,4D,FF
2021-08-13T23:44:23.898Z,1628898263.898 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:44:23.899Z,1628898263.899 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:44:23.902Z,1628898263.902 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:44:24.297Z,1628898264.297 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:44:24.701Z,1628898264.701 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,085,000,00384,186,80,80,55,FF
2021-08-13T23:44:24.701Z,1628898264.701 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:44:24.721Z,1628898264.721 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:44:25.185Z,1628898265.185 [Micromodem](INFO): Nmea in: $SNTTA,0.028539,,,,234425.44*43

2021-08-13T23:44:25.241Z,1628898265.241 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.499996 m, bearing: 74.520321 deg, deltaT: 4.380886 s, approachRate: -0.273918 m/s, LOS rate: -3.219900 deg/s, posRepo size: 4
2021-08-13T23:44:27.570Z,1628898267.570 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:44:27.941Z,1628898267.941 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:44:27.941Z,1628898267.941 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:44:27.941Z,1628898267.941 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:44:27.942Z,1628898267.942 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:44:28.341Z,1628898268.341 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
085,000,00384,186,80,80,55,FF
2021-08-13T23:44:28.341Z,1628898268.341 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:44:28.341Z,1628898268.341 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:44:28.343Z,1628898268.343 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:44:28.800Z,1628898268.800 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:44:29.207Z,1628898269.207 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,04E,000,00381,185,80,80,50,FF
2021-08-13T23:44:29.207Z,1628898269.207 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:44:29.286Z,1628898269.286 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:44:29.619Z,1628898269.619 [Micromodem](INFO): Nmea in: $SNTTA,0.032551,,,,234429.88*4A

2021-08-13T23:44:29.637Z,1628898269.637 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.319998 m, bearing: 78.093344 deg, deltaT: 4.564831 s, approachRate: -0.039432 m/s, LOS rate: 0.782728 deg/s, posRepo size: 4
2021-08-13T23:44:30.431Z,1628898270.431 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T23:44:32.083Z,1628898272.083 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:44:32.446Z,1628898272.446 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:44:32.446Z,1628898272.446 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:44:32.446Z,1628898272.446 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:44:32.447Z,1628898272.447 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:44:32.879Z,1628898272.879 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
04E,000,00381,185,80,80,50,FF
2021-08-13T23:44:32.879Z,1628898272.879 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:44:32.879Z,1628898272.879 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:44:32.882Z,1628898272.882 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:44:33.312Z,1628898273.312 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:44:33.698Z,1628898273.698 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF1,000,00382,183,80,80,7D,FF
2021-08-13T23:44:33.698Z,1628898273.698 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:44:33.750Z,1628898273.750 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:44:34.153Z,1628898274.153 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234434.42*5E

2021-08-13T23:44:34.191Z,1628898274.191 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.380001 m, bearing: 83.136714 deg, deltaT: 4.464205 s, approachRate: 0.013441 m/s, LOS rate: 1.129735 deg/s, posRepo size: 4
2021-08-13T23:44:36.550Z,1628898276.550 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:44:36.929Z,1628898276.929 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:44:36.930Z,1628898276.930 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:44:36.930Z,1628898276.930 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:44:36.931Z,1628898276.931 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:44:37.329Z,1628898277.329 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF1,000,00382,183,80,80,7D,FF
2021-08-13T23:44:37.329Z,1628898277.329 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:44:37.329Z,1628898277.329 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:44:37.331Z,1628898277.331 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:44:37.733Z,1628898277.733 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:44:38.149Z,1628898278.149 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF7,000,00385,183,80,80,A1,FF
2021-08-13T23:44:38.150Z,1628898278.150 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:44:38.210Z,1628898278.210 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:44:38.581Z,1628898278.581 [Micromodem](INFO): Nmea in: $SNTTA,0.085900,,,,234438.86*40

2021-08-13T23:44:38.621Z,1628898278.621 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.559999 m, bearing: 83.793601 deg, deltaT: 4.460413 s, approachRate: 0.040355 m/s, LOS rate: 0.147270 deg/s, posRepo size: 4
2021-08-13T23:44:40.216Z,1628898280.216 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T23:44:41.010Z,1628898281.010 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:44:41.365Z,1628898281.365 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:44:41.366Z,1628898281.366 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:44:41.366Z,1628898281.366 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:44:41.367Z,1628898281.367 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:44:41.778Z,1628898281.778 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF7,000,00385,183,80,80,A1,FF
2021-08-13T23:44:41.778Z,1628898281.778 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:44:41.779Z,1628898281.779 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:44:41.781Z,1628898281.781 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:44:42.200Z,1628898282.200 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:44:42.577Z,1628898282.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DAF,000,003E8,189,80,80,24,FF
2021-08-13T23:44:42.577Z,1628898282.577 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:44:42.598Z,1628898282.598 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:44:43.026Z,1628898283.026 [Micromodem](INFO): Nmea in: $SNTTA,0.043867,,,,234443.31*4A

2021-08-13T23:44:43.061Z,1628898283.061 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.499998 m, bearing: 113.285053 deg, deltaT: 4.387560 s, approachRate: 1.353827 m/s, LOS rate: 6.721607 deg/s, posRepo size: 4
2021-08-13T23:44:45.445Z,1628898285.445 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:44:45.813Z,1628898285.813 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:44:45.813Z,1628898285.813 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:44:45.813Z,1628898285.813 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:44:45.814Z,1628898285.814 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:44:46.217Z,1628898286.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DAF,000,003E8,189,80,80,24,FF
2021-08-13T23:44:46.217Z,1628898286.217 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:44:46.217Z,1628898286.217 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:44:46.219Z,1628898286.219 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:44:46.625Z,1628898286.625 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:44:47.017Z,1628898287.017 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC3,000,00378,185,80,80,5D,FF
2021-08-13T23:44:47.018Z,1628898287.018 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:44:47.142Z,1628898287.142 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:44:47.469Z,1628898287.469 [Micromodem](INFO): Nmea in: $SNTTA,,0.205731,,,234447.75*42

2021-08-13T23:44:47.515Z,1628898287.515 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.779997 m, bearing: 87.064449 deg, deltaT: 4.544124 s, approachRate: -1.478833 m/s, LOS rate: -5.770222 deg/s, posRepo size: 4
2021-08-13T23:44:49.883Z,1628898289.883 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:44:50.261Z,1628898290.261 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:44:50.261Z,1628898290.261 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:44:50.261Z,1628898290.261 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:44:50.262Z,1628898290.262 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:44:50.657Z,1628898290.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC3,000,00378,185,80,80,5D,FF
2021-08-13T23:44:50.657Z,1628898290.657 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:44:50.657Z,1628898290.657 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:44:50.659Z,1628898290.659 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:44:51.085Z,1628898291.085 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:44:51.896Z,1628898291.896 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234452.19*50

2021-08-13T23:44:52.714Z,1628898292.714 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:44:54.314Z,1628898294.314 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
8,185,80,80,5D,FF
2021-08-13T23:44:54.314Z,1628898294.314 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
8,185,80,80,5D,FF
2021-08-13T23:44:54.314Z,1628898294.314 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T23:44:55.201Z,1628898295.201 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T23:44:55.242Z,1628898295.242 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:44:55.510Z,1628898295.510 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:44:55.510Z,1628898295.510 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:44:55.510Z,1628898295.510 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:44:55.511Z,1628898295.511 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:44:55.925Z,1628898295.925 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
8,185,80,80,5D,FF
2021-08-13T23:44:55.926Z,1628898295.926 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:44:55.926Z,1628898295.926 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:44:55.927Z,1628898295.927 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:44:56.324Z,1628898296.324 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:44:56.738Z,1628898296.738 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC8,000,0037C,184,80,80,4A,FF
2021-08-13T23:44:56.738Z,1628898296.738 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:44:56.757Z,1628898296.757 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:44:57.165Z,1628898297.165 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234457.46*5F

2021-08-13T23:44:57.231Z,1628898297.231 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.019999 m, bearing: 87.499060 deg, deltaT: 9.615300 s, approachRate: 0.024960 m/s, LOS rate: 0.045200 deg/s, posRepo size: 4
2021-08-13T23:44:59.575Z,1628898299.575 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:44:59.956Z,1628898299.956 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:44:59.956Z,1628898299.956 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:44:59.957Z,1628898299.957 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:44:59.958Z,1628898299.958 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:45:00.359Z,1628898300.359 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC8,000,0037C,184,80,80,4A,FF
2021-08-13T23:45:00.359Z,1628898300.359 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:45:00.359Z,1628898300.359 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:45:00.361Z,1628898300.361 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:45:00.424Z,1628898300.424 [RDI_PathfinderUp](ERROR): only read 0 of 4 data items
2021-08-13T23:45:00.785Z,1628898300.785 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:45:01.193Z,1628898301.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF8,000,0037A,184,80,80,6B,FF
2021-08-13T23:45:01.194Z,1628898301.194 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:45:01.274Z,1628898301.274 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:45:01.621Z,1628898301.621 [Micromodem](INFO): Nmea in: $SNTTA,0.033968,,,,234501.90*4F

2021-08-13T23:45:01.673Z,1628898301.673 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.899998 m, bearing: 85.633442 deg, deltaT: 4.517079 s, approachRate: -0.026566 m/s, LOS rate: -0.413014 deg/s, posRepo size: 4
2021-08-13T23:45:04.058Z,1628898304.058 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:45:04.393Z,1628898304.393 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:45:04.393Z,1628898304.393 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:45:04.393Z,1628898304.393 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:45:04.394Z,1628898304.394 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:45:04.822Z,1628898304.822 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF8,000,0037A,184,80,80,6B,FF
2021-08-13T23:45:04.822Z,1628898304.822 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:45:04.823Z,1628898304.823 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:45:04.856Z,1628898304.856 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:45:05.253Z,1628898305.253 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:45:05.272Z,1628898305.272 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-13T23:45:05.654Z,1628898305.654 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC8,000,0037C,184,80,80,96,FF
2021-08-13T23:45:05.655Z,1628898305.655 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:45:05.705Z,1628898305.705 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:45:06.101Z,1628898306.101 [Micromodem](INFO): Nmea in: $SNTTA,0.034462,,,,234506.39*4B

2021-08-13T23:45:06.167Z,1628898306.167 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.019999 m, bearing: 88.204851 deg, deltaT: 4.430518 s, approachRate: 0.027085 m/s, LOS rate: 0.580386 deg/s, posRepo size: 4
2021-08-13T23:45:08.513Z,1628898308.513 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:45:08.929Z,1628898308.929 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:45:08.929Z,1628898308.929 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:45:08.930Z,1628898308.930 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:45:08.931Z,1628898308.931 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:45:09.281Z,1628898309.281 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC8,000,0037C,184,80,80,96,FF
2021-08-13T23:45:09.281Z,1628898309.281 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:45:09.281Z,1628898309.281 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:45:09.283Z,1628898309.283 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:45:09.693Z,1628898309.693 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:45:10.087Z,1628898310.087 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC3,000,00379,185,80,80,8F,FF
2021-08-13T23:45:10.087Z,1628898310.087 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:45:10.164Z,1628898310.164 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:45:10.534Z,1628898310.534 [Micromodem](INFO): Nmea in: $SNTTA,0.028096,,,,234510.82*4E

2021-08-13T23:45:10.557Z,1628898310.557 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-13T23:45:10.587Z,1628898310.587 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.840000 m, bearing: 88.777870 deg, deltaT: 4.458906 s, approachRate: -0.040368 m/s, LOS rate: 0.128511 deg/s, posRepo size: 4
2021-08-13T23:45:13.026Z,1628898313.026 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:45:13.317Z,1628898313.317 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:45:13.317Z,1628898313.317 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:45:13.317Z,1628898313.317 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:45:13.318Z,1628898313.318 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:45:13.721Z,1628898313.721 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC3,000,00379,185,80,80,8F,FF
2021-08-13T23:45:13.721Z,1628898313.721 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:45:13.721Z,1628898313.721 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:45:13.723Z,1628898313.723 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:45:14.154Z,1628898314.154 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:45:14.529Z,1628898314.529 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FBB,000,00375,184,80,80,97,FF
2021-08-13T23:45:14.530Z,1628898314.530 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:45:14.583Z,1628898314.583 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:45:14.981Z,1628898314.981 [Micromodem](INFO): Nmea in: $SNTTA,0.035613,,,,234515.26*42

2021-08-13T23:45:15.049Z,1628898315.049 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.599998 m, bearing: 89.118867 deg, deltaT: 4.423960 s, approachRate: -0.054250 m/s, LOS rate: 0.077080 deg/s, posRepo size: 4
2021-08-13T23:45:15.357Z,1628898315.357 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T23:45:17.416Z,1628898317.416 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:45:17.769Z,1628898317.769 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:45:17.769Z,1628898317.769 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:45:17.770Z,1628898317.770 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:45:17.771Z,1628898317.771 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:45:18.189Z,1628898318.189 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FBB,000,00375,184,80,80,97,FF
2021-08-13T23:45:18.189Z,1628898318.189 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:45:18.189Z,1628898318.189 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:45:18.191Z,1628898318.191 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:45:18.581Z,1628898318.581 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:45:18.983Z,1628898318.983 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA6,000,00372,186,80,80,8D,FF
2021-08-13T23:45:18.984Z,1628898318.984 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:45:19.038Z,1628898319.038 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:45:19.413Z,1628898319.413 [Micromodem](INFO): Nmea in: $SNTTA,0.036669,,,,234519.73*40

2021-08-13T23:45:19.461Z,1628898319.461 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.420000 m, bearing: 90.268292 deg, deltaT: 4.450647 s, approachRate: -0.040443 m/s, LOS rate: 0.258260 deg/s, posRepo size: 4
2021-08-13T23:45:21.822Z,1628898321.822 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:45:22.205Z,1628898322.205 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:45:22.205Z,1628898322.205 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:45:22.205Z,1628898322.205 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:45:22.206Z,1628898322.206 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:45:22.625Z,1628898322.625 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA6,000,00372,186,80,80,8D,FF
2021-08-13T23:45:22.625Z,1628898322.625 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:45:22.625Z,1628898322.625 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:45:22.627Z,1628898322.627 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:45:23.033Z,1628898323.033 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:45:23.427Z,1628898323.427 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F69,000,00371,187,80,80,8D,FF
2021-08-13T23:45:23.428Z,1628898323.428 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:45:23.457Z,1628898323.457 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:45:23.866Z,1628898323.866 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234524.16*5F

2021-08-13T23:45:23.913Z,1628898323.913 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.359997 m, bearing: 93.133707 deg, deltaT: 4.418412 s, approachRate: -0.013580 m/s, LOS rate: 0.648517 deg/s, posRepo size: 4
2021-08-13T23:45:25.060Z,1628898325.060 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-13T23:45:25.470Z,1628898325.470 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-13T23:45:26.289Z,1628898326.289 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:45:26.657Z,1628898326.657 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:45:26.658Z,1628898326.658 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:45:26.658Z,1628898326.658 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:45:26.658Z,1628898326.658 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:45:27.073Z,1628898327.073 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F69,000,00371,187,80,80,8D,FF
2021-08-13T23:45:27.073Z,1628898327.073 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:45:27.073Z,1628898327.073 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:45:27.075Z,1628898327.075 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:45:27.565Z,1628898327.565 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:45:27.953Z,1628898327.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA4,000,0036B,186,80,80,A2,FF
2021-08-13T23:45:27.954Z,1628898327.954 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:45:28.016Z,1628898328.016 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:45:28.365Z,1628898328.365 [Micromodem](INFO): Nmea in: $SNTTA,,0.118659,,,234528.61*4F

2021-08-13T23:45:28.425Z,1628898328.425 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.000000 m, bearing: 89.827834 deg, deltaT: 4.559185 s, approachRate: -0.078961 m/s, LOS rate: -0.725102 deg/s, posRepo size: 4
2021-08-13T23:45:30.881Z,1628898330.881 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:45:31.201Z,1628898331.201 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:45:31.201Z,1628898331.201 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:45:31.201Z,1628898331.201 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:45:31.202Z,1628898331.202 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:45:31.225Z,1628898331.225 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T23:45:31.617Z,1628898331.617 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA4,000,0036B,186,80,80,A2,FF
2021-08-13T23:45:31.617Z,1628898331.617 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:45:31.617Z,1628898331.617 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:45:31.619Z,1628898331.619 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:45:32.025Z,1628898332.025 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:45:32.422Z,1628898332.422 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB3,000,0036E,184,80,80,99,FF
2021-08-13T23:45:32.422Z,1628898332.422 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:45:32.452Z,1628898332.452 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:45:32.898Z,1628898332.898 [Micromodem](INFO): Nmea in: $SNTTA,0.071297,,,,234533.16*4D

2021-08-13T23:45:32.943Z,1628898332.943 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.179998 m, bearing: 89.088083 deg, deltaT: 4.436071 s, approachRate: 0.040576 m/s, LOS rate: -0.166758 deg/s, posRepo size: 4
2021-08-13T23:45:34.958Z,1628898334.958 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:45:35.253Z,1628898335.253 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:45:35.253Z,1628898335.253 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:45:35.254Z,1628898335.254 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:45:35.254Z,1628898335.254 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:45:35.297Z,1628898335.297 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-13T23:45:35.650Z,1628898335.650 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB3,000,0036E,184,80,80,99,FF
2021-08-13T23:45:35.650Z,1628898335.650 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:45:35.650Z,1628898335.650 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:45:35.651Z,1628898335.651 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:45:36.097Z,1628898336.097 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:45:36.115Z,1628898336.115 [Micromodem](INFO): Nmea in: 0.39330*7F

2021-08-13T23:45:36.116Z,1628898336.116 [Micromodem](ERROR): Response from modem failed NMEA checksum: 0.39330*7F
 expected 0
2021-08-13T23:45:36.458Z,1628898336.458 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EFB,000,00377,187,80,80,5A,FF
2021-08-13T23:45:36.458Z,1628898336.458 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:45:36.516Z,1628898336.516 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:45:36.963Z,1628898336.963 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.719999 m, bearing: 98.036970 deg, deltaT: 4.064299 s, approachRate: 0.132864 m/s, LOS rate: 2.201828 deg/s, posRepo size: 4
2021-08-13T23:45:39.315Z,1628898339.315 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:45:39.701Z,1628898339.701 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:45:39.701Z,1628898339.701 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:45:39.701Z,1628898339.701 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:45:39.702Z,1628898339.702 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:45:40.097Z,1628898340.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EFB,000,00377,187,80,80,5A,FF
2021-08-13T23:45:40.097Z,1628898340.097 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:45:40.097Z,1628898340.097 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:45:40.099Z,1628898340.099 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:45:40.501Z,1628898340.501 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:45:40.522Z,1628898340.522 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-13T23:45:40.917Z,1628898340.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE8,000,00376,186,80,80,41,FF
2021-08-13T23:45:40.917Z,1628898340.917 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:45:40.000Z,1628898341.000 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:45:41.333Z,1628898341.333 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234541.63*5E

2021-08-13T23:45:41.382Z,1628898341.382 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.660002 m, bearing: 99.164689 deg, deltaT: 4.483451 s, approachRate: -0.013382 m/s, LOS rate: 0.251529 deg/s, posRepo size: 4
2021-08-13T23:45:43.773Z,1628898343.773 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:45:44.157Z,1628898344.157 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:45:44.157Z,1628898344.157 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:45:44.157Z,1628898344.157 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:45:44.158Z,1628898344.158 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:45:44.547Z,1628898344.547 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE8,000,00376,186,80,80,41,FF
2021-08-13T23:45:44.547Z,1628898344.547 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:45:44.548Z,1628898344.548 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:45:44.550Z,1628898344.550 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:45:44.969Z,1628898344.969 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:45:45.350Z,1628898345.350 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F1E,000,00357,186,80,80,80,FF
2021-08-13T23:45:45.350Z,1628898345.350 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:45:45.399Z,1628898345.399 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:45:45.805Z,1628898345.805 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234546.09*55

2021-08-13T23:45:45.824Z,1628898345.824 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.800002 m, bearing: 96.755353 deg, deltaT: 4.399780 s, approachRate: -0.422748 m/s, LOS rate: -0.547604 deg/s, posRepo size: 4
2021-08-13T23:45:48.229Z,1628898348.229 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:45:48.582Z,1628898348.582 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:45:48.582Z,1628898348.582 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:45:48.582Z,1628898348.582 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:45:48.583Z,1628898348.583 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:45:48.994Z,1628898348.994 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F1E,000,00357,186,80,80,80,FF
2021-08-13T23:45:48.994Z,1628898348.994 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:45:48.994Z,1628898348.994 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:45:48.995Z,1628898348.995 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:45:49.446Z,1628898349.446 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:45:49.845Z,1628898349.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F31,000,00361,187,80,80,A0,FF
2021-08-13T23:45:49.845Z,1628898349.845 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:45:49.919Z,1628898349.919 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:45:50.271Z,1628898350.271 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234550.53*5D

2021-08-13T23:45:50.296Z,1628898350.296 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.400001 m, bearing: 96.191514 deg, deltaT: 4.519344 s, approachRate: 0.132762 m/s, LOS rate: -0.124761 deg/s, posRepo size: 4
2021-08-13T23:45:52.696Z,1628898352.696 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:45:53.091Z,1628898353.091 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:45:53.091Z,1628898353.091 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:45:53.091Z,1628898353.091 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:45:53.091Z,1628898353.091 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:45:53.489Z,1628898353.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F31,000,00361,187,80,80,A0,FF
2021-08-13T23:45:53.489Z,1628898353.489 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:45:53.489Z,1628898353.489 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:45:53.491Z,1628898353.491 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:45:53.905Z,1628898353.905 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:45:54.306Z,1628898354.306 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EED,000,00365,186,80,80,31,FF
2021-08-13T23:45:54.306Z,1628898354.306 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:45:54.336Z,1628898354.336 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:45:54.753Z,1628898354.753 [Micromodem](INFO): Nmea in: $SNTTA,0.029611,,,,234555.03*4E

2021-08-13T23:45:54.804Z,1628898354.804 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.639997 m, bearing: 100.161719 deg, deltaT: 4.417180 s, approachRate: 0.054332 m/s, LOS rate: 0.898810 deg/s, posRepo size: 4
2021-08-13T23:45:57.210Z,1628898357.210 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:45:57.541Z,1628898357.541 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:45:57.541Z,1628898357.541 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:45:57.541Z,1628898357.541 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:45:57.542Z,1628898357.542 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:45:57.945Z,1628898357.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EED,000,00365,186,80,80,31,FF
2021-08-13T23:45:57.945Z,1628898357.945 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:45:57.945Z,1628898357.945 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:45:57.947Z,1628898357.947 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:45:58.345Z,1628898358.345 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:45:58.757Z,1628898358.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E56,000,00350,186,80,80,7D,FF
2021-08-13T23:45:58.757Z,1628898358.757 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:45:58.781Z,1628898358.781 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:45:59.198Z,1628898359.198 [Micromodem](INFO): Nmea in: $SNTTA,,0.342664,,,234559.48*41

2021-08-13T23:45:59.268Z,1628898359.268 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.380001 m, bearing: 108.587037 deg, deltaT: 4.445279 s, approachRate: -0.283446 m/s, LOS rate: 1.895341 deg/s, posRepo size: 4
2021-08-13T23:46:01.606Z,1628898361.606 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:46:01.974Z,1628898361.974 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:46:01.974Z,1628898361.974 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:46:01.974Z,1628898361.974 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:46:01.975Z,1628898361.975 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:46:02.385Z,1628898362.385 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E56,000,00350,186,80,80,7D,FF
2021-08-13T23:46:02.385Z,1628898362.385 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:46:02.385Z,1628898362.385 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:46:02.387Z,1628898362.387 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:46:02.811Z,1628898362.811 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:46:03.193Z,1628898363.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E32,000,0034E,187,80,80,6E,FF
2021-08-13T23:46:03.194Z,1628898363.194 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:46:03.197Z,1628898363.197 [Micromodem](INFO): Nmea in: $SNTTA,0.162235,0.161673,,,234603.92*50

2021-08-13T23:46:03.287Z,1628898363.287 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:46:03.624Z,1628898363.624 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.260000 m, bearing: 112.381201 deg, deltaT: 4.505237 s, approachRate: -0.026636 m/s, LOS rate: 0.842167 deg/s, posRepo size: 4
2021-08-13T23:46:06.050Z,1628898366.050 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:46:06.439Z,1628898366.439 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:46:06.439Z,1628898366.439 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:46:06.439Z,1628898366.439 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:46:06.440Z,1628898366.440 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:46:06.853Z,1628898366.853 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E32,000,0034E,187,80,80,6E,FF
2021-08-13T23:46:06.853Z,1628898366.853 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:46:06.854Z,1628898366.854 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:46:06.859Z,1628898366.859 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:46:07.237Z,1628898367.237 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:46:07.641Z,1628898367.641 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E96,000,00352,186,80,80,65,FF
2021-08-13T23:46:07.641Z,1628898367.641 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:46:07.660Z,1628898367.660 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:46:08.051Z,1628898368.051 [Micromodem](INFO): Nmea in: $SNTTA,0.028975,,,,234608.39*40

2021-08-13T23:46:08.094Z,1628898368.094 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.500002 m, bearing: 108.262480 deg, deltaT: 4.373543 s, approachRate: 0.054876 m/s, LOS rate: -0.941735 deg/s, posRepo size: 4
2021-08-13T23:46:10.492Z,1628898370.492 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:46:10.925Z,1628898370.925 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:46:10.925Z,1628898370.925 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:46:10.925Z,1628898370.925 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:46:10.926Z,1628898370.926 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:46:11.281Z,1628898371.281 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E96,000,00352,186,80,80,65,FF
2021-08-13T23:46:11.281Z,1628898371.281 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:46:11.281Z,1628898371.281 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:46:11.283Z,1628898371.283 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:46:11.685Z,1628898371.685 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:46:12.081Z,1628898372.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,243,000,0035A,189,80,80,4E,FF
2021-08-13T23:46:12.081Z,1628898372.081 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:46:12.130Z,1628898372.130 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:46:12.537Z,1628898372.537 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234612.82*54

2021-08-13T23:46:12.562Z,1628898372.562 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.980000 m, bearing: 61.781991 deg, deltaT: 4.470739 s, approachRate: 0.107364 m/s, LOS rate: -10.396601 deg/s, posRepo size: 4
2021-08-13T23:46:14.993Z,1628898374.993 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:46:15.313Z,1628898375.313 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:46:15.313Z,1628898375.313 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:46:15.313Z,1628898375.313 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:46:15.314Z,1628898375.314 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:46:15.721Z,1628898375.721 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
243,000,0035A,189,80,80,4E,FF
2021-08-13T23:46:15.721Z,1628898375.721 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:46:15.721Z,1628898375.721 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:46:15.723Z,1628898375.723 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:46:16.151Z,1628898376.151 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:46:16.529Z,1628898376.529 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,195,000,00353,186,80,80,4C,FF
2021-08-13T23:46:16.530Z,1628898376.530 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:46:16.569Z,1628898376.569 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:46:16.970Z,1628898376.970 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234617.26*5F

2021-08-13T23:46:17.005Z,1628898377.005 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.559999 m, bearing: 70.998922 deg, deltaT: 4.437720 s, approachRate: -0.094643 m/s, LOS rate: 2.076952 deg/s, posRepo size: 4
2021-08-13T23:46:19.386Z,1628898379.386 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:46:19.757Z,1628898379.757 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:46:19.757Z,1628898379.757 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:46:19.757Z,1628898379.757 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:46:19.758Z,1628898379.758 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:46:20.199Z,1628898380.199 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
195,000,00353,186,80,80,4C,FF
2021-08-13T23:46:20.200Z,1628898380.200 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:46:20.202Z,1628898380.202 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:46:20.206Z,1628898380.206 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:46:20.579Z,1628898380.579 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:46:20.965Z,1628898380.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1A7,000,00345,186,80,80,8D,FF
2021-08-13T23:46:20.965Z,1628898380.965 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:46:21.037Z,1628898381.037 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:46:21.406Z,1628898381.406 [Micromodem](INFO): Nmea in: $SNTTA,0.075553,,,,234621.74*42

2021-08-13T23:46:21.434Z,1628898381.434 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.719999 m, bearing: 70.013913 deg, deltaT: 4.468503 s, approachRate: -0.187982 m/s, LOS rate: -0.220434 deg/s, posRepo size: 4
2021-08-13T23:46:23.818Z,1628898383.818 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:46:24.197Z,1628898384.197 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:46:24.197Z,1628898384.197 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:46:24.197Z,1628898384.197 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:46:24.198Z,1628898384.198 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:46:24.613Z,1628898384.613 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1A7,000,00345,186,80,80,8D,FF
2021-08-13T23:46:24.613Z,1628898384.613 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:46:24.613Z,1628898384.613 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:46:24.615Z,1628898384.615 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:46:25.023Z,1628898385.023 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:46:26.621Z,1628898386.621 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,154,000,0365F,185,80,80,83,FF
2021-08-13T23:46:26.621Z,1628898386.621 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:46:26.681Z,1628898386.681 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:46:27.113Z,1628898387.113 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 797.640076 m, bearing: 74.852719 deg, deltaT: 5.644104 s, approachRate: 139.069031 m/s, LOS rate: 0.857321 deg/s, posRepo size: 4
2021-08-13T23:46:27.479Z,1628898387.479 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-13T23:46:27.479Z,1628898387.479 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T23:46:27.479Z,1628898387.479 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-13T23:46:27.480Z,1628898387.480 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-13T23:46:27.480Z,1628898387.480 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-13T23:46:27.480Z,1628898387.480 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-13T23:46:27.901Z,1628898387.901 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-13T23:46:27.902Z,1628898387.902 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T23:46:27.902Z,1628898387.902 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-13T23:46:27.902Z,1628898387.902 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T23:46:29.485Z,1628898389.485 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:46:29.853Z,1628898389.853 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:46:29.853Z,1628898389.853 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:46:29.853Z,1628898389.853 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:46:29.854Z,1628898389.854 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:46:30.269Z,1628898390.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
154,000,0365F,185,80,80,83,FF
2021-08-13T23:46:30.269Z,1628898390.269 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:46:30.270Z,1628898390.270 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:46:30.271Z,1628898390.271 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:46:30.673Z,1628898390.673 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:46:31.075Z,1628898391.075 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,170,000,0034A,186,80,80,82,FF
2021-08-13T23:46:31.075Z,1628898391.075 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:46:31.505Z,1628898391.505 [Micromodem](INFO): Nmea in: $SNTTA,0.041310,,,,234631.81*4F

2021-08-13T23:46:31.527Z,1628898391.527 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.019999 m, bearing: 73.482891 deg, deltaT: 4.520532 s, approachRate: -173.568085 m/s, LOS rate: -0.303024 deg/s, posRepo size: 4
2021-08-13T23:46:31.939Z,1628898391.939 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-13T23:46:31.944Z,1628898391.944 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T23:46:31.944Z,1628898391.944 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-13T23:46:31.944Z,1628898391.944 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-13T23:46:31.945Z,1628898391.945 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-13T23:46:31.945Z,1628898391.945 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-13T23:46:32.310Z,1628898392.310 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-13T23:46:32.310Z,1628898392.310 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T23:46:32.310Z,1628898392.310 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-13T23:46:32.310Z,1628898392.310 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T23:46:33.945Z,1628898393.945 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:46:34.317Z,1628898394.317 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:46:34.317Z,1628898394.317 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:46:34.318Z,1628898394.318 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:46:34.319Z,1628898394.319 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:46:34.709Z,1628898394.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
170,000,0034A,186,80,80,82,FF
2021-08-13T23:46:34.709Z,1628898394.709 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:46:34.709Z,1628898394.709 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:46:34.711Z,1628898394.711 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:46:35.148Z,1628898395.148 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:46:35.521Z,1628898395.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,174,000,0033F,186,80,80,6A,FF
2021-08-13T23:46:35.522Z,1628898395.522 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:46:35.545Z,1628898395.545 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:46:35.957Z,1628898395.957 [Micromodem](INFO): Nmea in: $SNTTA,0.050252,,,,234636.25*41

2021-08-13T23:46:35.991Z,1628898395.991 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.360002 m, bearing: 73.211568 deg, deltaT: 4.343187 s, approachRate: -0.151961 m/s, LOS rate: -0.062471 deg/s, posRepo size: 4
2021-08-13T23:46:38.408Z,1628898398.408 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:46:38.759Z,1628898398.759 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:46:38.759Z,1628898398.759 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:46:38.759Z,1628898398.759 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:46:38.760Z,1628898398.760 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:46:39.190Z,1628898399.190 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
174,000,0033F,186,80,80,6A,FF
2021-08-13T23:46:39.190Z,1628898399.190 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:46:39.191Z,1628898399.191 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:46:39.194Z,1628898399.194 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:46:39.573Z,1628898399.573 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:46:39.990Z,1628898399.990 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,123,000,00343,186,80,80,88,FF
2021-08-13T23:46:39.991Z,1628898399.991 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:46:40.038Z,1628898400.038 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:46:40.413Z,1628898400.413 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234640.73*5D

2021-08-13T23:46:40.439Z,1628898400.439 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.599998 m, bearing: 77.064942 deg, deltaT: 4.493262 s, approachRate: 0.053413 m/s, LOS rate: 0.857589 deg/s, posRepo size: 4
2021-08-13T23:46:42.893Z,1628898402.893 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:46:43.202Z,1628898403.202 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:46:43.202Z,1628898403.202 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:46:43.203Z,1628898403.203 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:46:43.220Z,1628898403.220 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:46:43.609Z,1628898403.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
123,000,00343,186,80,80,88,FF
2021-08-13T23:46:43.609Z,1628898403.609 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:46:43.609Z,1628898403.609 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:46:43.611Z,1628898403.611 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:46:44.026Z,1628898404.026 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:46:44.417Z,1628898404.417 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,135,000,00335,185,80,80,5E,FF
2021-08-13T23:46:44.417Z,1628898404.417 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:46:44.482Z,1628898404.482 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:46:44.882Z,1628898404.882 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234645.14*59

2021-08-13T23:46:44.934Z,1628898404.934 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.759997 m, bearing: 76.401273 deg, deltaT: 4.444034 s, approachRate: -0.189018 m/s, LOS rate: -0.149339 deg/s, posRepo size: 4
2021-08-13T23:46:47.375Z,1628898407.375 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:46:47.725Z,1628898407.725 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:46:47.725Z,1628898407.725 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:46:47.725Z,1628898407.725 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:46:47.726Z,1628898407.726 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:46:48.157Z,1628898408.157 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
135,000,00335,185,80,80,5E,FF
2021-08-13T23:46:48.157Z,1628898408.157 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:46:48.157Z,1628898408.157 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:46:48.159Z,1628898408.159 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:46:48.536Z,1628898408.536 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:46:49.358Z,1628898409.358 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234649.69*5F

2021-08-13T23:46:50.181Z,1628898410.181 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,178,000,035EA,186,80,80,79,FF
2021-08-13T23:46:50.181Z,1628898410.181 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:46:50.265Z,1628898410.265 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:46:50.586Z,1628898410.586 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 790.619995 m, bearing: 72.841912 deg, deltaT: 5.782389 s, approachRate: 134.695190 m/s, LOS rate: -0.615552 deg/s, posRepo size: 4
2021-08-13T23:46:51.029Z,1628898411.029 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-13T23:46:51.029Z,1628898411.029 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T23:46:51.030Z,1628898411.030 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-13T23:46:51.030Z,1628898411.030 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-13T23:46:51.030Z,1628898411.030 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-13T23:46:51.031Z,1628898411.031 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-13T23:46:51.421Z,1628898411.421 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-13T23:46:51.422Z,1628898411.422 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T23:46:51.422Z,1628898411.422 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-13T23:46:51.422Z,1628898411.422 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T23:46:53.070Z,1628898413.070 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:46:53.389Z,1628898413.389 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:46:53.389Z,1628898413.389 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:46:53.389Z,1628898413.389 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:46:53.390Z,1628898413.390 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:46:53.786Z,1628898413.786 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
178,000,035EA,186,80,80,79,FF
2021-08-13T23:46:53.786Z,1628898413.786 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:46:53.786Z,1628898413.786 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:46:53.790Z,1628898413.790 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:46:54.197Z,1628898414.197 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:46:54.602Z,1628898414.602 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,123,000,00660,186,80,80,94,FF
2021-08-13T23:46:54.603Z,1628898414.603 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:46:55.029Z,1628898415.029 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234655.33*5D

2021-08-13T23:46:55.081Z,1628898415.081 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 60.419998 m, bearing: 76.311777 deg, deltaT: 4.395042 s, approachRate: -166.141754 m/s, LOS rate: 0.789495 deg/s, posRepo size: 4
2021-08-13T23:46:57.464Z,1628898417.464 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:46:57.833Z,1628898417.833 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:46:57.833Z,1628898417.833 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:46:57.833Z,1628898417.833 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:46:57.834Z,1628898417.834 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:46:58.238Z,1628898418.238 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
123,000,00660,186,80,80,94,FF
2021-08-13T23:46:58.238Z,1628898418.238 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:46:58.239Z,1628898418.239 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:46:58.241Z,1628898418.241 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:46:58.641Z,1628898418.641 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:46:59.037Z,1628898419.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,14F,000,0032E,185,80,80,5A,FF
2021-08-13T23:46:59.038Z,1628898419.038 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:46:59.478Z,1628898419.478 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234659.78*5E

2021-08-13T23:46:59.548Z,1628898419.548 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.339997 m, bearing: 73.260507 deg, deltaT: 4.497521 s, approachRate: -10.912679 m/s, LOS rate: -0.678434 deg/s, posRepo size: 4
2021-08-13T23:46:59.875Z,1628898419.875 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-13T23:46:59.876Z,1628898419.876 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T23:46:59.876Z,1628898419.876 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-13T23:46:59.877Z,1628898419.877 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-13T23:46:59.877Z,1628898419.877 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-13T23:46:59.877Z,1628898419.877 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-13T23:47:00.349Z,1628898420.349 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-13T23:47:00.350Z,1628898420.350 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T23:47:00.350Z,1628898420.350 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-13T23:47:00.350Z,1628898420.350 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T23:47:01.918Z,1628898421.918 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:47:02.269Z,1628898422.269 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:47:02.269Z,1628898422.269 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:47:02.269Z,1628898422.269 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:47:02.270Z,1628898422.270 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:47:02.681Z,1628898422.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
14F,000,0032E,185,80,80,5A,FF
2021-08-13T23:47:02.682Z,1628898422.682 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:47:02.682Z,1628898422.682 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:47:02.683Z,1628898422.683 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:47:03.090Z,1628898423.090 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:47:03.918Z,1628898423.918 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234704.22*58

2021-08-13T23:47:04.727Z,1628898424.727 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:47:05.156Z,1628898425.156 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-13T23:47:06.310Z,1628898426.310 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
E,185,80,80,5A,FF
2021-08-13T23:47:06.310Z,1628898426.310 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
E,185,80,80,5A,FF
2021-08-13T23:47:06.310Z,1628898426.310 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T23:47:07.558Z,1628898427.558 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:47:07.941Z,1628898427.941 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:47:07.941Z,1628898427.941 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:47:07.941Z,1628898427.941 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:47:07.942Z,1628898427.942 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:47:08.345Z,1628898428.345 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
E,185,80,80,5A,FF
2021-08-13T23:47:08.345Z,1628898428.345 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:47:08.345Z,1628898428.345 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:47:08.347Z,1628898428.347 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:47:08.744Z,1628898428.744 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:47:09.181Z,1628898429.181 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,142,000,00338,186,80,80,4A,FF
2021-08-13T23:47:09.181Z,1628898429.181 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:47:09.304Z,1628898429.304 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:47:09.581Z,1628898429.581 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234709.88*55

2021-08-13T23:47:09.603Z,1628898429.603 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.940001 m, bearing: 71.560309 deg, deltaT: 10.147129 s, approachRate: 0.059130 m/s, LOS rate: -0.167555 deg/s, posRepo size: 4
2021-08-13T23:47:11.986Z,1628898431.986 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:47:12.381Z,1628898432.381 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:47:12.381Z,1628898432.381 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:47:12.382Z,1628898432.382 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:47:12.382Z,1628898432.382 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:47:12.777Z,1628898432.777 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
142,000,00338,186,80,80,4A,FF
2021-08-13T23:47:12.777Z,1628898432.777 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:47:12.777Z,1628898432.777 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:47:12.779Z,1628898432.779 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:47:13.196Z,1628898433.196 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:47:13.589Z,1628898433.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,185,000,0032D,186,80,80,49,FF
2021-08-13T23:47:13.590Z,1628898433.590 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:47:13.609Z,1628898433.609 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:47:14.025Z,1628898434.025 [Micromodem](INFO): Nmea in: $SNTTA,0.053341,,,,234714.32*46

2021-08-13T23:47:14.048Z,1628898434.048 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.280000 m, bearing: 66.904121 deg, deltaT: 4.304314 s, approachRate: -0.153335 m/s, LOS rate: -1.081749 deg/s, posRepo size: 4
2021-08-13T23:47:16.449Z,1628898436.449 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:47:16.836Z,1628898436.836 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:47:16.836Z,1628898436.836 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:47:16.837Z,1628898436.837 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:47:16.839Z,1628898436.839 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:47:17.085Z,1628898437.085 [CTD_Seabird](ERROR): Failed to parse device response: .93
2021-08-13T23:47:17.229Z,1628898437.229 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
185,000,0032D,186,80,80,49,FF
2021-08-13T23:47:17.229Z,1628898437.229 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:47:17.229Z,1628898437.229 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:47:17.231Z,1628898437.231 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:47:17.334Z,1628898437.334 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-13T23:47:17.629Z,1628898437.629 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:47:18.029Z,1628898438.029 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,196,000,0032A,186,80,80,95,FF
2021-08-13T23:47:18.029Z,1628898438.029 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:47:18.049Z,1628898438.049 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:47:18.465Z,1628898438.465 [Micromodem](INFO): Nmea in: $SNTTA,0.040993,,,,234718.77*4C

2021-08-13T23:47:18.508Z,1628898438.508 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.100000 m, bearing: 64.693230 deg, deltaT: 4.439953 s, approachRate: -0.040541 m/s, LOS rate: -0.497954 deg/s, posRepo size: 4
2021-08-13T23:47:20.955Z,1628898440.955 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:47:21.265Z,1628898441.265 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:47:21.265Z,1628898441.265 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:47:21.265Z,1628898441.265 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:47:21.266Z,1628898441.266 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:47:21.669Z,1628898441.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
196,000,0032A,186,80,80,95,FF
2021-08-13T23:47:21.670Z,1628898441.670 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:47:21.670Z,1628898441.670 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:47:21.672Z,1628898441.672 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:47:22.073Z,1628898442.073 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:47:22.481Z,1628898442.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1CF,000,00327,187,80,80,85,FF
2021-08-13T23:47:22.481Z,1628898442.481 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:47:22.535Z,1628898442.535 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:47:22.930Z,1628898442.930 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234723.21*5E

2021-08-13T23:47:22.966Z,1628898442.966 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.920002 m, bearing: 60.196506 deg, deltaT: 4.491089 s, approachRate: -0.040079 m/s, LOS rate: -1.001255 deg/s, posRepo size: 4
2021-08-13T23:47:25.333Z,1628898445.333 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:47:25.709Z,1628898445.709 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:47:25.710Z,1628898445.710 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:47:25.710Z,1628898445.710 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:47:25.711Z,1628898445.711 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:47:26.117Z,1628898446.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1CF,000,00327,187,80,80,85,FF
2021-08-13T23:47:26.117Z,1628898446.117 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:47:26.118Z,1628898446.118 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:47:26.149Z,1628898446.149 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:47:26.516Z,1628898446.516 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:47:26.933Z,1628898446.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,19C,000,00324,186,80,80,AA,FF
2021-08-13T23:47:26.933Z,1628898446.933 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:47:26.996Z,1628898446.996 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:47:27.353Z,1628898447.353 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234727.68*57

2021-08-13T23:47:27.404Z,1628898447.404 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.739998 m, bearing: 61.896554 deg, deltaT: 4.456413 s, approachRate: -0.040392 m/s, LOS rate: 0.381483 deg/s, posRepo size: 4
2021-08-13T23:47:29.762Z,1628898449.762 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:47:30.199Z,1628898450.199 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:47:30.199Z,1628898450.199 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:47:30.199Z,1628898450.199 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:47:30.201Z,1628898450.201 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:47:30.557Z,1628898450.557 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
19C,000,00324,186,80,80,AA,FF
2021-08-13T23:47:30.557Z,1628898450.557 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:47:30.558Z,1628898450.558 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:47:30.559Z,1628898450.559 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:47:30.964Z,1628898450.964 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:47:31.365Z,1628898451.365 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,14A,000,00330,186,80,80,97,FF
2021-08-13T23:47:31.365Z,1628898451.365 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:47:31.415Z,1628898451.415 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:47:31.797Z,1628898451.797 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234732.09*54

2021-08-13T23:47:31.827Z,1628898451.827 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.459998 m, bearing: 65.644197 deg, deltaT: 4.418666 s, approachRate: 0.162945 m/s, LOS rate: 0.848139 deg/s, posRepo size: 4
2021-08-13T23:47:34.252Z,1628898454.252 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:47:34.601Z,1628898454.601 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:47:34.602Z,1628898454.602 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:47:34.602Z,1628898454.602 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:47:34.603Z,1628898454.603 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:47:34.997Z,1628898454.997 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
14A,000,00330,186,80,80,97,FF
2021-08-13T23:47:34.997Z,1628898454.997 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:47:34.997Z,1628898454.997 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:47:34.999Z,1628898454.999 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:47:35.409Z,1628898455.409 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:47:35.805Z,1628898455.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0FB,000,00325,187,80,80,71,FF
2021-08-13T23:47:35.806Z,1628898455.806 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:47:35.830Z,1628898455.830 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:47:36.267Z,1628898456.267 [Micromodem](INFO): Nmea in: $SNTTA,0.108290,,,,234736.53*43

2021-08-13T23:47:36.293Z,1628898456.293 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.800001 m, bearing: 69.698939 deg, deltaT: 4.415005 s, approachRate: -0.149490 m/s, LOS rate: 0.918400 deg/s, posRepo size: 4
2021-08-13T23:47:38.651Z,1628898458.651 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:47:39.041Z,1628898459.041 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:47:39.041Z,1628898459.041 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:47:39.042Z,1628898459.042 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:47:39.043Z,1628898459.043 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:47:39.448Z,1628898459.448 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0FB,000,00325,187,80,80,71,FF
2021-08-13T23:47:39.448Z,1628898459.448 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:47:39.449Z,1628898459.449 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:47:39.455Z,1628898459.455 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:47:39.848Z,1628898459.848 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:47:40.273Z,1628898460.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,094,000,0032B,186,80,80,96,FF
2021-08-13T23:47:40.273Z,1628898460.273 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:47:40.327Z,1628898460.327 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:47:40.701Z,1628898460.701 [Micromodem](INFO): Nmea in: $SNTTA,0.041046,,,,234740.99*41

2021-08-13T23:47:40.740Z,1628898460.740 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.159998 m, bearing: 74.899144 deg, deltaT: 4.501801 s, approachRate: 0.079967 m/s, LOS rate: 1.155139 deg/s, posRepo size: 4
2021-08-13T23:47:42.844Z,1628898462.844 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:47:43.082Z,1628898463.082 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:47:43.083Z,1628898463.083 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:47:43.083Z,1628898463.083 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:47:43.084Z,1628898463.084 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:47:43.501Z,1628898463.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
094,000,0032B,186,80,80,96,FF
2021-08-13T23:47:43.501Z,1628898463.501 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:47:43.501Z,1628898463.501 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:47:43.503Z,1628898463.503 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:47:43.894Z,1628898463.894 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:47:44.305Z,1628898464.305 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,04B,000,0031B,184,80,80,9B,FF
2021-08-13T23:47:44.306Z,1628898464.306 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:47:44.363Z,1628898464.363 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:47:44.733Z,1628898464.733 [Micromodem](INFO): Nmea in: $SNTTA,0.072768,,,,234745.04*4B

2021-08-13T23:47:44.767Z,1628898464.767 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.200003 m, bearing: 78.859404 deg, deltaT: 4.031202 s, approachRate: -0.238141 m/s, LOS rate: 0.982402 deg/s, posRepo size: 4
2021-08-13T23:47:47.191Z,1628898467.191 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:47:47.533Z,1628898467.533 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:47:47.533Z,1628898467.533 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:47:47.533Z,1628898467.533 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:47:47.534Z,1628898467.534 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:47:47.933Z,1628898467.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
04B,000,0031B,184,80,80,9B,FF
2021-08-13T23:47:47.933Z,1628898467.933 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:47:47.933Z,1628898467.933 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:47:47.935Z,1628898467.935 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:47:48.340Z,1628898468.340 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:47:48.737Z,1628898468.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,01E,000,00317,184,80,80,7C,FF
2021-08-13T23:47:48.737Z,1628898468.737 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:47:48.756Z,1628898468.756 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:47:49.190Z,1628898469.190 [Micromodem](INFO): Nmea in: $SNTTA,0.029810,,,,234749.47*4E

2021-08-13T23:47:49.260Z,1628898469.260 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.960000 m, bearing: 81.781502 deg, deltaT: 4.393538 s, approachRate: -0.054626 m/s, LOS rate: 0.665090 deg/s, posRepo size: 4
2021-08-13T23:47:51.601Z,1628898471.601 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:47:51.969Z,1628898471.969 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:47:51.969Z,1628898471.969 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:47:51.969Z,1628898471.969 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:47:51.970Z,1628898471.970 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:47:52.382Z,1628898472.382 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
01E,000,00317,184,80,80,7C,FF
2021-08-13T23:47:52.382Z,1628898472.382 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:47:52.382Z,1628898472.382 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:47:52.385Z,1628898472.385 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:47:52.777Z,1628898472.777 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:47:53.198Z,1628898473.198 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F86,000,00321,187,80,80,69,FF
2021-08-13T23:47:53.199Z,1628898473.199 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:47:53.289Z,1628898473.289 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:47:53.609Z,1628898473.609 [Micromodem](INFO): Nmea in: $SNTTA,0.034983,,,,234753.92*4A

2021-08-13T23:47:53.649Z,1628898473.649 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.559999 m, bearing: 90.399801 deg, deltaT: 4.533181 s, approachRate: 0.132357 m/s, LOS rate: 1.901159 deg/s, posRepo size: 4
2021-08-13T23:47:56.046Z,1628898476.046 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:47:56.517Z,1628898476.517 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:47:56.517Z,1628898476.517 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:47:56.518Z,1628898476.518 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:47:56.519Z,1628898476.519 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:47:56.837Z,1628898476.837 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F86,000,00321,187,80,80,69,FF
2021-08-13T23:47:56.838Z,1628898476.838 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:47:56.838Z,1628898476.838 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:47:56.843Z,1628898476.843 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:47:57.232Z,1628898477.232 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:47:57.627Z,1628898477.627 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F59,000,00323,186,80,80,A5,FF
2021-08-13T23:47:57.627Z,1628898477.627 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:47:57.646Z,1628898477.646 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:47:58.062Z,1628898478.062 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234758.39*5B

2021-08-13T23:47:58.125Z,1628898478.125 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.680000 m, bearing: 93.445205 deg, deltaT: 4.357046 s, approachRate: 0.027542 m/s, LOS rate: 0.698961 deg/s, posRepo size: 4
2021-08-13T23:48:00.513Z,1628898480.513 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:48:00.894Z,1628898480.894 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:48:00.894Z,1628898480.894 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:48:00.894Z,1628898480.894 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:48:00.895Z,1628898480.895 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:48:01.261Z,1628898481.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F59,000,00323,186,80,80,A5,FF
2021-08-13T23:48:01.261Z,1628898481.261 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:48:01.261Z,1628898481.261 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:48:01.263Z,1628898481.263 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:48:01.665Z,1628898481.665 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:48:02.065Z,1628898482.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F0F,000,0031C,186,80,80,97,FF
2021-08-13T23:48:02.065Z,1628898482.065 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:48:02.115Z,1628898482.115 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:48:02.501Z,1628898482.501 [Micromodem](INFO): Nmea in: $SNTTA,0.128462,,,,234802.80*4C

2021-08-13T23:48:02.551Z,1628898482.551 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.260000 m, bearing: 97.857473 deg, deltaT: 4.473808 s, approachRate: -0.093880 m/s, LOS rate: 0.986244 deg/s, posRepo size: 4
2021-08-13T23:48:04.954Z,1628898484.954 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:48:05.350Z,1628898485.350 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:48:05.350Z,1628898485.350 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:48:05.350Z,1628898485.350 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:48:05.351Z,1628898485.351 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:48:05.705Z,1628898485.705 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F0F,000,0031C,186,80,80,97,FF
2021-08-13T23:48:05.706Z,1628898485.706 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:48:05.706Z,1628898485.706 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:48:05.707Z,1628898485.707 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:48:06.149Z,1628898486.149 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:48:06.509Z,1628898486.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA6,000,0031A,186,80,80,A7,FF
2021-08-13T23:48:06.509Z,1628898486.509 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:48:06.577Z,1628898486.577 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:48:06.949Z,1628898486.949 [Micromodem](INFO): Nmea in: $SNTTA,0.039314,,,,234807.24*40

2021-08-13T23:48:07.041Z,1628898487.041 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.139999 m, bearing: 102.823649 deg, deltaT: 4.456956 s, approachRate: -0.026924 m/s, LOS rate: 1.114253 deg/s, posRepo size: 4
2021-08-13T23:48:09.397Z,1628898489.397 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:48:09.745Z,1628898489.745 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:48:09.745Z,1628898489.745 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:48:09.745Z,1628898489.745 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:48:09.746Z,1628898489.746 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:48:10.161Z,1628898490.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EA6,000,0031A,186,80,80,A7,FF
2021-08-13T23:48:10.161Z,1628898490.161 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:48:10.161Z,1628898490.161 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:48:10.163Z,1628898490.163 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:48:10.561Z,1628898490.561 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:48:10.957Z,1628898490.957 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EBF,000,0030C,186,80,80,77,FF
2021-08-13T23:48:10.957Z,1628898490.957 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:48:11.047Z,1628898491.047 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:48:11.409Z,1628898491.409 [Micromodem](INFO): Nmea in: $SNTTA,0.046172,,,,234811.70*4C

2021-08-13T23:48:11.459Z,1628898491.459 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.299998 m, bearing: 102.506926 deg, deltaT: 4.478389 s, approachRate: -0.187568 m/s, LOS rate: -0.070722 deg/s, posRepo size: 4
2021-08-13T23:48:13.798Z,1628898493.798 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:48:14.193Z,1628898494.193 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:48:14.193Z,1628898494.193 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:48:14.193Z,1628898494.193 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:48:14.194Z,1628898494.194 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:48:14.586Z,1628898494.586 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EBF,000,0030C,186,80,80,77,FF
2021-08-13T23:48:14.586Z,1628898494.586 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:48:14.586Z,1628898494.586 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:48:14.587Z,1628898494.587 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:48:15.006Z,1628898495.006 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:48:15.825Z,1628898495.825 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E4F,000,00EFA,186,80,80,88,FF
2021-08-13T23:48:15.825Z,1628898495.825 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:48:15.852Z,1628898495.852 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234816.13*56

2021-08-13T23:48:15.875Z,1628898495.875 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:48:16.266Z,1628898496.266 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 192.539978 m, bearing: 108.576218 deg, deltaT: 4.819391 s, approachRate: 38.021397 m/s, LOS rate: 1.259348 deg/s, posRepo size: 4
2021-08-13T23:48:16.637Z,1628898496.637 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-13T23:48:16.637Z,1628898496.637 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T23:48:16.638Z,1628898496.638 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-13T23:48:16.638Z,1628898496.638 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-13T23:48:16.638Z,1628898496.638 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-13T23:48:16.638Z,1628898496.638 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-13T23:48:17.078Z,1628898497.078 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-13T23:48:17.078Z,1628898497.078 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T23:48:17.078Z,1628898497.078 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-13T23:48:17.078Z,1628898497.078 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T23:48:18.657Z,1628898498.657 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:48:19.041Z,1628898499.041 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:48:19.041Z,1628898499.041 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:48:19.041Z,1628898499.041 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:48:19.042Z,1628898499.042 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:48:19.448Z,1628898499.448 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E4F,000,00EFA,186,80,80,88,FF
2021-08-13T23:48:19.449Z,1628898499.449 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:48:19.449Z,1628898499.449 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:48:19.451Z,1628898499.451 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:48:19.856Z,1628898499.856 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:48:20.257Z,1628898500.257 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E46,000,00305,187,80,80,A9,FF
2021-08-13T23:48:20.257Z,1628898500.257 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:48:20.689Z,1628898500.689 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234820.99*51

2021-08-13T23:48:20.770Z,1628898500.770 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.880000 m, bearing: 108.813171 deg, deltaT: 4.465237 s, approachRate: -41.131069 m/s, LOS rate: 0.053066 deg/s, posRepo size: 4
2021-08-13T23:48:21.163Z,1628898501.163 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-13T23:48:21.163Z,1628898501.163 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T23:48:21.164Z,1628898501.164 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-13T23:48:21.164Z,1628898501.164 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-13T23:48:21.164Z,1628898501.164 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-13T23:48:21.165Z,1628898501.165 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-13T23:48:21.509Z,1628898501.509 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-13T23:48:21.510Z,1628898501.510 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T23:48:21.510Z,1628898501.510 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-13T23:48:21.510Z,1628898501.510 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T23:48:23.181Z,1628898503.181 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:48:23.493Z,1628898503.493 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:48:23.493Z,1628898503.493 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:48:23.493Z,1628898503.493 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:48:23.494Z,1628898503.494 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:48:23.898Z,1628898503.898 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E46,000,00305,187,80,80,A9,FF
2021-08-13T23:48:23.898Z,1628898503.898 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:48:23.898Z,1628898503.898 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:48:23.901Z,1628898503.901 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:48:24.317Z,1628898504.317 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:48:24.705Z,1628898504.705 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E58,000,00301,186,80,80,A4,FF
2021-08-13T23:48:24.705Z,1628898504.705 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:48:24.753Z,1628898504.753 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:48:25.153Z,1628898505.153 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234825.43*53

2021-08-13T23:48:25.218Z,1628898505.218 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.639998 m, bearing: 107.550932 deg, deltaT: 4.412453 s, approachRate: -0.054392 m/s, LOS rate: -0.286063 deg/s, posRepo size: 4
2021-08-13T23:48:27.566Z,1628898507.566 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:48:27.941Z,1628898507.941 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:48:27.941Z,1628898507.941 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:48:27.941Z,1628898507.941 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:48:27.942Z,1628898507.942 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:48:28.341Z,1628898508.341 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E58,000,00301,186,80,80,A4,FF
2021-08-13T23:48:28.341Z,1628898508.341 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:48:28.341Z,1628898508.341 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:48:28.343Z,1628898508.343 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:48:28.749Z,1628898508.749 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:48:29.185Z,1628898509.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E5E,000,002FF,186,80,80,A7,FF
2021-08-13T23:48:29.185Z,1628898509.185 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:48:29.254Z,1628898509.254 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:48:29.581Z,1628898509.581 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234829.88*58

2021-08-13T23:48:29.615Z,1628898509.615 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.520000 m, bearing: 106.654073 deg, deltaT: 4.501249 s, approachRate: -0.026659 m/s, LOS rate: -0.199247 deg/s, posRepo size: 4
2021-08-13T23:48:31.994Z,1628898511.994 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:48:32.385Z,1628898512.385 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:48:32.385Z,1628898512.385 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:48:32.385Z,1628898512.385 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:48:32.386Z,1628898512.386 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:48:32.781Z,1628898512.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E5E,000,002FF,186,80,80,A7,FF
2021-08-13T23:48:32.781Z,1628898512.781 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:48:32.782Z,1628898512.782 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:48:32.787Z,1628898512.787 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:48:33.192Z,1628898513.192 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:48:33.593Z,1628898513.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DFC,000,002FF,187,80,80,9F,FF
2021-08-13T23:48:33.593Z,1628898513.593 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:48:33.613Z,1628898513.613 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:48:34.033Z,1628898514.033 [Micromodem](INFO): Nmea in: $SNTTA,0.008362,,,,234834.32*44

2021-08-13T23:48:34.066Z,1628898514.066 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.520000 m, bearing: 110.960398 deg, deltaT: 4.359056 s, approachRate: 0.000000 m/s, LOS rate: 0.987903 deg/s, posRepo size: 4
2021-08-13T23:48:36.457Z,1628898516.457 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:48:36.848Z,1628898516.848 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:48:36.848Z,1628898516.848 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:48:36.849Z,1628898516.849 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:48:36.850Z,1628898516.850 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:48:37.229Z,1628898517.229 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DFC,000,002FF,187,80,80,9F,FF
2021-08-13T23:48:37.229Z,1628898517.229 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:48:37.229Z,1628898517.229 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:48:37.231Z,1628898517.231 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:48:37.637Z,1628898517.637 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:48:38.033Z,1628898518.033 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DFF,000,002FB,186,80,80,9E,FF
2021-08-13T23:48:38.034Z,1628898518.034 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:48:38.058Z,1628898518.058 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:48:38.485Z,1628898518.485 [Micromodem](INFO): Nmea in: $SNTTA,,0.072241,,,234838.76*45

2021-08-13T23:48:38.522Z,1628898518.522 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.279999 m, bearing: 110.141260 deg, deltaT: 4.445397 s, approachRate: -0.053989 m/s, LOS rate: -0.184266 deg/s, posRepo size: 4
2021-08-13T23:48:40.966Z,1628898520.966 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:48:41.274Z,1628898521.274 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:48:41.274Z,1628898521.274 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:48:41.275Z,1628898521.275 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:48:41.276Z,1628898521.276 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:48:41.685Z,1628898521.685 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DFF,000,002FB,186,80,80,9E,FF
2021-08-13T23:48:41.685Z,1628898521.685 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:48:41.685Z,1628898521.685 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:48:41.687Z,1628898521.687 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:48:42.093Z,1628898522.093 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:48:42.494Z,1628898522.494 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D8B,000,002F6,189,80,80,91,FF
2021-08-13T23:48:42.494Z,1628898522.494 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:48:42.523Z,1628898522.523 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:48:42.951Z,1628898522.951 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234843.22*54

2021-08-13T23:48:42.990Z,1628898522.990 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.979999 m, bearing: 115.749891 deg, deltaT: 4.481638 s, approachRate: -0.066940 m/s, LOS rate: 1.251469 deg/s, posRepo size: 4
2021-08-13T23:48:45.369Z,1628898525.369 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:48:45.717Z,1628898525.717 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:48:45.717Z,1628898525.717 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:48:45.718Z,1628898525.718 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:48:45.718Z,1628898525.718 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:48:46.148Z,1628898526.148 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D8B,000,002F6,189,80,80,91,FF
2021-08-13T23:48:46.148Z,1628898526.148 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:48:46.148Z,1628898526.148 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:48:46.150Z,1628898526.150 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:48:46.526Z,1628898526.526 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:48:46.933Z,1628898526.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DFE,000,002F6,187,80,80,B0,FF
2021-08-13T23:48:46.934Z,1628898526.934 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:48:46.994Z,1628898526.994 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:48:47.357Z,1628898527.357 [Micromodem](INFO): Nmea in: $SNTTA,0.049486,,,,234847.69*46

2021-08-13T23:48:47.405Z,1628898527.405 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.979999 m, bearing: 110.141636 deg, deltaT: 4.454335 s, approachRate: 0.000000 m/s, LOS rate: -1.259055 deg/s, posRepo size: 4
2021-08-13T23:48:49.782Z,1628898529.782 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:48:50.185Z,1628898530.185 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:48:50.185Z,1628898530.185 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:48:50.185Z,1628898530.185 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:48:50.186Z,1628898530.186 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:48:50.571Z,1628898530.571 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DFE,000,002F6,187,80,80,B0,FF
2021-08-13T23:48:50.572Z,1628898530.572 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:48:50.572Z,1628898530.572 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:48:50.573Z,1628898530.573 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:48:50.980Z,1628898530.980 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:48:51.371Z,1628898531.371 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D96,000,002F9,189,80,80,A6,FF
2021-08-13T23:48:51.371Z,1628898531.371 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:48:51.421Z,1628898531.421 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:48:51.813Z,1628898531.813 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234852.11*54

2021-08-13T23:48:51.835Z,1628898531.835 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.160001 m, bearing: 115.162768 deg, deltaT: 4.426550 s, approachRate: 0.040664 m/s, LOS rate: 1.134322 deg/s, posRepo size: 4
2021-08-13T23:48:54.264Z,1628898534.264 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:48:54.610Z,1628898534.610 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:48:54.610Z,1628898534.610 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:48:54.611Z,1628898534.611 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:48:54.612Z,1628898534.612 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:48:55.017Z,1628898535.017 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D96,000,002F9,189,80,80,A6,FF
2021-08-13T23:48:55.017Z,1628898535.017 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:48:55.017Z,1628898535.017 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:48:55.019Z,1628898535.019 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:48:55.449Z,1628898535.449 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:48:55.853Z,1628898535.853 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D17,000,002F7,189,80,80,80,FF
2021-08-13T23:48:55.853Z,1628898535.853 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:48:55.899Z,1628898535.899 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:48:56.281Z,1628898536.281 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234856.55*50

2021-08-13T23:48:56.324Z,1628898536.324 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.040000 m, bearing: 121.067111 deg, deltaT: 4.482539 s, approachRate: -0.026771 m/s, LOS rate: 1.317187 deg/s, posRepo size: 4
2021-08-13T23:48:58.707Z,1628898538.707 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:48:59.092Z,1628898539.092 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:48:59.092Z,1628898539.092 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:48:59.093Z,1628898539.093 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:48:59.094Z,1628898539.094 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:48:59.485Z,1628898539.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D17,000,002F7,189,80,80,80,FF
2021-08-13T23:48:59.485Z,1628898539.485 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:48:59.485Z,1628898539.485 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:48:59.487Z,1628898539.487 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:48:59.899Z,1628898539.899 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:49:00.293Z,1628898540.293 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,BE6,000,002F2,189,80,80,5B,FF
2021-08-13T23:49:00.293Z,1628898540.293 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:49:00.367Z,1628898540.367 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:49:00.722Z,1628898540.722 [Micromodem](INFO): Nmea in: $SNTTA,0.025064,0.399257,,,234901.02*57

2021-08-13T23:49:00.757Z,1628898540.757 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.740000 m, bearing: 136.012931 deg, deltaT: 4.463251 s, approachRate: -0.067216 m/s, LOS rate: 3.348640 deg/s, posRepo size: 4
2021-08-13T23:49:03.199Z,1628898543.199 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:49:03.525Z,1628898543.525 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:49:03.525Z,1628898543.525 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:49:03.526Z,1628898543.526 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:49:03.526Z,1628898543.526 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:49:03.949Z,1628898543.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
BE6,000,002F2,189,80,80,5B,FF
2021-08-13T23:49:03.949Z,1628898543.949 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:49:03.949Z,1628898543.949 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:49:03.952Z,1628898543.952 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:49:04.337Z,1628898544.337 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:49:04.731Z,1628898544.731 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,443,000,002F1,189,80,80,9A,FF
2021-08-13T23:49:04.732Z,1628898544.732 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:49:04.797Z,1628898544.797 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:49:05.173Z,1628898545.173 [Micromodem](INFO): Nmea in: $SNTTA,0.034414,,,,234905.49*42

2021-08-13T23:49:05.245Z,1628898545.245 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.680000 m, bearing: 28.855702 deg, deltaT: 4.430286 s, approachRate: -0.013543 m/s, LOS rate: -24.187428 deg/s, posRepo size: 4
2021-08-13T23:49:07.596Z,1628898547.596 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:49:07.967Z,1628898547.967 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:49:07.967Z,1628898547.967 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:49:07.967Z,1628898547.967 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:49:07.968Z,1628898547.968 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:49:08.373Z,1628898548.373 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
443,000,002F1,189,80,80,9A,FF
2021-08-13T23:49:08.373Z,1628898548.373 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:49:08.373Z,1628898548.373 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:49:08.375Z,1628898548.375 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:49:08.795Z,1628898548.795 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:49:09.201Z,1628898549.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,35F,000,002F4,189,80,80,9D,FF
2021-08-13T23:49:09.201Z,1628898549.201 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:49:09.285Z,1628898549.285 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:49:09.634Z,1628898549.634 [Micromodem](INFO): Nmea in: $SNTTA,0.034563,,,,234909.91*4A

2021-08-13T23:49:09.672Z,1628898549.672 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.859998 m, bearing: 40.451625 deg, deltaT: 4.487693 s, approachRate: 0.040109 m/s, LOS rate: 2.583938 deg/s, posRepo size: 4
2021-08-13T23:49:12.025Z,1628898552.025 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:49:12.417Z,1628898552.417 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:49:12.417Z,1628898552.417 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:49:12.417Z,1628898552.417 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:49:12.418Z,1628898552.418 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:49:12.821Z,1628898552.821 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
35F,000,002F4,189,80,80,9D,FF
2021-08-13T23:49:12.821Z,1628898552.821 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:49:12.821Z,1628898552.821 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:49:12.849Z,1628898552.849 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:49:13.225Z,1628898553.225 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:49:13.621Z,1628898553.621 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E96,000,002F0,187,80,80,86,FF
2021-08-13T23:49:13.621Z,1628898553.621 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:49:13.679Z,1628898553.679 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:49:14.043Z,1628898554.043 [Micromodem](INFO): Nmea in: $SNTTA,0.083312,,,,234914.39*48

2021-08-13T23:49:14.088Z,1628898554.088 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.619999 m, bearing: 101.345363 deg, deltaT: 4.398815 s, approachRate: -0.054560 m/s, LOS rate: 13.843214 deg/s, posRepo size: 4
2021-08-13T23:49:16.485Z,1628898556.485 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:49:16.886Z,1628898556.886 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:49:16.886Z,1628898556.886 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:49:16.886Z,1628898556.886 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:49:16.887Z,1628898556.887 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:49:17.261Z,1628898557.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E96,000,002F0,187,80,80,86,FF
2021-08-13T23:49:17.261Z,1628898557.261 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:49:17.261Z,1628898557.261 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:49:17.263Z,1628898557.263 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:49:17.678Z,1628898557.678 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:49:18.065Z,1628898558.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2E1,000,002F3,189,80,80,8A,FF
2021-08-13T23:49:18.065Z,1628898558.065 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:49:18.149Z,1628898558.149 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:49:18.509Z,1628898558.509 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234918.80*53

2021-08-13T23:49:18.541Z,1628898558.541 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.800001 m, bearing: 46.029727 deg, deltaT: 4.464976 s, approachRate: 0.040314 m/s, LOS rate: -12.388787 deg/s, posRepo size: 4
2021-08-13T23:49:20.977Z,1628898560.977 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:49:21.301Z,1628898561.301 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:49:21.301Z,1628898561.301 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:49:21.301Z,1628898561.301 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:49:21.302Z,1628898561.302 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:49:21.705Z,1628898561.705 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2E1,000,002F3,189,80,80,8A,FF
2021-08-13T23:49:21.705Z,1628898561.705 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:49:21.705Z,1628898561.705 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:49:21.707Z,1628898561.707 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:49:22.118Z,1628898562.118 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:49:22.513Z,1628898562.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E5D,000,00304,186,80,80,97,FF
2021-08-13T23:49:22.513Z,1628898562.513 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:49:22.558Z,1628898562.558 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:49:22.945Z,1628898562.945 [Micromodem](INFO): Nmea in: $SNTTA,0.033341,0.460839,,,234923.24*53

2021-08-13T23:49:22.992Z,1628898562.992 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.820000 m, bearing: 103.494626 deg, deltaT: 4.409030 s, approachRate: 0.231343 m/s, LOS rate: 13.033455 deg/s, posRepo size: 4
2021-08-13T23:49:25.393Z,1628898565.393 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:49:25.749Z,1628898565.749 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:49:25.749Z,1628898565.749 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:49:25.749Z,1628898565.749 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:49:25.750Z,1628898565.750 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:49:26.154Z,1628898566.154 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E5D,000,00304,186,80,80,97,FF
2021-08-13T23:49:26.155Z,1628898566.155 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:49:26.155Z,1628898566.155 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:49:26.157Z,1628898566.157 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:49:26.565Z,1628898566.565 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:49:26.953Z,1628898566.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E22,000,002ED,187,80,80,BB,FF
2021-08-13T23:49:26.953Z,1628898566.953 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:49:27.020Z,1628898567.020 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:49:27.397Z,1628898567.397 [Micromodem](INFO): Nmea in: $SNTTA,0.037783,,,,234927.69*4E

2021-08-13T23:49:27.435Z,1628898567.435 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.440001 m, bearing: 106.235014 deg, deltaT: 4.462389 s, approachRate: -0.309251 m/s, LOS rate: 0.614108 deg/s, posRepo size: 4
2021-08-13T23:49:29.802Z,1628898569.802 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:49:30.189Z,1628898570.189 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:49:30.189Z,1628898570.189 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:49:30.189Z,1628898570.189 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:49:30.190Z,1628898570.190 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:49:30.589Z,1628898570.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E22,000,002ED,187,80,80,BB,FF
2021-08-13T23:49:30.589Z,1628898570.589 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:49:30.589Z,1628898570.589 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:49:30.591Z,1628898570.591 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:49:30.997Z,1628898570.997 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:49:32.630Z,1628898572.630 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:49:34.225Z,1628898574.225 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,187,80,80,BB,FF
2021-08-13T23:49:34.225Z,1628898574.225 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,187,80,80,BB,FF
2021-08-13T23:49:34.225Z,1628898574.225 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T23:49:35.479Z,1628898575.479 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:49:35.841Z,1628898575.841 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:49:35.841Z,1628898575.841 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:49:35.842Z,1628898575.842 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:49:35.843Z,1628898575.843 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:49:36.250Z,1628898576.250 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,187,80,80,BB,FF
2021-08-13T23:49:36.250Z,1628898576.250 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:49:36.250Z,1628898576.250 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:49:36.252Z,1628898576.252 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:49:36.652Z,1628898576.652 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:49:37.475Z,1628898577.475 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234937.79*58

2021-08-13T23:49:38.306Z,1628898578.306 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:49:39.882Z,1628898579.882 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,187,80,80,BB,FF
2021-08-13T23:49:39.882Z,1628898579.882 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,187,80,80,BB,FF
2021-08-13T23:49:39.882Z,1628898579.882 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T23:49:41.180Z,1628898581.180 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:49:41.497Z,1628898581.497 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:49:41.497Z,1628898581.497 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:49:41.497Z,1628898581.497 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:49:41.498Z,1628898581.498 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:49:41.902Z,1628898581.902 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,187,80,80,BB,FF
2021-08-13T23:49:41.902Z,1628898581.902 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:49:41.902Z,1628898581.902 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:49:41.904Z,1628898581.904 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:49:42.316Z,1628898582.316 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:49:42.717Z,1628898582.717 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E7A,000,002FC,186,80,80,BE,FF
2021-08-13T23:49:42.717Z,1628898582.717 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:49:42.741Z,1628898582.741 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:49:43.165Z,1628898583.165 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234943.44*55

2021-08-13T23:49:43.219Z,1628898583.219 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.339999 m, bearing: 101.840265 deg, deltaT: 15.720604 s, approachRate: 0.057250 m/s, LOS rate: -0.279553 deg/s, posRepo size: 4
2021-08-13T23:49:45.566Z,1628898585.566 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:49:45.949Z,1628898585.949 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:49:45.949Z,1628898585.949 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:49:45.950Z,1628898585.950 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:49:45.950Z,1628898585.950 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:49:46.433Z,1628898586.433 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E7A,000,002FC,186,80,80,BE,FF
2021-08-13T23:49:46.434Z,1628898586.434 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:49:46.434Z,1628898586.434 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:49:46.435Z,1628898586.435 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:49:46.898Z,1628898586.898 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:49:47.193Z,1628898587.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E47,000,002FB,186,80,80,AE,FF
2021-08-13T23:49:47.193Z,1628898587.193 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:49:47.246Z,1628898587.246 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:49:47.626Z,1628898587.626 [Micromodem](INFO): Nmea in: $SNTTA,0.033733,,,,234947.97*46

2021-08-13T23:49:47.649Z,1628898587.649 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.279999 m, bearing: 104.445771 deg, deltaT: 4.505397 s, approachRate: -0.013317 m/s, LOS rate: 0.578308 deg/s, posRepo size: 4
2021-08-13T23:49:50.041Z,1628898590.041 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:49:50.421Z,1628898590.421 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:49:50.421Z,1628898590.421 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:49:50.421Z,1628898590.421 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:49:50.422Z,1628898590.422 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:49:50.834Z,1628898590.834 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E47,000,002FB,186,80,80,AE,FF
2021-08-13T23:49:50.834Z,1628898590.834 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:49:50.835Z,1628898590.835 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:49:50.849Z,1628898590.849 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:49:51.290Z,1628898591.290 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:49:51.681Z,1628898591.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E0E,000,002F9,186,80,80,A6,FF
2021-08-13T23:49:51.681Z,1628898591.681 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:49:51.741Z,1628898591.741 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:49:52.134Z,1628898592.134 [Micromodem](INFO): Nmea in: $SNTTA,0.031688,,,,234952.38*44

2021-08-13T23:49:52.182Z,1628898592.182 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.160001 m, bearing: 107.802119 deg, deltaT: 4.495469 s, approachRate: -0.026693 m/s, LOS rate: 0.746607 deg/s, posRepo size: 4
2021-08-13T23:49:54.537Z,1628898594.537 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:49:54.930Z,1628898594.930 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:49:54.930Z,1628898594.930 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:49:54.930Z,1628898594.930 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:49:54.931Z,1628898594.931 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:49:55.317Z,1628898595.317 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E0E,000,002F9,186,80,80,A6,FF
2021-08-13T23:49:55.317Z,1628898595.317 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:49:55.317Z,1628898595.317 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:49:55.319Z,1628898595.319 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:49:55.733Z,1628898595.733 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:49:56.149Z,1628898596.149 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E26,000,002E5,187,80,80,AC,FF
2021-08-13T23:49:56.149Z,1628898596.149 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:49:56.203Z,1628898596.203 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:49:56.573Z,1628898596.573 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234956.85*5C

2021-08-13T23:49:56.609Z,1628898596.609 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 6.960000 m, bearing: 107.263825 deg, deltaT: 4.461574 s, approachRate: -0.268964 m/s, LOS rate: -0.120651 deg/s, posRepo size: 4
2021-08-13T23:49:59.022Z,1628898599.022 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:49:59.353Z,1628898599.353 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:49:59.354Z,1628898599.354 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:49:59.354Z,1628898599.354 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:49:59.355Z,1628898599.355 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:49:59.761Z,1628898599.761 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E26,000,002E5,187,80,80,AC,FF
2021-08-13T23:49:59.761Z,1628898599.761 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:49:59.761Z,1628898599.761 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:49:59.763Z,1628898599.763 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:50:00.196Z,1628898600.196 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:50:00.577Z,1628898600.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E30,000,002E3,186,80,80,B7,FF
2021-08-13T23:50:00.577Z,1628898600.577 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:50:00.621Z,1628898600.621 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:50:01.022Z,1628898601.022 [Micromodem](INFO): Nmea in: $SNTTA,0.435469,,,,235001.30*4F

2021-08-13T23:50:01.060Z,1628898601.060 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 6.839999 m, bearing: 107.400538 deg, deltaT: 4.417639 s, approachRate: -0.027164 m/s, LOS rate: 0.030947 deg/s, posRepo size: 4
2021-08-13T23:50:03.442Z,1628898603.442 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:50:03.809Z,1628898603.809 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:50:03.809Z,1628898603.809 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:50:03.809Z,1628898603.809 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:50:03.810Z,1628898603.810 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:50:04.221Z,1628898604.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E30,000,002E3,186,80,80,B7,FF
2021-08-13T23:50:04.222Z,1628898604.222 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:50:04.222Z,1628898604.222 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:50:04.223Z,1628898604.223 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:50:04.621Z,1628898604.621 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:50:05.021Z,1628898605.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E5A,000,002E1,186,80,80,97,FF
2021-08-13T23:50:05.021Z,1628898605.021 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:50:05.101Z,1628898605.101 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:50:05.462Z,1628898605.462 [Micromodem](INFO): Nmea in: $SNTTA,0.049091,,,,235005.76*45

2021-08-13T23:50:05.501Z,1628898605.501 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 6.719998 m, bearing: 105.700709 deg, deltaT: 4.480254 s, approachRate: -0.026784 m/s, LOS rate: -0.379405 deg/s, posRepo size: 4
2021-08-13T23:50:07.903Z,1628898607.903 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:50:08.253Z,1628898608.253 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:50:08.253Z,1628898608.253 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:50:08.253Z,1628898608.253 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:50:08.254Z,1628898608.254 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:50:08.653Z,1628898608.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E5A,000,002E1,186,80,80,97,FF
2021-08-13T23:50:08.653Z,1628898608.653 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:50:08.654Z,1628898608.654 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:50:08.656Z,1628898608.656 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:50:09.073Z,1628898609.073 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:50:09.465Z,1628898609.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E18,000,002DF,187,80,80,B3,FF
2021-08-13T23:50:09.465Z,1628898609.465 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:50:09.517Z,1628898609.517 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:50:09.921Z,1628898609.921 [Micromodem](INFO): Nmea in: $SNTTA,0.029699,,,,235010.19*40

2021-08-13T23:50:09.941Z,1628898609.941 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 6.600000 m, bearing: 109.989890 deg, deltaT: 4.415966 s, approachRate: -0.027174 m/s, LOS rate: 0.971290 deg/s, posRepo size: 4
2021-08-13T23:50:12.332Z,1628898612.332 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:50:12.693Z,1628898612.693 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:50:12.693Z,1628898612.693 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:50:12.693Z,1628898612.693 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:50:12.694Z,1628898612.694 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:50:13.112Z,1628898613.112 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E18,000,002DF,187,80,80,B3,FF
2021-08-13T23:50:13.113Z,1628898613.113 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:50:13.113Z,1628898613.113 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:50:13.118Z,1628898613.118 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:50:13.514Z,1628898613.514 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:50:13.926Z,1628898613.926 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E56,000,002DF,186,80,80,B6,FF
2021-08-13T23:50:13.926Z,1628898613.926 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:50:13.950Z,1628898613.950 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:50:14.338Z,1628898614.338 [Micromodem](INFO): Nmea in: $SNTTA,0.007154,,,,235014.65*45

2021-08-13T23:50:14.364Z,1628898614.364 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 6.600000 m, bearing: 107.253170 deg, deltaT: 4.433142 s, approachRate: 0.000000 m/s, LOS rate: -0.617332 deg/s, posRepo size: 4
2021-08-13T23:50:16.754Z,1628898616.754 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:50:17.173Z,1628898617.173 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:50:17.173Z,1628898617.173 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:50:17.173Z,1628898617.173 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:50:17.174Z,1628898617.174 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:50:17.553Z,1628898617.553 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E56,000,002DF,186,80,80,B6,FF
2021-08-13T23:50:17.554Z,1628898617.554 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:50:17.554Z,1628898617.554 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:50:17.555Z,1628898617.555 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:50:17.980Z,1628898617.980 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:50:18.354Z,1628898618.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EC2,000,002DF,187,80,80,9E,FF
2021-08-13T23:50:18.354Z,1628898618.354 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:50:18.383Z,1628898618.383 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:50:18.825Z,1628898618.825 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235019.09*5B

2021-08-13T23:50:18.912Z,1628898618.912 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 6.600000 m, bearing: 101.927637 deg, deltaT: 4.433541 s, approachRate: 0.000000 m/s, LOS rate: -1.201192 deg/s, posRepo size: 4
2021-08-13T23:50:20.885Z,1628898620.885 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:50:21.205Z,1628898621.205 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:50:21.205Z,1628898621.205 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:50:21.206Z,1628898621.206 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:50:21.206Z,1628898621.206 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:50:21.581Z,1628898621.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EC2,000,002DF,187,80,80,9E,FF
2021-08-13T23:50:21.581Z,1628898621.581 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:50:21.582Z,1628898621.582 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:50:21.583Z,1628898621.583 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:50:22.002Z,1628898622.002 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:50:22.393Z,1628898622.393 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E7D,000,002E0,185,80,80,9B,FF
2021-08-13T23:50:22.393Z,1628898622.393 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:50:22.451Z,1628898622.451 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:50:22.866Z,1628898622.866 [Micromodem](INFO): Nmea in: $SNTTA,0.068981,,,,235023.12*48

2021-08-13T23:50:22.928Z,1628898622.928 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 6.660000 m, bearing: 105.271028 deg, deltaT: 4.067453 s, approachRate: 0.014751 m/s, LOS rate: 0.821986 deg/s, posRepo size: 4
2021-08-13T23:50:25.281Z,1628898625.281 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:50:25.629Z,1628898625.629 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:50:25.629Z,1628898625.629 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:50:25.629Z,1628898625.629 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:50:25.630Z,1628898625.630 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:50:26.038Z,1628898626.038 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E7D,000,002E0,185,80,80,9B,FF
2021-08-13T23:50:26.038Z,1628898626.038 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:50:26.038Z,1628898626.038 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:50:26.041Z,1628898626.041 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:50:26.444Z,1628898626.444 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:50:26.861Z,1628898626.861 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E58,000,002E0,187,80,80,5E,FF
2021-08-13T23:50:26.863Z,1628898626.863 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:50:26.959Z,1628898626.959 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:50:27.281Z,1628898627.281 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235027.58*52

2021-08-13T23:50:27.337Z,1628898627.337 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 6.660000 m, bearing: 107.189881 deg, deltaT: 4.507725 s, approachRate: 0.000000 m/s, LOS rate: 0.425681 deg/s, posRepo size: 4
2021-08-13T23:50:29.690Z,1628898629.690 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:50:30.069Z,1628898630.069 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:50:30.069Z,1628898630.069 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:50:30.069Z,1628898630.069 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:50:30.070Z,1628898630.070 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:50:30.481Z,1628898630.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E58,000,002E0,187,80,80,5E,FF
2021-08-13T23:50:30.481Z,1628898630.481 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:50:30.481Z,1628898630.481 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:50:30.483Z,1628898630.483 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:50:30.958Z,1628898630.958 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:50:31.289Z,1628898631.289 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E03,000,002DF,187,80,80,91,FF
2021-08-13T23:50:31.290Z,1628898631.290 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:50:31.369Z,1628898631.369 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:50:31.730Z,1628898631.730 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 6.600000 m, bearing: 112.231087 deg, deltaT: 4.409963 s, approachRate: -0.013606 m/s, LOS rate: 1.143140 deg/s, posRepo size: 4
2021-08-13T23:50:34.170Z,1628898634.170 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:50:34.517Z,1628898634.517 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:50:34.517Z,1628898634.517 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:50:34.518Z,1628898634.518 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:50:34.519Z,1628898634.519 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:50:34.929Z,1628898634.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E03,000,002DF,187,80,80,91,FF
2021-08-13T23:50:34.930Z,1628898634.930 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:50:34.930Z,1628898634.930 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:50:34.931Z,1628898634.931 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:50:35.345Z,1628898635.345 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:50:35.745Z,1628898635.745 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E2F,000,002E2,186,80,80,73,FF
2021-08-13T23:50:35.745Z,1628898635.745 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:50:35.764Z,1628898635.764 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:50:36.194Z,1628898636.194 [Micromodem](INFO): Nmea in: $SNTTA,0.045376,,,,235036.47*41

2021-08-13T23:50:36.222Z,1628898636.222 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 6.779999 m, bearing: 110.712824 deg, deltaT: 4.395674 s, approachRate: 0.040949 m/s, LOS rate: -0.345399 deg/s, posRepo size: 4
2021-08-13T23:50:38.602Z,1628898638.602 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:50:38.977Z,1628898638.977 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:50:38.977Z,1628898638.977 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:50:38.977Z,1628898638.977 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:50:38.978Z,1628898638.978 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:50:39.373Z,1628898639.373 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E2F,000,002E2,186,80,80,73,FF
2021-08-13T23:50:39.373Z,1628898639.373 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:50:39.373Z,1628898639.373 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:50:39.375Z,1628898639.375 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:50:39.781Z,1628898639.781 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:50:40.189Z,1628898640.189 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DF4,000,002E5,188,80,80,7E,FF
2021-08-13T23:50:40.190Z,1628898640.190 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:50:40.239Z,1628898640.239 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:50:40.617Z,1628898640.617 [Micromodem](INFO): Nmea in: $SNTTA,0.036587,,,,235040.91*47

2021-08-13T23:50:40.646Z,1628898640.646 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 6.960000 m, bearing: 114.204267 deg, deltaT: 4.479116 s, approachRate: 0.040187 m/s, LOS rate: 0.779494 deg/s, posRepo size: 4
2021-08-13T23:50:43.068Z,1628898643.068 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:50:43.421Z,1628898643.421 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:50:43.421Z,1628898643.421 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:50:43.421Z,1628898643.421 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:50:43.422Z,1628898643.422 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:50:43.817Z,1628898643.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DF4,000,002E5,188,80,80,7E,FF
2021-08-13T23:50:43.818Z,1628898643.818 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:50:43.818Z,1628898643.818 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:50:43.851Z,1628898643.851 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:50:44.220Z,1628898644.220 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:50:44.625Z,1628898644.625 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DC8,000,002E7,18A,80,80,7D,FF
2021-08-13T23:50:44.625Z,1628898644.625 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:50:44.644Z,1628898644.644 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:50:45.055Z,1628898645.055 [Micromodem](INFO): Nmea in: $SNTTA,0.075542,,,,235045.38*4F

2021-08-13T23:50:45.106Z,1628898645.106 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.080001 m, bearing: 116.565060 deg, deltaT: 4.401050 s, approachRate: 0.027266 m/s, LOS rate: 0.536416 deg/s, posRepo size: 4
2021-08-13T23:50:47.165Z,1628898647.165 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:50:47.453Z,1628898647.453 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:50:47.453Z,1628898647.453 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:50:47.453Z,1628898647.453 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:50:47.454Z,1628898647.454 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:50:47.857Z,1628898647.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DC8,000,002E7,18A,80,80,7D,FF
2021-08-13T23:50:47.857Z,1628898647.857 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:50:47.857Z,1628898647.857 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:50:47.859Z,1628898647.859 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:50:48.264Z,1628898648.264 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:50:48.665Z,1628898648.665 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DFA,000,002E7,187,80,80,8D,FF
2021-08-13T23:50:48.665Z,1628898648.665 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:50:48.685Z,1628898648.685 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:50:49.123Z,1628898649.123 [Micromodem](INFO): Nmea in: $SNTTA,0.026748,,,,235049.39*4C

2021-08-13T23:50:49.196Z,1628898649.196 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.080001 m, bearing: 114.062342 deg, deltaT: 4.040252 s, approachRate: 0.000000 m/s, LOS rate: -0.619446 deg/s, posRepo size: 4
2021-08-13T23:50:51.185Z,1628898651.185 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:50:51.493Z,1628898651.493 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:50:51.493Z,1628898651.493 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:50:51.493Z,1628898651.493 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:50:51.494Z,1628898651.494 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:50:51.902Z,1628898651.902 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DFA,000,002E7,187,80,80,8D,FF
2021-08-13T23:50:51.902Z,1628898651.902 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:50:51.902Z,1628898651.902 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:50:51.903Z,1628898651.903 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:50:52.315Z,1628898652.315 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:50:52.705Z,1628898652.705 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0C0,000,00301,187,80,80,3E,FF
2021-08-13T23:50:52.705Z,1628898652.705 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:50:52.753Z,1628898652.753 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:50:53.142Z,1628898653.142 [Micromodem](INFO): Nmea in: $SNTTA,0.363385,0.363347,,,235053.44*52

2021-08-13T23:50:53.230Z,1628898653.230 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.639998 m, bearing: 78.728039 deg, deltaT: 4.068060 s, approachRate: 0.383475 m/s, LOS rate: -8.685787 deg/s, posRepo size: 4
2021-08-13T23:50:55.565Z,1628898655.565 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:50:55.941Z,1628898655.941 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:50:55.941Z,1628898655.941 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:50:55.941Z,1628898655.941 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:50:55.942Z,1628898655.942 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:50:56.349Z,1628898656.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0C0,000,00301,187,80,80,3E,FF
2021-08-13T23:50:56.349Z,1628898656.349 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:50:56.350Z,1628898656.350 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:50:56.351Z,1628898656.351 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:50:56.753Z,1628898656.753 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:50:57.181Z,1628898657.181 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DAA,000,002EF,189,80,80,70,FF
2021-08-13T23:50:57.181Z,1628898657.181 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:50:57.267Z,1628898657.267 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:50:57.597Z,1628898657.597 [Micromodem](INFO): Nmea in: $SNTTA,0.033731,,,,235057.89*42

2021-08-13T23:50:57.633Z,1628898657.633 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.559999 m, bearing: 118.240068 deg, deltaT: 4.514798 s, approachRate: -0.239213 m/s, LOS rate: 8.751672 deg/s, posRepo size: 4
2021-08-13T23:50:59.997Z,1628898659.997 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:51:00.377Z,1628898660.377 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:51:00.377Z,1628898660.377 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:51:00.378Z,1628898660.378 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:51:00.379Z,1628898660.379 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:51:00.797Z,1628898660.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DAA,000,002EF,189,80,80,70,FF
2021-08-13T23:51:00.797Z,1628898660.797 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:51:00.797Z,1628898660.797 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:51:00.801Z,1628898660.801 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:51:01.210Z,1628898661.210 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:51:01.593Z,1628898661.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0FA,000,00305,186,80,80,5E,FF
2021-08-13T23:51:01.593Z,1628898661.593 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:51:01.657Z,1628898661.657 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:51:02.037Z,1628898662.037 [Micromodem](INFO): Nmea in: $SNTTA,0.029533,,,,235102.34*4E

2021-08-13T23:51:02.063Z,1628898662.063 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.880000 m, bearing: 75.706315 deg, deltaT: 4.389551 s, approachRate: 0.300714 m/s, LOS rate: -9.689773 deg/s, posRepo size: 4
2021-08-13T23:51:03.242Z,1628898663.242 [RDI_Pathfinder](ERROR): only read 0 of 4 data items
2021-08-13T23:51:04.458Z,1628898664.458 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:51:04.832Z,1628898664.832 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:51:04.833Z,1628898664.833 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:51:04.833Z,1628898664.833 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:51:04.834Z,1628898664.834 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:51:05.241Z,1628898665.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0FA,000,00305,186,80,80,5E,FF
2021-08-13T23:51:05.241Z,1628898665.241 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:51:05.241Z,1628898665.241 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:51:05.243Z,1628898665.243 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:51:05.651Z,1628898665.651 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:51:06.045Z,1628898666.045 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F30,000,00307,187,80,80,58,FF
2021-08-13T23:51:06.045Z,1628898666.045 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:51:06.094Z,1628898666.094 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:51:06.473Z,1628898666.473 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235106.78*52

2021-08-13T23:51:06.513Z,1628898666.513 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.999999 m, bearing: 97.905625 deg, deltaT: 4.436927 s, approachRate: 0.027046 m/s, LOS rate: 5.003307 deg/s, posRepo size: 4
2021-08-13T23:51:08.956Z,1628898668.956 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:51:09.277Z,1628898669.277 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:51:09.277Z,1628898669.277 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:51:09.277Z,1628898669.277 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:51:09.278Z,1628898669.278 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:51:09.669Z,1628898669.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F30,000,00307,187,80,80,58,FF
2021-08-13T23:51:09.669Z,1628898669.669 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:51:09.669Z,1628898669.669 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:51:09.671Z,1628898669.671 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:51:10.093Z,1628898670.093 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:51:10.481Z,1628898670.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,BA1,000,002F5,188,80,80,60,FF
2021-08-13T23:51:10.481Z,1628898670.481 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:51:10.535Z,1628898670.535 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:51:10.941Z,1628898670.941 [Micromodem](INFO): Nmea in: $SNTTA,0.044240,,,,235111.21*40

2021-08-13T23:51:10.998Z,1628898670.998 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.919999 m, bearing: 143.256114 deg, deltaT: 4.441569 s, approachRate: -0.243157 m/s, LOS rate: 10.210466 deg/s, posRepo size: 4
2021-08-13T23:51:13.356Z,1628898673.356 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:51:13.717Z,1628898673.717 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:51:13.717Z,1628898673.717 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:51:13.717Z,1628898673.717 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:51:13.718Z,1628898673.718 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:51:14.137Z,1628898674.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
BA1,000,002F5,188,80,80,60,FF
2021-08-13T23:51:14.138Z,1628898674.138 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:51:14.138Z,1628898674.138 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:51:14.144Z,1628898674.144 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:51:14.542Z,1628898674.542 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:51:14.941Z,1628898674.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C5B,000,002F3,188,80,80,88,FF
2021-08-13T23:51:14.941Z,1628898674.941 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:51:14.945Z,1628898674.945 [Micromodem](INFO): Nmea in: $SNTTA,0.134986,0.135486,,,235115.68*5D

2021-08-13T23:51:15.023Z,1628898675.023 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:51:15.367Z,1628898675.367 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.800001 m, bearing: 134.172427 deg, deltaT: 4.487100 s, approachRate: -0.026743 m/s, LOS rate: -2.024400 deg/s, posRepo size: 4
2021-08-13T23:51:17.774Z,1628898677.774 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:51:18.204Z,1628898678.204 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:51:18.205Z,1628898678.205 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:51:18.205Z,1628898678.205 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:51:18.206Z,1628898678.206 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:51:18.573Z,1628898678.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C5B,000,002F3,188,80,80,88,FF
2021-08-13T23:51:18.573Z,1628898678.573 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:51:18.573Z,1628898678.573 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:51:18.575Z,1628898678.575 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:51:18.989Z,1628898678.989 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:51:19.377Z,1628898679.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C39,000,002F5,189,80,80,91,FF
2021-08-13T23:51:19.378Z,1628898679.378 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:51:19.427Z,1628898679.427 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:51:19.828Z,1628898679.828 [Micromodem](INFO): Nmea in: $SNTTA,0.388605,,,,235120.11*47

2021-08-13T23:51:19.848Z,1628898679.848 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.919999 m, bearing: 136.677085 deg, deltaT: 4.412613 s, approachRate: 0.027194 m/s, LOS rate: 0.567613 deg/s, posRepo size: 4
2021-08-13T23:51:22.276Z,1628898682.276 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:51:22.621Z,1628898682.621 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:51:22.621Z,1628898682.621 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:51:22.621Z,1628898682.621 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:51:22.622Z,1628898682.622 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:51:23.039Z,1628898683.039 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C39,000,002F5,189,80,80,91,FF
2021-08-13T23:51:23.039Z,1628898683.039 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:51:23.040Z,1628898683.040 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:51:23.041Z,1628898683.041 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:51:23.429Z,1628898683.429 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:51:23.845Z,1628898683.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C94,000,002F7,189,80,80,81,FF
2021-08-13T23:51:23.846Z,1628898683.846 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:51:23.866Z,1628898683.866 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:51:24.253Z,1628898684.253 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235124.57*5F

2021-08-13T23:51:24.279Z,1628898684.279 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.040000 m, bearing: 133.157912 deg, deltaT: 4.430951 s, approachRate: 0.027083 m/s, LOS rate: -0.794225 deg/s, posRepo size: 4
2021-08-13T23:51:26.694Z,1628898686.694 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:51:27.058Z,1628898687.058 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:51:27.058Z,1628898687.058 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:51:27.058Z,1628898687.058 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:51:27.059Z,1628898687.059 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:51:27.461Z,1628898687.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C94,000,002F7,189,80,80,81,FF
2021-08-13T23:51:27.461Z,1628898687.461 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:51:27.461Z,1628898687.461 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:51:27.463Z,1628898687.463 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:51:27.888Z,1628898687.888 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:51:28.269Z,1628898688.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C87,000,002F8,18A,80,80,75,FF
2021-08-13T23:51:28.269Z,1628898688.269 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:51:28.318Z,1628898688.318 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:51:28.718Z,1628898688.718 [Micromodem](INFO): Nmea in: $SNTTA,0.033939,,,,235129.00*4D

2021-08-13T23:51:28.749Z,1628898688.749 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.100000 m, bearing: 134.830215 deg, deltaT: 4.452145 s, approachRate: 0.013477 m/s, LOS rate: 0.375617 deg/s, posRepo size: 4
2021-08-13T23:51:31.206Z,1628898691.206 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:51:31.501Z,1628898691.501 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:51:31.501Z,1628898691.501 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:51:31.501Z,1628898691.501 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:51:31.502Z,1628898691.502 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:51:31.913Z,1628898691.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C87,000,002F8,18A,80,80,75,FF
2021-08-13T23:51:31.913Z,1628898691.913 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:51:31.913Z,1628898691.913 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:51:31.915Z,1628898691.915 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:51:32.317Z,1628898692.317 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:51:32.719Z,1628898692.719 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B95,000,002FA,188,80,80,89,FF
2021-08-13T23:51:32.719Z,1628898692.719 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:51:32.747Z,1628898692.747 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:51:33.165Z,1628898693.165 [Micromodem](INFO): Nmea in: $SNTTA,0.007633,,,,235133.45*45

2021-08-13T23:51:33.230Z,1628898693.230 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.219998 m, bearing: 148.356667 deg, deltaT: 4.428536 s, approachRate: 0.027097 m/s, LOS rate: 3.054385 deg/s, posRepo size: 4
2021-08-13T23:51:35.257Z,1628898695.257 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:51:35.541Z,1628898695.541 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:51:35.541Z,1628898695.541 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:51:35.541Z,1628898695.541 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:51:35.542Z,1628898695.542 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:51:35.953Z,1628898695.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B95,000,002FA,188,80,80,89,FF
2021-08-13T23:51:35.953Z,1628898695.953 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:51:35.954Z,1628898695.954 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:51:35.955Z,1628898695.955 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:51:36.353Z,1628898696.353 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:51:36.753Z,1628898696.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C54,000,002F8,189,80,80,9B,FF
2021-08-13T23:51:36.753Z,1628898696.753 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:51:36.794Z,1628898696.794 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:51:37.213Z,1628898697.213 [Micromodem](INFO): Nmea in: $SNTTA,0.065846,,,,235137.49*45

2021-08-13T23:51:37.295Z,1628898697.295 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.100000 m, bearing: 140.014179 deg, deltaT: 4.047731 s, approachRate: -0.029646 m/s, LOS rate: -2.061028 deg/s, posRepo size: 4
2021-08-13T23:51:39.618Z,1628898699.618 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:51:39.985Z,1628898699.985 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:51:39.985Z,1628898699.985 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:51:39.985Z,1628898699.985 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:51:39.986Z,1628898699.986 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:51:40.390Z,1628898700.390 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C54,000,002F8,189,80,80,9B,FF
2021-08-13T23:51:40.390Z,1628898700.390 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:51:40.390Z,1628898700.390 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:51:40.391Z,1628898700.391 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:51:40.796Z,1628898700.796 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:51:41.201Z,1628898701.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C47,000,002FA,189,80,80,AB,FF
2021-08-13T23:51:41.201Z,1628898701.201 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:51:41.205Z,1628898701.205 [Micromodem](INFO): Nmea in: $SNTTA,0.026485,0.120347,,,235141.93*5A

2021-08-13T23:51:41.306Z,1628898701.306 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:51:41.639Z,1628898701.639 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.219998 m, bearing: 142.039904 deg, deltaT: 4.510864 s, approachRate: 0.026602 m/s, LOS rate: 0.449077 deg/s, posRepo size: 4
2021-08-13T23:51:44.053Z,1628898704.053 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:51:44.429Z,1628898704.429 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:51:44.429Z,1628898704.429 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:51:44.429Z,1628898704.429 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:51:44.430Z,1628898704.430 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:51:44.857Z,1628898704.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C47,000,002FA,189,80,80,AB,FF
2021-08-13T23:51:44.857Z,1628898704.857 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:51:44.858Z,1628898704.858 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:51:44.867Z,1628898704.867 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:51:45.244Z,1628898705.244 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:51:45.637Z,1628898705.637 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C92,000,002FE,189,80,80,9C,FF
2021-08-13T23:51:45.638Z,1628898705.638 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:51:45.662Z,1628898705.662 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:51:46.063Z,1628898706.063 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235146.40*5D

2021-08-13T23:51:46.093Z,1628898706.093 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.460000 m, bearing: 139.185595 deg, deltaT: 4.356376 s, approachRate: 0.055092 m/s, LOS rate: -0.655203 deg/s, posRepo size: 4
2021-08-13T23:51:48.514Z,1628898708.514 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:51:48.902Z,1628898708.902 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:51:48.902Z,1628898708.902 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:51:48.902Z,1628898708.902 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:51:48.903Z,1628898708.903 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:51:49.289Z,1628898709.289 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C92,000,002FE,189,80,80,9C,FF
2021-08-13T23:51:49.289Z,1628898709.289 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:51:49.289Z,1628898709.289 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:51:49.291Z,1628898709.291 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:51:49.693Z,1628898709.693 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:51:50.086Z,1628898710.086 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C3D,000,002FA,189,80,80,A9,FF
2021-08-13T23:51:50.087Z,1628898710.087 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:51:50.144Z,1628898710.144 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:51:50.556Z,1628898710.556 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.219998 m, bearing: 144.465154 deg, deltaT: 4.482148 s, approachRate: -0.053546 m/s, LOS rate: 1.177908 deg/s, posRepo size: 4
2021-08-13T23:51:52.975Z,1628898712.975 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:51:53.329Z,1628898713.329 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:51:53.329Z,1628898713.329 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:51:53.329Z,1628898713.329 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:51:53.329Z,1628898713.329 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:51:53.721Z,1628898713.721 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C3D,000,002FA,189,80,80,A9,FF
2021-08-13T23:51:53.721Z,1628898713.721 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:51:53.721Z,1628898713.721 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:51:53.723Z,1628898713.723 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:51:54.141Z,1628898714.141 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:51:54.529Z,1628898714.529 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CAD,000,002FF,189,80,80,87,FF
2021-08-13T23:51:54.529Z,1628898714.529 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:51:54.549Z,1628898714.549 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:51:54.957Z,1628898714.957 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235155.26*5F

2021-08-13T23:51:55.016Z,1628898715.016 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.520000 m, bearing: 139.258268 deg, deltaT: 4.404490 s, approachRate: 0.068113 m/s, LOS rate: -1.182177 deg/s, posRepo size: 4
2021-08-13T23:51:57.397Z,1628898717.397 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:51:57.761Z,1628898717.761 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:51:57.761Z,1628898717.761 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:51:57.761Z,1628898717.761 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:51:57.762Z,1628898717.762 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:51:58.185Z,1628898718.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CAD,000,002FF,189,80,80,87,FF
2021-08-13T23:51:58.186Z,1628898718.186 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:51:58.186Z,1628898718.186 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:51:58.187Z,1628898718.187 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:51:58.573Z,1628898718.573 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:51:58.973Z,1628898718.973 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CD9,000,00300,189,80,80,A8,FF
2021-08-13T23:51:58.974Z,1628898718.974 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:51:59.050Z,1628898719.050 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:51:59.397Z,1628898719.397 [Micromodem](INFO): Nmea in: $SNTTA,0.038575,,,,235159.72*40

2021-08-13T23:51:59.443Z,1628898719.443 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.579998 m, bearing: 137.891042 deg, deltaT: 4.501255 s, approachRate: 0.013329 m/s, LOS rate: -0.303743 deg/s, posRepo size: 4
2021-08-13T23:52:01.822Z,1628898721.822 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:52:02.205Z,1628898722.205 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:52:02.205Z,1628898722.205 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:52:02.205Z,1628898722.205 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:52:02.206Z,1628898722.206 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:52:02.618Z,1628898722.618 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CD9,000,00300,189,80,80,A8,FF
2021-08-13T23:52:02.619Z,1628898722.619 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:52:02.619Z,1628898722.619 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:52:02.621Z,1628898722.621 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:52:03.017Z,1628898723.017 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:52:03.421Z,1628898723.421 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CE6,000,00304,189,80,80,A8,FF
2021-08-13T23:52:03.421Z,1628898723.421 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:52:03.474Z,1628898723.474 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:52:03.849Z,1628898723.849 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235204.16*5B

2021-08-13T23:52:03.894Z,1628898723.894 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.820000 m, bearing: 138.170916 deg, deltaT: 4.424335 s, approachRate: 0.054246 m/s, LOS rate: 0.063258 deg/s, posRepo size: 4
2021-08-13T23:52:06.287Z,1628898726.287 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:52:06.649Z,1628898726.649 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:52:06.649Z,1628898726.649 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:52:06.649Z,1628898726.649 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:52:06.650Z,1628898726.650 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:52:07.053Z,1628898727.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CE6,000,00304,189,80,80,A8,FF
2021-08-13T23:52:07.053Z,1628898727.053 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:52:07.053Z,1628898727.053 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:52:07.055Z,1628898727.055 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:52:07.471Z,1628898727.471 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:52:07.861Z,1628898727.861 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CDE,000,00304,189,80,80,8C,FF
2021-08-13T23:52:07.862Z,1628898727.862 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:52:07.951Z,1628898727.951 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:52:08.302Z,1628898728.302 [Micromodem](INFO): Nmea in: $SNTTA,0.030257,,,,235208.59*41

2021-08-13T23:52:08.328Z,1628898728.328 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.820000 m, bearing: 139.694266 deg, deltaT: 4.477352 s, approachRate: 0.000000 m/s, LOS rate: 0.340235 deg/s, posRepo size: 4
2021-08-13T23:52:08.337Z,1628898728.337 [CTD_Seabird](ERROR): Failed to parse device response: .63
2021-08-13T23:52:10.714Z,1628898730.714 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:52:11.097Z,1628898731.097 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:52:11.097Z,1628898731.097 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:52:11.097Z,1628898731.097 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:52:11.098Z,1628898731.098 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:52:11.501Z,1628898731.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CDE,000,00304,189,80,80,8C,FF
2021-08-13T23:52:11.501Z,1628898731.501 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:52:11.501Z,1628898731.501 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:52:11.503Z,1628898731.503 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:52:11.911Z,1628898731.911 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:52:12.305Z,1628898732.305 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DDA,000,0031A,189,80,80,40,FF
2021-08-13T23:52:12.305Z,1628898732.305 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:52:12.375Z,1628898732.375 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:52:12.745Z,1628898732.745 [Micromodem](INFO): Nmea in: $SNTTA,0.137695,,,,235213.04*4F

2021-08-13T23:52:12.761Z,1628898732.761 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.139999 m, bearing: 128.368201 deg, deltaT: 4.427962 s, approachRate: 0.298105 m/s, LOS rate: -2.557851 deg/s, posRepo size: 4
2021-08-13T23:52:15.198Z,1628898735.198 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:52:15.553Z,1628898735.553 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:52:15.553Z,1628898735.553 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:52:15.553Z,1628898735.553 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:52:15.554Z,1628898735.554 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:52:15.951Z,1628898735.951 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DDA,000,0031A,189,80,80,40,FF
2021-08-13T23:52:15.951Z,1628898735.951 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:52:15.951Z,1628898735.951 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:52:15.953Z,1628898735.953 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:52:16.349Z,1628898736.349 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:52:16.758Z,1628898736.758 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CCD,000,0030A,189,80,80,A3,FF
2021-08-13T23:52:16.758Z,1628898736.758 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:52:16.761Z,1628898736.761 [Micromodem](INFO): Nmea in: $SNTTA,0.182043,0.207793,,,235217.49*57

2021-08-13T23:52:16.779Z,1628898736.779 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:52:17.266Z,1628898737.266 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.180000 m, bearing: 142.376495 deg, deltaT: 4.399432 s, approachRate: -0.218210 m/s, LOS rate: 3.184114 deg/s, posRepo size: 4
2021-08-13T23:52:19.594Z,1628898739.594 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:52:19.989Z,1628898739.989 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:52:19.989Z,1628898739.989 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:52:19.989Z,1628898739.989 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:52:19.990Z,1628898739.990 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:52:20.389Z,1628898740.389 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CCD,000,0030A,189,80,80,A3,FF
2021-08-13T23:52:20.389Z,1628898740.389 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:52:20.389Z,1628898740.389 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:52:20.391Z,1628898740.391 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:52:20.822Z,1628898740.822 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:52:20.845Z,1628898740.845 [Micromodem](INFO): Nmea in: V,235222,AUV,2.1.4000*2C

2021-08-13T23:52:20.847Z,1628898740.847 [Micromodem](ERROR): Response from modem failed NMEA checksum: V,235222,AUV,2.1.4000*2C
 expected 0
2021-08-13T23:52:21.202Z,1628898741.202 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CF6,000,0031C,189,80,80,85,FF
2021-08-13T23:52:21.202Z,1628898741.202 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:52:21.281Z,1628898741.281 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:52:21.643Z,1628898741.643 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.260000 m, bearing: 141.533158 deg, deltaT: 4.501815 s, approachRate: 0.239903 m/s, LOS rate: -0.187333 deg/s, posRepo size: 4
2021-08-13T23:52:24.055Z,1628898744.055 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:52:24.429Z,1628898744.429 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:52:24.429Z,1628898744.429 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:52:24.429Z,1628898744.429 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:52:24.430Z,1628898744.430 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:52:24.873Z,1628898744.873 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CF6,000,0031C,189,80,80,85,FF
2021-08-13T23:52:24.873Z,1628898744.873 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:52:24.873Z,1628898744.873 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:52:24.876Z,1628898744.876 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:52:25.245Z,1628898745.245 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:52:25.642Z,1628898745.642 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D15,000,00312,189,80,80,A1,FF
2021-08-13T23:52:25.642Z,1628898745.642 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:52:25.694Z,1628898745.694 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:52:26.059Z,1628898746.059 [Micromodem](INFO): Nmea in: $SNTTA,0.064950,,,,235226.41*49

2021-08-13T23:52:26.106Z,1628898746.106 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.660001 m, bearing: 140.492647 deg, deltaT: 4.413407 s, approachRate: -0.135949 m/s, LOS rate: -0.235761 deg/s, posRepo size: 4
2021-08-13T23:52:28.501Z,1628898748.501 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:52:28.902Z,1628898748.902 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:52:28.902Z,1628898748.902 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:52:28.902Z,1628898748.902 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:52:28.903Z,1628898748.903 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:52:29.273Z,1628898749.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D15,000,00312,189,80,80,A1,FF
2021-08-13T23:52:29.273Z,1628898749.273 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:52:29.273Z,1628898749.273 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:52:29.275Z,1628898749.275 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:52:29.688Z,1628898749.688 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:52:30.081Z,1628898750.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D1A,000,0032C,189,80,80,A0,FF
2021-08-13T23:52:30.081Z,1628898750.081 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:52:30.159Z,1628898750.159 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:52:30.567Z,1628898750.567 [Micromodem](INFO): Nmea in: $SNTTA,0.032900,,,,235230.81*44

2021-08-13T23:52:30.593Z,1628898750.593 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.220001 m, bearing: 140.527577 deg, deltaT: 4.469528 s, approachRate: 0.349030 m/s, LOS rate: 0.007815 deg/s, posRepo size: 4
2021-08-13T23:52:32.982Z,1628898752.982 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:52:33.309Z,1628898753.309 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:52:33.309Z,1628898753.309 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:52:33.310Z,1628898753.310 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:52:33.311Z,1628898753.311 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:52:33.717Z,1628898753.717 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D1A,000,0032C,189,80,80,A0,FF
2021-08-13T23:52:33.718Z,1628898753.718 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:52:33.718Z,1628898753.718 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:52:33.719Z,1628898753.719 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:52:34.137Z,1628898754.137 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:52:34.525Z,1628898754.525 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D34,000,0031B,189,80,80,9B,FF
2021-08-13T23:52:34.525Z,1628898754.525 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:52:34.624Z,1628898754.624 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:52:34.967Z,1628898754.967 [Micromodem](INFO): Nmea in: $SNTTA,0.024659,,,,235235.31*4E

2021-08-13T23:52:35.019Z,1628898755.019 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.200003 m, bearing: 139.309180 deg, deltaT: 4.460329 s, approachRate: -0.228682 m/s, LOS rate: -0.273163 deg/s, posRepo size: 4
2021-08-13T23:52:37.393Z,1628898757.393 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:52:37.769Z,1628898757.769 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:52:37.769Z,1628898757.769 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:52:37.769Z,1628898757.769 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:52:37.770Z,1628898757.770 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:52:38.189Z,1628898758.189 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D34,000,0031B,189,80,80,9B,FF
2021-08-13T23:52:38.189Z,1628898758.189 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:52:38.189Z,1628898758.189 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:52:38.191Z,1628898758.191 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:52:38.568Z,1628898758.568 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:52:38.973Z,1628898758.973 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D4D,000,0031A,189,80,80,71,FF
2021-08-13T23:52:38.974Z,1628898758.974 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:52:38.977Z,1628898758.977 [Micromodem](INFO): Nmea in: $SNTTA,0.260117,0.261298,,,235239.72*52

2021-08-13T23:52:39.051Z,1628898759.051 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:52:39.410Z,1628898759.410 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.139999 m, bearing: 138.180068 deg, deltaT: 4.431530 s, approachRate: -0.013540 m/s, LOS rate: -0.254791 deg/s, posRepo size: 4
2021-08-13T23:52:41.814Z,1628898761.814 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:52:42.209Z,1628898762.209 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:52:42.209Z,1628898762.209 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:52:42.209Z,1628898762.209 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:52:42.210Z,1628898762.210 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:52:42.609Z,1628898762.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D4D,000,0031A,189,80,80,71,FF
2021-08-13T23:52:42.610Z,1628898762.610 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:52:42.610Z,1628898762.610 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:52:42.611Z,1628898762.611 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:52:43.013Z,1628898763.013 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:52:43.421Z,1628898763.421 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D4B,000,00321,18A,80,80,93,FF
2021-08-13T23:52:43.422Z,1628898763.422 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:52:43.451Z,1628898763.451 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:52:43.853Z,1628898763.853 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235244.15*5C

2021-08-13T23:52:43.882Z,1628898763.882 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.559999 m, bearing: 138.012278 deg, deltaT: 4.395239 s, approachRate: 0.095558 m/s, LOS rate: -0.038175 deg/s, posRepo size: 4
2021-08-13T23:52:46.279Z,1628898766.279 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:52:46.645Z,1628898766.645 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:52:46.645Z,1628898766.645 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:52:46.645Z,1628898766.645 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:52:46.646Z,1628898766.646 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:52:47.053Z,1628898767.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D4B,000,00321,18A,80,80,93,FF
2021-08-13T23:52:47.053Z,1628898767.053 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:52:47.053Z,1628898767.053 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:52:47.055Z,1628898767.055 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:52:47.461Z,1628898767.461 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:52:47.857Z,1628898767.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D27,000,00327,189,80,80,9D,FF
2021-08-13T23:52:47.857Z,1628898767.857 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:52:47.922Z,1628898767.922 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:52:48.302Z,1628898768.302 [Micromodem](INFO): Nmea in: $SNTTA,0.029860,,,,235248.59*43

2021-08-13T23:52:48.327Z,1628898768.327 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.920002 m, bearing: 139.600119 deg, deltaT: 4.471629 s, approachRate: 0.080508 m/s, LOS rate: 0.355092 deg/s, posRepo size: 4
2021-08-13T23:52:48.497Z,1628898768.497 [CTD_Seabird](ERROR): Failed to parse device response: 71,4850.80
2021-08-13T23:52:50.730Z,1628898770.730 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:52:51.095Z,1628898771.095 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:52:51.095Z,1628898771.095 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:52:51.095Z,1628898771.095 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:52:51.096Z,1628898771.096 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:52:51.533Z,1628898771.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D27,000,00327,189,80,80,9D,FF
2021-08-13T23:52:51.533Z,1628898771.533 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:52:51.534Z,1628898771.534 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:52:51.535Z,1628898771.535 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:52:51.899Z,1628898771.899 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:52:52.310Z,1628898772.310 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D4F,000,00326,189,80,80,79,FF
2021-08-13T23:52:52.311Z,1628898772.311 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:52:52.341Z,1628898772.341 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:52:52.723Z,1628898772.723 [Micromodem](INFO): Nmea in: $SNTTA,0.061456,,,,235253.07*47

2021-08-13T23:52:52.761Z,1628898772.761 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.859999 m, bearing: 137.724945 deg, deltaT: 4.418352 s, approachRate: -0.013580 m/s, LOS rate: -0.424406 deg/s, posRepo size: 4
2021-08-13T23:52:55.208Z,1628898775.208 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:52:55.561Z,1628898775.561 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:52:55.561Z,1628898775.561 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:52:55.561Z,1628898775.561 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:52:55.562Z,1628898775.562 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:52:55.941Z,1628898775.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D4F,000,00326,189,80,80,79,FF
2021-08-13T23:52:55.941Z,1628898775.941 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:52:55.941Z,1628898775.941 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:52:55.943Z,1628898775.943 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:52:56.354Z,1628898776.354 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:52:56.745Z,1628898776.745 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D40,000,00327,189,80,80,A9,FF
2021-08-13T23:52:56.745Z,1628898776.745 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:52:56.819Z,1628898776.819 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:52:57.201Z,1628898777.201 [Micromodem](INFO): Nmea in: $SNTTA,,0.382610,,,235257.48*46

2021-08-13T23:52:57.266Z,1628898777.266 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.920002 m, bearing: 138.054502 deg, deltaT: 4.483674 s, approachRate: 0.013383 m/s, LOS rate: 0.073501 deg/s, posRepo size: 4
2021-08-13T23:52:59.610Z,1628898779.610 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:52:59.981Z,1628898779.981 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:52:59.981Z,1628898779.981 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:52:59.981Z,1628898779.981 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:52:59.982Z,1628898779.982 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:53:00.387Z,1628898780.387 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D40,000,00327,189,80,80,A9,FF
2021-08-13T23:53:00.387Z,1628898780.387 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:53:00.387Z,1628898780.387 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:53:00.389Z,1628898780.389 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:53:00.792Z,1628898780.792 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:53:01.197Z,1628898781.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D5A,000,0032C,189,80,80,9E,FF
2021-08-13T23:53:01.197Z,1628898781.197 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:53:01.201Z,1628898781.201 [Micromodem](INFO): Nmea in: $SNTTA,0.162514,0.230183,,,235301.92*5D

2021-08-13T23:53:01.301Z,1628898781.301 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:53:01.650Z,1628898781.650 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.220001 m, bearing: 137.021368 deg, deltaT: 4.476969 s, approachRate: 0.067009 m/s, LOS rate: -0.230766 deg/s, posRepo size: 4
2021-08-13T23:53:04.053Z,1628898784.053 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:53:04.425Z,1628898784.425 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:53:04.425Z,1628898784.425 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:53:04.425Z,1628898784.425 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:53:04.426Z,1628898784.426 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:53:04.841Z,1628898784.841 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D5A,000,0032C,189,80,80,9E,FF
2021-08-13T23:53:04.841Z,1628898784.841 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:53:04.841Z,1628898784.841 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:53:04.850Z,1628898784.850 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:53:05.233Z,1628898785.233 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:53:05.631Z,1628898785.631 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DA1,000,0032E,189,80,80,7E,FF
2021-08-13T23:53:05.631Z,1628898785.631 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:53:05.650Z,1628898785.650 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:53:06.049Z,1628898786.049 [Micromodem](INFO): Nmea in: $SNTTA,0.037513,0.403249,,,235306.39*5E

2021-08-13T23:53:06.071Z,1628898786.071 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.339997 m, bearing: 134.179763 deg, deltaT: 4.348838 s, approachRate: 0.027593 m/s, LOS rate: -0.653417 deg/s, posRepo size: 4
2021-08-13T23:53:08.505Z,1628898788.505 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:53:08.901Z,1628898788.901 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:53:08.902Z,1628898788.902 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:53:08.902Z,1628898788.902 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:53:08.903Z,1628898788.903 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:53:09.277Z,1628898789.277 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DA1,000,0032E,189,80,80,7E,FF
2021-08-13T23:53:09.277Z,1628898789.277 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:53:09.278Z,1628898789.278 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:53:09.279Z,1628898789.279 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:53:09.681Z,1628898789.681 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:53:10.074Z,1628898790.074 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DE5,000,0032F,189,80,80,83,FF
2021-08-13T23:53:10.074Z,1628898790.074 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:53:10.124Z,1628898790.124 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T23:53:10.505Z,1628898790.505 [Micromodem](INFO): Nmea in: $SNTTA,0.053311,,,,235310.82*49

2021-08-13T23:53:10.579Z,1628898790.579 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.400001 m, bearing: 132.312061 deg, deltaT: 4.475111 s, approachRate: 0.013408 m/s, LOS rate: -0.417353 deg/s, posRepo size: 4
2021-08-13T23:53:10.579Z,1628898790.579 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 11.40 m. Resuming terminal guidance.
2021-08-13T23:53:10.579Z,1628898790.579 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-13T23:53:10.967Z,1628898790.967 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-08-13T23:53:10.968Z,1628898790.968 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-13T23:53:10.968Z,1628898790.968 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-08-13T23:53:10.968Z,1628898790.968 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-08-13T23:53:10.968Z,1628898790.968 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2021-08-13T23:53:10.968Z,1628898790.968 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-08-13T23:53:10.968Z,1628898790.968 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-08-13T23:53:12.967Z,1628898792.967 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T23:53:13.313Z,1628898793.313 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:53:13.313Z,1628898793.313 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:53:13.313Z,1628898793.313 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:53:13.314Z,1628898793.314 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:53:13.725Z,1628898793.725 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DE5,000,0032F,189,80,80,83,FF
2021-08-13T23:53:13.725Z,1628898793.725 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:53:13.725Z,1628898793.725 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:53:13.727Z,1628898793.727 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:53:14.149Z,1628898794.149 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:53:14.201Z,1628898794.201 [lineCaptureDepth](INFO): Timed out from 2021-08-13T21:53:13.9Z
2021-08-13T23:53:14.201Z,1628898794.201 [MissionManager](INFO): lineCaptureDepth is completed.
2021-08-13T23:53:14.201Z,1628898794.201 [MissionManager](INFO): Uninitializing Mission lineCaptureDepth
2021-08-13T23:53:14.202Z,1628898794.202 [lineCaptureDepth] Stopped
2021-08-13T23:53:14.202Z,1628898794.202 [lineCaptureDepth](DEBUG): Aggregate::uninitialize lineCaptureDepth
2021-08-13T23:53:14.202Z,1628898794.202 [lineCaptureDepth:Science] Stopped
2021-08-13T23:53:14.202Z,1628898794.202 [lineCaptureDepth:Science](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science
2021-08-13T23:53:14.202Z,1628898794.202 [lineCaptureDepth:Science:B] Stopped
2021-08-13T23:53:14.202Z,1628898794.202 [lineCaptureDepth:Science:C] Stopped
2021-08-13T23:53:14.202Z,1628898794.202 [lineCaptureDepth:Science:Read_Oil] Stopped
2021-08-13T23:53:14.202Z,1628898794.202 [lineCaptureDepth:Science:OceanCurrent] Stopped
2021-08-13T23:53:14.202Z,1628898794.202 [lineCaptureDepth:Science:OceanCurrent](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:OceanCurrent
2021-08-13T23:53:14.202Z,1628898794.202 [lineCaptureDepth:Science:OceanCurrent:A.] Stopped
2021-08-13T23:53:14.203Z,1628898794.203 [lineCaptureDepth:StandardEnvelopes] Stopped
2021-08-13T23:53:14.203Z,1628898794.203 [lineCaptureDepth:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureDepth:StandardEnvelopes
2021-08-13T23:53:14.203Z,1628898794.203 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2021-08-13T23:53:14.203Z,1628898794.203 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2021-08-13T23:53:14.203Z,1628898794.203 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope] Stopped
2021-08-13T23:53:14.203Z,1628898794.203 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2021-08-13T23:53:14.203Z,1628898794.203 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2021-08-13T23:53:14.203Z,1628898794.203 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2021-08-13T23:53:14.203Z,1628898794.203 [lineCaptureDepth:TrackAC.] Stopped
2021-08-13T23:53:14.203Z,1628898794.203 [lineCaptureDepth:LineCapture] Stopped
2021-08-13T23:53:14.203Z,1628898794.203 [lineCaptureDepth:LineCapture](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture
2021-08-13T23:53:14.204Z,1628898794.204 [lineCaptureDepth:LineCapture:StandardEnvelopes] Stopped
2021-08-13T23:53:14.204Z,1628898794.204 [lineCaptureDepth:LineCapture:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:StandardEnvelopes
2021-08-13T23:53:14.204Z,1628898794.204 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2021-08-13T23:53:14.204Z,1628898794.204 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2021-08-13T23:53:14.204Z,1628898794.204 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Stopped
2021-08-13T23:53:14.204Z,1628898794.204 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2021-08-13T23:53:14.204Z,1628898794.204 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2021-08-13T23:53:14.204Z,1628898794.204 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2021-08-13T23:53:14.205Z,1628898794.205 [lineCaptureDepth:LineCapture:G] Stopped
2021-08-13T23:53:14.205Z,1628898794.205 [lineCaptureDepth:LineCapture:H] Stopped
2021-08-13T23:53:14.205Z,1628898794.205 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2021-08-13T23:53:14.205Z,1628898794.205 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-13T23:53:14.205Z,1628898794.205 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2021-08-13T23:53:14.205Z,1628898794.205 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2021-08-13T23:53:14.205Z,1628898794.205 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2021-08-13T23:53:14.205Z,1628898794.205 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2021-08-13T23:53:14.205Z,1628898794.205 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-08-13T23:53:14.205Z,1628898794.205 [lineCaptureDepth:LineCapture:HomingSequence] Stopped
2021-08-13T23:53:14.206Z,1628898794.206 [lineCaptureDepth:LineCapture:HomingSequence](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence
2021-08-13T23:53:14.206Z,1628898794.206 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Stopped
2021-08-13T23:53:14.206Z,1628898794.206 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-08-13T23:53:14.206Z,1628898794.206 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Stopped
2021-08-13T23:53:14.206Z,1628898794.206 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-13T23:53:14.206Z,1628898794.206 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2021-08-13T23:53:14.206Z,1628898794.206 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-13T23:53:14.206Z,1628898794.206 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Stopped
2021-08-13T23:53:14.206Z,1628898794.206 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Stopped
2021-08-13T23:53:14.206Z,1628898794.206 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2021-08-13T23:53:14.206Z,1628898794.206 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture] Stopped
2021-08-13T23:53:14.207Z,1628898794.207 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2021-08-13T23:53:14.207Z,1628898794.207 [lineCaptureDepth:UpdateNumPings_NotTerminal] Stopped
2021-08-13T23:53:14.207Z,1628898794.207 [lineCaptureDepth:UpdateNumPings_NotTerminal](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_NotTerminal
2021-08-13T23:53:14.207Z,1628898794.207 [lineCaptureDepth:UpdateNumPings_Terminal] Stopped
2021-08-13T23:53:14.207Z,1628898794.207 [lineCaptureDepth:UpdateNumPings_Terminal](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal
2021-08-13T23:53:14.207Z,1628898794.207 [lineCaptureDepth:Lap] Stopped
2021-08-13T23:53:14.207Z,1628898794.207 [lineCaptureDepth:Lap](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap
2021-08-13T23:53:14.207Z,1628898794.207 [lineCaptureDepth:Lap:B] Stopped
2021-08-13T23:53:14.208Z,1628898794.208 [lineCaptureDepth:Lap:B](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap:B
2021-08-13T23:53:14.352Z,1628898794.352 [WetLabsSeaOWL_UV_A](INFO): Powering down
2021-08-13T23:53:14.521Z,1628898794.521 [MissionManager](IMPORTANT): Started mission DefaultWithUndock
2021-08-13T23:53:14.522Z,1628898794.522 [DefaultWithUndock] Running Loop=1
2021-08-13T23:53:14.522Z,1628898794.522 [DefaultWithUndock](DEBUG): Aggregate::initialize DefaultWithUndock
2021-08-13T23:53:14.522Z,1628898794.522 [DefaultWithUndock:A.Wait] Running Loop=1
2021-08-13T23:53:14.522Z,1628898794.522 [DefaultWithUndock:A.Wait](DEBUG): Initialize Wait Component.
2021-08-13T23:53:14.962Z,1628898794.962 [Micromodem](INFO): Nmea in: $SNTTA,0.034126,,,,235315.26*45

2021-08-13T23:53:44.869Z,1628898824.869 [DefaultWithUndock:A.Wait](INFO): Done Waiting.
2021-08-13T23:53:44.869Z,1628898824.869 [DefaultWithUndock:A.Wait] Stopped
2021-08-13T23:53:44.869Z,1628898824.869 [DefaultWithUndock:A.Wait](DEBUG): Uninitialize Wait Component.
2021-08-13T23:53:44.870Z,1628898824.870 [DefaultWithUndock:LeaveDock] Running Loop=1
2021-08-13T23:53:44.870Z,1628898824.870 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::initialize DefaultWithUndock:LeaveDock
2021-08-13T23:53:44.870Z,1628898824.870 [DefaultWithUndock:LeaveDock:A.] Running Loop=1
2021-08-13T23:53:44.870Z,1628898824.870 [DefaultWithUndock:LeaveDock:A.](INFO): Initializing TrackAcousticContact.
2021-08-13T23:53:44.870Z,1628898824.870 [DefaultWithUndock:LeaveDock:B.Undock] Running Loop=1
2021-08-13T23:53:44.870Z,1628898824.870 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initialize.
2021-08-13T23:53:44.871Z,1628898824.871 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2021-08-13T23:53:45.618Z,1628898825.618 [PowerOnly](INFO): Powering up loadControl
2021-08-13T23:53:46.452Z,1628898826.452 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:33.137897
2021-08-13T23:53:47.665Z,1628898827.665 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-13T23:53:48.085Z,1628898828.085 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:53:48.085Z,1628898828.085 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:53:48.085Z,1628898828.085 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:53:48.086Z,1628898828.086 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:53:48.162Z,1628898828.162 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detaching from dock.
2021-08-13T23:53:48.461Z,1628898828.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DE5,000,0032F,189,80,80,83,FF
2021-08-13T23:53:48.461Z,1628898828.461 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:53:48.461Z,1628898828.461 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:53:48.463Z,1628898828.463 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:53:48.579Z,1628898828.579 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Engaging thruster for 10.0 seconds (max) to disengage.
2021-08-13T23:53:48.909Z,1628898828.909 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:53:48.971Z,1628898828.971 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Thruster off.
2021-08-13T23:53:49.273Z,1628898829.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DE7,000,0032C,188,80,80,9D,FF
2021-08-13T23:53:49.273Z,1628898829.273 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:53:49.297Z,1628898829.297 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detected possible detachment. Starting timer.
2021-08-13T23:53:49.697Z,1628898829.697 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235350.00*5C

2021-08-13T23:53:52.145Z,1628898832.145 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-13T23:53:52.501Z,1628898832.501 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:53:52.501Z,1628898832.501 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:53:52.501Z,1628898832.501 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:53:52.502Z,1628898832.502 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:53:52.921Z,1628898832.921 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DE7,000,0032C,188,80,80,9D,FF
2021-08-13T23:53:52.921Z,1628898832.921 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:53:52.921Z,1628898832.921 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:53:52.923Z,1628898832.923 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:53:53.317Z,1628898833.317 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:53:53.713Z,1628898833.713 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DB9,000,0032A,189,80,80,94,FF
2021-08-13T23:53:53.714Z,1628898833.714 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:53:54.153Z,1628898834.153 [Micromodem](INFO): Nmea in: $SNTTA,0.010486,,,,235354.46*4F

2021-08-13T23:53:56.563Z,1628898836.563 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-13T23:53:56.945Z,1628898836.945 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:53:56.945Z,1628898836.945 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:53:56.945Z,1628898836.945 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:53:56.946Z,1628898836.946 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:53:57.354Z,1628898837.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DB9,000,0032A,189,80,80,94,FF
2021-08-13T23:53:57.354Z,1628898837.354 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:53:57.354Z,1628898837.354 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:53:57.355Z,1628898837.355 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:53:57.766Z,1628898837.766 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:53:58.185Z,1628898838.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D98,000,0032B,189,80,80,AB,FF
2021-08-13T23:53:58.185Z,1628898838.185 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:53:58.596Z,1628898838.596 [Micromodem](INFO): Nmea in: $SNTTA,0.007187,,,,235358.89*42

2021-08-13T23:54:01.031Z,1628898841.031 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-13T23:54:01.413Z,1628898841.413 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:54:01.413Z,1628898841.413 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:54:01.413Z,1628898841.413 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:54:01.415Z,1628898841.415 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:54:01.793Z,1628898841.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D98,000,0032B,189,80,80,AB,FF
2021-08-13T23:54:01.794Z,1628898841.794 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:54:01.794Z,1628898841.794 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:54:01.800Z,1628898841.800 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:54:02.209Z,1628898842.209 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:54:02.605Z,1628898842.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DA2,000,00326,189,80,80,5B,FF
2021-08-13T23:54:02.606Z,1628898842.606 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:54:03.038Z,1628898843.038 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235403.33*5D

2021-08-13T23:54:05.460Z,1628898845.460 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-13T23:54:05.838Z,1628898845.838 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:54:05.838Z,1628898845.838 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:54:05.838Z,1628898845.838 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:54:05.839Z,1628898845.839 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:54:06.237Z,1628898846.237 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DA2,000,00326,189,80,80,5B,FF
2021-08-13T23:54:06.237Z,1628898846.237 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:54:06.238Z,1628898846.238 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:54:06.240Z,1628898846.240 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:54:06.649Z,1628898846.649 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:54:07.045Z,1628898847.045 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DD2,000,00324,189,80,80,90,FF
2021-08-13T23:54:07.046Z,1628898847.046 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:54:07.474Z,1628898847.474 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235407.77*59

2021-08-13T23:54:09.512Z,1628898849.512 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detached at range: 10.74 m. Transitioning DDM to standby.
2021-08-13T23:54:09.890Z,1628898849.890 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-13T23:54:10.285Z,1628898850.285 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T23:54:10.285Z,1628898850.285 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T23:54:10.286Z,1628898850.286 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T23:54:10.286Z,1628898850.286 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T23:54:10.685Z,1628898850.685 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DD2,000,00324,189,80,80,90,FF
2021-08-13T23:54:10.685Z,1628898850.685 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T23:54:10.685Z,1628898850.685 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T23:54:10.687Z,1628898850.687 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T23:54:11.106Z,1628898851.106 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T23:54:11.489Z,1628898851.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DC9,000,00328,189,80,80,A1,FF
2021-08-13T23:54:11.490Z,1628898851.490 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T23:54:11.949Z,1628898851.949 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235412.22*5D

2021-08-13T23:54:11.964Z,1628898851.964 [DefaultWithUndock:LeaveDock:B.Undock](INFO): DDM at standby.
2021-08-13T23:54:12.334Z,1628898852.334 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete.
2021-08-13T23:54:12.334Z,1628898852.334 [DefaultWithUndock:LeaveDock:B.Undock] Stopped
2021-08-13T23:54:12.335Z,1628898852.335 [DefaultWithUndock:LeaveDock](INFO): Completed DefaultWithUndock:LeaveDock
2021-08-13T23:54:12.335Z,1628898852.335 [DefaultWithUndock:LeaveDock] Stopped
2021-08-13T23:54:12.335Z,1628898852.335 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::uninitialize DefaultWithUndock:LeaveDock
2021-08-13T23:54:12.335Z,1628898852.335 [DefaultWithUndock:LeaveDock:A.] Stopped
2021-08-13T23:54:12.335Z,1628898852.335 [DefaultWithUndock:SurfaceDefault] Running Loop=1
2021-08-13T23:54:12.335Z,1628898852.335 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault
2021-08-13T23:54:12.335Z,1628898852.335 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen] Running Loop=1
2021-08-13T23:54:12.335Z,1628898852.335 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:HoldLatchOpen
2021-08-13T23:54:12.352Z,1628898852.352 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:A] Running Loop=1
2021-08-13T23:54:12.352Z,1628898852.352 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:B] Running Loop=1
2021-08-13T23:54:12.352Z,1628898852.352 [DefaultWithUndock:SurfaceDefault:B.GoToSurface] Running Loop=1
2021-08-13T23:54:12.352Z,1628898852.352 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2021-08-13T23:54:12.353Z,1628898852.353 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2021-08-13T23:54:12.353Z,1628898852.353 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2021-08-13T23:54:12.353Z,1628898852.353 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2021-08-13T23:54:12.354Z,1628898852.354 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2021-08-13T23:54:12.354Z,1628898852.354 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2021-08-13T23:54:13.175Z,1628898853.175 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.00 m/s, pitch 30.00 deg, mass-position -26.00 mm (3 active estimators).
2021-08-13T23:54:13.232Z,1628898853.232 [Radio_Surface](INFO): Powering up
2021-08-13T23:54:19.052Z,1628898859.052 [DataOverHttps](INFO): Radio surface powered ON.
2021-08-13T23:54:42.631Z,1628898882.631 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=1
2021-08-13T23:54:42.631Z,1628898882.631 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-08-13T23:54:42.631Z,1628898882.631 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2021-08-13T23:54:42.631Z,1628898882.631 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen] Stopped
2021-08-13T23:54:42.632Z,1628898882.632 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:HoldLatchOpen
2021-08-13T23:54:42.632Z,1628898882.632 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:A] Stopped
2021-08-13T23:54:42.632Z,1628898882.632 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:B] Stopped
2021-08-13T23:54:49.180Z,1628898889.180 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-13T23:54:58.324Z,1628898898.324 [NAL9602](INFO): SBD MO Status=0, MOMSN=23730, MT Status=0, MTMSN=0
2021-08-13T23:54:58.324Z,1628898898.324 [NAL9602](INFO): No messages in MT queue
2021-08-13T23:55:16.928Z,1628898916.928 [PowerOnly](INFO): Powering down loadControl
2021-08-13T23:55:24.316Z,1628898924.316 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-13T23:55:59.456Z,1628898959.456 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-13T23:56:32.902Z,1628898992.902 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-13T23:56:34.597Z,1628898994.597 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-13T23:56:34.886Z,1628898994.886 [Micromodem](INFO): Nmea in: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error

2021-08-13T23:56:34.886Z,1628898994.886 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error
 expected 41
2021-08-13T23:56:34.889Z,1628898994.889 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2021-08-13T23:56:35.287Z,1628898995.287 [Micromodem](INFO): Nmea in: $CACST,6,1,20210813235634.255328,06,1937,26,0090,0150,82,00,00,01,01,-1,-01,-01,1,3,7,0,150,59.8,-6.96,-100,9.96,-01,-1.17,-6,14500,4000*5D

2021-08-13T23:57:09.736Z,1628899029.736 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-13T23:57:15.302Z,1628899035.302 [Micromodem](INFO): Nmea in: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error

2021-08-13T23:57:15.302Z,1628899035.302 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error
 expected 41
2021-08-13T23:57:15.307Z,1628899035.307 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2021-08-13T23:57:15.690Z,1628899035.690 [Micromodem](INFO): Nmea in: $CACST,6,1,20210813235714.258791,06,1693,26,0108,0150,149,01,01,01,01,-1,-01,-01,1,3,4,0,150,70.2,-346.56,-100,-305.80,-01,0.00,-6,14500,4000*64

2021-08-13T23:57:20.128Z,1628899040.128 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,235719.00,A,4133.18422,N,07042.41832,W,1.030,0.00,130821,,,A*79
2021-08-13T23:57:20.131Z,1628899040.131 [NAL9602](INFO): GPS fix at 20210813T235719: (41.553070, -70.706972)
2021-08-13T23:57:20.171Z,1628899040.171 [UniversalFixResidualReporter](INFO): Fix residual: 24.4 %DT, over the last 594.1 m. Residual distance 144.9 m at bearing -143.3 degrees. Fix at (41.5531, -70.7070) with 159.4 m made good.
2021-08-13T23:57:20.172Z,1628899040.172 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2021-08-13T23:57:20.172Z,1628899040.172 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2021-08-13T23:57:39.876Z,1628899059.876 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003274
2021-08-13T23:57:41.256Z,1628899061.256 [NAL9602](INFO): SBD MO Status=1, MOMSN=23731, MT Status=0, MTMSN=0
2021-08-13T23:57:41.324Z,1628899061.324 [NAL9602](INFO): Sent 99 bytes from file Logs/20210813T172818/Courier0072.lzma
2021-08-13T23:57:41.324Z,1628899061.324 [NAL9602](INFO): Packets left to send: 0
2021-08-13T23:57:43.893Z,1628899063.893 [DataOverHttps](INFO): Sending 62 bytes from file Logs/20210813T172818/Express0058.lzma
2021-08-13T23:57:44.894Z,1628899064.894 [DataOverHttps](INFO): Moved sent file to Logs/20210813T172818/Express0058.lzma.bak
2021-08-13T23:57:44.894Z,1628899064.894 [DataOverHttps](INFO): SBD MOMSN=434310
2021-08-13T23:57:53.933Z,1628899073.933 [DataOverHttps](INFO): Sending 426 bytes from file Logs/20210813T172818/Express0061.lzma
2021-08-13T23:57:54.934Z,1628899074.934 [DataOverHttps](INFO): Moved sent file to Logs/20210813T172818/Express0061.lzma.bak
2021-08-13T23:57:54.934Z,1628899074.934 [DataOverHttps](INFO): SBD MOMSN=434312
2021-08-13T23:58:06.986Z,1628899086.986 [DataOverHttps](INFO): Sending 424 bytes from file Logs/20210813T172818/Express0064.lzma
2021-08-13T23:58:07.986Z,1628899087.986 [DataOverHttps](INFO): Moved sent file to Logs/20210813T172818/Express0064.lzma.bak
2021-08-13T23:58:07.986Z,1628899087.986 [DataOverHttps](INFO): SBD MOMSN=434329
2021-08-13T23:58:11.958Z,1628899091.958 [NAL9602](INFO): Not Powering down - fast GPS
2021-08-13T23:58:19.032Z,1628899099.032 [DataOverHttps](INFO): Sending 155 bytes from file Logs/20210813T172818/Express0067.lzma
2021-08-13T23:58:20.034Z,1628899100.034 [DataOverHttps](INFO): Moved sent file to Logs/20210813T172818/Express0067.lzma.bak
2021-08-13T23:58:20.034Z,1628899100.034 [DataOverHttps](INFO): SBD MOMSN=434333
2021-08-13T23:58:29.073Z,1628899109.073 [DataOverHttps](INFO): Sending 362 bytes from file Logs/20210813T172818/Express0070.lzma
2021-08-13T23:58:30.074Z,1628899110.074 [DataOverHttps](INFO): Moved sent file to Logs/20210813T172818/Express0070.lzma.bak
2021-08-13T23:58:30.074Z,1628899110.074 [DataOverHttps](INFO): SBD MOMSN=434335
2021-08-13T23:58:39.112Z,1628899119.112 [DataOverHttps](INFO): Sending 274 bytes from file Logs/20210813T172818/Express0073.lzma
2021-08-13T23:58:40.114Z,1628899120.114 [DataOverHttps](INFO): Moved sent file to Logs/20210813T172818/Express0073.lzma.bak
2021-08-13T23:58:40.114Z,1628899120.114 [DataOverHttps](INFO): SBD MOMSN=434341
2021-08-13T23:58:41.887Z,1628899121.887 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2021-08-13T23:58:41.887Z,1628899121.887 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2021-08-13T23:58:41.887Z,1628899121.887 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2021-08-13T23:59:42.463Z,1628899182.463 [Micromodem](INFO): Nmea in: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error

2021-08-13T23:59:42.463Z,1628899182.463 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error
 expected 41
2021-08-13T23:59:42.465Z,1628899182.465 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2021-08-13T23:59:42.879Z,1628899182.879 [Micromodem](INFO): Nmea in: $CACST,6,1,20210813235942.250834,06,766,22,0346,0150,179,02,02,01,02,-1,-01,-01,1,3,8,0,150,74.4,2.75,-100,0.25,-01,4.00,-12,14500,4000*63

2021-08-14T00:00:01.465Z,1628899201.465 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2021-08-14T00:00:01.539Z,1628899201.539 [Micromodem](INFO): Nmea in: $CACST,6,1,20210814000002.254688,06,1585,25,0094,0150,141,00,00,01,01,-1,-01,-01,1,3,8,0,150,13.4,0.12,-100,2.88,-01,-1.91,65,14500,4000*57

2021-08-14T00:00:17.614Z,1628899217.614 [Micromodem](INFO): Nmea in: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error

2021-08-14T00:00:17.615Z,1628899217.615 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error
 expected 41
2021-08-14T00:00:17.617Z,1628899217.617 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2021-08-14T00:00:18.010Z,1628899218.010 [Micromodem](INFO): Nmea in: $CACST,6,1,20210814000018.251773,06,1297,25,0100,0150,134,01,01,01,02,-1,-01,-01,1,3,1,0,150,-100.0,0.22,-100,2.78,-01,0.21,-2147483648,14500,4000*46

2021-08-14T00:01:35.583Z,1628899295.583 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2021-08-14T00:01:35.588Z,1628899295.588 [Micromodem](INFO): Nmea in: $CACST,6,1,20210814000136.271844,06,236,23,0090,0150,156,00,00,00,00,-1,-01,-01,1,3,2,0,150,28.5,-10.25,-100,13.25,-01,-1.70,57,14500,4000*40

2021-08-14T00:02:00.222Z,1628899320.222 [Micromodem](INFO): Nmea in: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error

2021-08-14T00:02:00.222Z,1628899320.222 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error
 expected 41
2021-08-14T00:02:00.224Z,1628899320.224 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2021-08-14T00:02:00.626Z,1628899320.626 [Micromodem](INFO): Nmea in: $CACST,6,1,20210814000200.263034,06,925,23,0144,0150,149,01,01,01,01,-1,-01,-01,1,3,1,0,150,64.9,0.13,-100,2.87,-01,-4.54,-6,14500,4000*79

2021-08-14T00:02:17.001Z,1628899337.001 [DataOverHttps](IMPORTANT): SBD MTMSN=20210814T000216
2021-08-14T00:02:21.019Z,1628899341.019 [DataOverHttps](INFO): Received command:restart logs